CN209733861U - An Intelligent Stair Cleaning Robot - Google Patents

Abstract

The utility model relates to an intelligence stair cleaning machines people, including the carrier post, lift actuating mechanism, the bracket, horizontal drive mechanism, the slider, vertical guide bar, horizontal guide bar, clean organism, range unit, displacement sensor, running gear and control circuit, lift actuating mechanism and vertical guide bar all inlay in the carrier post, the slider rear end face respectively with lift actuating mechanism, vertical guide bar sliding connection, preceding terminal surface is connected with horizontal drive mechanism and horizontal guide bar respectively, the bracket includes protective cover plate, location base member and locating piece, the location base member respectively with horizontal drive mechanism and horizontal guide bar sliding connection, the bracket passes through locating piece and clean organism up end interconnect. The utility model discloses an aspect can effectively satisfy the operation of cleaning of the automation of all kinds of different structure type stair structures to effectual improvement stair clean the degree of automation of operation, on the other hand still reduces the degree of wetness and smoothness of step face when effectively reducing the dust, avoids appearing accidents such as slipping.

Description

An Intelligent Stair Cleaning Robot

technical field

The utility model relates to an intelligent staircase cleaning robot, which belongs to the technical field of robots.

Background technique

At present, in the indoor and outdoor environment cleaning activities, because the stairs are multi-level step structure, the number of steps is large, and the distance is long, on the one hand, it is impossible to use tools such as mops to clean up the stairs in a rapid and continuous manner when cleaning the stairs, which requires work. Personnel clean up step by step. On the other hand, it also leads to a large number of corners and vertical surfaces that are not easy to clean in the stair structure, which makes the cleaning work difficult. None of the advanced cleaning robots can effectively meet the needs of daily cleaning of the staircase structure, resulting in the current situation of high labor intensity, poor work efficiency and poor quality of the staircase cleaning work. In addition, when cleaning the stairs, it is easy to cause stair cleaning The surface of the stairs is wet and slippery due to water, water film, etc., resulting in safety accidents such as pedestrians slipping and falling. Therefore, in view of this situation, it is urgent to develop a new cleaning robot equipment for the step structure to meet the needs of actual use. .

Utility model content

In order to solve the deficiencies in the prior art, the utility model provides an intelligent staircase cleaning robot.

In order to achieve the effects mentioned above, an intelligent stair cleaning robot is proposed, which includes the following:

An intelligent stair cleaning robot, comprising a bearing column, a lifting drive mechanism, a bracket, a horizontal drive mechanism, a slider, a vertical guide rod, a horizontal guide rod, a cleaning body, a distance measuring device, a displacement sensor, a walking mechanism and a control circuit, The bearing column is a groove-like structure with the axis and the horizontal plane vertically distributed, and the lifting drive mechanism and vertical guide rods are embedded in the bearing column, wherein the lifting drive mechanism and the bearing column are coaxially distributed, and at least two vertical guide rods are symmetrically distributed On both sides of the lifting drive mechanism and parallel to the lifting drive mechanism, the rear end surface of the slider is slidingly connected with the lifting drive mechanism and the vertical guide rod, and the front end is respectively connected with the horizontal drive mechanism and the horizontal guide rod. The axes of the lifting drive mechanism meet vertically and intersect each other. There are at least two horizontal guide rods, which are symmetrically distributed on both sides of the horizontal drive mechanism with the axis of the horizontal drive mechanism and parallel to the horizontal drive mechanism. The bracket includes a protective cover, a positioning base and a positioning block. , the protective cover is connected with the upper end surface of the positioning base and distributed coaxially, the axis of the positioning base is vertically distributed with the horizontal driving mechanism and is respectively slidingly connected with the horizontal driving mechanism and the horizontal guide rod, at least two positioning blocks are evenly distributed around the axis of the positioning base The lower end surface of the base body is positioned, and the bracket is connected to the upper end surface of the cleaning body through the positioning block. The cleaning body and the bracket are coaxially distributed, and the axis of the cleaning body is parallel to the axis of the bearing column. Slidingly connected to each other, and the cleaning body and the bearing column form a closed cavity structure, at least two displacement sensors are respectively located on the positioning base of the slider and the bracket, and at least two distance measuring devices are respectively located on the front surface of the cleaning body and the cleaning body On the lower end surface, the traveling mechanism is respectively located on the lower end surface of the bearing column and the cleaning body, and each traveling mechanism is evenly distributed around the axis of the bearing column and the cleaning body, and the control circuit is embedded in the side surface of the cleaning body, and is connected with the lifting drive mechanism and the horizontal drive mechanism , distance measuring device, displacement sensor, and running mechanism are electrically connected.

Further, the cleaning body includes a connecting room, a bearing room, a cleaning room, a telescopic mechanical arm, a circularly rotating cleaning broom, a spray pipe, a mopping pole, a garbage suction port, a detachable garbage box, a spray water pump, a water tank, a suction Fan blades, cleaning brushes, mopping brushes, vacuuming motors, cleaning motors and operating motors, wherein the connecting chamber, carrying chamber, and cleaning chamber are all rectangular cavity structures in cross section, and the connecting chamber, carrying chamber, cleaning The chambers are distributed from top to bottom along the axis of the cleaning body, and the connection chamber, bearing chamber, and cleaning chamber are connected to each other and distributed coaxially, wherein the upper end surface of the connection chamber is against the protective cover of the bracket, and the inside of the side wall of the connection chamber The surface and the positioning block of the bracket are connected to each other, and the lower end surface of the connecting chamber and the upper end surface of the bearing chamber are both provided with positioning grooves, and the positioning grooves of the connecting chamber and the bearing chamber together form a closed cavity structure with a rectangular cross section. The telescopic mechanical arm is embedded in the positioning groove and distributed coaxially with the positioning groove, and the axis of the telescopic mechanical arm is perpendicular to and intersects with the axis of the cleaning body. It is connected with the cleaning brush and the mopping brush. The cleaning brush and the mopping brush are respectively connected to a cleaning motor. The cleaning motor is connected to the positioning frame. The control circuit is embedded in the bearing room. The control circuit The side surface of the corresponding bearing room is provided with an operation port, and the control circuit is electrically connected with the telescopic mechanical arm, the spray water pump, the dust collection motor, the cleaning motor and the working motor respectively. The detachable garbage boxes are slidably connected to each other. The detachable garbage boxes are coaxially distributed with the guide groove and perpendicular to and intersect with the axis of the cleaning body. The pipe and the suction fan blades are connected to each other, and the suction fan blades are embedded in the lower end surface of the clean room, and the lower end surface of the clean room corresponding to the suction fan blades is provided with a garbage suction port, and the garbage suction port is coaxially distributed with the clean room, and the circular rotation There are at least three cleaning brooms, which are evenly distributed on the outside of the lower end surface of the cleaning room around the axis of the cleaning room, and the mopping rod is connected to the outer surface of the bottom of the cleaning room through the frame, and the axis of the mopping rod is parallel to the horizontal plane and located on the circumference The rear side of the cleaning broom is rotated, and the circularly rotating cleaning broom and the mopping rod are respectively connected to at least one working motor, and at least two spray pipes are connected to the outer surface of the bottom of the cleaning room and are located on the rear side of the mopping rod And it is distributed parallel to each other with the floor mopping pole, and the spray pipe communicates with the water tank through the spray water pump, and the spray water pump, water tank, dust suction motor and operation motor are all embedded in the clean room.

Further, at least one chute is slidably connected to each other between the positioning groove and the telescopic mechanical arm, and between the guide groove and the detachable garbage box.

Further, the cleaning brushes and wall dragging brushes are all cylindrical structures, and the positioning frame connected to the cleaning brushes and wall dragging brushes is a "凵"-shaped groove structure, and the positioning frame interacts with the telescopic mechanical arm through the turntable mechanism. hinged, and the turntable mechanism is electrically connected with the control circuit.

Further, among the circular rotating cleaning brooms, each circular rotating cleaning broom is located on the same circular arc with the axis of the clean room as the center, the arc length not greater than 3/4 of the circumference of the clean room and located on the front side of the clean room. direction.

Further, an auxiliary drive battery is additionally provided in the bearing room, and the auxiliary drive battery is electrically connected to the control circuit through a charge and discharge control circuit.

Further, the bearing column and the contact surface of the cleaning body are slidably connected to each other through at least two guide rails, and the guide rails are symmetrically distributed about the axis of the bearing column and parallel to the axis of the bearing column.

Further, the lifting drive mechanism, the horizontal drive mechanism and the telescopic mechanical arm are any one of a screw mechanism, an electric telescopic rod mechanism, a rack and pinion mechanism and a linear motor mechanism.

Further, the distance measuring device is any one or both of laser distance measuring devices and ultrasonic distance measuring devices.

Further, the control circuit is an industrial computer-based circuit system, and a wireless data communication module and at least one serial communication terminal are additionally provided in the control circuit.

The utility model has the advantages of simple structure, flexible use and high degree of operation automation. On the one hand, it can effectively meet the automatic cleaning operation of various types of step structures, thereby effectively improving the automation degree of the staircase cleaning operation, and improving work efficiency and quality. , effectively reduce labor intensity and cost, on the other hand, effectively clean the steps, reduce dust and also reduce the slippery degree of the step surface, avoid accidents, thus greatly improving the safety of step cleaning operations.

Description of drawings

The utility model is described in detail below in conjunction with accompanying drawing and specific embodiment;

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a partial structural schematic diagram of the connection relationship between the bracket and the horizontal drive mechanism;

Fig. 3 is a schematic diagram of the cleaning body structure;

Fig. 4 is a partial structural schematic diagram of the connection relationship between the telescopic mechanical arm and the positioning slot;

Fig. 5 is a schematic diagram of the connection between the detachable garbage box and the clean room, viewed from above;

Figure 6 is a schematic diagram of the partial structure of the clean room after removing the detachable garbage box and the water tank;

Fig. 7 is a partial schematic diagram of the structure of the outer surface of the bottom of the clean room;

Fig. 8 is a schematic diagram of a partial structure of the connection relationship inside the bearing chamber.

Detailed ways

In order to facilitate the construction of the technical means, creative features, purpose and effect achieved by the utility model, the utility model will be further elaborated below in conjunction with specific embodiments.

A kind of intelligent stair cleaning robot as described in Fig. 1-8, comprises carrying column 1, lifting driving mechanism 2, bracket 3, horizontal driving mechanism 4, slide block 5, vertical guide rod 6, horizontal guide rod 7, cleaning Body 8, distance measuring device 9, displacement sensor 10, traveling mechanism 11 and control circuit 12, wherein the bearing column 1 is a groove-shaped structure with the axis and the horizontal plane vertically distributed, and the lifting drive mechanism 2 and the vertical guide rod 6 are embedded in the bearing column 1, wherein the lifting drive mechanism 2 is coaxially distributed with the bearing column 1, at least two vertical guide rods 6 are symmetrically distributed on both sides of the lifting drive mechanism 2 and parallel to the lifting drive mechanism 2, and the rear end surfaces of the slider 5 are respectively connected to the The lifting drive mechanism 2 and the vertical guide rod 6 are slidably connected, and the front end faces are respectively connected with the horizontal drive mechanism 4 and the horizontal guide rod 7, wherein the axis of the horizontal drive mechanism 4 and the axis of the lift drive mechanism 2 meet vertically and intersect, and the horizontal guide rod 7 At least two of them are symmetrically distributed on both sides of the horizontal drive mechanism 4 and parallel to the horizontal drive mechanism 4 .

In this embodiment, the bracket 3 includes a protective cover 31, a positioning base 32 and a positioning block 33, the protective cover 31 is connected to the upper end surface of the positioning base 32 and distributed coaxially, and the axis of the positioning base 32 is perpendicular to the horizontal drive mechanism 4 Distributed and respectively slidably connected with the horizontal drive mechanism 4 and the horizontal guide rod 7. At least two positioning blocks 33 are evenly distributed on the lower end surface of the positioning base 32 around the axis of the positioning base 32, and the bracket 3 is connected to the cleaning body 8 through the positioning blocks 33. The ends are connected to each other.

In this embodiment, the cleaning body 8 is coaxially distributed with the bracket 3, and the axis of the cleaning body 8 is parallel to the axis of the bearing column 2. The body 8 and the bearing column 1 form a closed cavity structure. There are at least two displacement sensors 10, which are respectively located on the positioning base 32 of the slider 5 and the bracket 3. At least two distance measuring devices 9 are respectively located on the front end of the cleaning body 8 and The lower end surface of the cleaning body 8, the traveling mechanism 11 is respectively located on the lower end surface of the bearing column 1 and the cleaning body 8, and each traveling mechanism 11 is evenly distributed around the axis of the supporting column 1 and the cleaning body 8, and the control circuit 12 is embedded in the side surface of the cleaning body 8 , and are respectively electrically connected with the lifting drive mechanism 2, the horizontal drive mechanism 4, the distance measuring device 9, the displacement sensor 10, and the running mechanism 11.

It should be pointed out that the cleaning body 8 includes a connecting chamber 810, a bearing chamber 811, a cleaning chamber 812, a telescopic mechanical arm 813, a circularly rotating cleaning broom 814, a spray pipe 815, a mopping rod 816, a garbage suction port 817, Removable garbage box 818, spray water pump 819, water tank 820, suction fan blade 821, cleaning brush 822, wall dragging brush 823, vacuum motor 824, cleaning motor 825 and working motor 826, wherein the connection chamber 810, bearing chamber 811 and cleaning room 812 are all rectangular cavity structures in cross section, and connecting room 810, bearing room 812, and cleaning room 813 are distributed from top to bottom along the axis of cleaning body 8, and connecting room 810, bearing room 811, cleaning The chambers 812 are connected to each other and distributed coaxially, wherein the upper end surface of the connection chamber 810 is against the protective cover plate 31 of the bracket 3, and the inner surface of the side wall of the connection chamber 810 is connected to the positioning block 33 of the bracket 3. The lower end surface of the chamber 810 and the upper end surface of the bearing chamber 811 are both provided with positioning grooves 827, and the positioning grooves 827 of the connecting chamber 810 and the bearing chamber 811 together form a closed cavity structure with a rectangular cross section, and the telescopic mechanical arm 813 is embedded in the positioning In the groove 827 and coaxially distributed with the positioning groove 827, and the axis of the telescopic mechanical arm 813 is perpendicular to and intersects with the axis of the cleaning body 8. The frame 828 is connected with the cleaning brush 822 and the mopping brush 823. The cleaning brush 822 and the mopping brush 823 are respectively connected with a cleaning motor 825. The cleaning motor 825 is connected with the positioning frame 828. The control circuit 12 is embedded in the bearing chamber 811, and the side surface of the bearing chamber 811 corresponding to the control circuit 12 is provided with an operation port 829, and the control circuit 12 is respectively connected with the telescopic mechanical arm 813, the spray water pump 819, the dust suction motor 824, the cleaning motor 825 and The operation motor 826 is electrically connected, and the side surface of the cleaning room 812 is provided with a guide groove 830, and is slidably connected with the detachable garbage box 818 through the guide groove 830. The axes of the body 8 are vertical and intersect, the detachable garbage box 818 is embedded in the clean room 812, and the front end of the detachable garbage box 818 communicates with the suction fan blade 821 through the guide tube 831, and the suction fan blade 821 is embedded in the The lower end surface of the cleaning room 812 and the lower end surface of the cleaning room 812 corresponding to the suction fan blade 821 are provided with a garbage suction port 817, and the garbage suction port 817 is coaxially distributed with the cleaning room 812. There are at least three circularly rotating cleaning brooms 814, surrounding the cleaning The axis of the room 812 is evenly distributed outside the lower end surface of the cleaning room 812, and the mopping rod 816 is connected to the outer surface of the bottom of the cleaning room 812 through the frame 832. Broom 814 handles the rear side, and the circular rotation cleaning broom 814 and the mopping rod 816 are respectively connected with at least one The working motors 826 are connected to each other, and the spray pipes 815 are at least two, which are connected to the outer surface of the bottom of the cleaning room 812, are located on the rear side of the mopping rod 816 and are distributed parallel to each other between the mopping rods 816, and the spray pipes 815 are sprayed The water spray pump 819 communicates with the water tank 820, and the spray water pump 819, the water tank 820, the dust collection motor 824 and the operation motor 826 are all embedded in the clean room.

Wherein, the positioning groove 827 and the telescopic robot arm 813 and the guide groove 830 and the detachable garbage box 818 are slidably connected to each other through at least one sliding groove 833 .

Simultaneously, described cleaning brush 822, dragging wall brush 823 are all cylindrical structures, and the positioning frame 828 that cleaning brush 822, dragging wall brush 823 is connected is " 凵 " font groove-shaped structure, and positioning frame 828 passes through turntable mechanism 834 is hinged to the telescopic mechanical arm 813 , and the turntable mechanism 834 is electrically connected to the control circuit 12 .

In addition, among the circular rotating cleaning brooms 814, each circular rotating cleaning broom 814 is centered on the axis of the cleaning room 812, and the arc length is not greater than 3/4 of the circumference of the cleaning room 814 and is located in the cleaning room 184. In the same arc direction on the side of the front face.

Further optimally, an auxiliary driving battery 835 is additionally provided in the carrying chamber 811, and the auxiliary driving battery 835 is electrically connected to the control circuit 12 through a charging and discharging control circuit.

Further optimally, the contact surface between the bearing column 1 and the cleaning body 8 is slidably connected to each other through at least two guide rails 13, and the guide rails 13 are distributed symmetrically with the axis of the bearing column 1 and mutually with the axis of the bearing column 1. parallel.

In this embodiment, the lifting drive mechanism 2 , the horizontal drive mechanism 4 and the telescopic mechanical arm 813 are any one of a screw mechanism, an electric telescopic rod mechanism, a rack and pinion mechanism and a linear motor mechanism.

In this embodiment, the distance measuring device 9 is any one or both of the laser distance measuring device and the ultrasonic distance measuring device.

In this embodiment, the control circuit 12 is a circuit system based on an industrial computer, and a wireless data communication module and at least one serial communication terminal are additionally provided in the control circuit.

In the cleaning process of the stairs, the utility model can satisfy the flexible movement of the utility model in the horizontal direction by the walking mechanism, and detect the position and height of the steps through the distance measuring device, and feed back the detection results to the control circuit, When it is necessary to carry out climbing steps, firstly, the bearing column is used as the fulcrum, and the control circuit drives the lifting drive mechanism to operate, so as to lift the cleaning body to the position of the upper step, and then drive the horizontal drive mechanism to run, so that the cleaning body can pass through the walking mechanism on the floor. Positioning on the upper step, and after the cleaning body is positioned on the upper step, the cleaning body is used as the fulcrum to drive the lifting drive mechanism again to lift the bearing column to the same step surface as the cleaning body, thus completing The utility model realizes the purpose of step climbing.

In addition, when the utility model runs down the steps, it can be driven in reverse with the driving method of climbing steps.

When cleaning the level surface of the steps, on the one hand, the circular rotating cleaning broom on the lower end surface of the cleaning body first cleans the debris on the level surface of the steps and makes the cleaned debris gather at the garbage suction port, and then through the garbage suction port and The negative pressure airflow of the vacuum motor stroke transports the debris to the detachable garbage box through the garbage suction port, so as to complete the preliminary cleaning of the debris. In the water mist spraying and dust reduction operation, the dust and accumulated water on the surface of the steps are cleaned by the mopping rod, so as to reduce the dust pollution of the cleaning operation and the slipping accidents caused by the unique steps caused by accumulated water.

When cleaning the vertical surface of the steps, the vertical surface of the steps can be cleaned independently or simultaneously with the cleaning operation of the horizontal surface of the steps. When cleaning, firstly, the telescopic mechanical arm is driven to run, so that the cleaning brush and drag at the front end of the telescopic mechanical arm The wall brush directly contacts the vertical surface of the steps, and then the cleaning motor drives the cleaning brush and the wall brush to rotate, so as to realize the need for cleaning the vertical surface of the steps, and the dust and other sundries generated when cleaning the vertical surface of the steps pass through the The cleaning operation is carried out on the horizontal surface, so as to meet the needs of the comprehensive cleaning operation of the steps.

This utility model has the following advantages over the traditional similar equipment:

1. In terms of structure: the invention uses two sets of screw and slider structures to enable it to automatically go up the stairs. The robot adopts a three-wheel body structure, and the rear wheels are driven by two DC motors to control the direction and speed. The front wheels are Compared with the general four-wheel machine, the universal wheel not only plays a balancing role on the three wheels, but also reduces the area of the robot, which can provide more space for installing sensors and cleaning devices at will. At the same time, this structure can conveniently realize the control of the robot. The biggest feature is that the in-situ steering can be realized through the difference of the steering and rotation speed of the two wheels, which is flexible and efficient.

2. Cleaning: The detachable dust box makes the removal of garbage and dust more convenient. The water mist sprayed from the spray tube can reduce the dust raised by the device during the working process. The second layer of automatic extension of the mechanical arm can Cleaning the vertical side and dead angle position of the steps solves the place that is often overlooked by people. At the same time, the robotic arm can also use the servo drive to adjust the vertical height of the cleaning according to the height of the stairs. Through the flexible direction change of the robot itself, the side of the stairs And the more comprehensive cleaning of the vertical surface further strengthens the cleaning ability of the robot. The robotic arm uses an infrared ranging sensor, a GP2Y0A21YK0F ranging sensor unit, which consists of (position sensitive detector), (infrared emitting diode) and signal processing circuit . The side distance detection of various stairs makes the robotic arm less susceptible to the influence of the ambient temperature and the height of the stairs, thereby improving its accuracy and cleaning efficiency. The bottom of the robot not only has a circular rotating cleaning device but also a rotating mopping rod, which can effectively clean the steps, reduce dust and reduce the slippery degree of the step surface to avoid accidents. The device can independently complete the cleaning work of the stairs, can effectively save manpower, and is simple, safe and efficient.

The basic principles and main features of the present utility model and the advantages of the present utility model have been shown and described above. Those skilled in the industry should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (9)

1. the utility model provides an intelligence stair cleaning machines people which characterized in that: the intelligent stair cleaning robot comprises a bearing column, a lifting driving mechanism, a bracket, a horizontal driving mechanism, a sliding block, a vertical guide rod, a horizontal guide rod, a cleaning machine body, a distance measuring device, a displacement sensor, a traveling mechanism and a control circuit, wherein the bearing column is of a groove-shaped structure with the axis vertical to the horizontal plane, the lifting driving mechanism and the vertical guide rod are embedded in the bearing column, the lifting driving mechanism and the bearing column are coaxially distributed, at least two vertical guide rods are symmetrically distributed on two sides of the lifting driving mechanism and parallel to the lifting driving mechanism, the rear end face of the sliding block is respectively connected with the lifting driving mechanism and the vertical guide rod in a sliding manner, the front end face of the sliding block is respectively connected with the horizontal driving mechanism and the horizontal guide rod, the axis of the horizontal driving mechanism and the axis of the lifting driving mechanism are perpendicular and intersected, and at least two horizontal guide rods are arranged, the cleaning machine body and the bracket are coaxially distributed, the axis of the cleaning machine body is parallel to the axis of the bearing column, the rear side surface of the cleaning machine body is abutted against and mutually connected with the front end surface of the bearing column in a sliding manner, the cleaning machine body and the bearing column form a closed cavity structure, at least two displacement sensors are respectively positioned on the sliding block and the positioning base body of the bracket, the distance measuring devices are at least two and are respectively located the front end face of the cleaning machine body and the lower end face of the cleaning machine body, the travelling mechanisms are respectively located the bearing column and the lower end face of the cleaning machine body, the travelling mechanisms are uniformly distributed around the bearing column and the axis of the cleaning machine body, and the control circuit is embedded in the side surface of the cleaning machine body and is respectively electrically connected with the lifting driving mechanism, the horizontal driving mechanism, the distance measuring devices, the displacement sensors and the travelling mechanisms.

2. The intelligent stair cleaning robot as claimed in claim 1, wherein the cleaning machine body comprises a connection chamber, a bearing chamber, a cleaning chamber, a telescopic mechanical arm, a circumferential rotary cleaning broom, a spray pipe, a mopping rod, a garbage suction inlet, a detachable garbage box, a spray water pump, a water tank, a suction fan blade, a cleaning brush, a wall mopping brush, a dust suction motor, a cleaning motor and an operation motor, wherein the connection chamber, the bearing chamber and the cleaning chamber are all of a cavity structure with a rectangular cross section, the connection chamber, the bearing chamber and the cleaning chamber are distributed from top to bottom along the axial direction of the cleaning machine body, the connection chamber, the bearing chamber and the cleaning chamber are connected and coaxially distributed, the upper end face of the connection chamber abuts against a protective cover plate of the bracket, the inner surface of the side wall of the connection chamber is connected with a positioning block of the bracket, and the lower end face and the upper end face of the bearing chamber are provided with positioning grooves, and the constant head tank of linkage chamber and load-bearing room constitutes the closed cavity structure that the cross section is the rectangle jointly, flexible arm inlays in the constant head tank and with the coaxial distribution of constant head tank, and flexible arm axis is perpendicular and crossing with cleaner body axis, flexible arm front end is located linkage chamber, load-bearing room outside to through locating rack and cleaning brush, wall brush interconnect, cleaning brush, wall brush divide equally respectively with a cleaning motor interconnect, cleaning motor and locating rack interconnect, control circuit inlays in the load-bearing room, the operation mouth is established to the load-bearing room side surface that control circuit corresponds, and control circuit respectively with flexible arm, spray pump, dust absorption motor, cleaning motor and operation motor electrical connection, the guide way is established to the clean room side surface to through guide way and the mutual sliding connection of demountable rubbish box, the detachable garbage box is coaxially distributed with the guide groove and is vertical to and intersected with the axis of the cleaning machine body, the detachable garbage box is embedded in the cleaning chamber, the front end face of the detachable garbage box is communicated with the suction fan blade through the guide pipe, the suction fan blade is embedded in the lower end face of the cleaning chamber, the lower end face of the cleaning chamber corresponding to the suction fan blade is provided with a garbage suction port, the garbage suction port and the cleaning chamber are coaxially distributed, at least three circular rotating cleaning besoms are uniformly distributed on the outer side of the lower end face of the cleaning chamber around the axis of the cleaning chamber, the mopping rod is mutually connected with the outer surface of the bottom of the cleaning chamber through the frame, the axis of the mopping rod is distributed in parallel with the horizontal plane and is positioned on the rear side of the circular rotating cleaning besom, the circular rotating cleaning besom and the mopping rod are uniformly and respectively mutually connected with at least one operation motor, at least two spraying pipes, the spraying pipe is positioned at the rear side of the mopping rod and is distributed in parallel with the mopping rod, the spraying pipe is communicated with the water tank through a spraying water pump, and the spraying water pump, the water tank, the dust collection motor and the operation motor are all embedded in a clean room.

3. The intelligent stair cleaning robot as claimed in claim 2, wherein the positioning groove and the telescopic mechanical arm and the guide groove and the detachable garbage box are slidably connected with each other through at least one sliding groove.

4. the intelligent stair cleaning robot as claimed in claim 2, wherein the cleaning brushes and the wall dragging brushes are cylindrical structures, positioning frames connected with the cleaning brushes and the wall dragging brushes are U-shaped groove-shaped structures, the positioning frames are hinged with the telescopic mechanical arm through a rotary table mechanism, and the rotary table mechanism is electrically connected with the control circuit.

5. The intelligent stair cleaning robot as claimed in claim 2, wherein the circumferential rotary cleaning brooms are respectively arranged in the same arc direction on the front end surface side of the cleaning chamber, with the arc length being not greater than 3/4 around the axis of the cleaning chamber as the center of the circle.

6. The robot of claim 2, wherein an auxiliary battery is further disposed in the loading chamber, and the auxiliary battery is electrically connected to the control circuit via a charging/discharging control circuit.

7. The intelligent stair cleaning robot as claimed in claim 1, wherein the contact surface of the carrying post and the cleaning machine body is slidably connected with each other through at least two guide sliding rails, and the guide sliding rails are symmetrically distributed along the axis of the carrying post and are parallel to the axis of the carrying post.

8. The intelligent stair cleaning robot as claimed in claim 1 or 2, wherein the lifting driving mechanism, the horizontal driving mechanism and the telescopic mechanical arm are any one of a screw mechanism, an electric telescopic rod mechanism, a rack and pinion mechanism and a linear motor mechanism.

9. The intelligent stair cleaning robot as claimed in claim 1, wherein the control circuit is an industrial computer-based circuit system, and a wireless data communication module and at least one serial communication terminal are further provided in the control circuit.