A cleaning device of an AGV

Abstract

The utility model provides a kind of cleaning device of AGV dolly, it is related to AGV dolly cleaning technical field, and cleaning device is provided with three-dimensional motion platform, lifting mechanism, three-dimensional motion platform is provided with first motor, second motor, third motor, gear and rack, gear is rotated by motor drive, gear moves on rack, three-dimensional motion platform realizes the movement of three directions in space, it is convenient to clean each corner inside AGV dolly. Lifting mechanism is provided with lifting motor, lifting motor is fixedly connected with screw rod, movable block is set on screw rod, movable block is fixedly connected with fixed seat, and one end of fixed seat is connected with steel wire rope. Lifting motor drives screw rod to move movable block, so that fixed seat traction steel wire rope moves and lifts AGV dolly, and it is convenient to check the component of dolly bottom. Through the setting of three-dimensional motion platform and lifting mechanism, the automation cleaning of AGV dolly is realized, reduces dust, avoids important point position to be missed.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) cleaning technology, and in particular to a cleaning device for AGVs. Background Technology

[0002] An Automated Guided Vehicle (AGV) is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or pulls a cargo trolley to a designated location, and then loads and unloads goods automatically or manually.

[0003] In polysilicon production, AGVs (Automated Guided Vehicles) are used to transport crystal rods within two reaction units in the post-processing and reduction processes. These units contain silicon powder, and because the AGVs cannot be completely sealed for heat dissipation, silicon powder enters the vehicles, damaging precision components and hydraulic seals, thus preventing normal operation. Therefore, manual cleaning of the AGVs is necessary. However, silicon powder cleaning is tedious, produces a lot of dust, and is prone to missing areas. Utility Model Content

[0004] This invention addresses the problems of tedious manual cleaning of silicon powder inside AGV carts, high dust levels, and easy omissions in the cleaning process, by providing a cleaning device for AGV carts.

[0005] The technical solution adopted in this utility model is:

[0006] A cleaning device for an AGV (Automated Guided Vehicle) includes: a frame, a three-dimensional motion platform disposed at the front end of the frame, and a lifting mechanism disposed on the frame. The three-dimensional motion platform is used to connect a suction nozzle to clean various corners of the AGV, and the lifting mechanism is used to lift the AGV for easy inspection of components at the bottom of the AGV.

[0007] The lifting mechanisms are at least three and distributed on both sides of the frame, each lifting mechanism comprising at least:

[0008] Lift motor;

[0009] The lead screw is fixedly connected to the output end of the lifting motor;

[0010] The movable block is threadedly connected to the lead screw.

[0011] A fixed base is connected to the movable block;

[0012] The pulleys are mounted on the frame;

[0013] A steel wire rope, one end of which is fixedly connected to the fixed base, and the other end of which passes over the pulley and is connected to the AGV trolley;

[0014] When the AGV needs to clean up silicon powder, the AGV moves under the cleaning device, and then one end of the steel wire rope is connected to the lifting point of the AGV to lift it up and clean it.

[0015] Furthermore, the lifting mechanism also includes:

[0016] The top support plate is fixedly installed on the frame.

[0017] A support base plate is fixedly installed on the frame and located below the support top plate;

[0018] The base plate is connected at both ends to the supporting top plate and the supporting bottom plate, respectively.

[0019] The support top plate is fixedly connected to a motor mounting base, the lifting motor is connected to the motor mounting base, the output shaft of the lifting motor passes through the support top plate and is fixedly connected to the lead screw, the support top plate has a waist-shaped hole in the middle, and the wire rope passes through the waist-shaped hole and is connected to the fixed base.

[0020] Furthermore, the lifting mechanism also includes:

[0021] The slide rails are arranged parallel to both sides of the lead screw and are fixedly connected to the base plate;

[0022] The slider is slidably connected to the slide rail;

[0023] The cover plate is fixedly connected to the slider at both ends;

[0024] A lead screw seat is sleeved on the lead screw and disposed at both ends of the base plate;

[0025] The cover plate is fixedly connected to the movable block, and a fixing seat is installed on the side of the cover plate away from the movable block.

[0026] Furthermore, the lifting mechanism also includes:

[0027] Vibration damping components are fixedly installed on the top of the frame;

[0028] The bottom end of the vibration damping component is fixedly connected to the pulley.

[0029] Furthermore, the vibration damping component includes:

[0030] A shaft, which passes through the frame and is threaded, has a nut fitted on its top;

[0031] A connecting base plate is fixedly connected to the bottom end of the shaft and connected to the pulley;

[0032] A spring is sleeved on the shaft and located above the frame;

[0033] A protective box is fitted onto the spring, with its top positioned below the nut.

[0034] Furthermore, the three-dimensional motion platform includes:

[0035] The first rectangular tube has its two ends fixedly connected to the frame;

[0036] The second mounting base is slidably connected to the first rectangular tube and can move along the length of the first rectangular tube;

[0037] The second rectangular tube is slidably connected to the second mounting base and can move in a direction perpendicular to the first rectangular tube, with the lower end of the second rectangular tube facing the bottom of the frame;

[0038] A third rectangular tube is slidably connected below the second rectangular tube and can move along the width direction of the frame. One end of the third rectangular tube is fixedly connected to the suction nozzle.

[0039] Furthermore, the three-dimensional motion platform also includes:

[0040] Racks are respectively installed on the first rectangular tube, the second rectangular tube, and the third rectangular tube;

[0041] The guide rail is installed parallel to the rack on the first rectangular tube, the second rectangular tube, and the third rectangular tube;

[0042] The second mounting base is slidably connected to the guide rail, and the second motor is located on the side of the second mounting base away from the rack. The second motor passes through the second mounting base and is connected to the gear. The gear meshes with the rack to drive the second mounting base to move.

[0043] Furthermore, the three-dimensional motion platform also includes:

[0044] The first mounting base is fixedly connected to the second mounting base;

[0045] The first mounting base is sleeved on the second rectangular tube and slidably connected to the guide rail. The first motor is located on the side of the first mounting base away from the rack. The first motor passes through the first mounting base and is connected to the gear. The gear meshes with the rack to drive the second rectangular tube to move.

[0046] Furthermore, the three-dimensional motion platform also includes:

[0047] The second connecting plate is fixedly connected to the lower end of the second rectangular tube;

[0048] The third mounting base is fixedly connected to the second connecting plate;

[0049] The third connecting plate is fixedly connected to one end of the third rectangular tube;

[0050] The third mounting base is sleeved on the third rectangular tube and slidably connected to the guide rail. The third motor is located on the side of the third mounting base away from the rack. The third motor passes through the third mounting base and is connected to the gear. The gear meshes with the rack to drive the third rectangular tube to move.

[0051] Furthermore, it also includes:

[0052] A support mechanism, located below the lifting mechanism;

[0053] The support mechanism includes:

[0054] The cylinder is fixedly connected to the frame;

[0055] The cantilever is fixedly connected to the output end of the cylinder.

[0056] The beneficial effects of this utility model are:

[0057] The cleaning device includes a three-dimensional motion platform and a lifting mechanism. The three-dimensional motion platform is equipped with a first motor, a second motor, a third motor, gears, and a rack. The motors drive the gears to rotate, which in turn move along the rack, allowing the three-dimensional motion platform to move in three directions, facilitating cleaning of every corner inside the AGV. The lifting mechanism includes a lifting motor fixedly connected to a lead screw. A movable block is fitted onto the lead screw and fixedly connected to a fixed seat, which is connected to one end of a steel cable. The lifting motor drives the lead screw, moving the movable block, which in turn moves the steel cable, lifting the AGV for easy inspection of components on its underside. This combination of a three-dimensional motion platform and lifting mechanism automates the cleaning of the AGV, reducing the workload of cleaning silicon powder, minimizing dust, and preventing the omission of critical areas. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of the cleaning device in this utility model.

[0060] Figure 2 This is a schematic diagram of the three-dimensional motion platform in the cleaning device of this utility model.

[0061] Figure 3 for Figure 2 A magnified view of a portion of the three-dimensional motion platform A.

[0062] Figure 4 for Figure 2 A magnified view of a portion of the three-dimensional motion platform B.

[0063] Figure 5 This is a schematic diagram of the lifting mechanism in the cleaning device of this utility model.

[0064] Marked in the image:

[0065] 100. Cleaning device; 200. Three-dimensional motion platform; 300. Lifting mechanism; 400. Supporting mechanism;

[0066] 101. Rack;

[0067] 201. First rectangular tube; 202. Second rectangular tube; 203. Third rectangular tube; 204. Rack; 205. Guide rail; 206. First motor; 207. First mounting base; 208. Second motor; 209. Second mounting base; 210. First connecting plate; 211. Third motor; 212. Third mounting base; 213. Second connecting plate; 214. Third connecting plate;

[0068] 301. Lifting motor; 302. Motor mounting base; 303. Support top plate; 304. Slider; 305. Base plate; 306. Slide rail; 307. Lead screw; 308. Support base plate; 309. Lead screw seat; 310. Cover plate; 311. Fixing base; 312. Wire rope; 313. Pulley; 314. Vibration damping assembly;

[0069] 3031, oblong hole; 3141, shaft; 3142, protective box; 3143, spring; 3144, connecting base plate;

[0070] 401. Cylinder; 402. Cantilever. Detailed Implementation

[0071] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0072] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this invention.

[0073] The embodiments of the utility model will now be described in detail with reference to the accompanying drawings.

[0074] This embodiment provides a cleaning device for AGV (Automated Guided Vehicle) carts to solve the problems of tedious manual cleaning of silicon powder entering the AGV cart, resulting in high dust levels and easy omissions in cleaning areas. The goal is to reduce dust, lessen labor intensity, and avoid missing cleaning points. The AGV cart cleaning device 100 mainly consists of a frame 101, a three-dimensional motion platform 200, a lifting mechanism 300, and a support mechanism 400. (See also...) Figure 1 It is known that the three-dimensional motion platform 200 is set at the front end of the frame 101 and is used to clean the silicon powder inside the AGV. Two lifting mechanisms 300 are installed on each of the left and right sides of the frame 101 and are located behind the three-dimensional motion platform 200. They are used to lift the AGV and inspect the components at the bottom of the vehicle. The support mechanism 400 is installed on the left and right sides of the frame and is located below the lifting mechanism 300. It is used to assist in supporting the AGV lifted by the lifting mechanism 300.

[0075] When the AGV needs cleaning, it automatically travels to the area under the cleaning device 100. A steel cable 312 is then connected to the AGV's lifting point, and the lifting mechanism 300 lifts the AGV via the cable 312. When it reaches a sufficient height, the support mechanism 400 extends and supports the bottom of the AGV, assisting the steel cable 312 in maintaining stability. Subsequently, the three-dimensional motion platform 200 uses suction cups to remove the AGV's cover and uses a suction nozzle to remove the silica powder inside the AGV. After dust removal, the AGV is returned to the ground and automatically drives away from the cleaning device 100.

[0076] The following section will discuss in detail the various components of the AGV cleaning device.

[0077] See Figures 2 to 4 ,in Figure 2 This is a structural schematic diagram of the three-dimensional motion platform 200. Figure 3 and Figure 4 These are enlarged views of portions A and B. As shown in the figures, the three-dimensional motion platform 200 mainly includes a first rectangular tube 201, a second rectangular tube 202, a third rectangular tube 203, a first motor 206, a second motor 208, a third motor 211, a rack 204, and guide rails 205. First connecting plates 210 are welded to both ends of the first rectangular tube 201, connecting it to the frame 101. Guide rails 205 are mounted on the upper and lower ends of the front surface of the first rectangular tube 201. The rack 204 is installed between the two guide rails 205, near the lower guide rail 205. The guide rails 205 and the rack 204 extend towards both ends of the first rectangular tube 201, with a length flush with the first rectangular tube 201. The second mounting base 209 has an open structure at both ends. It is located on the front side of the first rectangular tube 201 and can slide on the guide rail 205. A second motor 208 is mounted on the outer side of the second mounting base 209. The output end of the second motor 208 passes through the second mounting base 209 and is fixedly connected to the gear. Thus, the second motor 208 drives the gear to rotate, and the gear meshes with the rack 204, allowing the second mounting base 209 to slide back and forth on the first rectangular tube 201.

[0078] Depend on Figure 3 As can be seen, the first mounting base 207 has an open structure at both ends. The first mounting base 207 is bolted to the second mounting base 209, and the second rectangular tube 202 is installed inside the first mounting base 207. A rack 204 is mounted on the front surface of the second rectangular tube 202, and guide rails 205 are mounted on the other three sides. The lengths of the rack 204 and guide rails 205 are the same as the length of the second rectangular tube 202. The first mounting base 207 and the second mounting base 209 are fixedly connected and cannot move, so the second rectangular tube 202 can slide inside the first mounting base 207. A first motor 206 is also mounted on the outside of the first mounting base 207. The output shaft of the first motor 206 passes through the first mounting base 207 and is fixedly connected to the gear. Thus, the first motor 206 drives the gear to rotate, and the gear meshes with the rack 204, causing the second rectangular tube 202 to reciprocate in the vertical direction.

[0079] See Figure 4It is known that a second connecting plate 213 is welded to the end of the second rectangular tube 202, and the second connecting plate 213 is connected to the third mounting base 212 by bolts. The third mounting base 212 is also an open structure at both ends, and a third rectangular tube 203 is installed inside. A rack 204 is installed on the front side of the third rectangular tube 203, and guide rails 205 are installed on the upper and lower sides respectively. Thus, the third mounting base 212 and the third rectangular tube 203 form a sliding connection. A third motor 211 is provided on the outside of the third mounting base 212, and the output shaft of the third motor 211 passes through the third mounting base 212 and is fixedly connected to the gear. A third connecting plate 214 is welded to the end of the third rectangular tube 203 for connecting the components required for cleaning silicon powder, such as suction cups and suction nozzles. The third mounting base 212 is fixedly connected to the second rectangular tube 202 and cannot move. Therefore, the third motor 211 drives the gear to rotate, causing the third rectangular tube 203 to reciprocate within the third mounting base 212.

[0080] The first rectangular tube 201, the second rectangular tube 202, and the third rectangular tube 203 are respectively equipped with racks 204 and guide rails 205. The gears are driven to rotate by the first motor 206, the second motor 208, and the third motor 211. The gears mesh with the racks 204 to realize the movement of the three-dimensional motion platform 200 in three directions in space, so that the silicon powder in every corner of the AGV can be completely removed.

[0081] See Figure 1 and Figure 5 , Figure 5 This is a schematic diagram of the lifting mechanism 300 in the cleaning device 100. The lifting mechanism 300 mainly consists of a lifting motor 301, a motor mounting base 302, a supporting top plate 303, a slider 304, a base plate 305, a slide rail 306, a lead screw 307, a supporting base plate 308, a fixed seat 311, a wire rope 312, a pulley 313, and a vibration damping component 314. As shown in the figure, the supporting top plate 303 and the supporting base plate 308 are welded to the upper and lower ends of the base plate 305, respectively. The length of the supporting top plate 303 is much longer than that of the supporting base plate 308. (Combined with...) Figure 1 It can be seen that the lifting mechanism 300 is mounted on the frame 101 via the supporting top plate 303 and the supporting bottom plate 308.

[0082] The motor mounting base 302 is bolted to the support top plate 303. The lifting motor 301 is bolted to the motor mounting base 302. The output shaft of the lifting motor 301 passes through the support top plate 303 and is fixedly connected to the lead screw 307. The lead screw 307 is mounted on a lead screw seat 309 and can rotate around its axis. The two lead screw seats 309 are bolted to both ends of the base plate 305. Slide rails 306 are welded to the base plate 305 on both sides of the lead screw 307, and two sliders 304 are mounted on the slide rails 306 on each side. A movable block (not shown in the figure) is fitted on the lead screw 307. The center of the movable block is threaded. The movable block is bolted to the cover plate 310. The two ends of the cover plate 310 are fixed to the sliders 304 on both sides. The lifting motor 301 drives the lead screw 307 to rotate, causing the movable block to move on the lead screw 307. The movable block drives the sliders 304 to slide on the slide rails 306 through the cover plate 310.

[0083] The fixed base 311 is bolted to the side of the cover plate 310 away from the movable block. A steel wire rope 312 is connected to the fixed base 311. A slotted hole 3031 is provided in the middle of the supporting top plate 303. The steel wire rope 312 passes through the slotted hole 3031 and goes around the pulley 313 to connect with the AGV trolley. The top of the pulley 313 is bolted to the vibration damping component 314, which is mounted on the frame 101. Thus, when the cover plate 310 moves up and down, it drives the fixed base 311 to move synchronously. The fixed base 311 then pulls the steel wire rope 312 to move, thereby lifting the AGV trolley.

[0084] See Figure 1 and Figure 5 As can be seen, the vibration damping assembly 314 is installed at the top of the frame 101. The vibration damping assembly 314 mainly includes a shaft 3141, a protective box 3142, a spring 3143, and a connecting base plate 3144. The shaft 3141 is threaded and fitted with the spring 3143. The protective box 3142 is installed on the outside of the spring 3143. The protective box 3142 has an open end, with the open end facing downwards. The shaft 3141 passes through the top of the protective box 3142, and a nut is provided on the shaft 3141, located above the protective box 3142. Therefore, by adjusting the position of the nut, the tension of the spring 3143 can be adjusted, achieving different vibration damping effects according to actual conditions. The shaft 3141 also passes through a rectangular tube in the frame 101 and is welded to the connecting base plate 3144. The connecting base plate 3144 is connected to the pulley 313 by bolts.

[0085] Depend on Figure 1As can be seen, the support mechanism 400 is located below the lifting mechanism 300 and is fixedly connected to the frame 101. The support mechanism 400 includes a cylinder 401 and a cantilever 402. The cylinder 401 is fixedly connected to the frame 101, and its output end is fixedly connected to the cantilever 402. When the lifting mechanism 300 lifts the AGV trolley above the cantilever 402, the output end of the cylinder 401 extends to push the cantilever 402 to support the bottom of the left and right ends of the AGV trolley, maintaining the stability of the AGV trolley together with the wire rope 312.

[0086] When the AGV needs to clean the silicon powder inside, the AGV is positioned below the cleaning device 100. One end of the wire rope 312 is then connected to the lifting point of the AGV, and the lifting motor 301 is started. Its output drives the lead screw 307 to rotate, causing the movable block mounted on the lead screw 307 to move downwards. This causes the cover plate 310 and the fixed seat 311 to move synchronously, and the slider 304 to slide downwards. The other end of the wire rope 312 passes over the pulley 313, through the oblong hole 3031 on the support top plate 303, and connects to the fixed seat 311. The downward movement of the fixed seat 311 causes the wire rope 312 to move synchronously, thus lifting the AGV.

[0087] When the AGV trolley reaches the vicinity of the cantilever 402, the lifting motor 301 stops working. The cylinder 401 is activated, its extension end pushing the cantilever 402 to the bottom of both ends of the AGV trolley and supporting it. The cylinder 401 then stops working. The cantilever 402, together with the wire rope 312, maintains the stability of the AGV trolley. Next, a suction cup is installed on the third connecting plate 214. The first motor 206, the second motor 208, and the third motor 211 are activated. The second motor 208 drives the gear to rotate, causing the second mounting base 209 to move horizontally, thereby moving the first mounting base 207 horizontally. The first motor 206 drives the gear to rotate, causing the second rectangular tube 202 to move vertically, thereby moving the third mounting base 212 vertically. The third motor 211 drives the gear to rotate, causing the third rectangular tube 203 to move along the width of the frame 101. Through the superposition of these three movements, the suction cup can pick up and remove the cover plate of the AGV trolley. After removing the suction cup from the third connecting plate and replacing the suction nozzle, clean the silicon powder accumulated inside the AGV.

[0088] After cleaning, inspect the components at the bottom of the AGV trolley, and start cylinder 401 to retract the cantilever 402. Start the lifting motor 301, which reverses to drive the lead screw 307 to rotate in the opposite direction, causing the movable block to move upward, thereby moving the cover plate 310 and the fixed seat 311 upward. The wire rope 312 moves upward to place the AGV trolley on the ground, and finally the trolley automatically drives away from the cleaning device 100.

[0089] The above embodiments are merely a more detailed description of the present utility model. For those skilled in the art, modifications or equivalent substitutions can still be made to the technical solutions in the foregoing embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model patent.

Claims

1. A cleaning device for an AGV (Automated Guided Vehicle), characterized in that, include: The frame (101), the three-dimensional motion platform (200) set at the front end of the frame (101), and the lifting mechanism (300) set on the frame (101) are provided. The three-dimensional motion platform (200) is used to connect the suction nozzle to clean the corners of the AGV cart. The lifting mechanism (300) is used to lift the AGV cart to facilitate the inspection of the components at the bottom of the AGV cart. There are at least three lifting mechanisms (300) distributed on both sides of the frame (101), and each lifting mechanism (300) includes at least: Lifting motor (301); The lead screw (307) is fixedly connected to the output end of the lifting motor (301); The movable block is threadedly connected to the lead screw (307); The fixed base (311) is connected to the movable block; A pulley (313) is mounted on the frame (101); A steel wire rope (312) has one end fixedly connected to the fixed base (311) and the other end passing over the pulley (313) and connected to the AGV trolley; When the AGV needs to clean silicon powder, the AGV moves under the cleaning device and then connects one end of the wire rope (312) to the lifting point of the AGV, thereby lifting the AGV and cleaning it.

2. The cleaning device according to claim 1, characterized in that, The lifting mechanism (300) also includes: The top support plate (303) is fixedly installed on the frame (101); The support base plate (308) is fixedly installed on the frame (101) and located below the support top plate (303); The bottom plate (305) is connected at both ends to the supporting top plate (303) and the supporting bottom plate (308), respectively; The support top plate (303) is fixedly connected to a motor mounting base (302), the lifting motor (301) is connected to the motor mounting base (302), the output shaft of the lifting motor (301) passes through the support top plate (303) and is fixedly connected to the lead screw (307), the support top plate has a waist-shaped hole (3031) in the middle, and the wire rope (312) passes through the waist-shaped hole (3031) and is connected to the fixed base (311).

3. The cleaning device according to claim 2, characterized in that, The lifting mechanism (300) also includes: The slide rail (306) is arranged parallel to both sides of the lead screw (307) and fixedly connected to the base plate (305); The slider (304) is slidably connected to the slide rail (306); The cover plate (310) is fixedly connected to the slider (304) at both ends; A lead screw seat (309) is sleeved on the lead screw (307) and disposed at both ends of the base plate (305); The cover plate (310) is fixedly connected to the movable block, and a fixed seat (311) is installed on the side of the cover plate (310) away from the movable block.

4. The cleaning device according to claim 1, characterized in that, The lifting mechanism (300) also includes: Vibration damping assembly (314) is fixedly installed on the top of the frame (101); The bottom end of the vibration damping component (314) is fixedly connected to the pulley (313).

5. The cleaning device according to claim 4, characterized in that, The vibration damping component (314) includes: The shaft (3141) passes through the frame (101) and is threaded, with a nut fitted on its top; A connecting base plate (3144) is fixedly connected to the bottom end of the shaft (3141) and connected to the pulley (313); A spring (3143) is sleeved on the shaft (3141) and located above the frame (101); The protective box (3142) is fitted onto the spring (3143), with its top located below the nut.

6. The cleaning device according to claim 1, characterized in that, The three-dimensional motion platform (200) includes: The first rectangular tube (201) has its two ends fixedly connected to the frame (101); The second mounting base (209) is slidably connected to the first rectangular tube (201) and can move along the length direction of the first rectangular tube (201); The second rectangular tube (202) is slidably connected to the second mounting base (209) and can move in a direction perpendicular to the first rectangular tube (201). The lower end of the second rectangular tube (202) faces the bottom of the frame. The third rectangular tube (203) is slidably connected below the second rectangular tube (202) and can move along the width direction of the frame (101). One end of the third rectangular tube (203) is fixedly connected to the suction nozzle.

7. The cleaning device according to claim 6, characterized in that, The three-dimensional motion platform (200) also includes: Racks (204) are respectively installed on the first rectangular tube (201), the second rectangular tube (202), and the third rectangular tube (203); The guide rail (205) is installed parallel to the rack (204) on the first rectangular tube (201), the second rectangular tube (202), and the third rectangular tube (203); The second mounting base (209) is slidably connected to the guide rail (205), and the second motor (208) is located on the side of the second mounting base (209) away from the rack (204). The second motor (208) passes through the second mounting base (209) and is connected to the gear. The gear meshes with the rack (204) to drive the second mounting base (209) to move.

8. The cleaning device according to claim 7, characterized in that, The three-dimensional motion platform (200) also includes: The first mounting base (207) is fixedly connected to the second mounting base (209); The first mounting base (207) is sleeved on the second rectangular tube (202) and slidably connected to the guide rail (205). The first motor (206) is located on the side of the first mounting base (207) away from the rack (204). The first motor (206) passes through the first mounting base (207) and is connected to the gear. The gear meshes with the rack (204) to drive the second rectangular tube (202) to move.

9. The cleaning device according to claim 8, characterized in that, The three-dimensional motion platform (200) also includes: The second connecting plate (213) is fixedly connected to the lower end of the second rectangular tube (202); The third mounting base (212) is fixedly connected to the second connecting plate (213); The third connecting plate (214) is fixedly connected to one end of the third rectangular tube (203); The third mounting base (212) is sleeved on the third rectangular tube (203) and slidably connected to the guide rail (205). The third motor (211) is located on the side of the third mounting base (212) away from the rack (204). The third motor (211) passes through the third mounting base (212) and is connected to the gear. The gear meshes with the rack (204) to drive the third rectangular tube (203) to move.

10. The cleaning device according to claim 1, characterized in that, Also includes: A support mechanism (400) is located below the lifting mechanism (300); The support mechanism (400) includes: Cylinder (401) is fixedly connected to the frame (101); The cantilever (402) is fixedly connected to the output end of the cylinder (401).

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