CN111568320A

CN111568320A - Floor cleaning robot capable of climbing stairs

Info

Publication number: CN111568320A
Application number: CN202010317197.7A
Authority: CN
Inventors: 张春燕; 任甲辉; 张洋洋; 陈雅洁; 胡柏松
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-08-25

Abstract

The invention discloses a floor cleaning robot capable of climbing stairs, which comprises a support plate, wherein a water sprayer, a dust collecting box and a dryer are fixedly connected to the support plate; a left cross beam, a mop plate, a dust absorption plate and a right cross beam are fixedly connected below the supporting plate through a rotary lifting table, and the left cross beam and the right cross beam are fixedly connected with a driving box through a shock absorber; the driving box is provided with a sliding chute, a motor seat, a motor and an electric push rod; the motor shaft is connected with a driving gear, the driving gear is matched with a gear ring and a driven gear, and the driven gear is connected with a movable shaft of the small roller through a belt; the mop plate is provided with a rotary brushing head and a spray head, and the dust absorption plate is provided with a dust absorption groove, a rotary roller brush and a high-pressure spray head. The flexible structure of the invention is matched with the rotary lifting platform to realize a more comprehensive cleaning process of stairs or uneven ground; the exchange of the land leveling operation and the climbing operation is realized through the transmission of a clutch type gear; the water sprayer, the dryer and the dust collector are integrated into a whole, so that the cleaning operation flow of mopping, drying, sweeping and dust collection is realized, and the application range is wide.

Description

Floor cleaning robot capable of climbing stairs

Technical Field

The invention relates to the technical field of floor cleaning devices, in particular to a floor cleaning robot capable of climbing stairs.

Background

In recent years, with the rapid development of computers and artificial intelligence technologies, the field of intelligent robots is gradually becoming a hot spot in the field of modern robot research. Wherein, the service robot opens up a new field of robot application. The service robot appears mainly for three reasons: first, labor costs rise; secondly, people want to get rid of boring labor force, such as cleaning, housework, patient care and the like; and thirdly, the aging of the population and the improvement of social welfare system also provide wide market application prospect for the service robots.

The floor cleaning robot on the market at present mostly takes the portable as the main thing, though the size is light, but the practicality is not high, can not hinder and climb the building more moreover, therefore research and develop an intelligent floor cleaning robot that collects automatic building of climbing, dust absorption, mopping, stoving as an organic whole, to improving floor cleaning efficiency, practice thrift clean cost, have crucial meaning.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a floor cleaning robot capable of climbing stairs.

In order to achieve the purpose, the invention adopts the following technical scheme:

a floor cleaning robot capable of climbing stairs comprises a supporting plate, wherein the supporting plate is in a hinge plate shape formed by hinging a left supporting plate and a right supporting plate through a hinge connecting buckle, the hinge connecting buckle is a 75-degree special hinge, a dryer is fixedly connected to the upper surface of the left supporting plate, and a dust collecting box and a water sprayer are fixedly connected to the upper surface of the right supporting plate;

the lower surface of the supporting plate is sequentially provided with a group of drying pipelines and four groups of rotary lifting tables from left to right, the drying pipelines are specifically sleeved on the left supporting plate by a group of square-back pipelines and are fixed by welding, the top of each drying pipeline is communicated with a dryer through an air pipe, the bottom of each drying pipeline is provided with a shutter-shaped air port, and the air outlet of each drying pipeline faces the ground;

the bottom parts of the four groups of rotary lifting tables from left to right are respectively and fixedly connected with a left cross beam, a mop plate, a dust suction plate and a right cross beam in sequence, the bottom part of the leftmost rotary lifting table is fixedly arranged at the central position of the left cross beam, and two ends of the left cross beam are respectively and fixedly connected with a driving box through shock absorbers;

the bottom wall in the driving box is provided with a sliding groove, a motor base is connected in the sliding groove in a sliding mode, the upper surface of the motor base is fixedly connected with a motor, a motor shaft is arranged on one side of the motor, an electric push rod is fixedly connected to one side, away from the motor shaft, of the motor, the base of the electric push rod is fixed to the inner side wall of the driving box, and the motor shaft extends out of the driving box and is connected with a roller assembly;

the roller component comprises a similar triangular gear shell and a small roller arranged on the similar triangular gear shell, a motor shaft is movably inserted in the center of the similar triangular gear shell, the part of the motor shaft extending into the similar triangular gear shell is fixedly sleeved with a driving gear through a flat key, a gear ring matched with the driving gear is fixedly arranged on the inner wall of one side of the similar triangular gear shell close to the driving box, a driven gear matched with the driving gear is sleeved on the inner wall of one side of the similar triangular gear shell far away from the driving box through a pin shaft, one side of the driven gear is provided with a micro belt ring I, the small roller is connected on the similar triangular gear shell through a movable shaft, the movable shaft is also sleeved with a micro belt ring II, the micro belt ring I and the micro belt ring II are connected through belts, the tail end of the motor shaft extending out of the similar triangular gear shell is provided with a sealing nut, and the tooth space between the driven gear and, the driving gear generates a deceleration action after transmission, so that the driving gear can be conveniently and smoothly released from the gear ring and then smoothly meshed with the driven gear, and vice versa; the rim surface of the small roller is positioned outside the frame of the similar triangular gear shell, so that the similar triangular gear shell is not contacted with the ground or stairs all the time;

two ends of the right cross beam are also respectively provided with a group of shock absorbers, a driving box and a roller assembly;

the center of the upper surface of the mop plate is fixedly connected with the bottom end of the corresponding rotary lifting platform, the lower surface of the mop plate is provided with a plurality of groups of rotary brushing heads and a plurality of groups of spray heads, the spray heads are communicated with a water sprayer through water pipes, the pipe orifices of the spray heads face the corresponding rotary brushing heads, the rotary brushing heads are cylindrical blocks, the circle centers of the upper surfaces of the rotary brushing heads are fixedly connected below the mop plate through pin shafts, and cleaning cloth sleeves are sleeved outside the rotary brushing heads;

the central position of one limit of dust absorption board upper surface is rather than the rotatory elevating platform bottom rigid coupling that corresponds, rectangular dust absorption groove has been seted up at the middle part of dust absorption board lower surface, the top surface in dust absorption groove is linked together with the dust catcher through the pipeline, the gas vent of the dust catcher other end is linked together with the dust collection box through the pipeline, the fixing base at the rotatory elevating platform top of dust absorption board rigid coupling passes through bolt and dust catcher's shell rigid coupling, be equipped with rotatory roller brush through the round pin pedestal in the dust absorption groove, there is the below position that part cambered surface stretches out the dust absorption board lower surface in the bottom of rotatory roller brush, dust absorption board lower surface still is equipped with multiunit water spray recess, the embedding has high-pressure atomising head in the water spray recess, high-pressure atomis.

Furthermore, the rotary lifting platform is specifically an SWL type electric screw rod lifter, a fixed seat at the top of the rotary lifting platform is installed on the lower surface of the supporting plate through screws, and a fixed seat at the bottom of the rotary lifting platform is installed at the center of the left cross beam, the mop plate, the dust collection plate or the right cross beam through flanges.

Furthermore, smooth shaft holes which are movably sleeved with the motor shaft are formed in the two side faces of the triangular gear-like shell and the one side face of the driving box, and lubricating oil is smeared on the inner walls of the smooth shaft holes. The motor shaft can be conveniently translated along the axial direction, so that the driving gear can be smoothly separated from the gear ring and then can be smoothly meshed with the driven gear, and vice versa.

Furthermore, the water sprayer is composed of a water tank and a plurality of groups of Glan-rich micro water pumps, the dryer is composed of an air heater and a plurality of groups of hot air pumps, the dust collector is a Dibea04008 pro cyclone suction machine,

the invention also provides a control system of the cleaning robot, which adopts the floor cleaning robot capable of climbing stairs, the upper surface of the supporting plate is also fixedly provided with a control box, the control box is provided with a control chip, a sensor, a remote control signal receiving and sending device and a rechargeable power supply, and the control chip is provided with foot lines which are respectively and electrically connected with the rotary lifting table, the motor, the electric push rod, the water sprayer, the dryer, the dust collector, the sensor and the rechargeable power supply; the chargeable power supply is specifically a BQ24773 charging chip and is provided with a power management module, and the sensor is specifically an OPT3101 Hall sensor.

Compared with the prior art, the invention has the beneficial effects that:

1. the whole structure of the invention has flexibility, the hinge connecting fastener is a special hinge with 75 degrees, when climbing stairs, the front wheel climbs the stairs, the support plate is bent from the front wheel, then the rear wheel goes upstairs, and in the process of going upstairs, all mechanisms of mopping, drying and dust collection can be contacted with the horizontal plate and the vertical plate of a plurality of stairs, so that the comprehensive cleaning process of the stairs or uneven ground is realized;

2. the flexible structure of the invention cooperates with the rotary lifting platform, thus adjust the height of each roller assembly, mop plate and dust-absorbing plate, if the memory module in the prior art is matched, the lifting adjustment scheme of the routine cleaning route can be completed, thus the roller assembly, the rotary brush head and the rotary roller brush are always grounded, and the invention is suitable for cleaning treatment of the uneven route;

3. the clutch function of the driving gear is realized by controlling the motor and the electric push rod, and the movement mode of the roller assembly is adjusted to be suitable for flat ground operation and climbing operation;

4. the invention integrates the water sprayer, the dryer and the dust collector into a whole, realizes the cleaning operation flow of mopping, drying, sweeping and dust collection, is suitable for the ground with different finishment and different humidity, and has wide application range.

Drawings

Fig. 1 is a perspective view showing the appearance of a floor cleaning robot capable of climbing stairs according to the present invention;

fig. 2 is a side view of a floor cleaning robot capable of climbing stairs according to the present invention;

fig. 3 is a rear view of a floor cleaning robot capable of climbing stairs according to the present invention;

fig. 4 is a bottom view of a floor cleaning robot capable of climbing stairs according to the present invention;

fig. 5 is a gear transmission structure diagram of a floor cleaning robot capable of climbing stairs according to the present invention;

fig. 6 is an internal structure view of a roller assembly of a floor cleaning robot capable of climbing stairs according to the present invention;

in the figure: the device comprises a supporting plate 1, a left supporting plate 101, a right supporting plate 102, a hinge connecting buckle 103, a water sprayer 2, a dust collecting box 3, a dryer 4, a drying pipeline 401, a rotary lifting table 5, a left cross beam 6, a mop plate 7, a rotary brushing head 701, a nozzle 702, a dust collecting plate 8, a dust collecting groove 801, a rotary roller brush 802, a high-pressure spraying head 803, a right cross beam 9, a shock absorber 10, a driving box 11, a sliding groove 111, a motor base 112, a motor 113, a motor shaft 114, an electric push rod 115, a roller assembly 12, a triangle-like gear shell 121, a small roller 122, a driving gear 123, a gear ring 124, a driven gear 125, a micro belt ring I126, a movable shaft 127, a micro belt ring II 128, a dust collector 13 and a control box 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-6, a floor cleaning robot capable of climbing stairs comprises a support plate 1, wherein the support plate 1 is specifically in a hinge plate shape formed by hinging a left support plate 101 and a right support plate 102 through a hinge connecting buckle 103, the hinge connecting buckle 103 is specifically a 75-degree special hinge, the upper surface of the left support plate 101 is fixedly connected with a dryer 4, and the upper surface of the right support plate 102 is fixedly connected with a dust collection box 3 and a water sprayer 2; four groups of rotary lifting tables 5 are sequentially arranged on the lower surface of the supporting plate 1 from left to right, the bottoms of the four groups of rotary lifting tables 5 from left to right are respectively and sequentially fixedly connected with a left cross beam 6, a mop plate 7, a dust suction plate 8 and a right cross beam 9, the bottom of the leftmost rotary lifting table 5 is fixedly arranged at the central position of the left cross beam 6, and two ends of the left cross beam 6 are respectively and fixedly connected with a driving box 11 through shock absorbers 10; a sliding groove 111 is formed in the bottom wall of the driving box 11, a motor base 112 is connected in the sliding groove 111 in a sliding manner, a motor 113 is fixedly connected to the upper surface of the motor base 112, a motor shaft 114 is arranged on one side of the motor 113, an electric push rod 115 is fixedly connected to one side, away from the motor shaft 114, of the motor 113, the base of the electric push rod 115 is fixed to the inner side wall of the driving box 11, and the motor shaft 114 extends out of the driving box 11 and is connected with the roller assembly 12; the roller component 12 comprises a similar triangular gear shell 121 and a small roller 122 arranged on the similar triangular gear shell 121, a motor shaft 114 is movably inserted in the center position of the similar triangular gear shell 121, a driving gear 123 is fixedly sleeved on the part of the motor shaft 114 extending into the similar triangular gear shell 121 through a flat key, a gear ring 124 matched with the driving gear 123 is fixedly arranged on the inner wall of one side of the similar triangular gear shell 121 close to the driving box 11, a driven gear 125 matched with the driving gear 123 is sleeved on the inner wall of one side of the similar triangular gear shell 121 far away from the driving box 11 through a pin shaft, a first micro belt ring 126 is arranged on one side of the driven gear 125, the small roller 122 is connected on the similar triangular gear shell 121 through a movable shaft 127, a second micro belt ring 128 is also sleeved on the movable shaft 127, the first micro belt ring 126 and the second micro belt ring 128 are connected through a belt, and a sealing nut is arranged at the tail end of the motor, the tooth space between the driven gear 125 and the gear ring 124 is 3-5 times of the single tooth width, and the driving gear 123 generates a deceleration effect after transmission, so that the driving gear 123 can be conveniently and smoothly released from the gear ring 124 and then is smoothly meshed with the driven gear 125, and vice versa; the rim surface of the small roller 122 is positioned outside the frame of the similar triangular gear shell 121, so that the similar triangular gear shell 121 is not contacted with the ground or stairs all the time; two ends of the right beam 9 are also respectively provided with a group of shock absorbers 10, a driving box 11 and a roller component 12; the center position of the upper surface of the mop plate 7 is fixedly connected with the bottom end of the corresponding rotary lifting platform 5, the lower surface of the mop plate 7 is provided with a plurality of groups of rotary brushing heads 701 and a plurality of groups of spray heads 702, the spray heads 702 are communicated with the water sprayer 2 through water pipes, the pipe orifices of the spray heads 702 face the corresponding rotary brushing heads 701, the rotary brushing heads 701 are specifically cylindrical blocks, the center of the circle of the upper surface of the rotary brushing heads 701 is fixedly connected below the mop plate 7 through a pin shaft, and cleaning cloth sleeves are sleeved outside the rotary brushing heads 701; the central position of one side of the upper surface of the dust collection plate 8 is fixedly connected with the bottom end of the corresponding rotary lifting table 5, the middle part of the lower surface of the dust collection plate 8 is provided with a rectangular dust collection groove 801, the top surface of the dust collection groove 801 is communicated with a dust collector 13 through a pipeline, an exhaust port at the other end of the dust collector 13 is communicated with the dust collection box 3 through a pipeline, a fixed seat at the top of the rotary lifting table 5 fixedly connected with the dust collection plate 8 is fixedly connected with the shell of the dust collector 13 through a bolt, a rotary roller brush 802 is arranged in the dust collection groove 801 through a pin shaft frame, a part of arc surface at the bottom of the rotary roller brush 802 extends out of the lower position of the lower surface of the dust collection plate 8, the lower surface of the dust collection plate 8 is also provided with a plurality of groups of water spraying grooves.

Referring to fig. 1 to 4, the rotary lifting platform 5 is specifically an SWL type electric screw rod lifter, a fixed seat at the top of which is mounted on the lower surface of the supporting plate 1 through screws, and a fixed seat at the bottom of which is mounted at the center of the left beam 6, the mop plate 7, the dust suction plate 8 or the right beam 9 through flanges.

Referring to fig. 5-6, both side surfaces of the similar triangular gear case 121 and one side surface of the driving box 11 are provided with smooth shaft holes movably sleeved with the motor shaft 114, and lubricating oil is coated on the inner walls of the smooth shaft holes. Facilitating axial translation of the motor shaft 114 so that the pinion gear 123 is free from the ring gear 124 and then engages the follower gear 125, and vice versa.

Referring to fig. 2, the water sprayer 2 is composed of a water tank and a plurality of groups of gelan micro water pumps, the dryer 4 is composed of an air heater and a plurality of groups of hot air pumps, the dust collector 13 is a Dibea04008 pro cyclone suction machine,

the invention also provides a control system of the cleaning robot, which adopts the floor cleaning robot capable of climbing stairs, the upper surface of the supporting plate 1 is also fixedly provided with a control box 14, the control box 14 is provided with a control chip, a sensor, a remote control signal receiving and sending device and a rechargeable power supply, and the control chip is provided with foot lines which are respectively and electrically connected with the rotary lifting platform 5, the motor 113, the electric push rod 115, the water sprayer 2, the dryer 4, the dust collector 13, the sensor and the rechargeable power supply;

the rechargeable power supply is specifically a BQ24773 charging chip and is provided with a power supply management module, and the sensor is specifically an OPT3101 Hall sensor;

the control system of the invention adopts the module combination of the prior common sweeping robot, and the module part of the control system is not protected, so the electrical connection part is not particularly described, and only the control processes of the rotary lifting platform 5, the motor 113, the electric push rod 115, the water sprayer 2, the dryer 4 and the dust collector 13 are added, and only the reference of other technicians in the field is provided, namely:

1. the lifting table 5 is controlled to rotate through electric signals, so that the heights of the roller assemblies 12, the mop plate 7 and the dust collection plate 8 are adjusted;

2. the motor 113 and the electric push rod 115 are controlled by electric signals, the movement mode of the roller assembly 12 is adjusted, the motor shaft 114 is pushed by the electric push rod 115 to transversely move, so that the driving gear 123 is respectively meshed with the driven gear 125 or the gear ring 124, when flat ground operation is required, the driving gear 123 is meshed with the driven gear 125, and at the moment, the gear ring 124 and the similar triangular gear shell 121 do not understand each other and are grounded and roll by the two small rollers 122; when climbing is needed, the motor shaft 114 is pushed by the electric push rod 115 to move transversely, so that the driving gear 123 is meshed with the gear ring 124, and the triangular gear shell 121 rotates to drive the small roller 122 to alternately contact with the stairs and roll over, thereby realizing climbing operation;

3. the water sprayer 2, the dryer 4 and the dust collector 13 are controlled by electric signals, the power of the three electric appliances can be adjusted according to the finish degree and the humidity of the ground, and in the first step, the water sprayer 2 is matched with the rotary brushing head 701 and the spray head 702 on the mop plate 7 to wet a cleaning cloth sleeve, and the rotary brushing head 701 can generate rotary friction on the ground along with walking to play a role in mopping; secondly, the dryer 4 is matched with a drying pipeline 401 to dry the ground; thirdly, the dust collector 13 is matched with a dust collection groove 801 and a rotary roller brush 802 on the dust collection plate 8, the rotary roller brush 802 has a dust adhering and cleaning effect, adhered dust can be conveniently recycled into the dust collection groove 801, the dust collection effect is improved, in addition, a high-pressure spray head 803 on the dust collection plate 8 is used for wetting the dust, excessive dust raising in the dust collection process is prevented, and cross pollution on the ground is avoided; the three steps of operation can be operated independently, the sequence of each operation can be adjusted, the operation of each mechanism can be set according to the ground environment, and the operation can be simultaneously used.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A floor cleaning robot capable of climbing stairs comprises a support plate (1) and is characterized in that the support plate (1) is specifically in a hinge plate shape formed by hinging a left support plate (101) and a right support plate (102) through a hinge connecting buckle (103), a dryer (4) is fixedly connected to the upper surface of the left support plate (101), and a dust collection box (3) and a water sprayer (2) are fixedly connected to the upper surface of the right support plate (102);

the lower surface of the supporting plate (1) is sequentially provided with a group of drying pipelines (401) and four groups of rotary lifting tables (5) from left to right, the drying pipelines (401) are specifically sleeved on the left supporting plate (101) through a group of square-shaped pipelines and are welded and fixed, the top of each drying pipeline (401) is communicated with a dryer (4) through an air pipe, the bottom of each drying pipeline (401) is provided with a shutter-shaped air port, and the air outlet of each drying pipeline (401) faces the ground;

the bottom of the four groups of rotary lifting tables (5) from left to right are respectively and sequentially fixedly connected with a left cross beam (6), a mop plate (7), a dust suction plate (8) and a right cross beam (9), the bottom of the rotary lifting table (5) at the leftmost side is fixedly arranged at the central position of the left cross beam (6), and two ends of the left cross beam (6) are respectively and fixedly connected with a driving box (11) through shock absorbers (10);

a sliding groove (111) is formed in the bottom wall of the driving box (11), a motor base (112) is connected in the sliding groove (111) in a sliding mode, a motor (113) is fixedly connected to the upper surface of the motor base (112), a motor shaft (114) is arranged on one side of the motor (113), an electric push rod (115) is fixedly connected to one side, away from the motor shaft (114), of the motor (113), the base of the electric push rod (115) is fixed to the inner side wall of the driving box (11), and the motor shaft (114) extends out of the driving box (11) and is connected with a roller assembly (12);

the roller component (12) comprises a similar triangular gear shell (121) and a small roller (122) arranged on the similar triangular gear shell (121), the motor shaft (114) movably penetrates through the center of the similar triangular gear shell (121), the part of the motor shaft (114) extending into the similar triangular gear shell (121) is fixedly connected with a driving gear (123) through a flat key, a gear ring (124) matched with the driving gear (123) is fixedly arranged on the inner wall of one side, close to the driving box (11), of the similar triangular gear shell (121), a driven gear (125) matched with the driving gear (123) is sleeved on the inner wall of one side, far away from the driving box (11), of the similar triangular gear shell (121) through a pin shaft, a first micro belt ring (126) is arranged on one side of the driven gear (125), and the small roller (122) penetrates through a movable shaft (127) on the similar triangular gear shell (121), the movable shaft (127) is also sleeved with a micro belt ring II (128), the micro belt ring I (126) is connected with the micro belt ring II (128) through a belt, the tail end of the motor shaft (114) extending out of the triangular gear-like shell (121) is provided with an end-sealing nut, the tooth spaces of the driven gear (125) and the gear ring (124) are both 3-5 times of the single tooth width, and the driving gear (123) generates a deceleration effect after transmission, so that the driving gear (123) can be conveniently and smoothly thrown off from the gear ring (124) and then is smoothly meshed with the driven gear (125), and vice versa;

two ends of the right cross beam (9) are also respectively provided with a group of shock absorbers (10), a driving box (11) and a roller assembly (12);

the center of the upper surface of the mop plate (7) is fixedly connected with the bottom end of the corresponding rotary lifting table (5), a plurality of groups of rotary brushing heads (701) and a plurality of groups of spray heads (702) are arranged on the lower surface of the mop plate (7), the spray heads (702) are communicated with the water sprayer (2) through water pipes, the pipe orifices of the spray heads (702) face the corresponding rotary brushing heads (701), the rotary brushing heads (701) are cylindrical blocks, the circle center of the upper surface of each rotary brushing head (701) is fixedly connected below the mop plate (7) through a pin shaft, and a cleaning cloth sleeve is sleeved outside each rotary brushing head (701);

the central position of one edge of the upper surface of the dust collection plate (8) is fixedly connected with the bottom end of the corresponding rotary lifting platform (5), the middle part of the lower surface of the dust collection plate (8) is provided with a rectangular dust collection groove (801), the top surface of the dust collection groove (801) is communicated with a dust collector (13) through a pipeline, an exhaust port at the other end of the dust collector (13) is communicated with a dust collection box (3) through a pipeline, a fixed seat at the top of the rotary lifting platform (5) fixedly connected with the dust collection plate (8) is fixedly connected with the shell of the dust collector (13) through a bolt, a rotary roller brush (802) is arranged in the dust collection groove (801) through a pin shaft frame, the bottom of the rotary roller brush (802) is provided with a part of an arc surface extending out of the lower position of the lower surface of the dust collection plate (8), the lower surface of the dust collection plate (8) is also provided with a plurality of water spray grooves, the high-pressure spray head (803) is communicated with the water sprayer (2) through a water pipe.

2. A floor cleaning robot capable of climbing stairs according to claim 1, wherein the rotary lifting platform (5) is a SWL type electric screw rod elevator, the fixed seat at the top is installed on the lower surface of the supporting plate (1) through screws, and the bottom is installed at the center of the left beam (6), the mop plate (7), the dust collecting plate (8) or the right beam (9) through flanges.

3. The floor cleaning robot capable of climbing stairs of claim 1, wherein smooth shaft holes movably sleeved with the motor shaft (114) are formed in both the two side surfaces of the triangular gear-like shell (121) and one side surface of the driving box (11), and lubricating oil is coated on the inner walls of the smooth shaft holes.

4. A stair climbing floor cleaning robot according to claim 1, characterized in that said water sprayer (2) is comprised of a water tank and multiple groups of glan mini water pumps, said dryer (4) is comprised of an air heater and multiple groups of hot air pumps, and said vacuum cleaner (13) is comprised of a Dibea04008 pro cyclone suction.

5. A control system of a cleaning robot, which adopts the floor cleaning robot capable of climbing stairs of any one of claims 1 to 4, characterized in that the upper surface of the supporting plate (1) is also fixedly provided with a control box (14), the control box (14) is provided with a control chip, a sensor, a remote control signal receiving and sending device and a chargeable power supply, the control chip is provided with foot lines which are respectively and electrically connected with the rotary lifting platform (5), the motor (113), the electric push rod (115), the water sprayer (2), the dryer (4), the dust collector (13), the sensor and the chargeable power supply;

the chargeable power supply is a BQ24773 charging chip and is provided with a power supply management module, and the sensor is an OPT3101 Hall sensor.