An adaptive stair cleaning robot

Abstract

The present invention relates to an adaptive stair cleaning robot, which can realize high-efficiency cleaning of stair steps of high-rise buildings in residential areas. The adaptive stair cleaning robot mainly consists of a stair climbing mechanism, a chassis transmission mechanism, a four-wheel reversing mechanism, a cleaning mechanism, a mopping mechanism, a sensor and an industrial computer system; wherein the stair climbing mechanism is an interlaced mechanism, which can climb the stairs smoothly; the four-wheel reversing mechanism can quickly and accurately switch between normal movement and cleaning stairs, thereby realizing horizontal cleaning operations on the steps; the cleaning and mopping mechanism adopts a dry-wet separation structure, and the mopping mechanism has a self-cleaning function, and cleaning and mopping can be performed at the same time, greatly improving the cleaning efficiency. The robot realizes environmental perception functions such as anti-fall and anti-collision through sensors, and the sensors are connected to the industrial computer system; the adaptive stair cleaning robot has the advantages of being small, efficient, stable and intelligent.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning robots, in particular to an adaptive stair cleaning robot. Background Art

[0002] With the development of robot technology, the application fields of robots are becoming more and more extensive. In many residential areas, cleaners may not be able to cope with the heavy work of cleaning high-rise stairs due to their limited physical endurance. Not only will the quality and efficiency of work be greatly reduced, but the heavy cleaning work will also increase the risk to the cleaners' health. Robots with the function of cleaning stairs have not yet been widely popularized. If robot technology is fully used in stair cleaning work, it can greatly reduce the investment of manpower and material resources, save cleaning costs, improve cleaning efficiency, and improve the quality of life of residents.

[0003] At present, most of the designs of stair cleaning robots at home and abroad adopt crawler or multi-box designs. The mechanical stability of their climbing stairs is insufficient, and the crawler will damage the step surface. Some designs of cleaning mechanisms use a single negative pressure vacuum cleaning method, without adding mopping and washing of the steps, and the cleaning effect is difficult to guarantee; some use the same "dust first and then vacuum" solution as street garbage sweepers, which not only has a poor cleaning effect, but also reduces the air quality of the enclosed stairwell. Summary of the invention

[0004] The object of the present invention is to provide an adaptive stair cleaning robot to achieve stable, efficient, wet and dry cleaning of stair steps in residential (high-rise) buildings.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] An adaptive stair cleaning robot, comprising:

[0007] The cleaning mechanism can move up and down driven by the transmission mechanism to clean the higher step;

[0008] A mopping mechanism, used for mopping the lower step;

[0009] The stair climbing mechanism is provided with a universal wheel at the front end and two climbing mechanism driving wheels at the rear end, and can move up and down relative to the robot chassis; the universal wheel at the front end is used to support on a higher step, and the climbing mechanism driving wheel is used to support on the first step;

[0010] When the stair climbing mechanism goes down, the robot is lifted up, so that the cleaning mechanism, the mopping mechanism, and the four-wheel reversing mechanism are separated from the ground, and the robot can move forward on the steps, driving the robot to move to the inside of the steps, and moving the four-wheel reversing mechanism to the next step up; when the stair climbing mechanism goes up, the robot is driven to descend, so that the cleaning mechanism, the mopping mechanism, and the four-wheel reversing mechanism are in contact with the ground;

[0011] The four-wheel reversing mechanism is arranged at the lower end of the robot chassis. It can realize a 90-degree turn after the stair climbing mechanism goes down. It drives the robot to move laterally when the stair climbing mechanism goes up, and drives the cleaning mechanism and the mopping mechanism to move left and right. After completing the cleaning and sweeping actions, it drives the robot forward and realizes the stair climbing mechanism to move to a higher step.

[0012] Compared with the prior art, the present invention has the following significant advantages:

[0013] (1) The interlaced climbing stair step mechanism, in conjunction with the universal wheel and two-wheel drive mechanism, can smoothly climb standard residential stairs, and can also adaptively climb non-standard steps within a certain limit.

[0014] (2) The screw-type multi-link chassis reversing mechanism can quickly and accurately switch between normal movement and stair cleaning. In the normal movement state, the four drive wheels rotate to the front and rear directions, and can move forward and backward smoothly. When the stairs need to be cleaned, the four drive wheels rotate 90 degrees under the control of the screw and multi-link, so that they can move horizontally on the steps to cooperate with the cleaning operation.

[0015] (3) A dry and wet separation cleaning mechanism uses a spiral brush combined with a vacuum cleaner to achieve cleaning, and a mopping mechanism with a self-cleaning function. Cleaning and mopping can be performed simultaneously, greatly improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an adaptive stair cleaning robot of the present invention;

[0017] Figure 2 It is a schematic diagram of the overall cross-sectional structure;

[0018] Figure 3 is a schematic diagram of the structure of the stair climbing mechanism;

[0019] Figure 4 It is a schematic diagram of the chassis transmission mechanism structure;

[0020] Figure 5 It is a schematic diagram of the structure of the four-wheel reversing mechanism;

[0021] Figure 6 It is a schematic diagram of the cleaning mechanism structure;

[0022] Figure 7 It is a schematic diagram of the external structure of the mopping and washing mechanism;

[0023] Figure 8 It is a schematic diagram of the internal structure of the mopping and washing mechanism;

[0024] Fig. 9 It is a schematic diagram of the winding mode of the mopping belt in the mopping and washing mechanism.

[0025] Fig.10 This is a schematic diagram of the cleaning robot during the stair cleaning process. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0027] like Figure 1-10 As shown in the figure, an adaptive stair cleaning robot of the present invention comprises: a stair climbing mechanism, a chassis transmission mechanism, a four-wheel reversing mechanism, a cleaning mechanism, a mopping mechanism, a sensor and an industrial computer system;

[0028] The stair climbing mechanism is composed of a first bearing seat 101, a first lifting screw 102, a lifting guide rail 103, a lifting guide rail slider 104, a climbing arm 105, a first drive motor 106, a first synchronous pulley 107, a first bearing 108, a second drive motor 109, a support plate 110, a right-angle reducer 111, a climbing mechanism drive wheel 112, a first synchronous belt 114, a guide rail seat 115, a first motor bracket 116, and a universal wheel 117;

[0029] like Figure 1-3As shown, in the stair climbing mechanism, the first bearing seat 101 is respectively fixed to the inner top of the shell 001 and the robot chassis 113, and the first bearing 108 is installed in the first bearing seat 101; the upper and lower ends of the first lifting screw 102 are installed in the two first bearings 108; the guide rail seat 115 is fixed to the robot chassis 113; the lifting guide rail 103 is installed on the lifting guide rail base 115; the lifting guide rail slider 104 is threadedly matched with the first lifting screw 102 and slidably matched with the lifting guide rail 103, and the lifting guide rail 103 guides the up and down sliding of the lifting slider 104; the lifting slider 104 is installed on the climbing arm 105 through the hole-shaft match; the support plate 110 is fixed to the rear lower end of the climbing arm 105; the two The second drive motors 109 are symmetrically fixed in the square holes of the support plate 110 with the climbing arm 105 as the center; the two right-angle reducers 111 are respectively installed on the two second drive motors 109; the two climbing mechanism driving wheels 112 are respectively installed on the output shaft ends of the two right-angle reducers 111; the first drive motor bracket 116 is fixed on the robot chassis 113; the first drive motor 106 is installed on the first motor bracket 116; the first synchronous pulley 107 is fixed on the first lifting screw 102 and close to one end (lower end) of the robot chassis 113; the output shaft of the first drive motor 106 and the first synchronous pulley 107 are connected by the first synchronous belt 114; the universal wheel 117 is installed at the front lower end of the climbing arm 105. The two climbing mechanism driving wheels 112 at the rear are at the same height, and the universal wheel 117 at the front is higher than the two climbing mechanism driving wheels 112 to adapt to the steps of the stairs.

[0030] The chassis transmission mechanism is composed of a second bearing seat 201, a second lifting screw 202, a cleaning mechanism guide rail 203, a third driving motor 204, a cleaning guide rail slider 205, a second motor bracket 206, a second bearing 207, a second synchronous belt 208, a second synchronous pulley 209, a cleaning mechanism fixing plate 210, and a cleaning guide rail fixing plate 211;

[0031] like Figure 1 , 2As shown in , 4, in the chassis transmission mechanism, four second bearing seats 201 are respectively fixed on the inner top of the shell 001 and the robot chassis 113; four second bearings 207 are respectively installed in the four second bearing seats 201; two second lifting screws 202 are respectively installed in the four second bearings 207; the second drive motor bracket 206 is fixed to the robot chassis 113; the third drive motor 204 is installed on the second drive motor bracket 206; two second synchronous pulleys 209 (coaxial) are provided at the bottom of one of the second lifting screws 202, and a second synchronous pulley 209 is provided at the bottom of the other second lifting screw 202, the output shaft of the third drive motor 204 is connected to one of the two second synchronous pulleys 209 through a second synchronous belt 208, and the other coaxial second synchronous belt 209 is connected to the second synchronous pulley 209 on the other screw 202 through the second synchronous belt 208. The cleaning rail 203 is fixed to the inner side of the housing 001; the cleaning rail slider 205 is installed on the cleaning rail 203, and the cleaning rail 203 is used to guide the cleaning rail slider 205 to slide up and down; the cleaning mechanism fixing plate 210 is threadedly matched with the second lifting screw 202, and is connected to the cleaning rail slider 205 through the cleaning rail fixing plate 211. The cleaning mechanism fixing plate 210 is used to connect the cleaning mechanism.

[0032] The four-wheel reversing mechanism is composed of a worm gear reduction motor 301, a coupling 302, a transmission connecting rod 303, a screw fixing seat 304, a left-handed screw nut seat 305, a left-handed screw 306, a nut seat guide rail 307, a screw support seat 308, a motor connecting rod 309, a micro-reduction motor 310, a reversing mechanism driving wheel 311, a right-handed screw nut seat 312, a four-wheel reversing mechanism chassis 313, and a right-handed screw 314;

[0033] like Figure 1 , 2As shown in Figure 5, in the four-wheel reversing mechanism, the four-wheel reversing mechanism chassis 313 is connected to the lower end of the robot chassis 113 by bolts; the left and right screws 306 and 314 are fixed on the four-wheel reversing mechanism chassis 313 by two screw fixing seats 304 and two screw support seats 308; the left and right screw nut seats 305 and 312 are respectively installed on the left and right screws 306 and 314; the worm gear reduction motor 301 connects its two output shafts with the left and right screws 306 and 314 through two couplings 302; the two ends of the left and right screws 306 and 314 are respectively provided with screw fixing seats 304 and screw support seats 308 for rotation support. One end of the two transmission connecting rods 303 is rotationally connected to the left and right screw nut seats 305 and 312, and the other end is rotationally connected to the motor connecting rods 309 at the left and right ends respectively; the motor connecting rod 309 is rotationally connected to the four-wheel reversing mechanism chassis 313; the micro reduction motor 310 and the reversing mechanism driving wheel 311 are installed on the motor mounting end of the motor connecting rod 309; the worm gear reduction motor 301, the screw fixing seat 304, and the screw supporting seat 308 are all fixed on the four-wheel reversing mechanism chassis 313.

[0034] The cleaning mechanism is composed of a cleaning brush 401, a dust inlet 402, a dust inlet connector 403, a garbage collection bin 404, a dust suction fan 405, a support truss 406, a cleaning motor bracket 407, and a cleaning motor 408;

[0035] like Figure 1 , 2 As shown in FIG. 6 , in the cleaning mechanism, the dust inlet connector 403 is installed at one end of the supporting truss 406; the dust inlet 402 and the garbage collection bin 404 are connected to the dust inlet connector 403; the dust suction fan 405 is fixed on the top of the garbage collection bin 404; one end of the cleaning brush 401 is connected to the cleaning motor 408; the cleaning motor 408 is fixed to the supporting truss 406 through the cleaning motor bracket 407. A cleaning brush 401 is symmetrically provided on the left and right sides of the garbage collection bin 404.

[0036] The mopping mechanism is composed of a roller bracket 501, a first coarse roller 502, a second coarse roller 503, a fine roller 504, a first transmission gear 505, a second transmission gear 506, a third synchronous pulley 507, a third synchronous belt 508, a fourth synchronous pulley 509, a cleaning motor 510, a water tank 511, and a mopping belt 512;

[0037] like Figure 1 , 2As shown in Figures 7, 8 and 9, in the mopping and washing mechanism, a cleaning motor 510 is fixed on the top of a water tank 511, the cleaning motor 510 is connected to a fourth synchronous pulley 509, and the fourth synchronous pulley 509 is connected to a third synchronous pulley 507 via a third synchronous belt 508; both ends of the two first coarse rollers 502 are respectively fixed to the bottom of the water tank 511 via roller brackets 501; the mopping belt 512 goes out from one side of the water tank 511, bypasses the two first coarse rollers 502 (located outside the water tank) located below the water tank 511, and then enters the water tank 511 from the other side;

[0038] The internal structure of the water tank 511 of the mopping mechanism is as follows: Figure 8 As shown, six fine rollers 504 are installed on the inner side of the water tank 511; one end of two second coarse rollers 503 are installed on the inner side of the water tank 511, and the other ends are respectively connected to the first transmission gear 505 and the second transmission gear 506 on the outer side of the water tank 511; the axial direction of the fine rollers 504 is arranged parallel to the axial direction of the coarse rollers 503. The third synchronous pulley 507 is connected to one of the second coarse rollers 50, and the side ends of the two second coarse rollers 503 are respectively provided with the first transmission gear 505 and the second transmission gear 506, and the first transmission gear 505 and the second transmission gear 506 are meshed.

[0039] The schematic diagram of the winding method of the mopping belt 512 inside the water tank 511 is as follows Fig. 9 As shown in the figure (the dotted line in the figure indicates the water level, and slots for the mopping belt 512 to pass through are provided on both sides of the water tank), two thin rollers 504 are provided on the outer sides of the two second thick rollers 503, and a thin roller 504 is provided on the lower sides of the two second thick rollers 503. One end of the mopping belt 512 is fixedly wound around a second thick roller 503, then passes around a thin roller 504 located at the lower end thereof, passes between two thin rollers 504 at the side ends of the second thick roller 503, then passes around the two first thick rollers 502 below, and passes upwards between two thin rollers 504 at the side ends of another second thick roller 503, and after passing around a thin roller 504 located at the lower end thereof, the other end is fixedly wound around another second thick roller 503.

[0040] like Figure 1 , 2 As shown, the adjustment block 601 is installed on the cleaning mechanism fixing plate 210, a spring 602 is installed inside the adjustment block 601, and the other end of the spring 602 is connected to the supporting truss 406 of the cleaning mechanism; the water tank 511, the third connecting plate 605, the second connecting plate 604, and the first connecting plate 603 in the mopping and washing mechanism are fixed in sequence, and the first connecting plate 603 is fixed on the cleaning mechanism fixing plate 210;

[0041] The working principle of the present invention is as follows: the robot is initially in the four-wheel drive state in the four-wheel reversing mechanism, and the front and rear three wheels of the stair climbing mechanism, the cleaning brush 401 of the cleaning mechanism, and the mopping belt 512 of the mopping mechanism are all at a certain height from the ground; first, the four-wheel reversing mechanism drives forward, and the robot drives to the edge of the stairs, and the sensors and industrial computer system installed on the robot detect the stairs and issue instructions; the first drive motor 106 works in the forward direction, and transmits power to the first lifting screw 102 through the first synchronous belt 114 and the first synchronous pulley 107; the first lifting screw 102 rotates at a constant speed, driving the lifting guide slider 104 moves downward relative to the robot chassis 113; the climbing arm 105 on which the lifting slider 104 is installed through the hole shaft also moves downward until the front and rear three wheels of the stair climbing mechanism touch the ground (the universal wheel 117 is located on the outside of the first step, and the two climbing mechanism driving wheels 112 are located on the ground layer); during the downward movement of the climbing arm 105, no matter what the order of the universal wheel 117 at the front of the climbing arm 105 and the rear climbing mechanism driving wheel 112 touching the ground is, as the climbing arm 105 rotates around the boss of the lifting guide rail slider 104, the contact points of the front and rear wheels of the climbing arm 105 can always be adaptive The height difference of the stair steps; after the robot climbing arm 105 adapts to the height of the stairs, the first servo drive motor 106 continues to work. Since the climbing arm 105 makes the front and rear three wheels contact the step surface, the robot body moves upward relative to the climbing arm 105, that is, the climbing arm 105 serves as a supporting structure for lifting the robot body; when the robot body is lifted to a certain height by the climbing arm 105 (at this time the four-wheel reversing mechanism is off the ground), the four-wheel steering mechanism starts to work, and the worm gear reduction motor 301 works in the forward direction, driving the left and right screws 306 and 314 in the same direction through the coupling 302. Rotation; the left-hand and right-hand screw nut seats 305 and 312 installed on the left-hand and right-hand screws 306 and 314 will move linearly in opposite directions along the nut seat guide rails 307, respectively, and drive the four reversing mechanism drive wheels 311 to rotate with the fixed axis of the motor connecting rod 309 and the four-wheel reversing mechanism chassis 313 as the rotating axis through the transmission connecting rod 303 and the motor connecting rod 309; the working time of the worm gear reduction motor 301 can be controlled by the controller, and then the rotation angle of the four reversing mechanism drive wheels 311 (axial rotation of 90 degrees) can be controlled, so that it can switch from front and rear driving to left and right lateral movement mode;

[0042] When the left and right lateral movement mode switching in the four-wheel reversing mechanism is completed, the first drive motor 106 works in the reverse direction, causing the lifting screw 102 to rotate in the reverse direction, and the lifting guide slider 104 moves upward relative to the lifting screw 102, driving the robot body to move downward until the four wheels in the four-wheel reversing mechanism touch the ground again; then the first drive motor 106 continues to work in the reverse direction, causing the front and rear three wheels of the stair climbing mechanism to leave the ground to a certain height;

[0043] The third drive motor 204 transmits power to the second lifting screw 202 through a synchronous belt drive, and the second lifting screw 202 rotates, thereby driving the cleaning mechanism fixing plate 210 fixed on the cleaning guide rail slider 205 to move downward until the cleaning mechanism contacts the ground (this can be detected by setting a pressure sensor or other detection mechanism on the cleaning mechanism).

[0044] The support truss 406 in the cleaning mechanism is elastically connected to the cleaning mechanism fixing plate 210 through the spring 601, which can always keep the cleaning brush 401 in contact with the ground and generate a certain pressure within the elastic range of the spring, which is conducive to enhancing the cleaning effect and realizing the self-adaptation of the cleaning mechanism to the step height;

[0045] Four micro-reduction motors 310 drive four reversing mechanism driving wheels 311 to make the robot move laterally to perform lateral cleaning and mopping actions;

[0046] The robot can clean the higher steps and mop the lower steps at the same time, greatly improving the cleaning efficiency and cleaning effect;

[0047] The working principle of the cleaning mechanism is as follows: the cleaning motor 408 drives the cleaning brush 401 to rotate, raising dust and sweeping it together with debris on the ground into the dust inlet 402; a good seal is made at the connection between the garbage collection bin 404, the dust inlet 402, and the dust suction fan 405, and the dust suction fan 405 sucks out air flow, forming a negative pressure in the garbage collection bin 404, helping the garbage in the dust inlet 402 to enter the bin.

[0048] The working principle of the mopping mechanism is as follows: the cleaning motor 510 rotates, and drives the second transmission gear 506 and the first coarse roller 503 on the right side to rotate through the fourth synchronous pulley 509, the third synchronous belt 508, and the third synchronous pulley 507; at the same time, the second transmission gear 506 drives the first transmission gear 505 to rotate in the opposite direction at the same speed, so that the first coarse roller 503 on the right side releases the mopping belt, and the first coarse roller 503 on the left side can roll up the mopping belt of equal length; under the action of the two second coarse rollers 502, the mopping belt 512 is tightened and contacts the ground. By controlling the reciprocating forward and reverse rotation of the cleaning motor 510, the mopping belt under the water tank 511 can be repeatedly moved left and right to complete the scrubbing of the step surface. Each time the cleaning motor 510 rotates in one direction, the part of the mopping belt 512 that scrubs the floor can enter the water tank and be completely immersed in water. When the motor rotates in the opposite direction in the next stroke, the cleaned mopping belt soaked in water is squeezed dry by two small rollers near the side of the water tank, and then wipes the floor again after exiting the water tank, thereby realizing the mopping and washing function.

[0049] When the robot finishes cleaning and mopping, the third drive motor 204 rotates in the reverse direction, and the second lifting screw 202 rotates in the reverse direction, driving the cleaning mechanism fixing plate 210 fixed on the cleaning guide rail slider 205 to move upward to restore the initial state; at the same time, the first drive motor 106 works in the forward direction, and the robot repeats the above-mentioned action of lifting the main body, and the front and rear three wheels of the stair climbing mechanism contact the ground (the universal wheel 117 is located on the outside of the first step, and the two climbing mechanism driving wheels 112 are located on the ground layer), and at the same time, the worm gear reduction motor 301 works in the reverse direction, and the robot repeats the four-wheel reversing action in the reverse direction, so that the four-wheel reversing mechanism switches to the front and rear driving mode;

[0050] The second drive motor 109 drives the climbing mechanism driving wheel 112 to rotate forward, and the universal wheel 117 moves to the inside of the first step. At the same time, the four-wheel reversing mechanism moves forward with the robot body and is located on the upper side of the first step. Then the chassis transmission mechanism rises (higher than the step height), the front and rear three wheels of the stair climbing mechanism leave the ground, and the four reversing mechanism driving wheels 311 of the four-wheel reversing mechanism contact the first step. Then the power of the second drive motor 109 is transmitted to the driving climbing mechanism driving wheel 112 through the right-angle reducer 111. The four-wheel reversing mechanism moves forward to drive the robot to move to the inside of the first step. The four-wheel reversing mechanism drives the universal wheel 117 to be located at the upper end of the outer side of the second step, and the two climbing mechanism driving wheels 112 are located at the upper end of the first step. In the process of moving forward, the sensor can monitor the movement of the robot body, and the driving direction of the robot body can be adjusted by differentially controlling the two second servo drive motors 109.

[0051] When the universal wheel 117 approaches the second step elevation, the first drive motor 106 works in the reverse direction, repeating the above-mentioned action of lowering the main body of the robot; then the first drive motor 106 continues to work in the reverse direction, raising the front and rear wheels of the stair climbing mechanism to a certain height above the next step (the universal wheel 117 is supported on the outside of the second step, and the two climbing mechanism drive wheels 112 are supported on the first step);

[0052] Repeat the above-mentioned lifting of the robot, the conversion of the forward and backward movement of the four-wheel reversing mechanism into the left and right lateral movement, and repeat the next cleaning and mopping action;

[0053] The adaptive stair cleaning robot can be powered by a 24V DC mobile power supply. In addition to standard parts, POM is preferred as the raw material for various types of processed parts under the conditions that the material meets the strength, stiffness, stability and other conditions. POM material has the advantages of light weight, high mechanical properties and easy processing. It can reduce the overall weight of the robot and reduce power consumption to improve operating efficiency and overall endurance.

Claims

1. An adaptive stair cleaning robot, characterized in that: include: The cleaning mechanism can move up and down driven by the transmission mechanism to clean the higher step; A mopping mechanism, used for mopping the lower step; The stair climbing mechanism is provided with a universal wheel at the front end and two climbing mechanism driving wheels at the rear end, and can move up and down relative to the robot chassis; the universal wheel at the front end is used to support on a higher step, and the climbing mechanism driving wheel is used to support on the first step; When the stair climbing mechanism goes down, the robot is lifted up, so that the cleaning mechanism, the mopping mechanism, and the four-wheel reversing mechanism are separated from the ground, and the robot can move forward on the steps, driving the robot to move to the inside of the steps, and moving the four-wheel reversing mechanism to the next step up; when the stair climbing mechanism goes up, the robot is driven to descend, so that the cleaning mechanism, the mopping mechanism, and the four-wheel reversing mechanism are in contact with the ground; The four-wheel reversing mechanism is set at the lower end of the robot chassis. It can realize a 90-degree turn after the stair climbing mechanism goes down, and drive the robot to move horizontally when the stair climbing mechanism goes up, and drive the cleaning mechanism and the mopping mechanism to move left and right; after completing the cleaning and sweeping action, it drives the robot forward to realize the stair climbing mechanism to move to a higher step; The stair climbing mechanism includes a first lifting screw, a lifting guide rail slider, a climbing arm, a first drive motor, a first synchronous pulley, a second drive motor, a reducer, a climbing mechanism drive wheel, a first synchronous belt, and a universal wheel; The first lifting screw is supported in the robot housing, the first drive motor is fixed on the robot chassis and connected to the first synchronous pulley through the first synchronous belt, and the first synchronous pulley is connected to the first lifting screw; the lifting guide slider is threadedly matched with the first lifting screw; a guide structure is provided on the robot chassis for guiding the up and down movement of the lifting guide slider; the climbing arm is connected to the lifting guide slider, a universal wheel is provided at the front end of the climbing arm, and two climbing mechanism driving wheels are provided at the rear end, and the climbing mechanism driving wheels are driven by the second drive motor and the reducer; The four-wheel reversing mechanism comprises a worm gear reduction motor, a coupling, a transmission connecting rod, a left-hand screw, a motor connecting rod, a reduction motor, a reversing mechanism driving wheel, a four-wheel reversing mechanism chassis, and a right-hand screw; The worm gear reduction motor, left-hand screw and right-hand screw are all arranged on the four-wheel reversing mechanism chassis, the four-wheel reversing mechanism chassis is connected to the lower end of the robot chassis, the two output shafts of the worm gear reduction motor are respectively connected to the left-hand screw and the right-hand screw through a coupling; the left-hand screw and the right-hand screw are both provided with a screw nut seat, the screw nut seat is rotatably connected with two transmission connecting rods, the transmission connecting rod is rotatably connected to the motor connecting rod, the motor connecting rod is rotatably connected to the four-wheel reversing mechanism chassis, the reversing mechanism driving wheel is connected to the motor connecting rod, and is driven by the reduction motor.

2. The adaptive stair cleaning robot according to claim 1, characterized in that: The transmission mechanism includes a second lifting screw, a third driving motor, a second synchronous belt, a second synchronous pulley, and a cleaning mechanism fixing plate; Two second lifting screws are supported in the robot shell, one of the second lifting screws is provided with two second synchronous pulleys, the other second lifting screw is provided with a second synchronous pulley, the output shaft of the third drive motor is connected to a second synchronous pulley on one of the second lifting screws through a second synchronous belt, and the other two second synchronous pulleys are also connected through a second synchronous belt; the cleaning mechanism fixing plate is threadedly matched with the second lifting screw, and a guide mechanism for the up and down movement of the cleaning mechanism fixing plate is provided on the robot chassis; the cleaning mechanism fixing plate is used to fix the cleaning mechanism.

3. The adaptive stair cleaning robot according to claim 2, characterized in that: An adjusting block is arranged on the fixing plate of the cleaning mechanism, a spring is installed inside the adjusting block, and the other end of the spring is connected to the cleaning mechanism.

4. The adaptive stair cleaning robot according to claim 1, characterized in that: The cleaning mechanism includes a cleaning brush, a dust inlet, a dust inlet connector, a garbage collection bin, a dust suction fan, a supporting truss, and a cleaning motor; The dust inlet connector is arranged at one end of the supporting truss; the dust inlet and the garbage collecting bin are connected with the dust inlet connector; the dust suction fan is fixed on the top of the garbage collecting bin; one end of the cleaning brush is connected with the cleaning motor; the cleaning motor is fixed on the supporting truss.

5. The adaptive stair cleaning robot according to claim 4, characterized in that: A cleaning brush is symmetrically arranged on the left and right sides of the garbage collection bin.

6. The adaptive stair cleaning robot according to claim 1, characterized in that: The mopping mechanism includes a roller bracket, a first coarse roller, a second coarse roller, a fine roller, a first transmission gear, a second transmission gear, a third synchronous pulley, a third synchronous belt, a fourth synchronous pulley, a cleaning motor, a water tank, and a mopping belt; The cleaning motor is fixed on the top of the water tank, the cleaning motor is connected to the fourth synchronous pulley, and the fourth synchronous pulley is connected to the third synchronous pulley through the third synchronous belt; the two ends of the two first coarse rollers are respectively fixed to the bottom of the water tank through roller brackets; Six fine rollers are installed on the inner side of the water tank; one end of two second coarse rollers is installed on the inner side of the water tank, and the other end is respectively connected to the first transmission gear and the second transmission gear on the outer side of the water tank; the axial direction of the fine roller is arranged parallel to the axial direction of the coarse roller; the third synchronous pulley is connected to one of the second coarse rollers, and the side ends of the two second coarse rollers are respectively provided with the first transmission gear and the second transmission gear, and the first transmission gear and the second transmission gear are meshed; Two thin rollers are respectively arranged on the outer sides of the two second thick rollers, and a thin roller is respectively arranged on the lower sides of the two second thick rollers; one end of the mopping belt is fixedly wound around a second thick roller, then passes around a thin roller located at its lower end, passes between two thin rollers at the side ends of the second thick roller, then passes around the two first thick rollers below, passes upward between two thin rollers at the side ends of another second thick roller, and after passing around a thin roller located at its lower end, the other end is fixedly wound around another second thick roller.

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