CN209733861U - 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

Intelligent stair cleaning robot

Technical Field

The utility model relates to an intelligence stair cleaning machines people belongs to the robotechnology field.

background

At present, in the indoor and outdoor environment cleaning activities, because the stairs are of multi-stage step structures, the steps are large in number and long in distance, on one hand, the stairs cannot be cleaned quickly and continuously by using tools such as a mop on a flat ground when being cleaned, and the steps need to be cleaned step by workers, on the other hand, the stairs have a large number of corners and vertical surfaces which are difficult to clean, so that the difficulty of cleaning is high, and meanwhile, the current situations that the labor intensity of the current stair cleaning work is high, the working efficiency is poor and the like are caused because the cleaning robot cannot effectively meet the requirement of daily cleaning operation on the stairs structure no matter the traditional cleaning tool or the cleaning robot based on the artificial intelligence technology, and the stair surface is wet and smooth due to water accumulation, water films and the like when the stairs are cleaned, therefore, a brand new cleaning robot device aiming at the step structure is urgently needed to be developed aiming at the current situation so as to meet the requirement of practical use.

SUMMERY OF THE UTILITY MODEL

In order to solve the deficiencies in the prior art, the utility model provides an intelligence stair cleaning machines people.

In order to achieve the above-mentioned effect, an intelligent stair cleaning robot is proposed, which comprises the following contents:

An 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 surface of the sliding block is respectively connected with the lifting driving mechanism and the vertical guide rod in a sliding manner, the front end surface 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 vertical and intersected, at least two horizontal guide rods are symmetrically distributed on two sides of the horizontal driving mechanism and parallel to the horizontal driving mechanism by the axis of the horizontal, the bracket comprises a protective cover plate, a positioning base body and positioning blocks, the protective cover plate is connected with the upper end face of the positioning base body and coaxially distributed, the axis of the positioning base body is vertically distributed with the horizontal driving mechanism and is respectively connected with the horizontal driving mechanism and the horizontal guide rod in a sliding manner, at least two positioning blocks are uniformly distributed on the lower end face of the positioning base body around the axis of the positioning base body, the bracket is mutually connected with the upper end face of the cleaning machine body through the positioning blocks, the cleaning machine body and the bracket are coaxially distributed, the axis of the cleaning machine body is distributed in parallel with the axis of the bearing column, the rear side face of the cleaning machine body is abutted against the front end face of the bearing column and is mutually connected 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 positioning base bodies of the sliding block and the bracket, at least, and each walking mechanism is uniformly distributed around the bearing column and the axis of the cleaning machine body respectively, and the control circuit is embedded in the side surface of the cleaning machine body and is electrically connected with the lifting driving mechanism, the horizontal driving mechanism, the distance measuring device, the displacement sensor and the walking mechanism respectively.

Furthermore, the cleaning machine body comprises a connecting 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 mopping wall brush, a dust suction motor, a cleaning motor and an operation motor, wherein the connecting chamber, the bearing chamber and the cleaning chamber are all cavity structures with rectangular cross sections, the connecting chamber, the bearing chamber and the cleaning chamber are distributed from top to bottom along the axial direction of the cleaning machine body, the connecting chamber, the bearing chamber and the cleaning chamber are mutually connected and coaxially distributed, the upper end face of the connecting chamber is abutted against a protective cover plate of a bracket, the inner surface of the side wall of the connecting chamber is mutually connected with a positioning block of the bracket, positioning grooves are arranged on the lower end face of the connecting chamber and the upper end face of the bearing chamber, and the positioning grooves of the connecting chamber and the bearing chamber jointly, the telescopic mechanical arm is embedded in the positioning groove and is coaxially distributed with the positioning groove, the axis of the telescopic mechanical arm is perpendicular to and intersected with the axis of the cleaning machine body, the front end face of the telescopic mechanical arm is positioned outside the connecting chamber and the bearing chamber and is mutually connected with the cleaning brush and the wall mopping brush through the positioning frame, the cleaning brush and the wall mopping brush are respectively and mutually connected with a cleaning motor, the cleaning motor is mutually connected with the positioning frame, the control circuit is embedded in the bearing chamber, an operation opening is arranged on the surface of the bearing chamber corresponding to the control circuit, the control circuit is respectively and electrically connected with the telescopic mechanical arm, the spray water pump, the dust absorption motor, the cleaning motor and the operation motor, a guide groove is arranged on the surface of the cleaning chamber and is mutually and slidably connected with the detachable garbage box through the guide groove, the detachable garbage box is coaxially distributed with the guide groove and is perpendicular to and intersected with the axis of, 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 blades through the guide pipe, the suction fan blades are embedded in the lower end face of the cleaning chamber, the lower end face of the cleaning chamber corresponding to the suction fan blades is provided with a garbage suction inlet, the garbage suction inlet 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 rods are mutually connected with the outer surface of the bottom of the cleaning chamber through the rack, the axis of the mopping rods is distributed in parallel with the horizontal plane and positioned on the rear side of the circular rotating cleaning besoms, the circular rotating cleaning besoms and the mopping rods are respectively mutually connected with at least one operation motor, at least two spraying pipes are mutually connected with the outer surface of the bottom of the cleaning chamber and positioned on the rear side of the mopping rods and mutually distributed in parallel with the mopping rods, the spray water pump, the water tank, the dust collection motor and the operation motor are all embedded in the clean room.

furthermore, all through the mutual sliding connection of at least one spout between constant head tank and the flexible arm and between guide way and the demountable rubbish box.

Furthermore, the cleaning brush and the wall dragging brush are of cylindrical structures, positioning frames connected with the cleaning brush and the wall dragging brush are of U-shaped groove-shaped structures, the positioning frames are mutually hinged with the telescopic mechanical arm through a rotary table mechanism, and the rotary table mechanism is electrically connected with the control circuit.

Furthermore, in the circumferential rotating cleaning besoms, the circumferential rotating cleaning besoms are respectively positioned in the same arc direction which takes the axis of the cleaning chamber as the center of a circle, has the arc length not more than the circumference 3/4 of the cleaning chamber and is positioned on one side of the front end surface of the cleaning chamber.

Furthermore, an auxiliary driving storage battery is additionally arranged in the bearing chamber, and the auxiliary driving storage battery is electrically connected with the control circuit through a charging and discharging control circuit.

Furthermore, the bearing column is in sliding connection with the contact surface of the cleaning machine body through at least two guide sliding rails, and the guide sliding rails are symmetrically distributed on the axis of the bearing column and are parallel to the axis of the bearing column.

Furthermore, the lifting driving mechanism, the horizontal driving mechanism and the telescopic mechanical arm are any one of a screw rod mechanism, an electric telescopic rod mechanism, a gear rack mechanism and a linear motor mechanism.

further, the distance measuring device is one or two of a laser distance measuring device and an ultrasonic distance measuring device.

Furthermore, the control circuit is a circuit system based on an industrial computer, and a wireless data communication module and at least one serial port communication terminal are additionally arranged in the control circuit.

The utility model discloses simple structure, it is nimble to use, operation degree of automation is high, can effectively satisfy the automatic operation of cleaning of all kinds of different structure type stair structures on the one hand to effectual improvement stair clean the degree of automation of operation, when improving work efficiency and quality, effectual reduction intensity of labour and cost, on the other hand is at effective clean step, still reduces the degree of slipping of step face when reducing the dust, avoid appearing the accident, thereby very big improvement the security of step clearance operation.

Drawings

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments;

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial structural view of the connection between the bracket and the horizontal driving mechanism;

FIG. 3 is a schematic view of a cleaning machine body;

FIG. 4 is a schematic view of a partial structure of a connection relationship between a telescopic robot arm and a positioning groove;

FIG. 5 is a top view of a portion of the cleaning chamber in a partially assembled relationship with the removable waste bin;

FIG. 6 is a schematic top view of the cleaning chamber with the removable waste bin and water tank removed;

FIG. 7 is a partial view of the outer surface structure of the bottom of the clean room;

FIG. 8 is a partial structural view of the connection relationship inside the load-bearing chamber.

Detailed Description

For making the utility model discloses the technological means, creation characteristic, achievement purpose and efficiency that realize are easily under construction, combine specific implementation below, further explain the utility model discloses.

The intelligent stair cleaning robot as shown in fig. 1-8 comprises a bearing column 1, a lifting driving mechanism 2, a bracket 3, a horizontal driving mechanism 4, a sliding block 5, a vertical guide rod 6, a horizontal guide rod 7, a cleaning machine body 8, a distance measuring device 9, a displacement sensor 10, a traveling mechanism 11 and a control circuit 12, wherein the bearing column 1 is a groove-shaped structure with an axis vertical to a horizontal plane, the lifting driving mechanism 2 and the vertical guide rod 6 are embedded in the bearing column 1, the lifting driving mechanism 2 and the bearing column 1 are coaxially distributed, at least two vertical guide rods 6 are symmetrically distributed at two sides of the lifting driving mechanism 2 and parallel to the lifting driving mechanism 2, the rear end surface of the sliding block 5 is respectively connected with the lifting driving mechanism 2 and the vertical guide rod 6 in a sliding manner, the front end surface is respectively connected with the horizontal driving mechanism 4 and the horizontal guide rod 7, the axis of the horizontal driving mechanism 4 and the axis of the lifting driving mechanism 2 are perpendicular and intersected, the horizontal guide rods 7 are at least two and are symmetrically distributed on two sides of the horizontal driving mechanism 4 according to the axis of the horizontal driving mechanism 4 and are distributed in parallel with the horizontal driving mechanism 4.

in this embodiment, the bracket 3 includes a protective cover plate 31, a positioning base 32 and a positioning block 33, the protective cover plate 31 is connected with the upper end face of the positioning base 32 and coaxially distributed, the axis of the positioning base 32 is vertically distributed with the horizontal driving mechanism 4 and is respectively connected with the horizontal driving mechanism 4 and the horizontal guide rod 7 in a sliding manner, at least two positioning blocks 33 are uniformly distributed on the lower end face of the positioning base 32 around the axis of the positioning base 32, and the bracket 3 is connected with the upper end face of the cleaning machine body 8 through the positioning block 33.

In this embodiment, the cleaning machine body 8 and the bracket 3 are coaxially distributed, the axial line of the cleaning machine body 8 is distributed in parallel with the axial line of the bearing column 2, the rear side surface of the cleaning machine body 8 is abutted against the front end surface of the bearing column 1 and is mutually connected in a sliding manner, the cleaning machine body 8 and the bearing column 1 form a closed cavity structure, at least two displacement sensors 10 are respectively positioned on the slide block 5 and the positioning base 32 of the bracket 3, at least two distance measuring devices 9 are respectively positioned on the front end surface of the cleaning machine body 8 and the lower end surface of the cleaning machine body 8, the walking mechanism 11 is respectively positioned on the bearing column 1 and the lower end surface of the cleaning machine body 8, and each walking mechanism 11 is respectively and uniformly distributed around the axes of the bearing column 1 and the cleaning machine body 8, the control circuit 12 is embedded on the side surface of the cleaning machine body 8, and are respectively electrically connected with the lifting driving mechanism 2, the horizontal driving mechanism 4, the distance measuring device 9, the displacement sensor 10 and the travelling mechanism 11.

specifically, the cleaning machine body 8 includes a connection chamber 810, a carrying chamber 811, a cleaning chamber 812, a telescopic mechanical arm 813, a circumferential rotary cleaning broom 814, a spray pipe 815, a mopping rod 816, a garbage suction inlet 817, a detachable garbage box 818, a spray water pump 819, a water tank 820, a suction fan 821, a cleaning brush 822, a wall-dragging brush 823, a dust suction motor 824, a cleaning motor 825 and a working motor 826, wherein the connection chamber 810, the carrying chamber 811 and the cleaning chamber 812 are all cavity structures with rectangular cross sections, the connection chamber 810, the carrying chamber 812 and the cleaning chamber 813 are distributed from top to bottom along the axial direction of the cleaning machine body 8, the connection chamber 810, the carrying chamber 811 and the cleaning chamber 812 are connected with each other and coaxially distributed, an upper end face of the connection chamber 810 abuts against the protective cover 31 of the bracket 3, an inner surface of a side wall of the connection chamber 810 is connected with the positioning block 33 of the bracket 3, a lower end face of the connection chamber 810 and an upper end face of the carrying chamber 811 are both provided with a positioning, the positioning slot 827 of the connection chamber 810 and the bearing chamber 811 together form a closed cavity structure with a rectangular cross section, the telescopic mechanical arm 813 is embedded in the positioning slot 827 and coaxially distributed with the positioning slot 827, the axis of the telescopic mechanical arm 813 is perpendicular to and intersects with the axis of the cleaning machine body 8, the front end face of the telescopic mechanical arm 813 is positioned outside the connection chamber 810 and the bearing chamber 811 and is connected with the cleaning brush 822 and the wall dragging brush 823 through the positioning frame 828, the cleaning brush 822 and the wall dragging brush 823 are respectively connected with one 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, 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 electrically connected with the telescopic mechanical arm 813, the spray pump 819, the dust suction motor 824, the cleaning motor 825 and the operation motor 826, the cleaning chamber 812 is provided with a guide groove 830 on the side surface, and is slidably connected with a detachable garbage box 818 through the guide groove 830, the detachable garbage box 818 is coaxially distributed with the guide groove 830 and is perpendicular to and intersects with the axis of the cleaning machine body 8, the detachable garbage box 818 is embedded in the cleaning chamber 812, the front end surface of the detachable garbage box 818 is communicated with a suction fan blade 821 through a guide pipe 831, the suction fan blade 821 is embedded in the lower end surface of the cleaning chamber 812, a garbage suction inlet 817 is arranged on the lower end surface of the cleaning chamber 812 corresponding to the suction fan blade 821, the garbage suction inlet 817 is coaxially distributed with the cleaning chamber 812, at least three circumferential rotating cleaning wipers 814 are uniformly distributed outside the lower end surface of the cleaning chamber 812 around the axis of the cleaning chamber 812, the mop bar 816 is mutually connected with the outer surface of the bottom of the cleaning chamber 812 through a frame 832, the axis of the mop bar 816 is distributed parallel to the horizontal plane and is positioned on the rear side of the circumferential, the cleaning broom 814 and the mopping rod 816 are respectively connected with at least one operation motor 826, at least two spraying pipes 815 are connected with the outer surface of the bottom of the cleaning chamber 812, are positioned on the rear side of the mopping rod 816 and are distributed in parallel with the mopping rod 816, the spraying pipes 815 are communicated with the water tank 820 through a spraying water pump 819, and the spraying water pump 819, the water tank 820, the dust collection motor 824 and the operation motor 826 are all embedded in the cleaning chamber.

The positioning slot 827 and the retractable arm 813, and the guiding slot 830 and the detachable trash box 818 are slidably connected to each other through at least one sliding slot 833.

Meanwhile, the cleaning brush 822 and the wall dragging brush 823 are both in a cylindrical structure, the positioning frame 828 connected with the cleaning brush 822 and the wall dragging brush 823 is in a U-shaped groove-shaped structure, the positioning frame 828 is hinged with the telescopic mechanical arm 813 through the rotary table mechanism 834, and the rotary table mechanism 834 is electrically connected with the control circuit 12.

In addition, in the circumferential rotating cleaning broom 814, the circumferential rotating cleaning broom 814 is respectively positioned in the same arc direction which takes the axis of the cleaning chamber 812 as the center and has an arc length no greater than the circumference 3/4 of the cleaning chamber 814 and is positioned on the front end surface side of the cleaning chamber 184.

Preferably, an auxiliary driving battery 835 is further disposed in the carrying chamber 811, and the auxiliary driving battery 835 is electrically connected to the control circuit 12 through a charging/discharging control circuit.

Preferably, the contact surface between the bearing column 1 and the cleaning machine body 8 is connected with each other in a sliding manner through at least two guide sliding rails 13, and the guide sliding rails 13 are symmetrically distributed along the axis of the bearing column 1 and are parallel to the axis of the bearing column 1.

In this embodiment, the lifting drive mechanism 2, the horizontal drive mechanism 4, and the telescopic arm 813 are all 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 one or two of a laser distance measuring device and an ultrasonic distance measuring device.

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

The utility model discloses in carrying out stair clearance process, satisfy by running gear the utility model discloses nimble motion on the horizontal direction, and to the position of step through range unit, the height of step detects, and feed back the testing result to control circuit in, when the step operation is scrambleed to needs, at first by the carrier bar as the fulcrum, by control circuit drive lift actuating mechanism operation, realize the supreme one-level step position of clean organism lifting, then drive horizontal drive mechanism operation, make clean organism pass through running gear and fix a position on last one-level step, and after accomplishing clean organism and fix a position on last one-level step, by clean organism as the fulcrum, the lift actuating mechanism operation is driven once more, promote the carrier bar to on the same step face with clean organism, thereby accomplish the utility model discloses realize the purpose of step climbing.

Furthermore, the utility model discloses when moving down along the step to with climb step drive mode back drive can.

When clearing up the operation to the step horizontal plane, at first clean the debris on the step horizontal plane and make the debris of cleaning collect in rubbish suction inlet by the rotatory clean broom of circumference of clean organism lower extreme face on the one hand, then carry debris to the demountable rubbish box in through rubbish suction inlet through the negative pressure air current of rubbish suction inlet and dust absorption motor stroke, thereby accomplish the preliminary clearance of debris, on the other hand is in the rotatory clean broom cleaning operation of circumference, carry out the water smoke by the spray pipe and spray dust fall the operation to the step surface, clear up dust and the ponding on the step surface again by the pole of dragging the ground, thereby reach and reduce cleaning operation dust pollution and possess the step alone and lead to the ground cunning to cause the slip accident to take place because of ponding.

When clearing up the operation to the step perpendicular, can clear up the step perpendicular alone also can clear up the operation with the step horizontal plane and go on in step, when clearing up, at first the flexible arm operation of drive, make the brush cleaner of flexible arm front end, drag the direct and step perpendicular contact of wall brush, then by cleaning motor drive brush cleaner, it is rotatory to drag the wall brush, thereby realize the needs to step perpendicular clearance operation, and debris such as dust that produce when the step perpendicular clears up then clear up the operation through carrying out the clearance operation with the step horizontal plane, thereby satisfy the needs of the comprehensive clearance operation of step.

The utility model discloses a than traditional like do not have following advantage:

1. In the structural aspect: the robot adopts a three-wheel vehicle body structure, the rear wheels are respectively driven by two direct current motors to control the direction and the speed, and the front wheels are universal wheels. Meanwhile, the structure can conveniently realize the control of the robot, and has the biggest characteristic that the pivot steering can be realized through the difference of the steering and rotating speeds of the two wheels, so that the structure is flexible and high in efficiency.

2. In the aspect of cleaning: the detachable dust collection box makes the clearance of rubbish and dust more convenient, the dust that the device was raised in the course of the work can be reduced to spray tube spun water smoke, the automatic arm that stretches out in second floor can clean vertical side and the dead angle position of step, solve the place often ignored by the people, the arm still can utilize steering engine drive to adjust the vertical height that cleans by oneself according to the stair height simultaneously, through the nimble diversion of robot itself, the ability of cleaning of this robot has further been strengthened to more comprehensive cleaning of stair side and vertical face, the arm uses infrared distance measuring sensor, GP2Y0A21YK0F distance measuring sensor unit, by (position sensitive detector), (infrared emitting diode) and signal processing circuit. To various stair side distance detection, make the arm be difficult for receiving ambient temperature and the influence of stair height to improve its degree of accuracy and clean efficiency. The bottom of the robot is provided with the circumferential rotary cleaning device and the rotary mopping rod, so that steps are effectively cleaned, dust is reduced, the wet slip degree of the step surface is reduced, and accidents are avoided. 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 the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

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.