CN117382762A

CN117382762A - Stair climbing robot

Info

Publication number: CN117382762A
Application number: CN202311388201.9A
Authority: CN
Inventors: 姜卫
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-09-14
Filing date: 2023-10-25
Publication date: 2024-01-12

Abstract

The invention discloses a stair climbing robot, comprising: a center rail; the first cavity is connected to one side of the central guide rail in a sliding way; the second cavity is connected to the opposite side of the first cavity on the central guide rail in a sliding manner; the first cavity and the second cavity are respectively provided with two telescopic structures, the two telescopic structures are distributed along the walking direction of the stair climbing robot, and the telescopic structures are used for being supported on the ground and vertically telescopic; the two driving structures are respectively connected with the first cavity and the second cavity in a driving way so as to drive the first cavity and the second cavity to slide along the horizontal direction; the walking wheel set is arranged on the ground side of the telescopic structure and is in rolling connection with the ground. The technical scheme of the invention aims at providing a stair climbing robot structure with stable operation.

Description

Stair climbing robot

Claim priority statement:

the present application claims priority, wherein the information of the prior application claiming priority is as follows:

application number: PCT/CN2023/118667

Filing date: 2023/9/14

The invention creates the name: robot capable of automatically going up and down stairs

Application number: PCT/CN2023/119264

Filing date: 2023/9/16

Technical Field

The invention relates to the technical field of robots, in particular to a stair climbing robot.

Background

At present, the existing stair climbing robot mostly adopts a crawler-type impeller structure, and can cause certain damage to a stair body for a long time, such as scratches and cracks on the surface of a porcelain block, and the like.

Disclosure of Invention

The invention mainly aims to provide a stair climbing robot, which aims to solve the technical problem of unstable gesture in the stair climbing process of the existing stair climbing robot.

In order to achieve the above object, the present invention provides a stair climbing robot, comprising:

a center rail;

the first cavity is connected to one side of the central guide rail in a sliding manner;

the second cavity is connected to the opposite side of the first cavity on the central guide rail in a sliding manner;

the telescopic structures are respectively arranged in the first cavity and the second cavity, are distributed along the walking direction of the stair climbing robot, and are used for being supported on the ground and vertically telescopic;

the two driving structures are respectively connected with the first cavity and the second cavity in a driving way so as to drive the first cavity and the second cavity to slide along the horizontal direction;

the walking wheel set is arranged on the ground side of the telescopic structure and is in rolling connection with the ground.

Optionally, the stair climbing robot further comprises a central processor, and the central processor signals are independently connected with the driving structure, the walking wheel set and the telescopic structure.

Optionally, the stair climbing robot further comprises an induction device, wherein the induction device is arranged at the front part of each telescopic structure along the walking direction of the stair climbing robot and is used for inducing the height and the width of steps, and the induction device is in signal connection with the central processing unit.

Optionally, the central guide rail has relative first lateral wall and second lateral wall, first lateral wall with the mounting groove has all been seted up to the second lateral wall, first cavity with the second cavity respectively with two mounting groove sliding connection, the drive structure includes:

the driving motors are arranged in two and are respectively arranged in the first cavity and the second cavity;

the driving wheels are provided with two groups, the two groups of driving wheels are respectively in rolling connection with the inner walls of the two mounting grooves, and the two driving motors are respectively in driving connection with the two driving wheels so as to drive the driving wheels to roll forwards and backwards along the horizontal direction.

Optionally, the first cavity and the second cavity are all provided with bottom open-ended and hold the chamber, the extending structure includes:

the fixing piece is arranged in the accommodating cavity and is provided with a telescopic cavity with an opening at the bottom;

the telescopic piece is arranged in the telescopic cavity and comprises a fixed end and a telescopic end connected with the fixed end, the fixed end is connected with the inner wall of the telescopic cavity, and the telescopic end stretches along the vertical direction;

the movable piece is connected with the fixed piece in a sliding way and connected with the telescopic end, and the walking wheel set is arranged on one side of the movable piece facing the ground.

Optionally, the telescopic member is one of an electric cylinder, a hydraulic cylinder or an air cylinder.

Optionally, the walking wheel set includes:

the servo driving wheels are arranged at least two and are arranged at intervals, and the servo driving wheels are used for driving the telescopic structure to move along the walking direction of the stair climbing robot;

the driven wheels are arranged at least two and are arranged at intervals, and the driven wheels are used for supporting the telescopic structure.

Optionally, the walking wheel set further comprises an anti-slip body, and the anti-slip body is coated on the outer peripheral walls of the servo driving wheel and the driven wheel.

Optionally, the stair climbing robot further includes a distance adjusting structure, two distance adjusting structures are arranged on the first cavity and the second cavity, and the distance adjusting structure is connected with each telescopic structure in a driving mode so as to adjust the distance between the two telescopic structures on the first cavity and the distance between the two telescopic structures on the second cavity.

Optionally, the pitch adjustment structure includes:

the two racks are respectively arranged in the first cavity and the second cavity and extend along the walking direction of the stair climbing robot;

the adjusting motor is respectively arranged on each telescopic structure;

and the motor shaft of each adjusting motor is correspondingly connected with one gear, and the gears are meshed with the racks.

Compared with the prior art, in the technical scheme of the invention, the stair climbing robot comprises a central guide rail, a first cavity and a second cavity are connected to the central guide rail in a sliding manner, the first cavity and the second cavity are respectively arranged on two opposite sides of the central guide rail and slide along the same direction in the horizontal direction relative to the central guide rail, the direction is the walking direction of the stair climbing robot, in addition, the stair climbing robot further comprises a telescopic structure, the telescopic structure is provided with four groups, two telescopic brackets are respectively arranged on the first cavity and the second cavity, the two telescopic brackets are distributed along the walking direction of the stair climbing robot, the telescopic structure stretches along the vertical direction and is used for supporting the stair climbing robot, in addition, the stair climbing robot further comprises a driving structure, the two driving structures are respectively connected with the first cavity and the second cavity in a driving manner to drive the first cavity and the second cavity to slide along the central guide rail, in addition, the ground side of the telescopic structure is also provided with a wheel set which is connected with the stair climbing wheel set to drive other parts of the stair climbing robot to walk along the ground. In actual use, when the stair climbing robot moves to the front of a step under the driving of the traveling wheel set, firstly, the telescopic structure on the first cavity, which is close to the step, is lifted and ascends to the height of the step, then, other traveling wheel sets, which are in contact with the ground, drive the stair climbing robot to move close to the step until the traveling wheel sets on the lifted telescopic structure are in contact with the step on the upper layer, then, the telescopic structure on the second cavity, which is close to the step, is lifted, the stair climbing robot continues to move forwards until the telescopic structure is in contact with the step on the upper layer, similarly, the other traveling wheel sets of the first cavity and the other traveling wheel sets on the second cavity repeatedly lift and move forwards until all traveling casters are in contact with the step on the upper layer, and in the technical scheme, the stair climbing robot contacts with the upper end face of the step through the traveling wheel sets, at least three telescopic structures in the stair climbing process are in contact with the step, so that the stability of the attitude of the stair climbing robot is ensured, in addition, the stability of the stair climbing robot is improved, and the relative ground cannot be guaranteed when the center guide rail of the stair climbing robot is not in contact with the step, and the stability of the stair climbing robot is also guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a stair climbing robot according to the present invention;

FIG. 2 is another schematic view of a stair climbing robot according to the present invention;

FIG. 3 is a schematic view of another construction of the stair climbing robot of the present invention;

FIG. 4 is a schematic view of another construction of the stair climbing robot of the present invention;

fig. 5 is a schematic view of still another construction of the stair climbing robot according to the present invention.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				100	Central guide rail	200	First cavity body
300	Second cavity body	400	Telescopic structure
				600	Walking wheel set	700	Spacing adjusting structure
800	Inductor	900	Central processing unit
				410	Fixing piece	420	Telescopic member
430	Movable piece	510	Driving motor
				520	Driving wheel	610	Servo driving wheel
620	Driven wheel	710	Rack bar
				720	Adjusting motor	530	Sliding rail
540	Sliding block

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; the connection can be mechanical connection or signal connection; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

In order to solve the unstable technical problem of present stair climbing robot stair climbing in-process gesture, this technical scheme provides a stair climbing robot, includes:

a center rail 100;

the first cavity 200 is slidably connected to one side of the central guide rail 100;

a second chamber 300 slidably coupled to the center rail 100 at the opposite side of the first chamber 200;

the telescopic structures 400 are respectively arranged in the first cavity 200 and the second cavity 300, the two telescopic structures 400 are respectively arranged along the walking direction of the stair climbing robot, and the telescopic structures 400 are used for being supported on the ground and vertically telescopic;

the two driving structures are respectively connected with the first cavity 200 and the second cavity 300 in a driving way so as to respectively drive the first cavity 200 and the second cavity 300 to slide along the horizontal direction;

the walking wheel set 600 is arranged on the ground side of the telescopic structure 400 and is in rolling connection with the ground.

Compared with the prior art, in the technical scheme of the invention, the stair climbing robot comprises a central guide rail 100, a first cavity 200 and a second cavity 300 are slidingly connected to the central guide rail 100, the first cavity 200 and the second cavity 300 are respectively arranged on two opposite sides of the central guide rail 100 and slide along the same direction in the horizontal direction relative to the central guide rail 100, the direction is the walking direction of the stair climbing robot, in addition, the stair climbing robot further comprises a telescopic structure 400, four groups of telescopic structures 400 are arranged on the telescopic structure 400, the first cavity 200 and the second cavity 300 are respectively provided with two telescopic brackets, the two telescopic brackets are distributed along the walking direction of the stair climbing robot, the telescopic structure 400 stretches along the vertical direction and is supported on the ground by paper, in addition, the stair climbing robot further comprises a driving structure, the two driving structures are respectively connected with the first cavity 200 and the second cavity 300 in a driving manner so as to drive the first cavity 200 and the second cavity 300 to slide relative to the central guide rail 100, and in addition, the telescopic structures 400 are connected with other wheel sets 600 along the walking direction of the ground, and the other wheel sets 600 are connected with the other ground. In actual use, when the stair climbing robot moves in front of a step under the driving of the traveling wheel set 600, firstly the telescopic structure 400 on the first cavity 200 close to the step is lifted and ascended to the height of the step, then other traveling wheel sets 600 contacted with the ground drive the stair climbing robot to move close to the step until the traveling wheel set 600 on the lifted telescopic structure 400 contacts with the step on the previous layer, then the telescopic structure 400 on the second cavity 300 close to the step is lifted, the stair climbing robot continues to move forwards until the telescopic structure 400 contacts with the step on the previous layer, similarly, the other traveling wheel set 600 on the first cavity 200 and the other traveling wheel set 600 on the second cavity 300 repeatedly lift and move forwards until all traveling casters contact with the step on the previous layer, and the stair climbing process is completed.

Specifically, as shown in fig. 1 to 5, in the present embodiment, the stair climbing robot includes a central rail 100, the central rail 100 is an "i" -shaped structure, the central rail 100 is provided with a first cavity 200 and a second cavity 300, the first cavity 200 and the second cavity 300 are respectively disposed on opposite sides of the central rail 100, the first cavity 200 and the second cavity 300 may be a box-shaped structure, the first cavity 200 and the second cavity 300 may have the same size and shape to ensure that the center of gravity of the first cavity 200, the second cavity 300 and the central rail 100 is located at the center of the central rail 100, in addition, the first cavity 200 and the second cavity 300 are slidably connected with the central rail 100, the sliding connection manner may be that a chute extending along the horizontal direction of the robot walking is formed on the central rail 100, correspondingly, the first cavity 200 and the second cavity 300 are provided with bumps matched with the sliding grooves, the first cavity 200 and the second cavity 300 are matched with the sliding grooves through the bumps to realize sliding of the first cavity 200 and the second cavity 300 on the central guide rail 100, in addition, the stair climbing robot further comprises two driving structures, the two driving structures are arranged on the central guide rail 100 and are respectively in driving connection with the first cavity 200 and the second cavity 300, the driving structures can be formed by matching a screw rod with a nut, the screw rod is fixed on the central guide rail 100 and extends along the running direction of the stair climbing robot, the nut is matched with the screw rod in a threaded mode and is fixedly connected with the first cavity 200 and the second cavity 300, and a motor can be arranged on the central guide rail 100 to drive the screw rod to rotate, so that the nut is driven to drive the first cavity 200 and the second cavity 300 to move along the extending direction of the screw rod. In addition, in order to realize the stair climbing action of the stair climbing robot, the stair climbing robot further comprises four telescopic structures 400, the four telescopic structures 400 are arranged, two telescopic structures 400 on the first cavity 200 and the second cavity 300 are respectively arranged along the walking direction of the stair climbing robot, the telescopic structures 400 can be devices such as an electric cylinder, an air cylinder or a hydraulic cylinder, the telescopic structures 400 are supported on the ground and stretch out and draw back along the vertical direction, in addition, a walking wheel set 600 is further arranged on the ground side of the telescopic structures 400, the walking wheel set 600 is of a caster structure with power, and the stair climbing robot can be driven to walk along the ground through the driving of the walking wheel set 600.

In this embodiment, the front side is set to be the side close to the step in the travelling direction of the stair climbing robot, and the rear side is set to be the side far away from the step in the travelling direction of the stair climbing robot, as shown in fig. 2, when the stair climbing robot moves in front of the step during stair climbing operation, the sensor at the lower end of the telescopic structure of the first cavity senses the height and length information of the step and sends back information to the central processor 900, the telescopic structure 400 at the upper front side of the first cavity 200 is lifted to the height of the step, the travelling wheel group 600 thereon is suspended, then the first cavity 200 slides towards one side of the step under the driving of the travelling wheel group 600 at the rear side, at this time, the driving structure in the first cavity 200 synchronously drives the first cavity 200 to move forward until the travelling wheel group 600 at the upper front side of the first cavity 200 completely spans the step and is supported on the upper layer of the step, the rear telescopic structure 400 on the first cavity 200 is lifted to the same height, the first cavity 200 continues to move forwards until the two traveling wheel sets 600 on the first cavity 200 are completely supported on the upper step, the front telescopic structure 400 on the second cavity 300 is lifted to the upper step height, the second cavity 300 slides towards one side of the step under the driving of the rear driving structure and the driving of the traveling wheel sets 600 until the front telescopic structure 400 on the second cavity 300 is supported on the upper step, the rear telescopic structure 400 on the second cavity 300 is lifted to the same height, the second cavity 300 continues to move forwards under the driving of the front driving structure and the driving of the traveling wheel sets 600 until all traveling wheel sets 600 on the climbing robot are supported on the upper step, the first cavity 200 and the second cavity 300 are fixed in position, the driving structure on the first cavity 200 and the second cavity 300 drives the central guide rail 100 to move forward to an initial state before climbing stairs, the relative positions of the central guide rail and the first cavity 200 and the second cavity 300 are the same, and then the stair climbing robot repeats the actions until all stairs are climbed, and the stair climbing operation is completed.

As shown in fig. 3, when the stair climbing robot downstairs, the sensor at the lower end of the telescopic structure of the first cavity senses the step length information and transmits the information back to the central processor 900, then the telescopic wheel set 600 at the upper rear side of the first cavity 200 drives the first cavity 200 to move forward until the telescopic structure 400 at the front side of the first cavity 200 is suspended, then the telescopic support extends to the telescopic wheel set 600 above the telescopic support to be supported on the next step, then the first cavity 200 continues to move forward under the driving of the telescopic wheel set 600 and the driving structure at the front side until the telescopic structure 400 at the upper rear side of the first cavity 200 is suspended, at this time, the telescopic structure 400 extends to the same depth, then the telescopic wheel set 600 at the upper rear side of the second cavity 300 firstly drives the telescopic structure 400 at the front side of the second cavity 300 to move forward until the telescopic structure 400 at the front side of the second cavity 300 is suspended, at this time, the telescopic wheel set 600 above the telescopic support is supported on the next step, then the second cavity 300 continues to move forward under the driving of the front side of the telescopic wheel set 600 and the driving structure until the telescopic structure at the front side of the second cavity 200 is suspended until the telescopic structure at the same depth as the first cavity 300 extends to the front side of the first cavity 300, and the telescopic structure at the front side of the second cavity 300 is suspended, and the second cavity 300 is driven to move forward, and the first cavity 300 is driven to move forward, and the position of the first cavity is the front and the telescopic structure is opposite to the first and the front and the first cavity 300 is suspended, and the front and the second cavity is moved to the front and the front structure is moved.

Further, the stair climbing robot further comprises a central processing unit 900, and the central processing unit 900 is in signal connection with the driving structure, the walking wheel set 600 and the telescopic structure 400. Specifically, as shown in fig. 1, in this embodiment, the stair climbing robot further includes a CPU and other devices, where the CPU 900 is in signal connection with the driving structure walking wheel set 600 and the sensor 800, so that the CPU 900 can control the walking wheel set 600 and the driving structure to cooperatively act according to the step height signal and the distance signal transmitted by the sensor 800, and reduce the interaction force between the driving structures in the movement process.

Further, the stair climbing robot further includes a sensing device provided at a front portion of each of the telescopic structures 400 along a traveling direction of the stair climbing robot for sensing a front obstacle. Specifically, in order to improve the intelligent level of this stair climbing robot, this stair climbing robot still is equipped with inductor 800, this inductor 800 is used for responding to the place ahead barrier, in this scheme, this inductor 800 can be infrared ranging sensor, be equipped with at least one this inductor 800 on each extending structure 400, and all be located extending structure 400 along the front portion of stair climbing robot walking direction, when going up the stair or going down the stairs, this inductor 800 can be used to respond to the height and the width of step, and then adjust extending structure 400 stroke when going up and down, thereby make this stair climbing robot can climb different high stairs, this stair climbing robot's application scope has been improved.

When the stair climbing robot goes up to the front of the step, the sensing device on the front side senses the height and the length of the step, and transmits the information of the height and the length of the step to the central processing unit, the central processing unit controls the second cavity to lift the right front telescopic structure to the height of the step according to the received information, the right rear traveling wheel group and the left rear telescopic structure are driven to move forward independently and move forward, the second cavity extends forward along the bidirectional central guide rail, the front traveling wheel group completely crosses the step, the right rear telescopic structure is lifted to the same height, the right front traveling wheel group drives the second cavity to move forward independently, the second cavity extends forward along the bidirectional central guide rail, the left rear traveling wheel group moves forward after completely crossing the step, the left front traveling wheel group and the bidirectional central guide rail are driven to move forward, the left rear telescopic structure is lifted to the same height, the left front traveling wheel group drives the first cavity to retract forward after completely crossing the step, the left rear telescopic structure is lifted up to the same height, and the left rear telescopic structure extends back to the front of the step, and the left rear telescopic structure extends forward when the left rear telescopic structure is lifted up to the front of the same height, and the front of the stair is driven to the full height, the front of the front telescopic structure is retracted forward by the left rear telescopic structure is driven to the same height, and the front of the stair is driven to extend forward, the front of the stair is driven to the front, the front of the stair is completely and the front of the stair is retracted, the front by the front of the front telescopic structure. When the stair climbing robot downstairs, the sensing device on the front side senses the length of a step and the depth of the downstairs, the sensing device transmits step depth information to the central processing unit, the central processing unit controls the right traveling wheel set to drive the second cavity to move forwards according to the received information, the second cavity stretches out forwards along the bidirectional central guide rail, when the right front traveling wheel set completely passes over the step, the central processing unit controls the right rear telescopic structure to descend, when the right rear telescopic structure descends to the depth of the step, the right rear traveling wheel set and the second cavity are driven to move forwards independently, the second cavity stretches out forwards along the bidirectional central guide rail, after the right rear traveling wheel set completely passes over the step, all traveling wheel sets drive the stair climbing robot to move forwards, after the left front traveling wheel set completely passes over the step, the central processing unit controls the left rear telescopic structure to descend, the left rear telescopic structure descends to the same depth, the left traveling wheel set moves forwards to drive the first cavity to move forwards along the left rear telescopic structure, and the left rear telescopic structure stretches back to the same depth as the left rear telescopic structure is retracted, when the left rear telescopic structure passes over the step, the left rear telescopic structure is retracted to the same depth as the left rear telescopic structure is retracted, and all the left rear telescopic structure is retracted to the same depth as the front of the step, and all the left rear telescopic structure is retracted to the front.

Further, the central guide rail 100 has a first side wall and a second side wall opposite to each other, the first side wall and the second side wall are both provided with mounting grooves, the first cavity 200 and the second cavity 300 are respectively slidably connected with the two mounting grooves, and the driving structure includes:

the two driving motors 510 are arranged, and the two driving motors 510 are respectively arranged in the first cavity 200 and the second cavity 300;

the driving wheels 520 are provided with two groups, the two groups of driving wheels 520 are respectively connected with the inner walls of the two mounting grooves in a rolling way, and the two driving motors 510 are respectively connected with the two driving wheels 520 in a driving way so as to drive the driving wheels 520 to roll forwards and backwards along the horizontal direction.

As shown in fig. 4 and 5, in the present embodiment, the central guide rail 100 has a first side wall and a second side wall opposite to each other, the first side wall and the second side wall are respectively provided with a mounting groove, the mounting grooves may be square grooves, the first cavity 200 and the second cavity 300 are partially embedded in the mounting grooves and slidably connected with the inner walls of the mounting grooves, so that the stability of the first cavity 200 and the second cavity 300 during sliding is improved by the cooperation of the outer walls of the first cavity 200 and the second cavity 300 and the inner walls of the mounting grooves, in addition, in the present embodiment, the driving structure includes two driving motors 510 and driving wheels 520, the driving motors 510 are respectively fixed on the first cavity 200 and the second cavity 300, the driving wheels 520 are also provided with two driving wheels 520, and the motor shaft of each driving motor 510 is correspondingly provided with one driving wheel 520, and when the driving motor 510 works, the driving wheels 520 roll along the inner walls of the mounting grooves, thereby driving the driving wheels 200 and the second cavity 300 to walk relatively to the central guide rail 100.

Further, the driving structure further includes:

the sliding rails 530 extend along the walking direction of the stair climbing robot, and at least one sliding rail 530 is arranged in each mounting groove;

the sliding blocks 540 are provided with a plurality of sliding blocks, each sliding rail 530 is slidably connected with at least one sliding block 540, and the first cavity 200 and the second cavity 300 are respectively connected with at least one sliding block 540.

As shown in fig. 4 and 5, in the present embodiment, the driving structure further includes a sliding rail 530, at least one sliding rail 530 is fixed in each mounting groove, the sliding rail 530 extends along the traveling direction of the stair climbing robot, in addition, at least one sliding block 540 is slidingly connected to each sliding rail 530, and at least one sliding block 540 is respectively connected to the first cavity 200 and the second cavity 300, so that the connection between the first cavity 200 and the second cavity 300 and the central rail 100 can be facilitated by the cooperation of the sliding blocks 540 and the sliding rails 530.

Further, the first cavity 200 and the second cavity 300 are both provided with a receiving cavity with an opening at the bottom, and the telescopic structure 400 includes:

the fixing piece 410 is arranged in the accommodating cavity, and the fixing piece 410 is provided with a telescopic cavity with an opening at the bottom;

the telescopic piece 420 is arranged in the telescopic cavity, the telescopic piece 420 comprises a fixed end and a telescopic end connected with the fixed end, the fixed end is connected with the inner wall of the telescopic cavity, and the telescopic end stretches along the vertical direction;

the movable member 430 is slidably connected to the fixed member 410 and connected to the telescopic end, and the running wheel set 600 is disposed on a side of the movable member 430 facing the ground.

Further, the telescopic member 420 is one of an electric cylinder, a hydraulic cylinder or an air cylinder.

Specifically, as shown in fig. 5, in this embodiment, the first cavity 200 and the second cavity 300 are box-shaped structural members, the first cavity 200 and the second cavity 300 are all provided with accommodating cavities with bottom openings, the telescopic structure 400 includes a fixed frame, the fixed frame is of a sleeve structure, the fixed frame 410 is disposed in the accommodating cavities, the fixed frame 410 is provided with telescopic cavities with bottom openings, the telescopic cavities are provided with telescopic members 420, for facilitating processing, the telescopic members 420 can adopt one of standard cylinders, electric cylinders or hydraulic cylinders, the telescopic members 420 have fixed ends and telescopic ends, the fixed ends are fixedly connected with inner walls of the telescopic cavities, the telescopic ends are telescopic along the vertical direction, in addition, the telescopic structure 400 further includes a movable member 430, the movable member 430 is of a cylinder structure, one end of the movable member 430 is movably disposed in the telescopic cavity of the fixed frame 410 and is slidably connected with the telescopic cavity, in addition, when the telescopic ends are telescopic, the telescopic ends can drive the movable member 430 to move away from or close to the fixed member 410, so as to realize the function of the telescopic structure 400, and the telescopic members 430 are disposed on one side of the movable member 600, which faces the movable member 600, and the movable member is used for supporting the wheel set 400.

Further, the running gear set 600 includes:

the servo driving wheels 610 are provided with at least two servo driving wheels 610 and are arranged at intervals, and the servo driving wheels 610 are used for driving the telescopic structure 400 to move along the walking direction of the stair climbing robot;

driven wheels 620, at least two and spaced apart, the driven wheels 620 being configured to support the telescoping structure 400.

Specifically, as shown in fig. 5, in the present embodiment, the walking wheel set 600 includes a servo driving wheel 610 and driven wheels 620, wherein the servo driving wheel 610 includes a support, the support is fixed on the movable member 430 of the telescopic structure 400, the support is rotatably connected with a caster wheel, the caster wheel is in rolling contact with the ground, the support is further provided with a servo motor, a motor shaft of the servo motor is connected with a central shaft of the caster wheel, so that the servo motor can drive the caster wheel to rotate, and further drive the stair climbing robot to walk along the ground, in the present embodiment, at least two servo driving wheels 610 are provided on each telescopic structure 400, the two servo driving wheels 610 are arranged at intervals and have the same rolling direction, in addition, at least two driven wheels 620 are respectively provided on the telescopic structure 400, the driven wheels 620 can adopt a structure similar to the servo driving wheels 610, and no servo motor is provided on the driven wheels 620.

Further, the running wheel set 600 further includes an anti-slip body, which is coated on the outer peripheral walls of the servo driving wheel 610 and the driven wheel 620. In order to ensure stable posture of the stair climbing robot during going up and down stairs, the walking wheel set 600 further comprises an anti-slip body, the anti-slip body can be a glue layer coated on the outer peripheral walls of the servo driving wheel 610 and the driven wheel 620, and the glue layer can be made of rubber or TPU (thermoplastic polyurethane) and other materials to increase friction between the walking wheel set 600 and the ground, so that when the stair climbing robot needs to stop during going up and down stairs, the anti-slip body can prevent the servo driving wheel 610 and the driven wheel 620 from rolling on steps, thereby affecting normal stair climbing operation of the stair climbing robot.

Further, the stair climbing robot further comprises two interval adjusting structures 700, wherein the two interval adjusting structures 700 are respectively arranged in the first cavity 200 and the second cavity 300, and the interval adjusting structures 700 are in driving connection with each telescopic structure 400 so as to adjust the interval between the two telescopic structures 400 in the first cavity 200 and the interval between the two telescopic structures 400 in the second cavity 300.

Further, the pitch adjustment structure 700 includes:

the two racks 710 are arranged, and the two racks 710 are respectively arranged in the first cavity 200 and the second cavity 300 and extend along the walking direction of the stair climbing robot;

the adjusting motor 720 is respectively arranged on each telescopic structure 400;

the motor shaft of each adjusting motor 720 is correspondingly connected with a gear, and the gear is meshed with the rack 710.

In order to make the stair climbing robot suitable for steps with different widths, as shown in fig. 5, the stair climbing robot further comprises a spacing adjusting structure 700, the spacing adjusting structure 700 is provided with two, the two spacing adjusting structures 700 are respectively arranged on the first cavity 200 and the second cavity 300, and the spacing adjusting structure 700 is in driving connection with each telescopic structure 400, the spacing adjusting structure 700 can be a structure of matching a screw and a nut, for example, a screw extending along the travelling direction of the stair climbing robot is rotationally arranged in a containing cavity of the first cavity 200, a motor driving screw is arranged on the first cavity 200 to rotate, two sections of threads with opposite screw directions are formed on the screw, the two sections of threads are respectively arranged at two ends of the screw, each section of threads is connected with one nut, the nuts are respectively fixed with the two telescopic structures 400 in the first cavity 200, in addition, a fixing piece 410 of the telescopic structure 400 can be in sliding connection with the inner wall of the containing cavity through a guide rail structure, when the screw is rotationally driven by the motor, the two nuts can be mutually close to or far away, and further the two telescopic structures 400 are driven to be mutually close to or far away from each other, and the two telescopic structures 400 can be further close to or far away from each other, and the telescopic structures 400 can be supported by the two telescopic structures 600, and the distance between the two telescopic structures can be adjusted and the floor can be supported by the two telescopic structures 600. Therefore, the stair climbing robot is adapted to steps with different widths, and the second cavity 300 can adopt the same structure as the first cavity 200, which is not described herein.

Fig. 5 shows another structure of a spacing adjustment structure 700, in this scheme, the spacing adjustment structure 700 includes two racks 710, where the racks 710 are provided with two racks 710, the two racks 710 are respectively disposed in the accommodating cavities of the first cavity 200 and the second cavity 300, and the two racks 710 all extend along the walking direction of the stair climbing robot, the spacing adjustment structure 700 further includes an adjustment motor 720, one adjustment motor 720 is disposed on each telescopic structure 400, a gear is disposed on a motor shaft of the adjustment motor 720, and the gear is meshed with the racks 710, so, when the adjustment motor 720 works, the gear moves along the racks 710, and drives the telescopic structures 400 to move along the racks 710, so as to realize adjustment of the spacing between the telescopic structures 400.

The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A stair climbing robot, comprising:

a center rail;

the driving structures are respectively in driving connection with the first cavity and the second cavity to respectively drive the first cavity and the second cavity to slide forwards and backwards along the horizontal direction;

2. The stair climbing robot according to claim 1, further comprising a central processor, wherein the central processor signals are independently coupled to the drive structure, the running gear sets, and the telescoping structure.

3. The stair climbing robot according to claim 2, further comprising a sensing device provided at a front portion of each of the telescopic structures in a traveling direction of the stair climbing robot for sensing a height and a width of a step, the sensing device being in signal connection with the central processor.

4. The stair climbing robot according to claim 1, wherein the center rail has a first side wall and a second side wall opposite to each other, the first side wall and the second side wall each have a mounting groove, the first cavity and the second cavity are slidably connected to the two mounting grooves, respectively, and the driving structure includes:

5. The stair climbing robot according to claim 1, wherein the first cavity and the second cavity are each provided with a bottom-opening accommodation cavity, and the telescopic structure comprises:

6. The stair climbing robot according to claim 5, wherein the telescoping member is one of an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder.

7. The stair climbing robot of claim 1, wherein the set of travel wheels comprises:

8. The stair climbing robot according to claim 7, wherein the travel wheel set further comprises an anti-slip body, and the anti-slip body is wrapped on the outer peripheral walls of the servo drive wheel and the driven wheel.

9. The stair climbing robot according to claim 1, further comprising a spacing adjustment structure, wherein two spacing adjustment structures are provided, the two spacing adjustment structures are separately provided in the first cavity and the second cavity, and the spacing adjustment structure is in driving connection with each of the telescopic structures to adjust a spacing between the two telescopic structures in the first cavity and a spacing between the two telescopic structures in the second cavity.

10. The stair climbing robot of claim 9, wherein the pitch adjustment structure comprises:

the adjusting motor is respectively arranged on each telescopic structure;