CN114847797A - Stair railing cleaning and disinfecting robot - Google Patents

Abstract

The invention relates to a stair railing cleaning and disinfecting robot, the main structure of which comprises a shell, a driving mechanism, a telescopic mechanism, a lower wiping mechanism and a disinfectant lower spraying mechanism; the driving mechanisms are positioned on two sides of the shell and provide power for the whole robot to move along the handrail; the telescopic mechanisms are positioned in the middle of the shell, symmetrically distributed on the left and right sides in the robot, and telescopic by using the characteristic that the locked-rotor current is increased when the robot is bent as a signal; the telescopic mechanism and the driving mechanism act on the rollers together to respectively realize the telescopic and rotary of the center distance of the two rollers; the lower wiping mechanism is positioned at the rear part of the shell, and a double-rack reciprocating intermittent mechanism is adopted to simulate wiping actions on two sides and the upper surface of the stair handrail; the disinfectant under-spraying mechanism is positioned at the rear part of the shell and is used for spraying disinfectant to the wiping area of the downward wiping mechanism. The device is accurate and reliable, has high automation degree, can be bent at a right angle, and has a simple wiping structure.

Description

A stair handrail cleaning and disinfection robot

technical field

The invention belongs to the technical field of robot mechanism design, and relates to a stair handrail cleaning and disinfection robot.

Background technique

How to effectively control the spread of the virus has attracted people's attention. Contact transmission is one of the important ways of virus transmission. Public facilities such as doorknobs and stair handrails are often touched by people, which leads to the transmission of the virus. Spraying disinfectant layer by layer to wipe the handrail consumes a lot of manpower and material resources.

Patent CN201921069463.8 discloses a cleaning robot for arc-shaped stairs, but it cannot pass right-angle bends of stair handrails; Patent CN201910797985.8 discloses a stair handrail cleaning robot whose flexible parts such as telescopic cylinders and springs constitute a turning mechanism, Although it can bend, it is unreliable because of the lack of precise control of the motor due to the flexible mechanism of the spring to realize the expansion and contraction when bending.

Therefore, it is necessary to develop an accurate and reliable stair handrail cleaning and disinfection robot that can go through right-angle curves.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems existing in the prior art, and to provide a stair handrail cleaning and disinfection robot.

For achieving the above object, the technical scheme adopted in the present invention is as follows:

A stair handrail cleaning and disinfection robot, comprising a casing, an integral PLC, a motor driver, a driving mechanism, a telescopic mechanism, a lower wiping mechanism and a disinfection liquid spray mechanism;

The integral PLC is fixed on the shell;

The drive mechanism is located in the front and middle of the casing, including two symmetrically distributed left and right parts;

The left part of the drive mechanism includes a drive motor, a transmission mechanism, a roller shaft, a roller and a roller sleeve; the drive motor is connected to the integral PLC through a motor driver, and the drive motor drives the roller shaft to rotate through the transmission mechanism. The roller is sleeved on the roller shaft, and the roller sleeve is sleeved. On the roller; the structure of the right part of the driving mechanism is the same as that of the left part of the driving mechanism; the roller shaft, roller and roller sleeve in the left and right parts of the driving mechanism are all located on the outside of the casing; the driving motor is fixed on the casing; The material is rubber. It is easy to generate electrostatic adsorption of dust through friction with both sides of the stair handrail. The two rollers are clamped on both sides of the handrail. When the rollers rotate, the robot moves along the stair handrail;

The telescopic mechanism is located in the middle of the casing, including a pull-rope displacement sensor, a telescopic motor, a worm, a worm wheel, and two left and right parts symmetrically distributed along the worm wheel; the telescopic motor is fixed on the casing;

The body and the pull ring of the pull-rope displacement sensor are respectively fixed above the roller shafts of the left and right parts of the driving mechanism. The integral PLC is electrically connected, the telescopic motor is connected with the integral PLC through the motor driver, the telescopic motor is connected with the worm, the worm is placed vertically, the worm gear is meshed with the worm, and the central axis of the worm gear is parallel to the left and right directions;

The left part of the telescopic mechanism includes a right-hand screw, a right-hand nut, a sawtooth rod and a slider; the right end of the right-hand screw is fixedly connected with the worm gear, and the central axis of the right-hand screw is parallel to the left-right direction, and the right-hand nut is sleeved on the right-hand screw. The serrated rod and the right-handed nut are meshed with serrations, and the serrated rod and the slider form a sliding pair, the sliding direction of the sliding pair is parallel to the left and right directions, and the sliding block is fixed on the shell by the boss The structure of the right part of the telescopic mechanism is basically the same as that of the left part of the telescopic mechanism, the only difference is that the screw is a left-handed screw, and the nut is a left-handed nut;

The left part of the telescopic mechanism is connected with the left part of the drive mechanism. The connection method is as follows: the end of the sawtooth rod away from the worm gear is matched with the roller shaft through a rolling bearing. The function of the rolling bearing is to enable the roller shaft to rotate in the sawtooth rod and restrict the roller shaft. The right part of the telescopic mechanism is connected with the right part of the driving mechanism, and the connection method is the same as the connection method between the left part of the telescopic mechanism and the left part of the driving mechanism;

The lower wiping mechanism is located at the rear of the casing, and is used to simulate the downward wiping action by using the double rack type reciprocating intermittent mechanism;

The disinfectant under-spraying mechanism is located at the rear of the housing, and is used for spraying disinfectant on the wiping area of the downwardly wiping mechanism, and the disinfectant may be alcohol or the like.

As the preferred technical solution:

A stair handrail cleaning and disinfection robot as described above, the transmission mechanism includes a drive shaft, a driving gear, a driven gear, a small pulley, a driven shaft, a large pulley, a transmission belt and a connecting rod;

The drive shaft is connected with the motor shaft of the drive motor through a coupling, the driving gear is fixed on the driving shaft, the driven gear is meshed with the driving gear, the driven gear and the small pulley are fixed on the driven shaft, and the small pulley is fixed on the driven shaft. Drive with the large pulley through the transmission belt, and the large pulley is fixed on the roller shaft;

The driven shaft and the roller shaft are connected to each other through the connecting rod, the connecting rod and the driven shaft are clearance fit, the driven shaft passes through the arc-shaped chute set on the housing, and the center of the arc-shaped chute is located at the center of the drive shaft. On the central shaft, the reason for this design is that the driven gear and the driving gear are standard gears, and they are installed as standard. Such arc-shaped chute keeps the center distance between the two gears unchanged, and the driven gear can also keep the two gears when moving. Normal transmission; when the robot bends at a right angle through the handrail, the center distance of the rollers needs to be increased. After the bend, the center distance of the rollers needs to be reduced. When the center distance of the rollers increases, the connecting rod will pull the driven shaft on the arc-shaped guide rail. The function of the connecting rod is to ensure that the driven shaft can be reset during the process of extending the roller distance and then retracting.

A kind of stair handrail cleaning and disinfection robot as mentioned above, between the driving gear and the drive shaft, between the driven gear and the driven shaft, between the small pulley and the driven shaft, and between the large pulley and the roller shaft. key connection.

In the above-mentioned stair handrail cleaning and disinfection robot, the bottom ends of the driven shafts of the left part and the right part of the driving mechanism are also fixedly sleeved with cleaning brushes, and the bottom of the cleaning brush is provided with bristles.

In the above-mentioned stair handrail cleaning and disinfection robot, the two cleaning brushes have overlapping cleaning areas, so that when the center distance between the two rollers becomes larger and the center distance between the two cleaning brushes is stretched, it can still ensure that the middle of the handrail can be cleaned. clean up.

In the above-mentioned stair handrail cleaning and disinfection robot, the right end of the right-hand screw and the worm gear are connected by a key.

A stair handrail cleaning and disinfection robot as described above, the pull ring of the pull-rope displacement sensor is fixed above the roller shaft of the left part of the driving mechanism through the left sensor bracket, and the left sensor bracket is a sag-shaped structure, which is vertical from the side. The rod, the upper horizontal rod and the lower horizontal rod are composed. The end of the upper horizontal rod away from the side vertical rod is cylindrical and stepped, and the pull ring is sleeved on it to achieve positioning. The left part of the sawtooth rod is fixedly connected (welding method can be used);

The body of the cable-pulling displacement sensor is fixed above the roller shaft of the right part of the driving mechanism through the right sensor bracket. The end away from the side vertical rod is a C-shaped clip and is clamped on the body, and the end of the lower horizontal rod away from the side vertical rod is fixedly connected (by welding) to the serrated rod on the right part of the telescopic mechanism.

A stair handrail cleaning and disinfection robot as described above, the lower wiping mechanism includes a rear motor, a rear motor shaft, an incomplete gear, a double rack, a rear wiping bracket I, a rear wiping bracket II, a rear wiping cloth frame and a rear wiping Sponge cloth; the rear motor is fixed on the shell;

The rear motor is connected with the integral PLC through the motor driver, the rear motor shaft is connected with the motor shaft of the rear motor through a coupling, the rear motor shaft is placed vertically, and the incomplete gear is fixed on the rear motor shaft. The rack is sleeved on the incomplete gear, and the two constitute a double-rack type reciprocating movement intermittent mechanism. The two sides of the double rack are hinged with two mutually parallel rear wiping brackets I, and each of the two rear wiping brackets I is hinged with a rear wiping bracket II, the two rear wipe brackets II are fixedly connected to the rear wipe cloth frame, and the rear wipe cloth frame is pasted with a replaceable rear wipe sponge cloth through Velcro; the rear wipe bracket II of the lower wipe mechanism, the rear wipe cloth frame and the rear wipe The sponge cloths are all located on the outside of the casing; such a hinged structure between the parts enables the robot to be on the stair railings of the horizontal and inclined sections, and the sponge cloth after wiping can be attached to the upper surface of the stair railing.

In the above-mentioned stair handrail cleaning and disinfection robot, the incomplete gear is connected with the rear motor shaft by a key.

A stair handrail cleaning and disinfection robot as described above, the spray mechanism under the disinfectant comprises a cam, a driven rod, a piston, a single cylinder and a nozzle;

The cam is fixedly sleeved on the rear motor shaft and is located above the incomplete gear; one end of the driven rod is hinged with the cam and the hinge point is offset from the central axis of the cam, and the other end is hinged with the piston, the piston is located in the single cylinder, on the single cylinder There is a leak opening, and the orthographic projection of the leak opening is located between the starting position and the end position of the piston; there is a disinfectant tank on the shell, the single cylinder passes through the disinfectant tank, and the leak port is located in the disinfectant tank; the single cylinder is far away from One end of the cam is connected to the nozzle, and the nozzle faces the area facing the rear wiper holder; when the piston moves to the starting position, the disinfectant leaks into the single cylinder, when the piston moves to the end position, the single cylinder is closed, and the single cylinder The disinfectant is squeezed by the piston and sprayed from the nozzle.

A stair handrail cleaning and sterilizing robot as described above, the stair handrail cleaning and sterilizing robot further includes a two-side wiping mechanism; the two-side wiping mechanism includes a spring groove and two left and right parts located on both sides of the double rack;

The left part of the wiping mechanism on both sides includes a U-shaped groove member, a side wiping bracket and a blocking bracket;

The side wiping bracket is composed of a door frame-shaped main body and a roller, and the main body is composed of a front column, a rear column and an upper cross bar; the rear surface of the bottom of the front column extends backward to form a front extension block, and the front surface of the bottom of the rear column is forward Extend to form a rear extension block;

The blocking bracket is a scallop-shaped plate structure with an upward opening, which is composed of a front vertical plate, a rear vertical plate and a lower horizontal plate; the front vertical plate and the rear vertical plate are provided with waist-shaped holes whose long axis of symmetry is parallel to the vertical direction;

The central axis of the upper cross bar of the side wiping bracket is parallel to the front-rear direction, and it passes through the front vertical plate of the blocking bracket, the rollers of the side wiping bracket and the rear vertical plate of the blocking bracket in sequence; The upper surface of the bottom is fixedly connected, and the front extension block and the rear extension block of the side wiping bracket are fixedly connected with the spring groove located under the bottom of the casing;

The structure of the right part of the wiping mechanism on both sides is the same as that of the left part of the wiping mechanism on both sides;

The left and right parts of the wiping mechanism on both sides are basically symmetrical, and the asymmetry is only in the U-shaped groove member; the end faces of the two U-shaped groove members of the left and right parts of the wiping mechanism on both sides are parallel, and the distance from the bottom of the casing is the same, and The angle between the center axis and the bottom of the shell is the same, and the same angle makes the side wiping brackets of the left and right parts move upward or downward at the same time; Side connection; two U-shaped groove members are respectively sleeved on the rollers of the two side wiping brackets, and are in line contact with them;

The spring groove is C-shaped as a whole and consists of a straight rod section in the middle and near-circular arc sections on both sides. A spring is installed in the spring groove, and two small sliders are fixedly connected at both ends of the spring. The two small sliders pass through rolling bearings. With the side shaft, the side shaft can rotate relative to the small slider, but cannot be displaced axially. The lower end of the side shaft is tightly fitted with a side wiping cloth holder, and the inner surface of the side wiping cloth holder is pasted with a replaceable side wiping sponge cloth through Velcro; The bottom of the shell is fixedly connected with four pulley feet, the bottom of the spring groove is located above the bottom of the pulley feet, and is spaced at a certain distance; the pulley feet play the role of supporting the entire robot on the upper surface of the stair handrail; the interval is a certain distance It gives space for the spring groove to move up and down; the function of the spring is to maintain the length connection between the wiper racks on both sides and to clamp them on both sides of the stair handrail; Increase, but this increase is a few centimeters, which can be achieved by the expansion of the spring, which can be changed at any time according to the width of the stair handrail, which makes the wiper racks on both sides move to the left or right at the same time when turning. It can make the distance between the wiper holders on both sides larger;

The small slider, side shaft, side wiping cloth holder and side wiping sponge cloth are all located on the outside of the housing;

When the double rack moves to the left, the U-shaped groove member also moves to the left, and the rollers on the side wiping bracket are simultaneously subjected to the downward pressure perpendicular to the straight edge of the U-shaped groove and the horizontal rightward force of the blocking bracket. The resultant force of the two forces is downward, so the side wiping bracket moves downward, and the spring groove welded with the side wiping bracket also moves downward; on the contrary, when the double rack moves to the right, the rollers on the side wiping bracket are simultaneously affected by The oblique upward pressure perpendicular to the straight edge of the U-shaped groove and the horizontal leftward force of the blocking bracket, the resultant force of the two forces is upward, so the side wiping bracket moves upward, and the spring groove welded with the side wiping bracket also moves upward; The up and down reciprocating motion drives the reciprocating motion of the side wiping sponge cloth, simulating the wiping action.

A stair handrail cleaning and disinfecting robot as described above, the stair handrail cleaning and disinfecting robot further includes a spray mechanism on both sides of the disinfectant; the spray mechanism on both sides of the disinfectant includes two left and right parts symmetrically distributed along a single cylinder;

The left part of the spray mechanism on both sides of the disinfectant includes side spray pipe I, plastic corrugated pipe, side spray pipe II, small nozzle, sliding bracket I, front fixed bracket, sliding bracket II, rear fixed bracket, square rod and pipe snap ring;

The side spray pipe I is connected to the single cylinder and the connection position is located behind the leak opening. The side spray pipe I, the plastic bellows, the side spray pipe II and the small nozzle are connected in sequence, and the small nozzle faces the area where the side wiper frame faces;

Both the front fixing bracket and the rear fixing bracket are rectangular block structures, and both are fixed on the shell;

The main body of the sliding bracket I is a rectangular block structure, one end of which is the insertion end, the front fixing bracket is inserted into it from then on, and the other end is the connecting end, which is sleeved on the roller shaft of the left part of the driving mechanism. The guide groove for the sliding direction of the bracket; the main body of the sliding bracket II is a rectangular block structure, one end of which is the insertion end, the rear fixing bracket is inserted into it, and the other end is the free end, which is provided with a guide to limit the sliding direction of the rear fixing bracket. groove;

The sliding bracket I and the sliding bracket II are fixedly connected by two connecting square rods; the sliding bracket II is fixedly connected with two pipe snap rings, and the two pipe snap rings clamp the side spray pipe II, so that after the telescopic mechanism is stretched, the rollers, The sliding bracket I, the sliding bracket II and the side spray pipe II can be extended and retracted together to avoid the collision between the side spray pipe II and the stair handrail;

The structure of the right part of the spraying mechanism on both sides of the disinfectant is the same as that of the left part of the spraying mechanism on both sides of the disinfectant.

A stair handrail cleaning and disinfection robot as described above, the stair handrail cleaning and disinfection robot further includes a top cover, and the upper edge of the casing is provided with a top cover slide rail for restricting the sliding direction of the top cover and a top cover for fixing the top cover on the casing. on the wrench.

beneficial effect

(1) The telescopic mechanism of the present invention has the advantages of large speed reduction ratio and self-locking; the first stage of speed reduction is from the worm to the worm wheel, and the second stage of transmission from the left-handed screw to the left-handed nut, the high-speed worm wheel is again driven. The circular motion is converted into the linear motion of the left-handed nut at low speed; for the telescopic mechanism of the stair handrail, it is a small change in the width of several centimeters, and it will increase the rotation control error range of the telescopic motor belonging to the stepping motor. , even if there is a large rotation error, it will not have a significant impact on the overall expansion and contraction; the two-stage transmission has self-locking performance, that is, only the worm can drive the worm gear, and only the left-hand screw can drive the left-hand nut (only the right-hand screw can drive the left-hand nut). The screw drives the left-handed nut), this design allows the telescopic motor to control the center distance of the two roller shafts, but not vice versa; when the telescopic control is completed, the telescopic motor is in a power-off state. At this time, the drive motor will not stall, and it will not obtain a large stall current, so that the integrated PLC can judge that the robot is in a cornering state;

(2) The stair handrail cleaning and disinfection robot of the present invention has the advantages of accurate and reliable bending, and simple wiping and spraying structure.

Description of drawings

1 is a schematic diagram of the internal structure of the present invention with the top cover removed, wherein the direction of the arrow represents the advancing direction of the stair handrail cleaning and disinfection robot;

Fig. 2 is the schematic diagram of the drive mechanism of the present invention;

3 is a schematic diagram of a telescopic mechanism of the present invention;

4 is a schematic diagram of a side wiping mechanism of the present invention;

5 is a schematic diagram of the spraying mechanism of the present invention;

6 is a schematic diagram of a side sliding bracket of the present invention;

Fig. 7 is the schematic diagram of some parts of the present invention;

FIG. 8 is a schematic diagram of a rear view angle of the present invention;

Fig. 9 is the bottom schematic diagram of the present invention;

10 is a schematic view of the housing of the present invention;

Fig. 11 is the schematic diagram of the top cover of the present invention;

Figure 12 is a schematic diagram of a stair handrail;

Among them, 1- cleaning brush, 2- driven gear, 3- driving gear, 4- drive shaft, 5- driven shaft, 6- connecting rod, 7- housing, 8- small pulley, 9- large pulley , 10-roller shaft, 11-roller, 12-roller sleeve, 13-transmission belt, 141-left-hand screw, 142-right-hand screw, 15-worm bracket, 16-serrated rod, 17-worm gear, 18-worm, 191 - Left-hand nut, 192- Right-hand nut, 20- Telescopic motor, 21- Integral PLC, 22- Slider, 23- Latch, 24- Support plate, 25- Drive motor, 26- Motor driver, 27- Double rack , 28-incomplete gear, 29-rear wiper bracket I, 30-rear wiper bracket II, 31-rear wiper cloth holder, 32-rear wiper sponge cloth, 33-cam, 34-follower rod, 35-piston, 36 -Single cylinder, 37-Side spray pipe I, 38-Plastic bellows, 39-Side spray pipe II, 40-Rear motor, 41-U-shaped groove member, 42-Side wipe bracket, 43-Spring groove, 44- Spring, 45-Small slider, 46-Side wiping cloth holder, 47-Side shaft, 48-Side wiping sponge cloth, 49-Rear motor shaft, 501-Sliding bracket I, 502-Sliding bracket II, 51-Connecting side Rod, 52-Pipe Snap Ring, 53-Blocking Bracket, 54-Fixing Bracket, 55-Pull Cord Displacement Sensor, 56-Right Sensor Bracket, 57-Left Sensor Bracket, 58-Top Cover, 59-Sealing Strip, 601- Nozzle, 602- Small Nozzle, 61- Disinfectant Tank Partition, 71- Top Cover Slide Rail, 72- Notch, 73- Pull Buckle, 74- Pulley Foot, 75- Boss.

Detailed ways

The present invention will be further described below in conjunction with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

A stair handrail cleaning and disinfection robot, as shown in Figures 1 to 11, includes a top cover 58, a housing 7, an integral PLC 21, a motor driver 26, a driving mechanism, a telescopic mechanism, a lower wiping mechanism, a disinfectant liquid spray mechanism, two Side wiping mechanism and disinfectant spraying mechanism on both sides;

The integral PLC 21 is fixed on the casing 7;

The drive mechanism is located at the front and middle of the housing 7, including symmetrically distributed left and right parts;

The left part of the driving mechanism includes the driving motor 25, the transmission mechanism, the roller shaft 10, the roller 11 and the roller sleeve 12;

The transmission mechanism includes a drive shaft 4, a driving gear 3, a driven gear 2, a small pulley 8, a driven shaft 5, a large pulley 9, a transmission belt 13 and a connecting rod 6; the driving gear 3 is fixedly sleeved on the driving shaft 4, from the The driven gear 2 meshes with the driving gear 3, the driven gear 2 and the small pulley 8 are fixedly sleeved on the driven shaft 5, the small pulley 8 and the large pulley 9 are driven by the transmission belt 13, and the large pulley 9 is fixedly sleeved on the roller. On the shaft 10; the driven shaft 5 and the roller shaft 10 are connected to each other through the connecting rod 6, the connecting rod 6 and the driven shaft 5 are in clearance fit, and the driven shaft 5 passes through the arc-shaped chute arranged on the housing 7, and the circular The center of the arc corresponding to the chute is located on the central axis of the drive shaft 4; among them, between the driving gear 3 and the drive shaft 4, between the driven gear 2 and the driven shaft 5, and between the small pulley 8 and the driven shaft 5 between the large pulley 9 and the roller shaft 10 are connected by keys; the connecting rod 6 and the conveyor belt 13 pass through the notch 72 of the housing 7;

The drive motor 25 is connected to the integral PLC 21 through the motor driver 26, and the drive shaft 4 is connected to the motor shaft of the drive motor 25 through a coupling; the drive motor 25 drives the roller shaft 10 to rotate through a transmission mechanism, and the roller 11 is sleeved on the roller shaft 10. , the roller sleeve 12 is sleeved on the roller 11; the structure of the right part of the driving mechanism is the same as the left part of the driving mechanism; in the left and right parts of the driving mechanism, the roller shaft 10, the roller 11 and the roller sleeve 12 are all located on the outside of the housing 7; The motor 25 is fixed on the housing 7;

The bottom ends of the driven shafts 5 of the left part and the right part of the driving mechanism are fixedly sleeved with a cleaning brush 1, and the bottom of the cleaning brush 1 is provided with bristles;

The telescopic mechanism is located in the middle of the housing 7 and includes a pull-wire displacement sensor 55, a telescopic motor 20, a worm bracket 15, a support plate 24, a worm 18, a worm wheel 17, and two left and right parts symmetrically distributed along the worm wheel 17; the telescopic motor 20 is fixed on the on the shell 7;

The pull ring of the pull-string displacement sensor 55 is fixed above the roller shaft 10 of the left part of the driving mechanism through the left sensor bracket 57. The left sensor bracket 57 is a recessed structure, consisting of a side vertical rod, an upper horizontal rod and a lower horizontal rod. The end of the upper horizontal rod away from the side vertical rod is cylindrical and stepped, the pull ring is sleeved on it to achieve positioning, and the end of the lower horizontal rod away from the side vertical rod is fixed with the serrated rod 16 of the left part of the telescopic mechanism connect;

The body of the cable-pulling displacement sensor 55 is fixed above the roller shaft 10 of the right part of the driving mechanism through the right sensor bracket 56 , and the right sensor bracket 57 is a recessed structure, consisting of a side vertical rod, an upper horizontal rod and a lower horizontal rod. , one end of the upper horizontal rod away from the side vertical rod is a C-shaped clip and clamped on the body, and one end of the lower horizontal rod away from the side vertical rod is fixedly connected with the serrated rod 16 of the right part of the telescopic mechanism;

The body and the pull ring of the pull-rope displacement sensor 55 are concentric with the roller shaft 10 but not in contact, the pull-rope displacement sensor 55 is electrically connected to the integral PLC 21, and the telescopic motor 20 is connected to the integral PLC 21 through the motor driver 26;

The worm bracket 15 is Z-shaped and consists of a triangular upper horizontal plate, a rectangular vertical plate, and a rectangular lower horizontal plate. The rectangular lower horizontal plate is fixed at the bottom of the housing 7, and the triangular upper horizontal plate of the worm bracket 15 has a small hole, and the worm 18 is vertical. Placed, one end passes through the small hole of the housing 7, the other end is matched with the small hole on the triangular upper horizontal plate of the worm bracket 15, the worm wheel 17 is engaged with the worm 18 and the central axis of the worm wheel 17 is parallel to the left-right direction; the triangle upper horizontal plate A support plate 24 is provided on the support plate 24, and a small hole is provided on the support plate 24, which is vertically corresponding to the small hole on the upper horizontal plate of the triangle of the worm bracket 15. The telescopic motor 20 is fixed on the support plate 24 and is connected with one end of the worm 18. Shaft connection (the coupling plays a fixing role, and the small hole on the shell 7 and the small hole on the worm bracket 15 play a secondary fixing role);

The left part of the telescopic mechanism includes a right-hand screw 142, a right-hand nut 192, a sawtooth rod 16 and a slider 22; the right end of the right-hand screw 142 and the worm gear 17 are connected by a key, and the central axis of the right-hand screw 142 is parallel to the In the left and right direction, the right-handed nut 192 is sleeved on the right-handed screw 142 and is threadedly connected with it, the serrated rod 16 and the right-handed nut 192 are engaged by sawtooth, and the serrated rod 16 and the slider 22 form a sliding pair, and the sliding direction of the sliding pair Parallel to the left and right direction, the slider 22 is supported by the boss 75 fixed on the housing 7, and is positioned on the boss 75 by the latch 23; the structure of the right part of the telescopic mechanism is basically the same as the left part of the telescopic mechanism, with the difference Only that the screw is a left-hand screw 141, and the nut is a left-hand nut 191;

The left part of the telescopic mechanism is connected with the left part of the drive mechanism, and the connection method is as follows: the end of the sawtooth rod 16 away from the worm wheel 17 is matched with the roller shaft 10 through a rolling bearing. The function of the rolling bearing is to enable the roller shaft 10 to rotate in the sawtooth rod 16 , and limit the axial displacement of the roller shaft 10; the right part of the telescopic mechanism is connected with the right part of the driving mechanism, and the connection method is the same as the connection method between the left part of the telescopic mechanism and the left part of the driving mechanism;

The lower wiping mechanism is located at the rear of the housing 7, and is used to simulate the downward wiping action by using a double rack-type reciprocating intermittent mechanism; the lower wiping mechanism includes a rear motor 40, a rear motor shaft 49, an incomplete gear 28, a double tooth Strip 27, rear wiping bracket I29, rear wiping bracket II 30, rear wiping cloth holder 31 and rear wiping sponge cloth 32; rear motor 40 is fixed on housing 7; rear motor 40 is connected to integral PLC 21 through motor driver 26 , the rear motor shaft 49 is connected with the motor shaft of the rear motor 40 through a coupling, the rear motor shaft 49 is placed vertically, the incomplete gear 28 is fixedly sleeved on the rear motor shaft 49 by a key connection, and the double rack 27 It is sleeved on the incomplete gear 28, and the two constitute a double rack type reciprocating intermittent mechanism. The two sides of the double rack 27 are hinged with two mutually parallel rear wiping brackets I29, and each of the two rear wiping brackets I29 is hinged with a rear wiping bracket. II30, two rear wiping brackets II30 are fixedly connected to the rear wiping cloth holder 31, and the rear wiping cloth holder 31 is pasted with a replaceable rear wiping sponge cloth 32 through Velcro; the rear wiping bracket II30 of the lower wiping mechanism, the rear wiping cloth holder 31 and the rear wiping sponge cloth 32 are both located on the outside of the housing 7;

The spraying mechanism under the disinfectant is located at the rear of the housing 7, and is used for spraying the disinfectant in the wiping area of the downwardly wiping mechanism; the spraying mechanism under the disinfectant includes a cam 33, a driven rod 34, a piston 35, a single cylinder 36 and a nozzle 601; The cam 33 is fixedly sleeved on the rear motor shaft 49 and is located above the incomplete gear 28; one end of the driven rod 34 is hinged with the cam 33 and the hinge point is deviated from the central axis of the cam 33, and the other end is hinged with the piston 35, the piston 35 Located in the single cylinder 36, there is a leak opening on the single cylinder 36, and the orthographic projection of the leak opening is located between the starting position and the end position of the piston 35; Part of the partition 61 and the housing 7), the single cylinder 36 passes through the disinfectant tank, and the leak is located in the disinfectant tank; the end of the single cylinder 36 away from the cam 33 is connected to the nozzle 601, and the nozzle 601 faces the rear wiping cloth holder 31 facing areas;

The wiping mechanism on both sides includes a spring groove 43 and two left and right parts located on both sides of the double rack 27; the left part of the wiping mechanism on both sides includes a U-shaped groove member 41, a side wiping bracket 42 and a blocking bracket 53;

The side wiping bracket 42 is composed of a door frame-shaped main body and a roller, and the main body is composed of a front column, a rear column and an upper cross bar; the rear surface of the bottom of the front column extends backward to form a front extension block, and the front surface of the bottom of the rear column faces toward the front. The front extension forms the rear extension block;

The blocking bracket 53 is an upwardly open-shaped plate structure, which is composed of a front vertical plate, a rear vertical plate and a lower horizontal plate; the front vertical plate and the rear vertical plate are provided with waist-shaped holes whose long axis of symmetry is parallel to the vertical direction;

The central axis of the upper cross bar of the side wiping bracket 42 is parallel to the front-rear direction, which passes through the front vertical plate of the blocking bracket 53, the rollers of the side wiping bracket 42 and the rear vertical plate of the blocking bracket 53 in sequence; The plate is fixedly connected with the upper surface of the bottom of the housing 7 , and the front extension block and the rear extension block of the side wiping bracket 42 are fixedly connected with the spring groove 43 located under the bottom of the housing 7 ;

The structure of the right part of the wiping mechanism on both sides is the same as that of the left part of the wiping mechanism on both sides;

The left and right parts of the wiping mechanism on both sides are basically symmetrical, and the asymmetry is only in the U-shaped groove member 41; The two U-shaped groove members 41 are respectively connected to both sides of the double rack 27 through two connecting rods; the two U-shaped groove members 41 are respectively sleeved on two The side wipes on the roller of the bracket 42, and is in line contact with it;

The spring groove 43 is C-shaped as a whole, and is composed of a straight rod section in the middle and near-circular arc sections on both sides. A spring 44 is installed in the spring groove 43, and two small sliders 45 are fixedly connected to both ends of the spring 44. The slider 45 is fitted with a side shaft 47 through a rolling bearing. The side shaft 47 can rotate relative to the small slider, but cannot be displaced axially. The lower end of the side shaft 47 is tightly fitted with a side wiping cloth holder 46, and the inner surface of the side wiping cloth holder 46 passes through magic A replaceable side wiping sponge cloth 48 is attached; the bottom of the housing 7 is fixedly connected with four pulley feet 74, and the bottom of the spring groove 43 is located above the bottom of the pulley feet 74, and is spaced at a certain distance;

The small slider 45, the side shaft 47, the side wiping cloth holder 46 and the side wiping sponge cloth 48 are all located on the outside of the housing 7;

The spraying mechanism on both sides of the disinfectant includes left and right parts symmetrically distributed along the single cylinder 36;

The left part of the spraying mechanism on both sides of the disinfectant includes the side spray pipe I37, the plastic bellows 38, the side spray pipe II39, the small nozzle 602, the sliding bracket I501, the fixed bracket 54, the sliding bracket II502, the square rod 51 and the pipe snap ring 52;

The fixing bracket 54 includes a front fixing bracket and a rear fixing bracket;

The side spray pipe I37 is connected with the single cylinder 36 and the connection position is located behind the leak. The side spray pipe I37, the plastic bellows 38, the side spray pipe II39 and the small nozzle 602 are connected in sequence, and the small nozzle 602 faces the side wiping cloth holder 46. area;

Both the front fixing bracket and the rear fixing bracket are rectangular block structures, and both are fixed on the casing 7;

The main body of the sliding bracket I501 is a rectangular block structure, one end of which is the insertion end, the front fixing bracket is inserted into it, and the other end is the connecting end, which is sleeved on the roller shaft 10 of the left part of the driving mechanism. The guide groove for the sliding direction of the fixed bracket; the main body of the sliding bracket II502 is a rectangular block structure, one end of which is the insertion end, the rear fixed bracket is inserted into it from then on, and the other end is the free end. The guide groove;

The sliding bracket I501 and the sliding bracket II502 are fixedly connected by two connecting square rods 51; the sliding bracket II502 is fixedly connected with two pipe snap rings 52, and the two pipe snap rings 52 clamp the side spray pipe II502;

The structure of the right part of the spraying mechanism on both sides of the disinfectant is the same as that of the left part of the spraying mechanism on both sides of the disinfectant;

The upper edge of the casing 7 is provided with a top cover slide rail 71 for restricting the sliding direction of the top cover 58 and a toggle 73 for fixing the top cover 58 on the casing 7;

A sealing strip 59 is pasted under the top cover 58. The sealing strip 59 is a long strip of ethylene-propylene rubber material with a nearly triangular cross-section and the same width as the top cover 58. When the top cover 58 is reset through the top cover slide rail 71 and the toggle 73, The sealing strip 59 is attached to the upper edge of the disinfectant tank partition 61 to block the tiny gap between the disinfectant tank partition 61 and the top cover 58 to prevent the disinfectant from leaking into the motors at the front end of the robot.

The specific use process is as follows:

As shown in FIG. 12 , before using the robot, it is necessary to open the trigger 73 and slide the top cover 58 forward along the top cover slide rail 71 . Then adjust the appropriate center distance of the rollers so that the two rollers 11 can just be clamped to the width L2 of the handrail, and then adjust the appropriate center distance of the rollers so that the two rollers 11 can just be clamped to the width L1 of the handrail at the corner. The specific operation is: first pull out the latch 23 and take out the slider 22. At this time, the sawtooth rod 16 has enough space to adjust the number of meshing teeth with the left-handed nut 191 and the right-handed nut 192, and the two sides do not need to be symmetrical (that is, the same number of meshing teeth).

The data measured by the two-measured L1 and L2 are transmitted to the integral PLC 21 through the data measured by the cable-type displacement sensor 55 .

The disinfectant is poured into the disinfectant tank behind the disinfectant tank partition 61 , and the top cover 58 is reset so that it is stuck by the trigger 73 . At this time, the disinfectant tank of the robot is filled with disinfectant, and the integral PLC21 obtains the width of the stair handrail plus twice the radius of the roller, namely L1+2R, L2+2R, (set the radius of the roller 11 as R). The integral PLC can be programmed according to the triangular relationship. Taking the right-angle stair handrail as an example, the width of L3+2R can be calculated by the Pythagorean theorem.

The integral PLC 21 controls the motor driver 26 to start the drive motor 25, and the drive gear 3 on the drive shaft 4 drives the driven gear 2 to cause the driven shaft 5 to rotate, and the cleaning brush 1 and the small pulley 8 on the driven shaft 5 follow. The small pulley 8 and the large pulley 9 are driven by the transmission belt 13 to drive the roller shaft 10 to rotate in the same direction, so that the roller 11 on the roller shaft 10 and the roller sleeve 12 on it rotate; the two rollers 11 clamp Both sides of the handrail are rotated, so that the robot obtains the power to move along the handrail.

After the robot is started, it uses the double-rack reciprocating intermittent mechanism and the lower wiping mechanism to simulate the wiping action on the upper surface of the stair handrail; the double-rack reciprocating intermittent mechanism and the side wiping mechanism are used, and two U-shaped grooves with the same angle are used. component, so that the spring groove drives the wiping brackets on both sides to move upward or downward at the same time, simulating the side wiping action on both sides.

After the robot is started, when the cam 33 rotates, the driven rod 34 will drive the piston 35 to reciprocate back and forth in a straight line inside the single cylinder 36 . When the piston moves to the starting position, the disinfectant leaks into the single cylinder, and when the piston moves to the end position, the single cylinder is closed, and the disinfectant in the single cylinder is squeezed by the piston and sprayed from the nozzle toward the rear wiper holder Facing area and side wiper holder facing area. In this way, the spraying process of the disinfectant is realized.

When the robot encounters the corner of the handrail, the telescopic mechanism has not yet extended, and the rollers 11 on one side will be blocked by the right-angle handrail, causing the load of the drive motor 25 to increase, and the current inside the motor to increase significantly. The signal of the current increase is detected by the motor driver 26 and sent back to the integrated PLC 21, and the integrated PLC 21 controls the drive motor 25 on this side to stop working (the other side drive motor 25 operates normally). At the same time, the telescopic motor 20 is controlled to rotate forward, and the worm gear 17 is driven by the worm 18 . The left-handed screw 141 is rotated through the key connection with the worm gear 17, so that the left-handed nut 191 on the left-handed nut 191 produces a rightward linear motion. The right-side sawtooth rod 16 and the slider 22, which are engaged with the left-handed nut 191 through the sawtooth, form a sliding pair, which also slides to the right as the left-handed nut 191 moves to the right. Similarly, the right-handed nut 192 causes the left serrated rod 16 to produce a leftward linear motion through the secondary transmission composed of the worm gear 17, the worm 18 and the right-handed screw 142 and the right-handed nut 192 (the screw and the nut form a primary transmission, the worm wheel 17 And the worm gear 18 constitutes a transmission, so after two transmissions, that is, a secondary transmission). The two serrated rods 16 on both sides are elongated, resulting in an increase in the center-to-center distance of the roller shafts 10 on both sides, that is, the elongation is completed. The specific length of elongation is related to the number of revolutions of the telescopic motor 20, and the number of revolutions is based on the difference between L3-L1 and the specific transmission ratio of the secondary telescopic mechanism (the transmission ratio between the worm gear 17 and the worm 18 and the screw rod through the integral PLC 21). The gear ratio with the nut) is determined. After extending to the length of L3+2R and then shrinking, it is necessary to control the retraction motor 20 to reverse rotation, and the number of reverse rotations is determined by the difference between L3-L2 and the specific transmission ratio of the two-stage retractable mechanism. When it is shortened to L2+2R, the drive motor 25 on the locked rotor side is controlled to run, and similarly, the next right-angle handrail turn is completed. At this point, a turning action is completed.

When the telescopic mechanism is telescopic, the roller 11, the sliding bracket I501, the sliding bracket II502 and the side spray pipe II39 can be extended and retracted together to avoid the collision between the side spray pipe II39 and the stair handrail.

Claims (10)

1. a stair handrail cleaning and disinfection robot, is characterized in that, comprises shell (7), integral PLC (21), motor driver (26), drive mechanism, telescopic mechanism, lower wiping mechanism and disinfectant under spray mechanism; The integral PLC (21) is fixed on the casing (7); The drive mechanism is located at the front and middle of the housing (7), including symmetrically distributed left and right parts; The left part of the driving mechanism includes a driving motor (25), a transmission mechanism, a roller shaft (10), a roller (11) and a roller sleeve (12); the driving motor (25) communicates with the integral PLC (21) through a motor driver (26) connected, the drive motor (25) drives the roller shaft (10) to rotate through the transmission mechanism, the roller (11) is sleeved on the roller shaft (10), and the roller sleeve (12) is sleeved on the roller (11); The structure is the same as that of the left part of the driving mechanism; the roller shaft (10), the roller (11) and the roller sleeve (12) in the left and right parts of the driving mechanism are all located outside the casing (7); the driving motor (25) is fixed on the casing (7) on; The telescopic mechanism is located in the middle of the casing (7), and includes a cable-type displacement sensor (55), a telescopic motor (20), a worm (18), a worm wheel (17), and two left and right parts symmetrically distributed along the worm wheel (17); The motor (20) is fixed on the casing (7); The body and the pull ring of the cable-pulling displacement sensor (55) are respectively fixed above the roller shafts (10) of the left and right parts of the driving mechanism. Concentric but not in contact, the cable-pulling displacement sensor (55) is electrically connected to the integral PLC (21), the telescopic motor (20) is connected to the integral PLC (21) through the motor driver (26), and the telescopic motor (20) connected with the worm (18), the worm (18) is placed vertically, the worm wheel (17) is engaged with the worm (18) and the central axis of the worm wheel (17) is parallel to the left and right directions; The left part of the telescopic mechanism includes a right-hand screw (142), a right-hand nut (192), a serrated rod (16) and a slider (22); the right end of the right-hand screw (142) is fixedly connected with the worm gear (17), and The central axis of the right-handed screw (142) is parallel to the left-right direction, the right-handed nut (192) is sleeved on the right-handed screw (142) and is threadedly connected with it, and the serrated rod (16) and the right-handed nut (192) are engaged by serrations At the same time, the serrated rod (16) and the slider (22) form a sliding pair, the sliding direction of the sliding pair is parallel to the left-right direction, and the slider (22) is supported by the boss (75) fixed on the casing (7), And the bolt (23) is positioned on the boss (75); the structure of the right part of the telescopic mechanism is basically the same as the left part of the telescopic mechanism, the difference is only that the screw is a left-hand screw (141), and the nut is a left-hand nut (191) ; The left part of the telescopic mechanism is connected with the left part of the drive mechanism, and the connection method is as follows: the end of the sawtooth rod (16) away from the worm wheel (17) is matched with the roller shaft (10) through a rolling bearing, and the function of the rolling bearing is to make the roller shaft (10) It can rotate in the serrated rod (16), and limit the axial displacement of the roller shaft (10); the right part of the telescopic mechanism is connected with the right part of the driving mechanism in the same way as the left part of the telescopic mechanism and the left part of the driving mechanism connection method; The lower wiping mechanism is located at the rear of the casing (7), and is used for simulating the downward wiping action by using a double rack-type reciprocating intermittent mechanism; The disinfectant lower spraying mechanism is located at the rear of the housing (7), and is used for spraying the disinfectant on the wiping area of the downwardly wiping mechanism. 2. A kind of stair handrail cleaning and disinfection robot according to claim 1, is characterized in that, transmission mechanism comprises drive shaft (4), driving gear (3), driven gear (2), small pulley (8), Driven shaft (5), large pulley (9), transmission belt (13) and connecting rod (6); The drive shaft (4) is connected with the motor shaft of the drive motor (25) through a coupling, the driving gear (3) is fixedly sleeved on the driving shaft (4), and the driven gear (2) is meshed with the driving gear (3), so that the The driving gear (2) and the small pulley (8) are fixedly sleeved on the driven shaft (5). The small pulley (8) and the large pulley (9) are driven by the transmission belt (13), and the large pulley (9) The fixed sleeve is on the roller shaft (10); The driven shaft (5) and the roller shaft (10) are connected to each other by a connecting rod (6), the connecting rod (6) is in clearance fit with the driven shaft (5), and the driven shaft (5) passes through the casing (7). ) on the arc-shaped chute, the center of the circle corresponding to the arc-shaped chute is located on the central axis of the drive shaft (4). 3. a kind of stair handrail cleaning and disinfecting robot according to claim 2 is characterized in that, the bottom end of the driven shaft (5) of the left part and the right part of the drive mechanism is also fixedly sleeved with a cleaning brush (1), cleaning The bottom of the brush (1) is provided with bristles. 4. A kind of stair handrail cleaning and disinfecting robot according to claim 1, is characterized in that, the pull ring of the pull rope type displacement sensor (55) and the roller shaft fixed on the left part of the drive mechanism through the left sensor bracket (57) Above (10), the left sensor bracket (57) has a scalloped structure, consisting of a side vertical rod, an upper horizontal rod and a lower horizontal rod. To achieve positioning thereon, one end of the lower horizontal rod away from the side vertical rod is fixedly connected with the serrated rod member (16) of the left part of the telescopic mechanism; The body of the cable-pulling displacement sensor (55) is fixed above the roller shaft (10) of the right part of the driving mechanism through the right sensor bracket (56). The upper horizontal rod and the lower horizontal rod are composed, one end of the upper horizontal rod away from the side vertical rod is a C-shaped clip and is clamped on the body, and one end of the lower horizontal rod away from the side vertical rod is connected to the right part of the telescopic mechanism. 16) Fixed connection. 5. A stair handrail cleaning and disinfection robot according to claim 1, wherein the lower wiping mechanism comprises a rear motor (40), a rear motor shaft (49), an incomplete gear (28), a double rack (27), rear wiping bracket I (29), rear wiping bracket II (30), rear wiping cloth bracket (31) and rear wiping sponge cloth (32); the rear motor (40) is fixed on the casing (7) ; The rear motor (40) is connected with the integral PLC (21) through the motor driver (26), the rear motor shaft (49) is connected with the motor shaft of the rear motor (40) through a coupling, and the rear motor shaft (49) ) is placed vertically, the incomplete gear (28) is fixedly sleeved on the rear motor shaft (49), the double rack (27) is sleeved on the incomplete gear (28), and the two constitute a double rack type reciprocating intermittent mechanism , the two sides of the double rack (27) are hinged with two mutually parallel rear wiping brackets I (29), each of the two rear wiping brackets I (29) is hinged with a rear wiping bracket II (30), two rear wiping brackets II (30) is fixedly connected to the rear wiping cloth holder (31), and the rear wiping cloth holder (31) is pasted with a replaceable rear wiping sponge cloth (32) through Velcro; the rear wiping support II (30), The rear wiping cloth holder (31) and the rear wiping sponge cloth (32) are both located on the outside of the casing (7). 6. A stair handrail cleaning and disinfection robot according to claim 5, characterized in that the incomplete gear (28) and the rear motor shaft (49) are connected by a key. 7. A kind of stair handrail cleaning and disinfection robot according to claim 5 is characterized in that, the spray mechanism under the disinfectant comprises a cam (33), a driven rod (34), a piston (35), a single cylinder (36) and nozzle (601); The cam (33) is fixedly sleeved on the rear motor shaft (49) and is located above the incomplete gear (28); one end of the driven rod (34) is hinged with the cam (33) and the hinge point is offset from the cam (33) The other end of the central shaft is hinged with the piston (35), the piston (35) is located in the single cylinder (36), the single cylinder (36) is provided with a leak, and the orthographic projection of the leak is located at the starting position of the piston (35) and between the end positions; the housing (7) is provided with a disinfectant tank, the single cylinder (36) passes through the disinfectant tank, and the leak is located in the disinfectant tank; the end of the single cylinder (36) away from the cam (33) and the nozzle (601) is connected with the nozzle (601) facing the area where the rear wiper holder (31) faces. 8. A kind of stair handrail cleaning and disinfection robot according to claim 7, is characterized in that, the stair handrail cleaning and disinfection robot also comprises two sides wiping mechanism; Both sides wiping mechanism comprises spring groove (43) and is located in double rack (27) ) on both sides of the left and right parts; The left part of the wiping mechanism on both sides includes a U-shaped groove member (41), a side wiping bracket (42) and a blocking bracket (53); The side wiping bracket (42) is composed of a door frame-shaped main body and a roller, and the main body is composed of a front column, a rear column and an upper cross bar; the rear surface of the bottom of the front column extends backward to form a front extension block, and the front end of the bottom of the rear column The surface extends forward to form a rear extension block; The blocking bracket (53) is a recessed plate structure with an upward opening, and is composed of a front vertical plate, a rear vertical plate and a lower horizontal plate; the front vertical plate and the rear vertical plate are provided with waist-shaped holes whose long axis of symmetry is parallel to the vertical direction ; The central axis of the upper cross bar of the side wiping bracket (42) is parallel to the front-rear direction, and passes through the front vertical plate of the blocking bracket (53), the rollers of the side wiping bracket (42) and the rear vertical plate of the blocking bracket (53) in sequence. plate; the lower transverse plate of the blocking bracket (53) is fixedly connected with the upper surface of the bottom of the casing (7), and the front and rear extension blocks of the side wiping bracket (42) are connected to the bottom of the casing (7). The spring groove (43) is fixedly connected; The structure of the right part of the wiping mechanism on both sides is the same as that of the left part of the wiping mechanism on both sides; The left and right parts of the wiping mechanism on both sides are basically symmetrical, and the only asymmetry lies in the U-shaped groove member (41); the end faces of the two U-shaped groove members (41) of the left and right parts of the wiping mechanism on both sides are parallel to the housing. (7) The distance from the bottom is the same, and the center axis is the same angle with the bottom of the housing (7); the two U-shaped groove members (41) are respectively connected to both sides of the double rack (27) through two connecting rods; The two U-shaped groove members (41) are respectively sleeved on the rollers of the two side wiping brackets (42) and are in line contact with them; The spring groove (43) is C-shaped as a whole, and is composed of a straight rod section in the middle and a near-circular arc section on both sides. A spring (44) is installed in the spring groove (43), and two ends of the spring (44) are fixedly connected respectively with two Small sliders (45), two small sliders (45) are fitted with side shafts (47) through rolling bearings, the side shafts (47) can rotate relative to the small sliders, but cannot be displaced axially, the lower end of the side shafts (47) A side wiping cloth holder (46) is tightly fitted, and the inner surface of the side wiping cloth holder (46) is pasted with a replaceable side wiping sponge cloth (48) through Velcro; the bottom of the casing (7) is fixedly connected with four pulley feet (74), the bottom of the spring groove (43) is located above the bottom of the pulley foot (74), and is separated by a certain distance; The small slider (45), the side shaft (47), the side wiping cloth holder (46) and the side wiping sponge cloth (48) are all located on the outside of the housing (7). 9. A stair handrail cleaning and disinfection robot according to claim 8, characterized in that, the stair handrail cleaning and disinfection robot further comprises a spray mechanism on both sides of the disinfectant; the spray mechanism on both sides of the disinfectant comprises a symmetrical distribution along the single cylinder (36) the left and right parts; The left part of the spray mechanism on both sides of the disinfectant includes side spray pipe I (37), plastic bellows (38), side spray pipe II (39), small nozzle (602), sliding bracket I (501), front fixing bracket, Sliding bracket II (502), rear fixing bracket, square rod (51) and pipe snap ring (52); The side spray pipe I (37) is connected to the single cylinder (36) and the connection position is located behind the leak, the side spray pipe I (37), the plastic bellows (38), the side spray pipe II (39) and the small nozzle (602) ) are connected sequentially, the small nozzle (602) facing the area where the side wiper holder (46) faces; Both the front fixing bracket and the rear fixing bracket are rectangular block structures, and both are fixed on the casing (7); The main body of the sliding bracket I (501) is a rectangular block structure, one end of which is an insertion end, the front fixing bracket is inserted into it from then on, and the other end is a connecting end, which is sleeved on the roller shaft (10) of the left part of the driving mechanism, and its There is a guide groove inside to limit the sliding direction of the front fixing bracket; the main body of the sliding bracket II (502) is a rectangular block structure, one end of which is an insertion end, the rear fixing bracket is inserted into it from then on, and the other end is a free end. There is a guide groove to limit the sliding direction of the rear fixing bracket; The sliding bracket I (501) and the sliding bracket II (502) are fixedly connected by two connecting square bars (51); the sliding bracket II (502) is fixedly connected with two pipe snap rings (52), two pipe snap rings ( 52) Clamping side spray pipe II (502); The structure of the right part of the spraying mechanism on both sides of the disinfectant is the same as that of the left part of the spraying mechanism on both sides of the disinfectant. 10. A stair handrail cleaning and disinfection robot according to claim 1, characterized in that, the stair handrail cleaning and disinfection robot further comprises a top cover (58), and the upper edge of the casing (7) is provided with a top cover (58) for limiting ) top cover slide rails (71) in the sliding direction and a toggle (73) for fixing the top cover (58) on the housing (7).

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