Automatic stair handrail cleaning device

Abstract

The utility model relates to an automatic stair handrail cleaning device, and belongs to the field of stair handrail cleaning. Comprising a cleaning device body, and a first moving device is arranged on the front side of the cleaning device body; a second moving device is arranged on the rear side of the cleaning device body; the first moving device and the second moving device are both flexibly connected with the cleaning device body. Driving devices are arranged on the upper sides of the first moving device and the second moving device, and clamping devices are arranged below the two sides of the first moving device and the second moving device. Cleaning liquid sprayers are arranged above the two sides of the first movement device, and a control box and a power box are arranged above the two sides of the second movement device. A wiping device for cleaning the exterior of the handrail is arranged on the inner side of the cleaning device body, a cleaning liquid box is arranged above two sides, and a group of balancing devices is arranged on the upper side. And rod passing devices are mounted on the lower sides of the cleaning device body, the first moving device and the second moving device. According to the stair handrail cleaning and wiping device, cleaning and wiping integration of the stair handrail can be achieved, manual cleaning can be effectively replaced, and efficient and comprehensive cleaning of the stair handrail is facilitated.

Description

Technical Field

[0001] The invention relates to a mechanical device for cleaning stairs, in particular to an automatic cleaning device for stair handrails, belonging to the technical field of cleaning devices for stair handrails. Background Art

[0002] With the development of my country's economy and the acceleration of urban modernization, there are more and more buildings, and the floors are getting higher and higher. Along with the rising of buildings, a series of problems such as maintenance and cleaning of public places have also been brought about. As one of the main public places, the hygiene of the handrails of stairs poses a great hidden danger. After the COVID-19 pandemic, people began to pay attention to public health, and stair handrails are prone to breeding bacteria, so they need to be cleaned frequently. The existing stair handrails rely on manual cleaning, which is not only labor-intensive, time-consuming and labor-intensive, but also manual cleaning may result in incomplete cleaning and substandard cleaning. Over the years, people have designed or developed various stair cleaning robots, but there is a relative lack of research on the movement and cleaning of stair guardrails and handrail cleaning robots on guardrails and handrails. In order to solve the problem of stair handrail cleaning, the inventor has proposed an automatic cleaning device for stair handrails. Summary of the invention

[0003] The present invention provides an automatic cleaning device for stair handrails, comprising a cleaning device body, a first moving device on the front side of the cleaning device body, a second moving device on the rear side of the cleaning device body, and the first moving device and the second moving device are flexibly connected to the cleaning device body. The first moving device and the second moving device are both equipped with a driving device on the upper side, and clamping devices are installed on the lower sides of both sides. Cleaning liquid sprayers are installed on the upper sides of the first moving device, and a control box and a power supply box are installed on the upper sides of the second moving device. A wiping device for cleaning the outside of the handrail is installed on the inner side of the cleaning device body, a cleaning liquid tank is installed on the upper sides, and a group of balancing devices is installed on the upper side. The cleaning device body, the first moving device, and the lower sides of the second moving device are equipped with a rod passing device for passing the support rod under the stair handrail.

[0004] Preferably, the driving device is installed on the upper plate of the first moving device; the lower side of the left plate of the first moving device and the lower side of the right plate of the first moving device are both equipped with clamping devices; the clamping device and the driving device are symmetrically distributed at 120°; the rod passing device is installed on the lower side of the left plate of the first moving device and the lower side of the right plate of the first moving device; the upper side of the left plate of the first moving device and the upper side of the right plate of the first moving device are both cleaning liquid sprayers.

[0005] Preferably, a pair of balancing devices are symmetrically installed on the upper plate of the cleaning device body; a wiping device is provided on the inner side of the cleaning device body, and the wiping device has three wiping components evenly distributed at 120°; the lower side of the left plate of the cleaning device body and the lower side of the right plate of the cleaning device body are connected by a rod device; the upper side of the left plate of the cleaning device body and the upper side of the right plate of the cleaning device body are both cleaning liquid tanks.

[0006] Preferably, the driving device is installed on the upper plate of the second motion device; clamping devices are installed on both sides of the second motion device; the two clamping devices are symmetrically distributed at 120°; the lower side of the left plate of the second motion device and the lower side of the right plate of the second motion device are connected by a rod device; the upper side of the left plate of the second motion device is a power box; the upper side of the right plate of the second motion device is a control box.

[0007] Preferably, the flexible connection structure is composed of a left front double universal joint, a right front double universal joint, a left rear double universal joint and a right rear double universal joint; the left front double universal joint is installed on the upper side of the left plate of the first motion device and the upper side of the left plate of the cleaning device body, the right front double universal joint is installed on the upper side of the right plate of the first motion device and the upper side of the right plate of the cleaning device body, the left rear double universal joint is installed on the upper side of the left plate of the cleaning device body and the upper side of the left plate of the second motion device, and the right rear double universal joint is installed on the lower side of the right plate of the cleaning device body and the upper side of the right plate of the second motion device.

[0008] Preferably, the driving device is composed of a motor, a worm gear, a worm, a driving wheel, a fixed plate, a floating plate, a column, a wheel frame, a driving shaft, a spring, a bearing seat, and a wheel frame bearing cover. The motor is mounted on the mounting plate, the motor and the worm are connected together by pins, the worm gear and the driving wheel are mounted on the driving shaft, the driving wheel is made of rubber and has an arc-shaped groove to increase the contact area with the stair handrail for better walking. The floating plate and the bearing seat are connected together by bolts, the bearing seat is fixed on the wheel frame, there is a column between the driving wheel and the fixed plate, and there is a spring on the column to adjust the spacing.

[0009] Preferably, the clamping device consists of a clamping plate, a clamping column, a clamping spring, a driven wheel bracket, a driven wheel, and a baffle column; four clamping columns are installed on the clamping plate, and the upper ends of the two baffle columns pass through the clamping plate and can float up and down on the clamping plate; the lower end of the baffle column is installed on the driven wheel bracket, the clamping spring is installed on the driven wheel bracket, and the driven wheel is riveted to the driven wheel bracket.

[0010] Preferably, the balancing device consists of a battery push rod and a balancing block, and the balancing block is mounted on the battery push rod by pins.

[0011] Preferably, the rod-passing device is composed of left and right halves, and the left half of the rod-passing mechanism includes a first connecting rod, a second connecting rod, a first rocking arm, a first stepping motor, and a left rocking plate. The front end of the first rocking arm is connected to the first stepping motor through a key, the rear end of the first rocking arm is hinged to the front end of the first connecting rod and the front end of the second connecting rod, and the rear end of the first connecting rod and the rear end of the second connecting rod are hinged to the left rocking plate; the right half of the rod-passing mechanism includes a third connecting rod, a fourth connecting rod, a second rocking arm, a second stepping motor, and a right rocking plate. The front end of the second rocking arm is connected to the second stepping motor through a key, the rear end of the second rocking arm is hinged to the front end of the third connecting rod and the front end of the fourth connecting rod, and the rear end of the third connecting rod and the rear end of the fourth connecting rod are hinged to the right rocking plate; the left rocking plate is equipped with an electromagnet, the right rocking plate is equipped with an iron sheet for connecting with the electromagnet, and the front end of the right rocking plate is equipped with a laser sensor.

[0012] Preferably, the wiping device is composed of three wiping components evenly distributed at 120°, namely, an upper plate wiping component, a left plate lower side wiping component, and a right plate lower side wiping component; the upper plate wiping component is connected to the inner wall of the upper plate of the cleaning device body; the right plate wiping component is connected to the inner wall of the right plate of the cleaning device body; the left plate wiping component is connected to the inner wall of the left plate of the cleaning device body; each wiping component includes a sponge mounting plate, a cleaning sponge, a spring, and a guide column; the cleaning sponge is mounted on the sponge mounting plate, the lower end of the guide column is connected to the sponge mounting plate by bolts, and the spring is sleeved on the guide column; the upper plate wiping component, the left plate lower side wiping component, and the right plate lower side wiping component are adapted to the shape of the armrest cylinder.

[0013] Beneficial effects of the present invention:

[0014] 1. The present invention can realize the integrated cleaning of stair handrails, with high automation and low cost. It can effectively replace manual cleaning of stair handrails, reduce labor costs, and thus ensure that the cleaning work can be completed efficiently.

[0015] 2. The present invention is composed of a first motion device, a cleaning device, and a second motion device. Adjacent devices are connected by double universal joints, and a balancing device is designed to ensure the smooth operation of the automatic cleaning device for the stair handrail.

[0016] 3. The first driving device, the second driving device and the wiping device of the present invention are all equipped with springs, which can adapt to stair handrails of different diameters. And the wiping components are evenly distributed on the inner side of the cleaning device at 120°, so the cleaning is more comprehensive. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] in:

[0019] Figure 1 A three-dimensional diagram of the present invention

[0020] Figure 2 The schematic diagram of the structure of the first motion device in the present invention is

[0021] Figure 3 The schematic diagram of the structure of the cleaning device body in the present invention is

[0022] Figure 4 The schematic diagram of the structure of the second motion device in the present invention is

[0023] Figure 5 A three-dimensional diagram of the driving device of the present invention

[0024] Figure 6 A three-dimensional diagram of the clamping device of the present invention

[0025] Figure 7 The structural diagram of the balancing device in the present invention is

[0026] Figure 8 A three-dimensional diagram of the rod passing device in the present invention

[0027] Fig. 9 A three-dimensional diagram of the wiping device in the present invention

[0028] Icons: 1-cleaning device body; 2-first motion device; 3-second motion device; 4-driving device; 5-power box; 6-clamping device; 7-cleaning liquid sprayer; 8-rod device; 9-cleaning liquid tank; 10-wiping device; 11-balancing device; 12-right rear double universal joint; 13-control box; 14-right front double universal joint; 15-left rear double universal joint; 16-left front double universal joint; 1.1-cleaning device body upper plate; 1.2-cleaning device body right plate; 1.3-cleaning device body left plate; 2.1-first motion device upper plate; 2.2-first motion device right plate; 2.3-first motion device left plate; 3.1-second motion device upper plate; 3.2-second motion device right plate; 3.3-second motion device left plate; 4.1-motor; 4.2-floating plate; 4.3-worm; 4 .4-worm gear; 4.5-driving shaft; 4.6-wheel frame; 4.7-driving wheel; 4.8-wheel frame bearing cover; 4.9-column; 4.10-bearing seat; 4.11-spring; 4.12-fixing plate; 6.1-clamping fixing plate; 6.2-clamping column; 6.3-clamping spring; 6.4-driven wheel bracket; 6.5-driven wheel; 6.6-baffle column; 11.1-battery push rod; 1 1.2-Balance block; 8.1-Second stepper motor; 8.2-First stepper motor; 8.3-Second rocker; 8.4-First rocker; 8.5-Fourth connecting rod; 8.6-Third connecting rod; 8.7-Right rocker; 8.8-Left rocker; 8.9-First connecting rod; 8.10-Second connecting rod; 10.1-Sponge mounting plate; 10.2-Cleaning sponge; 10.3-Spring; 10.4-Guide column; DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the terms in the present invention can be understood according to specific circumstances.

[0032] like Figure 1 As shown, an automatic cleaning device for stair handrails provided by the present invention comprises a cleaning device body 1, a first motion device 2 is provided on the front side of the cleaning device body; a second motion device 3 is provided on the rear side of the cleaning device body; the first motion device 2 and the second motion device 3 are flexibly connected to the cleaning device body 1. A driving device 4 is provided on the upper side of the first motion device 2 and the second motion device 3, and a clamping device 6 is provided on the lower side of both sides. A cleaning liquid sprayer 7 is provided on the upper side of both sides of the first motion device 2, and a control box 13 and a power supply box 5 are provided on the upper side of both sides of the second motion device 3. A wiping device 10 for cleaning the outside of the handrail is provided on the inner side of the cleaning device body 1, a cleaning liquid tank 9 is provided on the upper side of both sides, and a group of balancing devices 11 is provided on the upper side. A rod passing device 8 is provided on the lower side of the cleaning device body 1, the first motion device 2, and the second motion device 3 for passing through the support rod under the stair handrail.

[0033] refer to Figure 1 and Figure 2 As shown, the driving device 4 is installed on the upper plate 2.1 of the first moving device; the lower side of the left plate 2.3 of the first moving device and the lower side of the right plate 2.2 of the first moving device are both equipped with a clamping device 6; the clamping device 6 and the driving device 4 are symmetrically distributed at 120°; the rod-passing device 8 is installed on the lower side of the left plate 2.3 of the first moving device and the lower side of the right plate 2.2 of the first moving device; the upper side of the left plate 2.3 of the first moving device and the upper side of the right plate 2.2 of the first moving device are both equipped with a cleaning liquid sprayer 7. The cleaning liquid sprayers 7 are symmetrically arranged, which maximizes the coverage area of ​​the cleaning liquid on the stair handrail and realizes comprehensive cleaning of the stair handrail.

[0034] refer to Figure 1 and Figure 3As shown, a pair of balancing devices 11 are symmetrically installed on the upper plate 1.1 of the cleaning device body; a wiping device 10 is provided inside the cleaning device body 1, and the wiping device has three wiping components evenly distributed at 120°; the lower side of the left plate 1.3 of the cleaning device body and the lower side of the right plate 1.2 of the cleaning device body are connected by a rod device 8; the upper side of the left plate 1.3 of the cleaning device body and the upper side of the right plate 1.2 of the cleaning device body are both cleaning liquid tanks 9. A submersible pump is installed in the cleaning liquid tank 9, and the end of the submersible pump is connected to the cleaning liquid sprayer 7 through a water pipe. The submersible pump flows the cleaning liquid into the cleaning liquid sprayer 7 through the water pipe. A liquid level sensor is also installed in the cleaning liquid tank 9 to detect the remaining amount of cleaning liquid in the cleaning liquid tank 7.

[0035] refer to Figure 1 and Figure 4 As shown, the driving device 4 is installed on the upper plate 3.1 of the second motion device; clamping devices 6 are installed on both sides of the second motion device; the two clamping devices 6 are symmetrically distributed at 120°; the lower side of the left plate 3.3 of the second motion device and the lower side of the right plate 3.2 of the second motion device are connected by a rod device 8; the upper side of the left plate 3.3 of the second motion device is the power box 5; the upper side of the right plate 3.2 of the second motion device is the control box 13.

[0036] The flexible connection structure is composed of a left front double universal joint 16, a right front double universal joint 14, a left rear double universal joint 15, and a right rear double universal joint 12; the left front double universal joint 16 is mounted on the upper side of the left plate 2.3 of the first motion device and the upper side of the left plate 1.3 of the cleaning device body, the right front double universal joint 14 is mounted on the upper side of the right plate 2.2 of the first motion device and the upper side of the right plate 1.2 of the cleaning device body, the left rear double universal joint 15 is mounted on the upper side of the left plate 1.3 of the cleaning device body and the upper side of the left plate 3.3 of the second motion device, and the right rear double universal joint 12 is mounted on the lower side of the right plate 1.2 of the cleaning device body and the upper side of the right plate 3.2 of the second motion device. The double universal joints can realize connection at any angle, ensuring the movement effect of the stair handrail automatic cleaning device on the stair handrail.

[0037] refer to Figure 2 , Figure 4 and Figure 5As shown, the driving device 4 is composed of a motor 4.1, a worm wheel 4.4, a worm 4.3, a driving wheel 4.7, a fixed plate 4.12, a floating plate 4.2, a column 4.9, a wheel frame 4.6, a driving shaft 4.5, a spring 4.11, a bearing seat 4.10, and a wheel frame bearing cover 4.8. The motor 4.1 is mounted on the fixed plate 4.12, the motor 4.1 and the worm 4.3 are connected together by pins, the worm wheel 4.4 and the driving wheel 4.7 are mounted on the driving shaft 4.5, and the driving wheel 4.7 is made of rubber and has an arc groove to increase the contact area with the stair handrail for better walking. The floating plate 4.2 and the bearing seat 4.10 are connected together by bolts, and the bearing seat 4.10 is mounted on the wheel frame 4.6. There is a column 4.9 between the driving wheel 4.7 and the fixed plate 4.12, and there is a spring 4.11 for adjusting the spacing on the column 4.9. The spring 4.11 not only adjusts the spacing, but also provides downward pressure to ensure that the driving wheel 4.7 is in close contact with the stair handrail.

[0038] refer to Figure 2 , Figure 4 and Figure 6 As shown, the clamping device 6 is composed of a clamping plate 6.1, a clamping column 6.2, a clamping spring 6.3, a driven wheel bracket 6.4, a driven wheel 6.5, and a baffle column 6.6; four clamping columns 6.2 are installed on the clamping plate 6.1, and the upper ends of two baffle columns 6.6 pass through the clamping plate 6.1 and can float up and down on the clamping plate 6.1; the lower end of the baffle column 6.6 is installed on the driven wheel bracket 6.4, the clamping spring 6.3 is installed on the driven wheel bracket 6.4, and the driven wheel 6.5 is riveted to the driven wheel bracket 6.4.

[0039] like Figure 7 As shown, the balancing device 11 is composed of a battery push rod 11.1 and a balancing block 11.2. The balancing block 11.2 is mounted on the battery push rod 11.1 by pins. During use, the torque balance principle is utilized to change the position of the balancing block 11.2 to ensure smooth operation of the automatic cleaning device for the stair handrail.

[0040] like Figure 8As shown, the rod-passing device 8 is composed of two halves, the left half of the rod-passing mechanism includes the first connecting rod 8.9, the second connecting rod 8.10, the first rocking arm 8.4, the first stepping motor 8.2, and the left rocking plate 8.8. The front end of the first rocking arm 8.4 is connected to the first stepping motor 8.2 through a key, the rear end of the first rocking arm 8.4 is hinged to the front end of the first connecting rod 8.9 and the front end of the second connecting rod 8.10, and the rear end of the first connecting rod 8.9 and the rear end of the second connecting rod 8.10 are hinged to the left rocking plate 8.8; the right half of the rod-passing mechanism includes the third connecting rod 8.6, the fourth connecting rod 8.5, the second rocking arm 8.3, the second stepping motor 8.1, and the right rocking plate 8.7. The front end of the second rocker 8.3 is connected to the second stepper motor 8.1 through a key, the rear end of the second rocker 8.3 is hinged to the front end of the third connecting rod 8.6 and the front end of the fourth connecting rod 8.5, and the rear ends of the third connecting rod 8.6 and the fourth connecting rod 8.5 are hinged to the right rocking plate 8.7; the left rocking plate 8.8 is equipped with an electromagnet 8.13, the right rocking plate 8.7 is equipped with an iron sheet 8.12 for connecting with the electromagnet 8.13, and the front end of the right rocking plate 8.7 is equipped with a laser sensor 8.11 for detecting whether there are obstacles in front; when working, the laser sensor 8.11 detects the support rod under the stair handrail, and then the electromagnet 8.13 is powered off and separated from the iron sheet 8.12; at the same time, the second stepper motor 8.1 rotates a certain angle, and the right rocking plate 8.7 is rotated a certain angle by the right half-rod mechanism, and then the first motor 8.2 starts to work, and the left rocking plate 8.8 is rotated a certain angle by the left half-rod mechanism to realize the over-rod action.

[0041] refer to Figure 1 , Figure 3 and Fig. 9 As shown, the wiping device 10 is composed of three wiping components evenly distributed at 120°, and the three wiping components are an upper plate wiping component, a left plate lower side wiping component, and a right plate lower side wiping component; the upper plate wiping component is connected to the inner wall of the upper plate 1.1 of the cleaning device body; the right plate wiping component is connected to the inner wall of the right plate 1.2 of the cleaning device body; the left plate wiping component is connected to the inner wall of the left plate 1.3 of the cleaning device body; each wiping component includes a sponge mounting plate 10.1, a cleaning sponge 10.2, a spring 10.3, and a guide column 10.4; the cleaning sponge 10.2 is arc-shaped and can effectively clean the surface of the stair handrail; the cleaning sponge 10.2 is installed on the sponge mounting plate 10.1, and the lower end of the guide column 10.4 is connected to the sponge mounting plate 10.1 by bolts, and the spring 10.3 is sleeved on the guide column 10.4; the upper plate wiping component, the left plate lower side wiping component, and the right plate lower side wiping component are adapted to the cylindrical shape of the handrail under the action of the spring 10.3.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic cleaning device for stair handrails, characterized in that: It includes a cleaning device body, a first moving device on the front side of the cleaning device body; a second moving device on the rear side of the cleaning device body; the first moving device and the second moving device are flexibly connected to the cleaning device body; the first moving device and the second moving device are both equipped with a driving device on the upper side, and clamping devices are both equipped with clamping devices on the lower side of both sides; cleaning liquid sprayers are installed on the upper sides of the first moving device, and control boxes and power boxes are installed on the upper sides of the second moving device; a wiping device for cleaning the outside of the handrail is installed on the inner side of the cleaning device body, cleaning liquid tanks are installed on the upper sides, and a group of balancing devices are installed on the upper side; the cleaning device body, the first moving device and the second moving device are all equipped with a rod-passing device on the lower side for passing the support rod under the stair handrail.

2. The automatic cleaning device for stair handrails according to claim 1, characterized in that: The driving device is installed on the upper plate of the first moving device; the lower side of the left plate of the first moving device and the lower side of the right plate of the first moving device are both equipped with clamping devices; the clamping device and the driving device are symmetrically distributed at 120°; the rod-passing device is installed on the lower side of the left plate of the first moving device and the lower side of the right plate of the first moving device; the upper side of the left plate of the first moving device and the upper side of the right plate of the first moving device are both cleaning liquid sprayers.

3. The automatic cleaning device for stair handrail according to claim 1, characterized in that: A pair of balancing devices are symmetrically installed on the upper plate of the cleaning device body; a wiping device is provided on the inner side of the cleaning device body, and three wiping components are evenly distributed at 120 degrees on the wiping device; the lower side of the left plate of the cleaning device body and the lower side of the right plate of the cleaning device body are connected by a rod device; the upper side of the left plate of the cleaning device body and the upper side of the right plate of the cleaning device body are both cleaning liquid tanks.

4. The automatic cleaning device for stair handrails according to claim 1, characterized in that: The driving device is installed on the upper plate of the second motion device; clamping devices are installed on both sides of the second motion device; the two clamping devices are symmetrically distributed at 120°; the lower side of the left plate of the second motion device and the lower side of the right plate of the second motion device are connected by a rod device; the upper side of the left plate of the second motion device is a power box; the upper side of the right plate of the second motion device is a control box.

5. The automatic cleaning device for stair handrail according to claim 1, characterized in that: The flexible connection consists of a left front double universal joint, a right front double universal joint, a left rear double universal joint, and a right rear double universal joint; the left front double universal joint is installed on the upper side of the left plate of the first moving device and the upper side of the left plate of the cleaning device body, the right front double universal joint is installed on the upper side of the right plate of the first moving device and the upper side of the right plate of the cleaning device body, the left rear double universal joint is installed on the upper side of the left plate of the cleaning device body and the upper side of the left plate of the second moving device, and the right rear double universal joint is installed on the lower side of the right plate of the cleaning device body and the upper side of the right plate of the second moving device.

6. The automatic cleaning device for stair handrail according to claim 1, characterized in that: The driving device is composed of a motor, a worm gear, a worm, a driving wheel, a fixed plate, a floating plate, a column, a wheel frame, a driving shaft, a spring, a bearing seat, and a wheel frame bearing cover; the motor is installed on the mounting plate, the motor and the worm are connected together by pins, the worm gear and the driving wheel are installed on the driving shaft, the driving wheel is made of rubber and has an arc-shaped groove to increase the contact area with the stair handrail for better walking; the floating plate and the bearing seat are connected together by bolts, the bearing seat is fixed on the wheel frame, there is a column between the driving wheel and the fixed plate, and there is a spring on the column to adjust the spacing.

7. The automatic cleaning device for stair handrail according to claim 1, characterized in that: The clamping device consists of a clamping plate, a clamping column, a clamping spring, a driven wheel bracket, a driven wheel, and a baffle column; four clamping columns are installed on the clamping plate, and the upper ends of the two baffle columns pass through the clamping plate and can float up and down on the clamping plate; the lower end of the baffle column is installed on the driven wheel bracket, the clamping spring is installed on the driven wheel bracket, and the driven wheel is riveted to the driven wheel bracket.

8. The automatic cleaning device for stair handrail according to claim 1, characterized in that: The balancing device consists of a battery push rod and a balancing block, and the balancing block is installed on the battery push rod through pins.

9. The automatic cleaning device for stair handrail according to claim 1, characterized in that: The rod-over device consists of two halves, the left half of the rod-over mechanism includes a first connecting rod, a second connecting rod, a first rocking arm, a first stepping motor, and a left rocking plate; the front end of the first rocking arm is connected to the first stepping motor by a key, the rear end of the first rocking arm is hinged to the front end of the first connecting rod and the front end of the second connecting rod, and the rear end of the first connecting rod and the rear end of the second connecting rod are hinged to the left rocking plate; the right half of the rod-over mechanism includes a third connecting rod, a fourth connecting rod, a second rocking arm, a second stepping motor, and a right rocking plate; the front end of the second rocking arm is connected to the second stepping motor by a key, the rear end of the second rocking arm is hinged to the front end of the third connecting rod and the front end of the fourth connecting rod, and the rear ends of the third connecting rod and the fourth connecting rod are hinged to the right rocking plate; the left rocking plate is equipped with an electromagnet, the right rocking plate is equipped with an iron sheet for connecting to the electromagnet, and the front end of the right rocking plate is equipped with a laser sensor.

10. The automatic cleaning device for stair handrail according to claim 1, characterized in that: The wiping device is composed of three wiping components evenly distributed at 120°, which are an upper plate wiping component, a left plate lower side wiping component, and a right plate lower side wiping component; the upper plate wiping component is connected to the inner wall of the upper plate of the cleaning device body; the right plate wiping component is connected to the inner wall of the right plate of the cleaning device body; the left plate wiping component is connected to the inner wall of the left plate of the cleaning device body; each wiping component includes a sponge mounting plate, a cleaning sponge, a spring, and a guide column; the cleaning sponge is mounted on the sponge mounting plate, the lower end of the guide column is connected to the sponge mounting plate by bolts, and the spring is sleeved on the guide column; the upper plate wiping component, the left plate lower side wiping component, and the right plate lower side wiping component are adapted to the shape of the handrail cylinder.

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