CN216886985U - Stair climbing robot - Google Patents

Abstract

The utility model discloses a stair climbing robot which comprises a fixed support, a front driving device and a rear driving device, wherein the front driving device is provided with a lifting mechanism and a first driving wheel mounting seat; the rear driving device is provided with a support column and a second driving wheel mounting seat; the bottom of the first driving wheel mounting seat is provided with a first driving wheel, and the first driving wheel mounting seat is mounted at the lower end of the lifting mechanism, so that the first driving wheel mounting seat moves along the vertical direction under the driving of the lifting mechanism; the second driving wheel is installed to the bottom of second driving wheel mount pad on the direction of advance of climbing stair robot, elevating system installs the front end at the fixed bolster, and the pillar is installed in the rear end of fixed bolster for after first driving wheel mount pad is by elevating system lifting, first driving wheel and second driving wheel contact adjacent two sections stair respectively.

Description

Stair climbing robot

Technical Field

The utility model relates to the technical field of self-moving robots, in particular to a stair climbing robot.

Background

The cleaning robot is a robot integrating automatic cleaning technology and humanized intelligent design, generally adopts modes of brushing, dust collection, wiping and the like, and absorbs the sundries on the ground into a garbage storage box, so that the cleaning of the flat ground is completed.

Along with the foot step by step of urbanization, the urban high-level buildings are more and more, the number of the stairs of the safety passage of the buildings is more, the cleaning is troublesome and labor-consuming, some corner areas are easy to be ignored or cleaned repeatedly by cleaning personnel, and when the feet are wet in rainy days, if the feet cannot be cleaned timely and effectively, a plurality of accidental injury accidents can be caused. There is a need for a simplified self-propelled stair climbing robot that replaces the manual labor of cleaning multiple stairs or other tasks that require climbing stairs one by one.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model discloses a stair climbing robot which can realize automatic stair climbing of the robot and replace manpower to complete a task which can be completed by climbing stairs section by section. The specific technical scheme is as follows:

a stair climbing robot comprises a fixed support, a front driving device and a rear driving device, wherein the front driving device is provided with a lifting mechanism and a first driving wheel mounting seat; the rear driving device is provided with a support column and a second driving wheel mounting seat; the bottom of the first driving wheel mounting seat is provided with a first driving wheel, and the first driving wheel mounting seat is mounted at the lower end of the lifting mechanism, so that the first driving wheel mounting seat moves along the vertical direction under the driving of the lifting mechanism; the second drive wheel is installed to the bottom of second drive wheel mount pad on the direction of advance of climbing stair robot, elevating system installs the front end at the fixed bolster, and the pillar is installed at the rear end of fixed bolster for after first drive wheel mount pad was lifted by elevating system, first drive wheel and second drive wheel contacted adjacent two sections stair respectively.

Furthermore, the first driving wheel mounting seat and the lifting mechanism form lifting connection, the upper end of the lifting mechanism and the upper end of the strut are both mounted in the fixed support, and the lower end of the strut is fixedly connected with the second driving wheel mounting seat; cleaning tools are installed at the bottom of the first driving wheel installation seat, and cleaning tools are installed at the bottom of the second driving wheel installation seat, so that the corresponding cleaning tools are in contact with a corresponding section of stairs in the advancing direction of the stair climbing robot.

Further, the lifting mechanism comprises a driving motor, a jackscrew, a screw rod and a screw rod nut, the driving motor is installed at the front end of the fixed support, an output shaft of the driving motor is arranged in the vertical direction, and the output shaft of the driving motor is designed to be hollow so as to form a central hole; the upper end of the screw rod penetrates into a central hole of an output shaft of the driving motor, and a screw rod nut is screwed to the lower end of the output shaft of the driving motor and fixed by using a jackscrew; the first driving wheel mounting seat is arranged at the lower end of the screw rod screw, and the screw rod nut is used for rotating when an output shaft of the driving motor rotates so as to drive the screw rod screw to move linearly, so that the first driving wheel mounting seat is lifted along the axis direction of the output shaft of the driving motor; wherein, the lower end of the screw rod screw belongs to the lower end of the lifting mechanism.

Furthermore, the lower end of an output shaft of the driving motor is provided with an external thread with a preset length, one end of the screw nut, which is connected with the output shaft of the driving motor, is provided with an internal thread matched with the external thread, and the part of the inner side of the screw nut, except the internal thread, is provided with a thread track, so that the screw nut rotates to drive the screw rod to do linear reciprocating motion.

Furthermore, a first vision sensor is mounted on the side surface of the first driving wheel mounting seat, a second vision sensor is mounted on the side surface of the second driving wheel mounting seat, and when the bottom edge of the first driving wheel mounting seat and the bottom edge of the second driving wheel mounting seat are at the same height, the detection visual angle of the second vision sensor is shielded by the first driving wheel mounting seat; the orientation of the lens of the first vision sensor and the orientation of the lens of the second vision sensor both cover the advancing direction of the stair climbing robot; the stair climbing robot further comprises a controller device, the controller device is installed in the fixed support, the driving motor, the second vision sensor and the first vision sensor are electrically connected with the controller device, the first driving wheel installation seat is lifted by the lifting mechanism, so that when a detection visual angle of the second vision sensor is not shielded by the first driving wheel installation seat, a corresponding electric signal is triggered, and the lifting mechanism drives the driving motor to ascend.

Further, in the process that the first driving wheel mounting seat moves along the axis direction of the output shaft of the driving motor, when the height of the lifting mechanism in the vertical direction is equal to the height of the support column in the vertical direction, the first driving wheel and the second driving wheel are both in contact with the horizontal plane of the same stair, wherein the optical axis of the lens arranged inside the first vision sensor and the optical axis of the lens arranged inside the second vision sensor are on the same straight line.

Further, the change state that the first driving wheel mounting seat is lifted by the lifting mechanism so that the detection visual angle of the second vision sensor is not shielded by the first driving wheel mounting seat is as follows: after the first driving wheel mounting seat moves upwards along the axis direction of the output shaft of the driving motor by a preset upper limit height from the contact of the first driving wheel and the second driving wheel with the horizontal plane of the same stair, the first driving wheel mounting seat of the stair climbing robot is positioned above the next stair, and the second driving wheel mounting seat of the stair climbing robot is positioned on the current stair; wherein, the horizontal plane of the next section of stairs is higher than that of the current section of stairs; and the height difference between the horizontal plane of the next section of stair and the horizontal plane of the current section of stair is equal to the preset upper limit height, so that the preset upper limit height is equal to the height of one section of stair.

Further, when the stairs contacted by the first driving wheel of the stair climbing robot are higher than the stairs contacted by the second driving wheel by a certain height, the lifting mechanism drives the screw rod to vertically move downwards so as to drive the driving motor to vertically move upwards relative to the first driving wheel mounting seat until the axle center of the first driving wheel and the axle center of the second driving wheel are on the same horizontal line, wherein the first driving wheel and the second driving wheel are the same in size.

Further, starting from the contact of the first driving wheel and the second driving wheel with the horizontal plane of the same stair, the stair climbing robot moves for a horizontal distance until the first driving wheel mounting seat is allowed to move downwards along the axis direction of the output shaft of the driving motor for a preset lower limit height, the first driving wheel mounting seat of the stair climbing robot is positioned above the next stair, and the second driving wheel mounting seat of the stair climbing robot is positioned on the current stair; wherein the horizontal plane of the next stair is lower than that of the current stair; and the height difference between the horizontal plane of the current section of stair and the horizontal plane of the next section of stair is equal to the preset lower limit height, so that the preset lower limit height is equal to the height of one section of stair.

Further, when the stairs contacted by the first driving wheel of the stair climbing robot are lower than the stairs contacted by the second driving wheel by a period, the lifting mechanism drives the screw rod to vertically move upwards so as to drive the driving motor to vertically move downwards relative to the first driving wheel mounting seat until the axle center of the first driving wheel and the axle center of the second driving wheel are on the same horizontal line, wherein the first driving wheel and the second driving wheel are the same in size.

Further, the cleaning appliance includes, but is not limited to, a cloth and a brush, and the cleaning appliance is provided with a rotating motor and a rotating head to rotate the cloth or the brush; wherein, the rotating electrical machines is fixed in the bottom of first drive wheel mount pad and the bottom of second drive wheel mount pad, and the output of rotating electrical machines passes through the shaft coupling to be connected with the rotating head, and rotating head detachably is provided with rag or brush.

The utility model has the technical effects that: compared with the prior art, the stair climbing robot disclosed by the utility model has the advantages that the lifting mechanism formed by the lead screw and the nut is used for replacing the transmission mechanism with the plurality of transmission ropes, the structure is simpler, the mould loss degree is lower, the reliability is higher, the time for manually intervening the stair climbing robot is reduced in the actual stair cleaning or other operations needing stair climbing, and the obstacle crossing capability of the robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of a stair climbing robot according to an embodiment of the present invention.

Fig. 2 is a schematic view illustrating a stair climbing state of the stair climbing robot according to the embodiment of the present invention.

Fig. 3 is a schematic view of a robot for climbing stairs according to an embodiment of the present invention.

Reference numerals:

101. fixing a bracket; 102. a drive motor; 103. a lead screw nut; 104. a lead screw rod; 105. a first drive wheel mount; 106. a first vision sensor; 107. a first cleaning implement; 108. a first drive wheel; 109. a second drive wheel; 110. a second cleaning implement; 111. a second vision sensor; 113. and a support pillar.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. Other constructions and operations of the reminder device according to embodiments of the present invention will be apparent to those skilled in the art and will not be described in detail herein. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In addition, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may include, for example, any type of connection or integration, either direct or indirect through intervening media, communication between two elements, or any interaction between two elements, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.

A mobile Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The system is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The driving module is one of necessary technical characteristics of the mobile robot, and comprises left and right driving wheels and universal wheels, wherein each driving wheel is provided with a driving motor.

The utility model discloses a stair climbing robot which comprises a fixed support, a front driving device and a rear driving device, wherein the fixed support is arranged at the top of a machine shell of the stair climbing robot, and the front driving device and the rear driving device are both arranged below the fixed support. As shown in fig. 1, the front drive device is provided with a lifting mechanism and a first drive wheel mount 105; the rear driving device is provided with a support column 113 and a second driving wheel mounting seat 112; in this embodiment, the direction corresponding to the "front" mentioned is the advancing direction of the stair climbing robot, but not the corresponding oblique upward direction when climbing stairs, but corresponds to the horizontal direction from left to right in fig. 1 and 2; the direction corresponding to "rear" mentioned in the present embodiment is the opposite direction of the advancing direction of the stair climbing robot, and corresponds to the horizontal direction from right to left in fig. 1 and 2. A first driving wheel 108 is mounted at the bottom of the first driving wheel mounting seat 105, the first driving wheel mounting seat 105 is mounted at the lower end of the lifting mechanism, so that the first driving wheel 108 mounting seat moves in the vertical direction under the driving of the lifting mechanism, and the lifting mechanism controls the first driving wheel mounting seat 105 and the first driving wheel 108 to move up and down so as to achieve the purpose of climbing stairs; in the present embodiment, reference to "the upper end" corresponds to a direction vertically upward corresponding to fig. 1 and 2, and reference to "the lower end" or "the bottom" corresponds to a direction vertically downward corresponding to fig. 1 and 2. The second driving wheel 109 is installed at the bottom of the second driving wheel installation seat 112, and both the second driving wheel 109 and the first driving wheel 108 need to move on the horizontal plane of the stairs and support the stair climbing robot to advance and retreat on the surface of the corresponding section of stairs. Specifically, in the advancing direction of the stair climbing robot, corresponding to the horizontal direction from left to right in fig. 1 and 2, the lifting mechanism is installed at the front end of the fixed bracket 101, and the pillar 113 is installed at the rear end of the fixed bracket 101, so that after the first driving wheel installation seat 105 is lifted by the lifting mechanism, the first driving wheel 108 and the second driving wheel 109 respectively contact two adjacent sections of stairs, corresponding to fig. 2, the horizontal height of the first driving wheel 108 is greater than that of the second driving wheel 109, that is, the first driving wheel 108 contacts a higher section of stairs, the second driving wheel 109 contacts a relatively lower section of stairs, and the two sections of stairs are two adjacent sections of stairs. Therefore, the robot can climb the stairs automatically, and replace manpower to complete the task which can be completed by climbing the stairs section by section.

Preferably, in the stair climbing scene acted by the stair climbing robot, each stair is designed into a step and laid on the inclined component, and the gradient of the stair is controlled to be 20-45 degrees; the step length (step length) of each stair is set to be 800mm to 1200mm, the step width (step width) of each stair is set to be 250mm to 300mm, and the size of the fixed bracket 101 and the installation distance of the first driving wheel 108 and the second driving wheel 109 are influenced; the step height (tread height) of each stair is set to be 150mm to 200mm, and the lifting height of the lifting mechanism is influenced.

As can be seen from fig. 1 and fig. 2, the first driving wheel mounting seat 105 and the lifting mechanism form a lifting connection, wherein the lower end of the lifting mechanism corresponds to the lower end of the structure 104 of fig. 1, the structure 104 is a telescopic mechanism, and when the first driving wheel mounting seat 105 and the structure 104 are fixedly connected, the lifting mechanism drives the first driving wheel mounting seat 105 to move up and down through the telescopic effect of the structure 104, so that the first driving wheel mounting seat 105 is lifted up and matched with the step height (step height) of the current stair, and then the first driving wheel mounting seat 105 and the lifting mechanism form the aforementioned lifting connection. The upper end of the lifting mechanism and the upper end of the support post 103 are both mounted in the fixed bracket 101, and when the upper end of the lifting mechanism corresponds to the upper end of the structure 102 of fig. 1, the upper end of the structure 102 of fig. 1 may be fitted to penetrate through the fixed bracket 101 so as to facilitate the linear movement of the structure 104 in the vertical direction within the structure 102; the lower end of the strut 113 is fixedly connected with the second driving wheel mounting seat 112, wherein the second driving wheel mounting seat 112 cannot be actively lifted by the strut 113; then in the robot for climbing stairs, the front driving device serves as an active linear moving member, and the rear driving device serves as a passive linear moving member, so that the second driving wheel mounting base 112 is driven by the lifting mechanism to move up and down in the vertical direction with respect to the first driving wheel mounting base 105, so as to propel the robot for climbing stairs to move to higher stairs. On the other hand, as shown in fig. 1, a first cleaning tool 107 is mounted on the bottom of the first driving wheel mounting base 105, and a second cleaning tool 110 is mounted on the bottom of the second driving wheel mounting base 112, wherein the first cleaning tool 107 and the first driving wheel 108 are spaced apart from each other, and the second cleaning tool 110 and the second driving wheel 109 are spaced apart from each other. A first cleaning tool 107 is installed at a front side of a bottom of the first driving wheel mounting seat 105 to contact a corner of a step surface of a stair, and a second cleaning tool 110 is installed at a front side of a bottom of the second driving wheel mounting seat 112 to contact a corner of a step surface of a stair after the first driving wheel mounting seat 105 is lifted, thereby realizing that the corresponding cleaning tool contacts a corresponding stair in an advancing direction of the stair climbing robot, and completing the cleaning of the stairs instead of manpower.

As an example, as can be seen from fig. 1 and 2, the lifting mechanism includes a driving motor 102, a jack screw (a locking member not shown in the drawings, which is also a fastener used between the shaft and the sleeve to prevent the shaft and the sleeve from changing positions relative to the sleeve during use), a lead screw 104, and a lead screw nut 103. The driving motor 102 is installed at the front end of the fixed bracket 101, wherein an output shaft of the driving motor 102 is arranged along the vertical direction, and the output shaft of the driving motor 102 is generally a motor shaft; the output shaft of the driving motor 102 is designed to be hollow, and a center hole (not shown in the figure) of the output shaft of the driving motor 102 is formed in the output shaft of the driving motor 102; the upper end of the screw rod 104 penetrates into the central hole of the output shaft of the driving motor 102, the screw nut 103 is screwed to the lower end of the output shaft of the driving motor 102 and fixed by using a jackscrew, the jackscrew is mainly used for circumferential fixation, generally, a hole is drilled and tapped on the side wall of the output shaft of the driving motor 102, then a shaft is inserted into the inner hole, and the screw hole is screwed by using the jackscrew, so that the fastening effect is achieved. An output shaft of the driving motor 102 rotates to drive the lead screw nut 103 to rotate; the first driving wheel mounting seat 105 is arranged at the lower end of the lead screw 104, the lower end of the lead screw 104 is fixedly connected with the first driving wheel mounting seat 105, the lead screw nut 103 is used for rotating when the output shaft of the driving motor 102 rotates, and in the rotating process of the lead screw nut 103, a transmission part slides on a thread track arranged in the lead screw nut 103, the transmission part is arranged to couple the lead screw nut 103 and the lead screw 104 together so as to convert the rotation of the lead screw nut 103 into the linear motion of the lead screw 104, drive the lead screw 104 to perform the linear motion in the corresponding thread track, and enable the lead screw 104 to ascend or descend along the vertical direction, so that the first driving wheel mounting seat 105 ascends or descends along the axial direction of the output shaft of the driving motor 102; wherein, the lower end of the screw rod 104 belongs to the lower end of the lifting mechanism; alternatively, the screw track formed in the screw nut 103 is a ball screw track, and the screw nut 103 drives the screw rod 104 to perform linear reciprocating motion through the sliding of the balls in the ball screw track. Compared with the prior art, the stair climbing robot disclosed by the utility model has the advantages that the lifting mechanism consisting of the lead screw and the nut is used for replacing a transmission mechanism with a plurality of transmission ropes, the structure is simpler, the loss degree of a mould is lower, and the reliability is higher.

In the above embodiment, the lower end of the output shaft of the driving motor 102 is provided with an external thread with a preset length, one end of the lead screw nut 103 connected with the output shaft of the driving motor 102 is provided with an internal thread matched with the external thread, and the part of the inner side of the lead screw nut 103 except the internal thread is provided with a thread track, so that the rotation of the lead screw nut 103 drives the linear reciprocating motion of the lead screw 104, wherein the preset length is associated with the product of the thread pitch and the number of turns of the internal thread of the lead screw nut 103, and the product of the thread pitch and the number of turns of the internal thread of the thread track is associated with the linear displacement which can occur in the lead screw 104. In this embodiment, the lifting mechanism is a transmission structure that converts a rotational motion into a linear motion in a vertical direction, the lead screw nut 103 fixedly connected to the output shaft of the driving motor 102 is an active rotating member, the lead screw 104 is a passive linear moving member, and in a transmission process of the lifting mechanism, the lead screw nut 103 rotates to drive the lead screw 104 to linearly move up or down along the vertical direction. Optionally, when the driving motor 102 rotates forward, the lead screw nut 103 rotates forward to drive the lead screw 104 to ascend along the vertical direction; when the driving motor 102 rotates reversely, the lead screw nut 103 rotates reversely to drive the lead screw 104 to descend along the vertical direction. In this embodiment, the screw track arranged in the screw nut fixed on the output shaft of the driving motor 102 is matched with the screw rod to drive the screw rod to move linearly in the central hole of the output shaft of the driving motor 102 or in the screw track, so that the lifting device has the advantages of small abrasion, high lifting efficiency, stable lifting, long service life and high precision.

As an embodiment, a first vision sensor 106 is installed on a side surface of the first driving wheel installation seat 105, a second vision sensor 111 is installed on a side surface of the second driving wheel installation seat 112, when a bottom edge of the first driving wheel installation seat 105 and a bottom edge of the second driving wheel installation seat 112 are at the same height, a detection visual angle of the second vision sensor 111 is shielded by the first driving wheel installation seat 105, and a detection visual angle of the first vision sensor 106 can cover a front staircase; when the height of the lifting mechanism in the vertical direction is equal to the height of the support column in the vertical direction during the movement of the first driving wheel mounting seat 105 along the axial direction of the output shaft of the driving motor 102, that is, the total height formed by the driving motor 102, the lead screw nut 103 and the lead screw 104 in the vertical direction of fig. 1 is equal to the vertical height of the support column 113 in fig. 1, and meanwhile, the optical axis of the lens arranged inside the first vision sensor 106 and the optical axis of the lens arranged inside the second vision sensor 111 are on the same straight line, the detection information of the second vision sensor 111 is different from the detection information of the first vision sensor 106, the detection information of the first vision sensor 106 is navigation information which can be configured for ladder climbing operation, and the detection information is image information which can be matched with a standard road sign in a preset image library. Meanwhile, the first driving wheel 108 and the second driving wheel 109 can both contact with the horizontal surface of the same stair, so that the cleaning tool can conveniently clean the same stair. It should be noted that the lens orientation of the first vision sensor 106 and the lens orientation of the second vision sensor 111 are both installed to cover the advancing direction of the stair climbing robot, corresponding to the horizontal direction from left to right in fig. 1, and the first vision sensor 106 is the outside of the cabinet that keeps detecting the stair climbing robot.

In this embodiment, the stair climbing robot further comprises a controller device, the controller device is installed in the fixed support, the controller device can be installed in the fixed support 101 in the form of a multi-bit processor, an SOC chip or a corresponding packaging circuit board thereof, and a signal converter and a wireless communication device are arranged inside the controller device; the driving motor 102, the second vision sensor 111 and the first vision sensor 106 are electrically connected with the controller device, and the second vision sensor 111 and the first vision sensor 106 are in communication connection with the controller device, so that the controller device does not influence the lifting operation of the lifting mechanism in any form and model.

Starting from the contact of the first driving wheel 108 and the second driving wheel 109 with the horizontal plane of the same stair, when the first driving wheel mounting seat 105 is lifted by the lifting mechanism so that the detection visual angle of the second vision sensor 111 is not blocked by the first driving wheel mounting seat 105, the detection visual angle of the second vision sensor 111 covers the step surface of the current stair, and the detection visual angle of the first vision sensor 106 covers the step surface of the next stair; as shown in fig. 2, the driving motor 102 in the lifting mechanism drives the first driving wheel mounting seat 105 to relatively rise by a height h, that is, the distance between the first driving wheel mounting seat 105 and the lower end of the output shaft of the driving motor 102 becomes smaller relative to the first driving wheel mounting seat 105 in fig. 1 or the second driving wheel mounting seat 112 in fig. 2, the lead screw 104 moves linearly into the driving motor 102 or the lead screw nut 103 by the distance h, the first driving wheel mounting seat 105 is lifted by the lifting mechanism from the current stair to the upper side of the next stair with a larger height, and then the stair climbing robot advances along the horizontal direction from left to right (the stair inclines and extends from left to right upwards) until the first driving wheel 108 contacts with the surface of the next stair, at this time, the second driving wheel 109 still contacts with the surface of the current stair, and the stair climbing robot has a stair with the first driving wheel 108 contacting with the stair is higher than the stair contacting with the second driving wheel 109 The height of the ladder is one section; wherein, the horizontal plane of the next section of stairs is higher than that of the current section of stairs; the height difference between the horizontal plane of the next stair and the horizontal plane of the current stair is equal to the preset upper limit height, so that the preset upper limit height is equal to the height of one stair; the next stair and the current stair belong to two adjacent stairs. Then, a corresponding electric signal is sent by a line associated with the inside of the stair climbing robot and fed back to a controller device, the controller device triggers the lifting mechanism to drive the driving motor 102 to ascend, that is, after the first driving wheel 108 contacts the surface of the next stair, the driving motor 102 and the lead screw nut 103 drive the lead screw 104 to extend downwards to a height h from the threaded track or the central hole of the output shaft of the driving motor 102, so that the distance between the first driving wheel mounting seat 105 and the lower end of the output shaft of the driving motor 102 is increased, which is equivalent to that the driving motor 102 ascends relative to the surface of the next stair, and thus the second driving wheel mounting seat 112 is driven to ascend, and the second driving wheel mounting seat 112 is driven to ascend to a height h in the vertical direction relative to the surface of the current stair; as an embodiment of climbing stairs, when the stairs contacted by the first driving wheel 108 of the stair climbing robot are higher than the stairs contacted by the second driving wheel 109 by a certain amount, the lifting mechanism drives the first driving wheel mounting base 105 to vertically move downward by the preset upper limit height h relative to the driving motor 102, so that the axial center of the first driving wheel 108 and the axial center of the second driving wheel 109 are on the same horizontal line, wherein the first driving wheel 108 and the second driving wheel 109 have the same size, and specifically, the radii of the two driving wheels are equal; then, the first driving wheel 108 advances the surface of the next stair, so that the axial center of the first driving wheel 108 and the axial center of the second driving wheel 109 are at the same level, and the first driving wheel 108 and the second driving wheel 109 simultaneously contact the surface of the next stair, and the stair climbing robot can climb a high building with a high height and a large number of stairs through repeated operation.

As an embodiment of the stair climbing robot going down stairs, starting from the contact of the first driving wheel 108 and the second driving wheel 109 with the horizontal surface of the same stair, the stair climbing robot moves a horizontal distance on the surface of the current stair until the first driving wheel mounting seat is allowed to move downward along the axis direction of the output shaft of the driving motor, when the first driving wheel mounting seat 105 moves vertically downward along the axis direction of the output shaft of the driving motor 102 by the preset lower limit height h1, the first driving wheel mounting seat 105 of the stair climbing robot is located above the next stair, the second driving wheel mounting seat 112 of the stair climbing robot is located on the current stair, and then the stair climbing robot advances along the preset advancing direction (including but not limited to horizontally directed advancing from left to right, extending obliquely downward from left to right), until the first driving wheel 108 contacts with the surface of the next stair, the stair contacted by the first driving wheel 108 of the stair climbing robot is lower than the stair contacted by the second driving wheel 109 by one step, the distance between the first driving wheel mounting seat 105 and the lower end of the output shaft of the driving motor 102 is increased, and the first driving wheel mounting seat 105 is lowered by a preset lower limit height h1 relative to the second driving wheel mounting seat 112, wherein the preset lower limit height h1 is equal to the height of one stair. During the process of descending the stairs of the stair climbing robot, the screw rod screw 104 vertically extends downwards from the inside of the driving motor 102 or the screw nut 103 by a distance h1, the first driving wheel mounting seat 105 is lifted by the lifting mechanism from the current stair to the upper part of the next stair with smaller height, the second driving wheel 109 is in contact with the surface of the current stair, and the first driving wheel 108 of the stair climbing robot is in contact with the surface of the next stair; then the corresponding electric signal is sent by the related circuit inside the stair climbing robot, and fed back to the controller device, the first driving wheel 108 of the stair climbing robot advances a certain distance on the surface of the next stair, so as to reserve a staying space for the second driving wheel 109 on the surface of the next stair, and then the driving screw 104 is driven by the driving motor 102 and the screw nut 103 to insert the height h1 into the central hole of the threaded track or the output shaft of the driving motor 102, so that the distance between the first driving wheel mounting seat 105 and the lower end of the output shaft of the driving motor 102 becomes smaller, which is equivalent to that the driving motor 102 descends relative to the surface of the next stair, so as to drive the second driving wheel mounting seat 112 to descend relative to the surface of the current stair by the height h1 in the vertical direction, the axle center of the first driving wheel 108 and the axle center of the second driving wheel 109 are in the same horizontal line, the landing point of the first driving wheel 108 and the landing point of the second driving wheel 109 are both located on the same horizontal surface of the next stair, and through repeated operation, the stair climbing robot can traverse to a high-rise with a large number of stairs from a high height layer by layer. It should be noted that, in which the size of the first driving wheel is the same as that of the second driving wheel, the axial center of the first driving wheel 108 and the axial center of the second driving wheel 109 are at the same level.

In the foregoing embodiments, the cleaning implements correspond to the first cleaning implement 107 and the second cleaning implement 110 of FIG. 1; the cleaning appliance includes, but is not limited to, a cloth and a brush, whether the first cleaning appliance 107 or the second cleaning appliance 110, which is provided with a rotating motor and a rotating head to rotate the cloth or the brush; wherein, the rotating electrical machines is fixed in the bottom of first drive wheel mount pad and the bottom of second drive wheel mount pad, and the output of rotating electrical machines passes through the shaft coupling to be connected with the rotating head, and rotating head detachably is provided with rag or brush. When the first vision sensor 106 detects that the stair-climbing robot approaches the edge or corner of the stair, it commands the rotating motor of the first cleaning tool 107 to drive the rotating head to rotate, so as to drive the rag or brush to clean the edge or corner. Specifically, under the state that the detection visual angle of the second vision sensor 111 is not blocked by the first driving wheel mounting seat 105, when the second vision sensor 111 detects the edge and the angle of the current stair, the second vision sensor 111 commands the rotating motor of the second cleaning tool 110 to drive the rotating head to rotate, so as to drive the cleaning cloth or the brush to clean the edge and the angle, meanwhile, the first vision sensor 106 may detect the edge and the angle of the next stair with a higher height or a lower height, and then commands the rotating motor of the first cleaning tool 107 to drive the rotating head to rotate, so as to drive the cleaning cloth or the brush to clean the edge and the angle, thereby realizing that the cleaning tool of the stair climbing robot cleans two adjacent stairs at the same time. Meanwhile, in the actual stair cleaning or other operations needing stair climbing, the time for manually intervening the stair climbing robot is reduced, and the obstacle crossing (aiming at the step structure of the stair) capability of the robot is further improved.

It is understood that the stair climbing robot disclosed in the foregoing embodiments is a simplified mobile device for self-walking stair climbing, and those skilled in the art can assemble equipment (including mechanical arms and sensors) in the first driving wheel mounting seat 105, the second driving wheel mounting seat 112 or the fixed bracket 101, which is suitable for the work task, so as to assist the stair climbing robot to complete other tasks that need to climb stairs one by one during the process of climbing stairs and going downstairs.

The above embodiments are merely provided for full disclosure and not for limitation, and any replacement of equivalent technical features based on the creative work of the utility model should be regarded as the scope of the disclosure of the present application.

Claims (11)

1. A stair climbing robot is characterized by comprising a fixed support, a front driving device and a rear driving device, wherein the front driving device is provided with a lifting mechanism and a first driving wheel mounting seat; the rear driving device is provided with a support column and a second driving wheel mounting seat;

the bottom of the first driving wheel mounting seat is provided with a first driving wheel, and the first driving wheel mounting seat is mounted at the lower end of the lifting mechanism, so that the first driving wheel mounting seat moves along the vertical direction under the driving of the lifting mechanism;

the second drive wheel is installed to the bottom of second drive wheel mount pad on the direction of advance of climbing stair robot, elevating system installs the front end at the fixed bolster, and the pillar is installed at the rear end of fixed bolster for after first drive wheel mount pad was lifted by elevating system, first drive wheel and second drive wheel contacted adjacent two sections stair respectively.

2. The stair climbing robot according to claim 1, wherein the first driving wheel mounting seat is in lifting connection with the lifting mechanism, an upper end of the lifting mechanism and an upper end of the strut are both mounted in the fixed bracket, and a lower end of the strut is fixedly connected with the second driving wheel mounting seat;

cleaning tools are installed at the bottom of the first driving wheel installation seat, and cleaning tools are installed at the bottom of the second driving wheel installation seat, so that the corresponding cleaning tools are in contact with a corresponding section of stairs in the advancing direction of the stair climbing robot.

3. The stair climbing robot according to claim 2, wherein the elevating mechanism comprises a driving motor, a jack screw, a lead screw rod and a lead screw nut, the driving motor is installed at a front end of the fixing bracket, wherein an output shaft of the driving motor is arranged in a vertical direction, and the output shaft of the driving motor is designed to be hollow to form a central hole;

the upper end of the screw rod screw penetrates into a central hole of an output shaft of the driving motor, and a screw rod nut is screwed to the lower end of the output shaft of the driving motor and fixed by using a jackscrew;

the first driving wheel mounting seat is arranged at the lower end of the screw rod screw, and the screw rod nut is used for rotating when an output shaft of the driving motor rotates so as to drive the screw rod screw to move linearly, so that the first driving wheel mounting seat is lifted along the axis direction of the output shaft of the driving motor; wherein, the lower end of the screw rod belongs to the lower end of the lifting mechanism.

4. The stair climbing robot according to claim 3, wherein an external thread of a predetermined length is provided at a lower end of the output shaft of the driving motor, an internal thread matched with the external thread is provided at an end of the lead screw nut connected to the output shaft of the driving motor, and a thread track is provided at a portion of an inner side of the lead screw nut other than the internal thread, so that the lead screw nut is rotated to drive the lead screw to reciprocate linearly.

5. The stair climbing robot according to claim 3, wherein a first vision sensor is mounted on a side surface of the first driving wheel mounting seat, a second vision sensor is mounted on a side surface of the second driving wheel mounting seat, and when a bottom edge of the first driving wheel mounting seat and a bottom edge of the second driving wheel mounting seat are at the same height, a detection visual angle of the second vision sensor is blocked by the first driving wheel mounting seat;

the orientation of the lens of the first vision sensor and the orientation of the lens of the second vision sensor both cover the advancing direction of the stair climbing robot;

the stair climbing robot further comprises a controller device, the controller device is installed in the fixed support, the driving motor, the second vision sensor and the first vision sensor are electrically connected with the controller device, the first driving wheel installation seat is lifted by the lifting mechanism, so that when a detection visual angle of the second vision sensor is not shielded by the first driving wheel installation seat, a corresponding electric signal is triggered, and the lifting mechanism drives the driving motor to ascend.

6. The stair climbing robot according to claim 5, wherein the first driving wheel mounting seat is configured to contact a horizontal surface of the same stair when the height of the lifting mechanism in the vertical direction is equal to the height of the pillar in the vertical direction during movement of the first driving wheel mounting seat along the axis of the output shaft of the driving motor, and wherein an optical axis of a lens disposed inside the first vision sensor and an optical axis of a lens disposed inside the second vision sensor are aligned with each other.

7. The stair climbing robot according to claim 6, wherein the changing state in which the first driving wheel mount is lifted by the lifting mechanism such that the detection viewing angle of the second vision sensor is not obscured by the first driving wheel mount is: after the first driving wheel mounting seat moves upwards along the axis direction of the output shaft of the driving motor by a preset upper limit height from the contact of the first driving wheel and the second driving wheel with the horizontal plane of the same stair, the first driving wheel mounting seat of the stair climbing robot is positioned above the next stair, and the second driving wheel mounting seat of the stair climbing robot is positioned on the current stair;

wherein, the horizontal plane of the next section of stairs is higher than that of the current section of stairs;

and the height difference between the horizontal plane of the next section of stair and the horizontal plane of the current section of stair is equal to the preset upper limit height, so that the preset upper limit height is equal to the height of one section of stair.

8. The stair climbing robot according to claim 7, wherein when the stairs contacted by the first driving wheel of the stair climbing robot are higher than the stairs contacted by the second driving wheel by a certain height, the lifting mechanism drives the screw rod to move vertically downwards, and further drives the driving motor to move vertically upwards relative to the first driving wheel mounting seat until the axle center of the first driving wheel and the axle center of the second driving wheel are on the same horizontal line, wherein the first driving wheel and the second driving wheel have the same size.

9. The stair climbing robot according to claim 6, wherein the stair climbing robot moves a horizontal distance from the moment when the first driving wheel and the second driving wheel are both in contact with the horizontal surface of the same stair until the first driving wheel mounting seat is allowed to move downward along the axial direction of the output shaft of the driving motor by a preset lower limit height, the first driving wheel mounting seat of the stair climbing robot is located above the next stair, and the second driving wheel mounting seat of the stair climbing robot is located at the current stair;

wherein the horizontal plane of the next section of stairs is lower than that of the current section of stairs;

and the height difference between the horizontal plane of the current section of stair and the horizontal plane of the next section of stair is equal to the preset lower limit height, so that the preset lower limit height is equal to the height of one section of stair.

10. The stair climbing robot according to claim 9, wherein when the stairs contacted by the first driving wheel of the stair climbing robot are lower than the stairs contacted by the second driving wheel by a certain amount, the lifting mechanism drives the screw rod to move vertically upwards, and further drives the driving motor to move vertically downwards relative to the first driving wheel mounting seat until the axle center of the first driving wheel and the axle center of the second driving wheel are on the same horizontal line, wherein the first driving wheel and the second driving wheel have the same size.

11. The stair climbing robot according to claim 2, wherein the cleaning appliance includes, but is not limited to, a rag and a brush, the cleaning appliance being provided with a rotating motor and a rotating head to rotate the rag or the brush;

wherein, the rotating electrical machines is fixed in the bottom of first drive wheel mount pad and the bottom of second drive wheel mount pad, and the output of rotating electrical machines passes through the shaft coupling to be connected with the rotating head, and rotating head detachably is provided with rag or brush.

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