Cleaning mechanism and cleaning robot

Abstract

The utility model discloses a cleaning mechanism and a cleaning robot, and belongs to the technical field of livestock breeding devices, the cleaning mechanism comprises a spraying unit, a swing unit, a telescopic unit, a support arm and a rotating unit, the spraying unit comprises a nozzle; the swing unit comprises a swing driving assembly and a swing transmission assembly, the swing transmission assembly is detachably connected with the nozzle to drive the nozzle to swing, and the included angle between the nozzle and the horizontal plane is changed; the telescopic unit comprises a fixed end and a telescopic end, the telescopic end is detachably connected with the swing unit to drive the nozzle to linearly move, and the length of the nozzle extending out of the cleaning mechanism is changed; the supporting arm is detachably connected with the fixed end so that the swing unit can be installed on the supporting arm. The rotating unit comprises a rotating driving assembly and a rotating transmission assembly, and the rotating transmission assembly is detachably connected with the supporting arm to drive the supporting arm to rotate and change the spraying position of the spraying head in the height direction, so that the adjusting dimension of the position of the spraying head is increased, the flexibility of the spraying head is improved, and all-directional cleaning of the livestock and poultry house is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to livestock and poultry breeding device technical field, especially to a kind of cleaning mechanism and cleaning robot. BACKGROUND

[0002] In recent years, the scale of livestock and poultry breeding is continuously developed, and the biological safety risk of the farm is also correspondingly improved. Regular cleaning and disinfection of livestock and poultry house is an effective means to improve the breeding environment, reduce the risk of livestock disease and ensure safe breeding.

[0003] In the traditional breeding industry, manual cleaning of livestock and poultry house is usually used, but manual cleaning has many drawbacks, such as high labor cost, low efficiency, incomplete cleaning due to non-standard cleaning method, etc. These defects seriously restrict the scale development of livestock and poultry breeding industry. Therefore, some cleaning robots appear in the prior art. In one technical solution, the cleaning robot includes a mechanical arm, a spray head, a swing mechanism and a rotating mechanism. The spray head is installed on the mechanical arm. The swing mechanism and the rotating mechanism are connected to the mechanical arm respectively. The swing mechanism is used to swing the spray head up and down, and the rotating mechanism is used to rotate the swing mechanism, the mechanical arm and the spray head. By changing the spray position, spray angle and other parameters of the spray head through the swing mechanism and the rotating mechanism, the cleaning of different positions of the livestock and poultry house can be realized. The existing cleaning robot is used to clean the inside of the livestock and poultry house when it is in the passageway outside the livestock and poultry house. In order to realize the comprehensive cleaning of the length direction of the livestock and poultry house (i.e. the direction parallel to the length of the mechanical arm), the length of the mechanical arm needs to be increased, which reduces the movement flexibility of the cleaning mechanism and the cleaning robot installed with the cleaning mechanism, and cannot be applied to small spaces. Especially when the length of the livestock and poultry house is large, this problem is particularly prominent.

[0004] Therefore, how to design a cleaning mechanism and a cleaning robot that can increase the adjustment dimension of the spray head position, facilitate the use of the device for omnidirectional cleaning of the livestock and poultry house, and be applicable to small spaces to broaden the application range of the cleaning mechanism and the cleaning robot is a technical problem that needs to be solved by those skilled in the art. INVENTION CONTENTS

[0005] The utility model aims at the defects and deficiencies in the prior art, and provides a telescopic rotating swing cleaning mechanism for cleaning robot, which can also be called a cleaning mechanism and a cleaning robot. The device can drive the spray head to swing, rotate and linearly extend, which increases the adjustment dimension of the spray head position without increasing the occupied space of the cleaning mechanism and the cleaning robot, so that it can be applied to small spaces and broaden the application range of the cleaning mechanism and the cleaning robot.

[0006] To achieve the above-mentioned purpose, the utility model adopts the technical scheme of:

[0007] The utility model provides a kind of cleaning mechanism, comprising: spraying unit, the spraying unit includes the spray head being connected with water source;Swing unit, the swing unit includes swing drive assembly and the swing transmission assembly being transmission connection with the swing drive assembly, the swing transmission assembly is detachably connected with the spray head, to drive the swing of the spray head, change the included angle between the spray head and horizontal plane;Telescopic unit, the telescopic unit includes fixed end and the telescopic end being slidingly connected with the fixed end, the telescopic end is detachably connected with the swing unit, to drive the linear motion of the spray head, change the length that the spray head projects the cleaning mechanism;Support arm, the support arm is detachably connected with the fixed end, to install the swing unit being connected with the telescopic end on the support arm;Rotary unit, the rotary unit includes rotary drive assembly and the rotary transmission assembly being transmission connection with the rotary drive assembly, the rotary transmission assembly is detachably connected with the support arm, to drive the rotation of the support arm, change the injection position of the spray head along height direction.

[0008] In an embodiment, the rotary unit includes a rotary drive assembly and two rotary transmission assemblies, the rotary drive assembly has two output shafts extending along horizontal direction, one of the output shafts is connected with one of the rotary transmission assemblies, one of the rotary transmission assemblies is connected with one of the support arms, the spray head is installed on each of the support arms, to drive the rotation of two spray heads by the rotary drive assembly, to change the injection position of two spray heads along height direction simultaneously.

[0009] In an embodiment, the rotary drive assembly is a double-shaft motor.

[0010] In an embodiment, the rotary transmission assembly includes two friction discs, the disc surfaces of the two friction discs are transmission connection by friction force, one of the friction discs is installed on the output shaft of the double-shaft motor, and the other friction disc is installed on the support arm.

[0011] In an embodiment, the support arm includes a frame and a guide rail slidingly connected with the frame, the swing unit further includes a mounting plate fixedly connected with the swing drive assembly, one end of the mounting plate is detachably connected with the guide rail, and the other end is detachably connected with the telescopic end.

[0012] In an embodiment, the frame is internally provided with two guide rails, and the two guide rails are symmetrically arranged along the vertical plane of the movement track of the telescopic end.

[0013] In an embodiment, the swing drive assembly is a motor, the swing transmission assembly is a belt transmission structure, one of the pulleys of the belt transmission structure is transmission connection with the motor, and the spray head is fastened with the other pulley of the belt transmission structure.

[0014] In an embodiment, the spraying unit further comprises a water delivery pipe which penetrates the other belt wheel in an axial direction, two ends of the water delivery pipe are located on two sides of the other belt wheel respectively, and the two ends are respectively connected to the spray head and a water source; the mounting plate comprises a first plate member and a second plate member which are connected to each other, the first plate member is connected to the swing driving assembly, the second plate member is connected to the telescopic end, and lower portions of the first plate member and the second plate member form a cavity in which the water delivery pipe is located.

[0015] The utility model also provides a kind of cleaning robot, including the cleaning mechanism;Vehicle body frame, the cleaning mechanism is installed on the vehicle body frame;Mobile assembly, the bottom of the vehicle body frame is equipped with the mobile assembly;Control device, the power component of the mobile assembly, the swing unit, the telescopic unit and the rotating unit is respectively connected with the control device signal.

[0016] In an embodiment, further comprising a pipe winding assembly, a three-way valve, a shunt pipe and a solenoid valve, the pipe winding assembly is installed in the vehicle body frame, the pipe winding assembly includes a pipe winding cylinder, a water pipe connected to a water source is connected to the three-way valve after passing through the pipe winding cylinder, the other two ends of the three-way valve are respectively connected to the shunt pipe, one shunt pipe is connected to one spray head, and the solenoid valve is provided on each shunt pipe.

[0017] The utility model has achieved the following technical effects relative to the prior art:

[0018] 1、The utility model discloses a swing unit, a telescopic unit and a rotating unit connected to the spray head respectively, so that the spray head can swing, linearly stretch and rotate, which not only increases the adjustment dimension of the position of the spray head, facilitates the flexible adjustment of the spray angle of the spray head according to needs in the use process, is conducive to realizing the omnidirectional cleaning of livestock and poultry houses and improving the cleaning effect, and moreover, compared with the way of increasing the length of the supporting arm to adapt to the livestock and poultry house with a relatively long length direction, the application can reduce the occupied space of the cleaning mechanism and the cleaning robot, can be applicable to livestock and poultry houses with relatively small space, and widen the application range of the device.

[0019] The other technical solutions of the utility model have achieved the following technical effects relative to the prior art:

[0020] 2、The utility model discloses a rotating unit including a rotating driving assembly and two rotating transmission assemblies, the output shaft of one rotating driving assembly is connected to one rotating transmission assembly, and one rotating transmission assembly is connected to one supporting arm with a spray head, which realizes the technical effect that one rotating driving assembly drives two spray heads to rotate simultaneously, can clean the livestock and poultry houses located on both sides of the passageway simultaneously, reduces the design cost of the cleaning mechanism, and reduces the occupied space of the rotating driving assembly.

[0021] 3、The utility model discloses a telescopic unit connected with the spray head is set up, and the spray distance of the spray head is increased without increasing the size of the support arm, two spray heads are driven to rotate through setting up a rotary drive assembly, and the occupied space of the rotary drive assembly is reduced, the occupied space of the water delivery pipe is reduced through hiding the water delivery pipe in the cavity of the lower part of the mounting plate. Through the above-mentioned mode, the occupied space of the cleaning mechanism and the cleaning robot is reduced, and the cleaning mechanism and the cleaning robot can be effectively promoted to the direction of miniaturization and integration. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor under the premise of not paying the creative labor.

[0023] Figure 1 It is a front view structural schematic diagram of the cleaning mechanism disclosed in one specific embodiment of the utility model;

[0024] Figure 2 It is a front view structural schematic diagram of the cleaning mechanism disclosed in one specific embodiment of the utility model;

[0025] Figure 3 It is a sectional view structural schematic diagram of A-A;

[0026] Figure 4 It is a side view structural schematic diagram of the cleaning mechanism disclosed in one specific embodiment of the utility model;

[0027] Figure 5 It is a structure schematic diagram of the swing unit disclosed in one specific embodiment of the utility model;

[0028] Figure 6 It is a top view structural schematic diagram of the cleaning mechanism disclosed in one specific embodiment of the utility model;

[0029] Figure 7 It is a sectional view structural schematic diagram of B-B;

[0030] Figure 8 It is a bottom view structural schematic diagram of the cleaning mechanism disclosed in one specific embodiment of the utility model;

[0031] Figure 9 It is a whole structure schematic diagram of the cleaning robot disclosed in one specific embodiment of the utility model;

[0032] Figure 10This is a schematic diagram of the cleaning robot disclosed in a specific embodiment of the present invention after the outer shell is removed.

[0033] The components are as follows: 1. Support arm; 2. Mounting plate; 2-1. First plate; 2-2. Second plate; 3. Second L-shaped bracket; 4. Telescopic end; 5. Water supply pipe; 6. Wing plate; 7. Swing drive assembly; 8. Protective frame; 9. Rotation drive assembly; 10. Friction disc; 11. Frame; 12. Guide rail; 13. First L-shaped bracket; 14. Nozzle; 15. Pulley; 16. Belt; 17. Fixed end; 18. Housing; 19. Diverter pipe; 20. Vehicle frame; 21. Reel; 22. Moving assembly. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] like Figures 1 to 8 As shown, this utility model provides a cleaning mechanism, including: a spraying unit, a swinging unit, a telescopic unit, a support arm, and a rotating unit.

[0037] The spraying unit includes a nozzle 14 connected to a water source;

[0038] The swing unit includes a swing drive assembly 7 and a swing transmission assembly. The swing transmission assembly is connected to the swing drive assembly 7 and can rotate under the drive of the swing drive assembly 7. The nozzle 14 is detachably mounted on the swing transmission assembly and swings up and down with the rotation of the swing transmission assembly to change the angle α between the nozzle 14 and the horizontal plane.

[0039] The telescopic unit includes a fixed end 17 and a telescopic end 4 slidably connected to the fixed end 17. The telescopic end 4 is detachably fixedly connected to the swing unit. The telescopic end 4 drives the swing unit and the nozzle 14 connected to the swing unit to move linearly, changing the length L of the nozzle 14 extending out of the cleaning mechanism.

[0040] Support arm 1 is detachably fixed to the fixed end 17 of the telescopic unit so as to install the swing unit connected to the telescopic end 4 on the support arm 1 and support the swing unit and the nozzle 14 connected to the swing unit.

[0041] The rotating unit comprises a rotating driving assembly 9 and a rotating transmission assembly, the rotating transmission assembly is in transmission connection with the rotating driving assembly 9 and can rotate under the driving of the rotating driving assembly 9, and the rotating transmission assembly is fixedly connected with the supporting arm 1 in a detachable manner to drive the supporting arm 1, the telescopic unit, the swinging unit and the spray head 14 connected with the supporting arm 1 to rotate and change the spraying position of the spray head 14 along the height direction.

[0042] By arranging the swinging unit, the telescopic unit and the rotating unit, the spray head 14 can swing up and down, move forward and backward and rotate around the rotating shaft of the rotating driving assembly 9, which not only increases the adjustment dimension of the spray head position, facilitates the omnidirectional cleaning of the livestock and poultry house by the cleaning mechanism and improves the cleaning effect, but also does not increase the occupied space of the cleaning mechanism, facilitating the miniaturization of the cleaning mechanism.

[0043] The rotating shaft of the rotating driving assembly 9 is parallel to the telescopic direction of the telescopic end 4, and the supporting arm 1 rotates around the rotating shaft of the rotating driving assembly 9; the rotating shaft of the swinging driving assembly 7 is perpendicular to the telescopic direction of the telescopic end 4, and the swinging transmission assembly rotates around the shaft parallel to the rotating shaft of the swinging driving assembly 7.

[0044] In an embodiment, the cleaning mechanism has two supporting arms 1, the two supporting arms 1 are respectively arranged on the two sides of the cleaning mechanism and are symmetrically arranged, and if one rotating unit is arranged for each supporting arm 1, the design cost of the cleaning mechanism will be increased, the volume of the cleaning mechanism will be increased, and the structure of the cleaning mechanism will be complicated, therefore, the rotating unit comprises one rotating driving assembly 9 and two rotating transmission assemblies, the two rotating transmission assemblies are respectively in transmission connection with the rotating driving assembly 9, each rotating transmission assembly is connected with one supporting arm 1, and each supporting arm 1 is provided with the spray head 14, so that the two spray heads 14 can be driven to rotate by one rotating driving assembly 9, and the spraying position of the two spray heads 14 along the height direction can be changed.

[0045] The rotating driving assembly 9 is a double-shaft motor, the double-shaft motor has two output shafts extending along the horizontal direction, and one output shaft is connected with one rotating transmission assembly. In an embodiment, the double-shaft motor is provided with the protection frame 8.

[0046] The connection between the double-shaft motor and the arm 1 can be any one of key connection, expansion sleeve connection, shaft coupling connection, etc. In an embodiment, the connection between the double-shaft motor and the arm 1 is through friction, i.e. the rotation transmission assembly includes two friction plates 10, the disc surfaces of the two friction plates 10 are connected through friction force transmission, one of the friction plates 10 is installed on the output shaft of the double-shaft motor, the other friction plate 10 is installed on the arm 1, and the torque is transmitted through the friction force generated by the two friction plates 10 to drive the arm 1 to rotate. This connection mode can cause relative sliding between the output shaft and the arm 1 when the torque exceeds a certain value, thereby playing an overload protection role. In an embodiment, the rotation transmission assembly is a friction coupling.

[0047] Directly installing the swing unit at the telescopic end 4 of the telescopic unit can easily cause the telescopic end 4 to bend and deform, affecting the telescopic function. In an embodiment, the arm 1 includes a frame 11 and a guide rail 12 slidably connected with the frame 11, the swing unit further includes a mounting plate 2 fixedly connected with the swing drive assembly 7, one end of the mounting plate 2 is fixedly connected with the guide rail 12 in a detachable manner, and the other end of the mounting plate 2 is fixedly connected with the telescopic end 4 in a detachable manner. In this way, the force applied by the swing unit to the telescopic end 4 can be reduced, the probability of bending and deformation of the telescopic end 4 can be reduced, and telescopic guidance can be provided, so that the nozzle 14 can move more smoothly in a straight line. The guide rail 12 is connected with the mounting plate 2 through a first L-shaped support 13, four wing plates 6 are arranged on the mounting plate 2, two wing plates 6 are arranged on the left and right sides of the swing drive assembly 7, and the two wing plates 6 on the same side are arranged on the front and rear sides of the swing drive assembly 7. In this way, the swing drive assembly 7 is firmly mounted on the mounting plate 2. The mounting plate 2 and the front end of the telescopic end 4 are connected through a second L-shaped support 3.

[0048] The inside of the frame 11 is provided with two guide rails 12, and the two guide rails 12 are symmetrically arranged along the vertical plane of the movement track of the telescopic end 4, further improving the stability and smoothness of the movement of the telescopic end 4.

[0049] The swing drive assembly 7 is a single-shaft motor, and the swing transmission assembly can be one of a gear transmission structure, a belt transmission structure, a chain transmission structure, etc. In an embodiment, the swing transmission assembly is a belt transmission structure, which includes two pulleys 15 and a belt 16 sleeved on the two pulleys 15. One of the pulleys 15 is in transmission connection with the single-shaft motor, and the other pulley 15 is in fastening connection with the nozzle 14.

[0050] The spraying unit further comprises a water delivery pipe 5 which penetrates the other pulley 15 in the axial direction, and the two ends of the water delivery pipe 5 are respectively referred to as a first end and a second end, the first end is located at the left side / right side of the other pulley 15, and the second end is located at the right side / left side of the other pulley 15, wherein the first end is used for connecting the spray head 14 or a water source, and the second end is used for connecting the water source or the spray head 14, the mounting plate 2 comprises a first plate piece 2-1 and a second plate piece 2-2 which are connected to each other, the first plate piece 2-1 is used for arranging the wing plate 6 to connect the swing driving assembly 7 and is used for connecting the first L-shaped support 13, the second plate piece 2-2 is used for connecting the second L-shaped support 3, the lower parts of the first plate piece 2-1 and the second plate piece 2-2 form a cavity, and the water delivery pipe 5 and the other pulley 15 are located in the cavity, that is, the first plate piece 2-1 and the second plate piece 2-2 form a "¬" shaped structure, and the water delivery pipe 5 and the other pulley 15 are located in the cavity at the lower part of the "¬" shaped structure, so that the water delivery pipe 5 is hidden in the lower part of the mounting plate 2, and the space occupied by the spraying unit is saved; the water delivery pipe 5 is connected in communication with the water source through a water pipe, and hiding the water delivery pipe 5 in the lower part of the mounting plate 2 can also protect the sealing property of the part where the water delivery pipe 5 is connected with the water source, so as to avoid problems such as falling off and poor sealing of the part where the water delivery pipe 5 is connected with the water source under external force.

[0051] The connection mode between the water delivery pipe 5 and the other pulley 15 can be that the water delivery pipe 5 and the other pulley 15 are respectively formed and then assembled together by one of the following modes: key connection, thread connection, welding and bonding.

[0052] As shown in Figures 9 to 10 The utility model also provides a cleaning robot which comprises a cleaning mechanism, a vehicle body frame 20, a moving assembly 22 and a control device, wherein the cleaning mechanism is installed on the vehicle body frame 20, the bottom of the vehicle body frame 20 is provided with the moving assembly 22, and the power components of the moving assembly 22, the swing unit, the telescopic unit and the rotating unit are respectively connected with the control device in signal. When in use, the control device is operated to move the cleaning robot to the passageway of the livestock and poultry house to be cleaned, and then the power components of the swing unit, the telescopic unit and the rotating unit are controlled to move to adjust the spraying position of the spray head 14, so that the spray head 14 can clean the livestock and poultry house in all directions.

[0053] In order to protect the cleaning mechanism, the vehicle body frame 20, the moving assembly 22 and the control device, the cleaning robot further comprises an outer shell 18, and the cleaning mechanism, the vehicle body frame 20, the moving assembly 22 and the control device are all arranged in the outer shell 18.

[0054] The cleaning robot further comprises a pipe winding assembly, a three-way valve, a shunt pipe 19 and a solenoid valve, the pipe winding assembly is installed in the vehicle body frame 20, the pipe winding assembly comprises a pipe winding cylinder 21, a water pipe connected with a water source is connected with the three-way valve after winding around the pipe winding cylinder 21, the other two ends of the three-way valve are respectively connected with the shunt pipe 19, one shunt pipe 19 is connected with one spray head 14, and the solenoid valve is arranged on each shunt pipe 19, the opening and closing of the water flow is controlled through the solenoid valve, and any one of the two spray heads 14 sprays water or the two spray heads 14 sprays water at the same time, so as to be suitable for different application scenarios, wherein Figure 10 The three-way valve and the solenoid valve are not shown in the figure.

[0055] It should be noted that, for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application, any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A cleaning mechanism, characterized by, The cleaning mechanism comprises a spraying unit, a swinging unit, a telescopic unit, a supporting arm, and a rotating unit. The spraying unit comprises a spraying head connected with a water source. The swinging unit comprises a swinging driving assembly and a swinging transmission assembly connected with the swinging driving assembly. The swinging transmission assembly is detachably connected with the spraying head to drive the spraying head to swing and change the angle between the spraying head and the horizontal plane. The telescopic unit comprises a fixed end and a telescopic end connected with the fixed end. The telescopic end is detachably connected with the swinging unit to drive the spraying head to move linearly and change the length of the spraying head extending out of the cleaning mechanism.

2. The cleaning mechanism of claim 1, wherein The supporting arm is detachably connected with the fixed end to mount the swinging unit connected with the telescopic end on the supporting arm.

3. The cleaning mechanism of claim 2, wherein, The rotating unit comprises a rotating driving assembly and a rotating transmission assembly connected with the rotating driving assembly.

4. The cleaning mechanism of claim 3, wherein The rotating transmission assembly is detachably connected with the supporting arm to drive the supporting arm to rotate and change the spraying position of the spraying head in the height direction.

5. The cleaning mechanism of claim 1, wherein The rotating unit comprises a rotating driving assembly and two rotating transmission assemblies.

6. The cleaning mechanism of claim 5, wherein, The rotating driving assembly has two output shafts extending in the horizontal direction.

7. The cleaning mechanism of claim 5, wherein One output shaft is connected with one rotating transmission assembly.

8. The cleaning mechanism of claim 7, wherein, One rotating transmission assembly is connected with one supporting arm.

9. A cleaning robot, characterized in that, Each supporting arm is mounted with the spraying head to simultaneously drive two spraying heads to rotate and change the spraying position of the two spraying heads in the height direction by the rotating driving assembly. The rotating driving assembly is a double-shaft motor. The rotating transmission assembly comprises two friction discs. The disc surfaces of the two friction discs are connected by friction force. One friction disc is mounted on the output shaft of the double-shaft motor. The other friction disc is mounted on the supporting arm. The supporting arm comprises a frame and a guide rail connected with the frame. The swinging unit further comprises a mounting plate fixedly connected with the swinging driving assembly. One end of the mounting plate is detachably connected with the guide rail. The other end of the mounting plate is detachably connected with the telescopic end. The frame is internally provided with two guide rails. The two guide rails are symmetrically arranged along the vertical plane of the movement track of the telescopic end. The swinging driving assembly is a single-shaft motor. The swinging transmission assembly is a belt transmission structure. One pulley of the belt transmission structure is connected with the single-shaft motor. The spraying head is fastened with the other pulley of the belt transmission structure. The spraying unit further comprises a water delivery pipe. The water delivery pipe penetrates the other pulley in the axial direction. The two ends of the water delivery pipe are respectively located on the two sides of the other pulley and are respectively connected with the spraying head and the water source. The mounting plate comprises a first plate member and a second plate member connected with each other. The first plate member is connected with the swinging driving assembly. The second plate member is connected with the telescopic end. The lower parts of the first plate member and the second plate member form a cavity. The water delivery pipe is located in the cavity. The cleaning mechanism of any one of claims 1 to 8. A vehicle body frame. The cleaning mechanism is mounted on the vehicle body frame. A moving assembly. The bottom of the vehicle body frame is provided with the moving assembly. A control device, the power components of the moving assembly, the swing unit, the telescopic unit and the rotating unit are respectively connected with the control device.

10. The cleaning robot of claim 9, wherein, The pipe winding assembly is installed in the vehicle body frame, the pipe winding assembly comprises a pipe winding cylinder, a water pipe connected with a water source is connected with the three-way valve after winding around the pipe winding cylinder, the other two ends of the three-way valve are respectively connected with the flow divider, one flow divider is connected with one spray head, and the electromagnetic valve is arranged on each flow divider.

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