Mobile robot stair-going and stair-going mechanism and method based on McLane omnidirectional steering function

Abstract

The present invention discloses a mobile robot stair-going and downstairs mechanism and method based on the omnidirectional steering function of the McDonnell Douglas wheel, including a horizontal holding mechanism for a loading platform, a control panel mounting box and a McDonnell Douglas wheel, a rotating mechanism installed at the outer support plate of the McDonnell Douglas wheel and its center and capable of rotating to a certain angle, an anchor-shaped part capable of moving with the rotating mechanism, and also includes a spring connecting the anchor-shaped part and a limit device for limiting the movement position of the anchor-shaped part. When the McDonnell Douglas wheel moves on flat ground, the anchor-shaped part retracts, and the robot mainly relies on the McDonnell Douglas wheel for movement and steering; when the robot moves to the vicinity of the stairs and prepares to go upstairs, the rotating mechanism rotates to a certain angle, and the spring drives the anchor-shaped part to move and extend a part, and as the McDonnell Douglas wheel rotates, the extended part will buckle the stair surface, thereby driving the entire wheel to rotate toward the stairs; when going downstairs, the rotating mechanism rotates in the opposite direction, and also drives the anchor-shaped part to rotate and extend, and can buckle the stairs to complete the process of going downstairs. The present invention has a simple design, low cost, and a wide range of applications.

Description

Technical Field

[0001] The invention relates to a stair going up and down mechanism, in particular to a stair going up and down mechanism and method for a mobile robot based on a McLennan wheel. Background Art

[0002] With the rapid development of robot technology, various mobile robots are being developed and applied in different occasions to meet various needs. Reliable and stable up and down stairs function is the key condition for the widespread use of robots. At present, the existing stair climbing mechanisms at home and abroad are mainly divided into crawler type, leg-foot type, composite type and wheel group type. Among them, the crawler type is heavy, not flexible enough, causes huge pressure on the edge of the stairs when going up and down, and has certain damage to the stairs. In addition, it is subject to greater resistance when used on flat ground, and it is inconvenient to turn. The leg-foot type adopts the principle of bionics, which is difficult to control and slow in movement. It is heavy, and the leg-foot landing point is too offset. There is no mature product on the market. The composite type is composed of two or more climbing mechanisms. Among them, the research on the wheel-leg composite mechanism is more extensive. This structure leg-foot type acts as a support, traction forward movement and going up and down the stairs. It requires the perfect cooperation of the two mechanisms to ensure the effect, but its up and down process is very unstable, and it will take a long time to be finished. Most of the wheel group climbing mechanisms use planetary wheels to rotate alternately to complete the climbing action. Most of the planetary wheel climbing mechanisms studied at home and abroad are driven by wheel self-rotation when walking on flat ground. When going up and down, they use mechanical self-locking method and revolve around the central axis to realize the climbing action. The wheel group climbing mechanism has large fluctuations during driving, general stability, difficult steering, and low wheel utilization. Therefore, designing a stair-climbing mechanism based on the McLen mobile robot to achieve efficient and stable stair climbing has become a technical problem that needs to be solved urgently in the current field. Summary of the invention

[0003] In order to solve the problem of mobile robots going up and down stairs, the present invention provides a low-cost up and down stairs mechanism based on a wheat wheel and a up and down stairs control method. The mechanism can go up and down stairs smoothly, and is convenient and flexible in going up and down stairs and turning. It has a simple structural design, low cost and a wide range of applications.

[0004] The present invention solves the technical problem by the following technical solutions:

[0005] A mobile robot stair-climbing mechanism based on the omnidirectional steering function of a McDonnell Douglas wheel comprises a loading platform, a McDonnell Douglas wheel installed below the loading platform through an automatic loading surface balancing mechanism, a control mechanism for controlling the rotation of the McDonnell Douglas wheel, and a support plate outside the McDonnell Douglas wheel and a rotating mechanism at its center, wherein the support plate is provided with an anchor-shaped member that can rotate with the rotating mechanism, and also comprises a limiting device and a spring for the anchor-shaped member;

[0006] The control mechanism controls the movement of the wheat wheel and the rotation of the bracket plate, and the anchor-shaped part is extended or shortened accordingly, so that the robot can go up or down the stairs.

[0007] For the above technical solution, the present invention has a further preferred solution.

[0008] Preferably, a rotating motor is provided at the center of the support disk outside the wheat wheel, and a plurality of anchor-shaped parts are evenly distributed on the upper surface of the support disk. The bottom of the anchor-shaped part is connected by a spring, the middle part of the anchor-shaped part is hinged on the support disk, and the connecting rod of the anchor-shaped part is limited by a limiting device; a safety key of a frame-type structure is provided in the middle of the connecting rod of the anchor-shaped part.

[0009] Preferably, the support plate is a circular plate which is smaller than the outer radius of the McDonnell wheel and is fixed to the outer side of the McDonnell wheel.

[0010] Preferably, the anchor-shaped members are evenly distributed on the support plate, the anchor rods point to the center of the support plate, and a rotation axis is arranged on the anchor rods; the rocker arms of the anchor-shaped members fixed on the support plate are flush with the outer circumference of the support plate.

[0011] Preferably, the loading surface automatic balancing mechanism comprises a shock absorbing spring and an inclined brace arranged on the platform bracket, one end of the inclined brace is fixed to the lower bracket of the platform bracket, and the other end is hinged to the upper bracket of the platform bracket.

[0012] Preferably, the McIlrod is connected to a platform bracket via a McIlrod motor; the platform bracket supports a lower loading platform via a pair of platform legs, and an upper loading platform is supported via an electric cylinder above the lower loading platform.

[0013] Preferably, of the four electric cylinders supporting the loading platform, the two electric cylinders at the front end are connected to the loading platform by means of universal fixings and rotating pairs; and the two electric cylinders at the rear end are connected to the tracks on the loading platform by means of bull's eye wheels.

[0014] Preferably, infrared sensors are respectively provided on the edges of the multi-layer loading platforms, the length of the upper loading platform is greater than that of the lower loading platform; and a control mechanism and a level detection sensor are provided on the loading platforms.

[0015] The present invention further provides a method for a mobile robot to go up and down stairs based on the omnidirectional steering function of the McLennan robot, comprising the following steps:

[0016] 1) When going upstairs, the control mechanism controls the rotation of the wheat wheel motor to drive the robot to move to the staircase according to the detection information of the infrared sensor. The rotating motor on the bracket plate rotates forward and drives the shaft sleeve to rotate. The anchor-shaped part is reversed and extends out of the outer edge of the wheat wheel through the tension of the spring;

[0017] 2) The anchor rotates with the wheel. When the protruding part of the anchor contacts the upper surface of the stairs, the wheel rotates and moves upward around the contact point between the anchor and the stairs, driving the robot to move upward.

[0018] 3) After the robot moves to the predetermined floor, the rotating motor reverses and returns to the initial position, driving the shaft sleeve to rotate and retract the spring, and the anchor-shaped part retracts to the outer edge of the wheat wheel. At this time, the robot completes the action of going upstairs;

[0019] 4) When going downstairs, the robot moves to the staircase, the rotary motor reverses to drive the shaft sleeve to rotate, and the tension spring drives the anchor-shaped part to rotate forward and extend out of the outer edge of the wheat wheel;

[0020] 5) The anchor rotates with the McDonnell Douglas wheel. When the McDonnell Douglas wheel moves to the edge of the stairs, the protruding part of the anchor will buckle the stair surface, and the McDonnell Douglas wheel will rotate and move downward around the contact point, thereby driving the robot to move downward;

[0021] 6) The loading platform always remains level under the joint action of the level detector, electric cylinder and control mechanism.

[0022] In the method, the forward or reverse angle β of the rotating motor is determined by the size of the anchor and the position of the rotation center; the length s of the anchor extending from the outer edge of the wheat wheel is related to the structure of the anchor, the radius R of the wheat wheel, the radius r of the rotating mechanism and the height h of the stairs.

[0023] The present invention is based on the MecWheel mobile robot up and down stairs mechanism and has the following unique advantages:

[0024] 1) Due to the omnidirectional movement of the McReel, the steering mechanism design is reduced;

[0025] 2) The loading platform automatically adjusts to keep it level when going up and down stairs;

[0026] 3) When the radius of the wheel and the height of the stairs meet the design requirements, the fluctuations during going up and down the stairs can be greatly reduced;

[0027] 4) The mechanical structure is simple, adaptable and flexible.

[0028] The mobile robot's up-and-down mechanism can automatically adjust with the slope of the stairs, and can always maintain a basically level loading platform. The mechanical structure installed on the outside of the wheat wheel can tightly grasp the stairs, so that the robot can go up and down the stairs relatively smoothly when the loading platform is level.

[0029] The Mech-wheel mechanism can save the design of the steering system and can realize free movement or turning in a smaller space; the up-and-down mechanism attached to the outer side of the Mech-wheel has a simple structure and can realize the robot's up-and-down movements; the loading platform based on the electric cylinder can ensure that the loading platform always remains level when the robot goes up and down.

[0030] The present invention ingeniously solves the problems of complex structure, large volume and high cost of the current robot stair-going and stair-going system, and provides a reliable and practical solution for the popularization and application of mobile robots and the reduction of costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 It is a front view of the structure of the present invention;

[0033] Figure 2 It is a side view of the structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the main mechanism of going up and down stairs of the present invention;

[0035] Figure 4 It is a relationship diagram of design parameters of the upstairs and downstairs mechanism of the present invention.

[0036] In the figure, 1. anchor part, 2. limit device I, 3. spring, 4. safety key, 5. rotating motor, 6. bushing, 7. limit device II, 8. bracket plate, 9. McLennan motor, 10. shock-absorbing spring, 11. McLennan, 12. platform legs, 13. infrared sensor I, 14. electric cylinder, 15. infrared sensor II, 16. universal fixing part, 17. platform bracket, 18. bull's eye wheel, 19. control mechanism, 20. loading platform, 21. rotating pair, 22. level detection sensor I, 23. level detection sensor II. DETAILED DESCRIPTION

[0037] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The schematic implementation and description of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0038] like Figure 1 , Figure 2 As shown, the mobile robot up and downstairs mechanism based on the omnidirectional steering function of the McDonnell Douglas wheel includes at least two pairs of McDonnell Douglas wheels 11. The McDonnell Douglas wheels 11 are connected to a platform bracket 17 through a McDonnell Douglas motor 9. The platform bracket 17 supports a lower loading platform 20 through a pair of platform legs 12, and an upper loading platform 20 is supported above the lower loading platform 20 through an electric cylinder 14.

[0039] In this embodiment, the four electric cylinders 14 supporting the loading platform, the two electric cylinders 14 at the front end are connected to the loading platform 20 by means of a universal fixing 16 and a rotating pair 21; the two electric cylinders 14 at the rear end are connected to the track on the loading platform 20 by means of a bull's eye wheel 18; when the robot goes up and down the stairs, the electric cylinders 14 extend and retract, and the bull's eye wheel 18 slides in the track to adjust the change in the size of the connection of the loading platform 20 caused by the extension and retraction of the electric cylinders 14. On the multi-layer loading platform 20, infrared sensors I13 and II15 are respectively provided on the upper loading platform and the lower loading platform, and a control mechanism 19 and level detection sensors I22 and II23 are installed on the lower loading platform.

[0040] The horizontal holding mechanism of the loading platform and the control center panel mounting box are also included. The horizontal holding mechanism of the loading platform includes a damping spring 10 and a diagonal brace arranged on the platform bracket 17, one end of the diagonal brace is fixed to the lower bracket of the platform bracket 17, and the other end is hinged to the upper bracket of the platform bracket 17.

[0041] like Figure 3 , Figure 4 As shown in the figure, the main mechanism of the mobile robot for going up and down stairs of the present invention includes a wheat wheel 11, a support plate 8 installed outside the wheat wheel 11 and a rotating motor 5 at the center of the wheat wheel 11 that can rotate to a certain angle. An anchor 1 that can move with the rotating mechanism is provided on the upper surface of the support plate 8, and also includes a spring 3 connected to the anchor 1 and a limit device that limits the moving position of the anchor. The limit device consists of two parts, which limit the tangential rotation of the anchor within a certain range.

[0042] It also includes a spring 3 connecting the anchor-shaped member and a limit device 2 for limiting the movement position of the anchor-shaped member. The anchor-shaped member 1 is a T-shaped structure. The connecting rod of the anchor-shaped member 1 is hinged on the bracket plate 8. The end of the connecting rod is connected to the spring 3. The rocker arm of the anchor-shaped member 1 and the hinged part are limited by limit devices Ⅰ2 and Ⅱ7. The two ends of the connecting rod of the hinged part are raised to form a limit mechanism formed with a pair of limit devices Ⅰ2 and Ⅱ7. A safety key 4 of a frame structure is provided in the middle of the connecting rod of the anchor-shaped member 1. The rocker arm of the anchor-shaped member 1 fixed on the bracket plate 8 is flush with the outer circumference of the bracket plate 8.

[0043] The support plate is a circular plate that is smaller than the outer radius of the McDonnell wheel and is fixed to the outside of the McDonnell wheel. It is used to install the rotating mechanism and the anchor. The design is based on meeting the strength requirements, and selects relatively light materials and the thickness is as thin as possible to reduce the overall weight.

[0044] The anchor parts are evenly distributed on the support plate, the anchor rods point to the center of the support plate, and a rotation axis is set on the anchor rods. The position of the rotation axis, the size and number of the anchor parts are determined by the size of the wheat wheel and the specification range of the upper and lower stairs.

[0045] The positioning device is composed of two cylinders that meet certain rigidity requirements and are installed on both sides of the anchor rod to limit its movement when the anchor-shaped member rotates around the rotation center.

[0046] The spring is always in a stretched state, but the stretched length is different in different positions.

[0047] The rotating mechanism mainly consists of a motor fixed at the center of the bracket disk and a sleeve installed on its shaft. The outer side of the sleeve is connected to a spring. When the motor rotates through a certain angle, the spring is stretched to drive the anchor to rotate.

[0048] The robot's going up and down stairs mechanism includes four electric cylinders, two of which are installed at the front and back of the robot. When the robot goes upstairs, the electric cylinder at the rear extends to a corresponding length according to the slope of the stairs, and the two electric cylinders at the front remain stationary to ensure that the loading platform is level; when the robot goes downstairs, the opposite is true, and the two electric cylinders at the front extend.

[0049] When the robot moves on the ground, it mainly relies on the movement and steering of the wheat wheel, the anchor-shaped part retracts, and the rocker arm of the anchor-shaped part 1 is flush with the outer circumference of the bracket plate 8; when the robot moves to the vicinity of the stairs and prepares to go upstairs, it rotates a certain angle under the drive of the rotating motor 5, and the rocker arm of the anchor-shaped part 1 forms a certain angle with the outer circumference of the bracket plate 8, and the tension spring 3 drives the anchor-shaped part 1 to move and extend. As the wheat wheel rotates, the extended part will buckle the surface of the stairs, thereby driving the entire wheel to rotate toward the stairs; when going downstairs, the rotating mechanism rotates in the opposite direction, which also drives the anchor-shaped part to rotate and extend, and it can buckle the stairs to complete the process of going downstairs.

[0050] When the present invention is applied to a mobile robot, Figure 1 and Figure 2 As shown, the robot moves forward under the action of the wheat wheel 11 and the wheat wheel motor 9, the infrared sensor Ⅰ13 detects an obstacle and reduces the moving speed, the infrared sensor Ⅱ15 detects that the distance from the road surface increases within the height range of the stairs, and transmits the detection signal back to the control mechanism 19, and determines that the condition for opening the upstairs rotating mechanism has been reached. The control mechanism controls the rotating motor 5 to rotate clockwise for a certain angle, stretches the spring 3 on the shaft sleeve 6, drives the anchor 1 to rotate to the limit device Ⅰ2, and a part of it extends out of the outer edge of the wheat wheel 11, and the extended part contacts and tightly holds the stairs. The anchor 1 rotates along the contact point to drive the robot body to move up the stairs. The action of going upstairs is realized; as the robot moves, the infrared sensor Ⅰ13 detects that the road surface has dropped and reduces the moving speed; the infrared sensor Ⅱ15 detects that the distance from the road surface has dropped to within the height range of the stairs, and transmits the detection signal back to the control mechanism 19, determining that the condition for opening the rotating mechanism for going downstairs has been reached, and the control mechanism controls the rotating motor 5 to rotate counterclockwise by a certain angle, stretching the spring 3 on the sleeve 6, driving the anchor 1 to rotate to the limit device 7, and a part of it extends out of the outer edge of the wheat wheel 11, and the extended part contacts and tightly grasps the stairs, and the anchor 1 rotates along the contact point to drive the robot body to move down the stairs, thereby realizing the action of going downstairs.

[0051] During the movement of the robot, the infrared detector under the bottom plate detects the sudden drop in height of the horizontal road, and when it is within the working range of the robot, the detection signal is transmitted to the control center, which controls the rotating mechanism to drive the anchor-shaped part to extend out of the outer edge of the wheat wheel in the reverse direction, and at the same time moves to control the speed. At the edge of the stairs, the extended part of the anchor-shaped part contacts the upper surface of the stairs. With the contact point as the center of the circle, the anchor-shaped part produces a downward rotation motion under the drive of the motor and the reaction force of the stair surface, thereby driving the robot to move downward, thereby realizing the robot's action of going downstairs.

[0052] In order to accurately detect the working conditions when going up and down stairs, two infrared sensors are designed to detect the distance and the width of the road surface. Since the slope of the stairs is generally between 25° and 45°, the infrared rays of the infrared sensor 15 form an angle of 56° with the robot's forward direction and an angle of 10° with the robot's width direction. Determine, where K is half of the robot width, G is half of the robot height; the infrared ray of the infrared sensor 13 forms an angle of 23° with the robot's forward direction, and the angle with the robot's width direction is determined by Determine, the specific direction is as follows Figure 4 shown.

[0053] The design structure of the stair climbing mechanism includes:

[0054] 11) The design of the support plate should be based on the size and installation method of the McReel and can be installed outside the McReel as a carrier for the motor, spring, anchor and limit device;

[0055] 12) The structure and material of the bracket plate should be as light as possible while meeting the rigidity and strength requirements;

[0056] 13) The angle β of the motor's forward or reverse rotation is mainly determined by the size of the anchor and the position of the rotation center; the rotation angle is:

[0057]

[0058] Wherein, b is the length of the anchor claw, and c is the length from the anchor claw to the rotation center in the anchor rod;

[0059] 14) The relationship between the length s of the anchor extending from the outer edge of the wheat wheel and the structure of the anchor, the radius R of the wheat wheel, the radius r of the rotating mechanism and the height h of the stairs is:

[0060] When h>R,

[0061] When h≤R, s>R

[0062] Wherein, a is the distance from the rotation center of the anchor to the outer edge of the sleeve.

[0063] The loading surface can automatically maintain balance when the robot goes up or down the stairs. When the robot is in the process of going up or down the stairs, the level detector provides a signal, and the control mechanism controls the electric cylinder to extend or shorten to ensure that the loading surface always remains horizontal.

[0064] When the rotating mechanism rotates, the anchor-shaped part is driven to rotate through the spring, and contacts the limit device, the rotating motor stops rotating, and the extended part of the anchor-shaped part can buckle the stairs, and the upstairs action is realized under the drive of the McLennan motor.

[0065] The rotating mechanism is driven by a motor, which can rotate forward and reverse, thereby controlling the anchor-shaped member to extend clockwise or counterclockwise to achieve the action of going up or down stairs; the rotating motor drives the anchor-shaped member to rotate forward and reverse a certain angle to achieve the maximum extension of the anchor-shaped member.

[0066] During the movement of the robot, when the infrared sensor detects the stairs and reaches a certain distance, the detection signal is transmitted to the control mechanism, which controls the rotating mechanism to drive the anchor-shaped member to extend out of the outer edge of the wheat wheel, and the robot continues to move until the wheat wheel contacts the vertical surface of the stairs. At the same time, the protruding part of the anchor-shaped member contacts the upper surface of the stairs. The anchor-shaped member takes the contact point as the center of the circle, and generates an upward rotational motion under the drive of the wheat wheel motor and the reaction force of the stair surface, thereby driving the robot to move upward, thereby realizing the robot's movement of going upstairs; during the movement of the robot, the infrared detector under the bottom plate detects the sudden drop in the height of the horizontal road, and when it is within the working range of the robot, the detection signal is transmitted to the control mechanism, which controls the rotating mechanism to drive the anchor-shaped member to extend out of the outer edge of the wheat wheel in the reverse direction, and at the same time moves to control the speed. At the edge of the stairs, the protruding part of the anchor-shaped member contacts the upper surface of the stairs. The anchor-shaped member takes the contact point as the center of the circle, and generates a downward rotational motion under the drive of the wheat wheel motor and the reaction force of the stair surface, thereby driving the robot to move downward, thereby realizing the robot's movement of going downstairs.

[0067] Whether going up or down the stairs, the loading platform always remains level thanks to the combined action of the level detector, electric cylinder and control center.

[0068] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A mobile robot stair-going and stair-going mechanism based on the omnidirectional steering function of the McLennan, characterized in that: It includes a loading platform, a wheat wheel installed under the loading platform through an automatic balancing mechanism on the loading surface, a control mechanism for controlling the rotation of the wheat wheel, and a support plate outside the wheat wheel and a rotating mechanism at its center, the support plate is provided with an anchor-shaped member that can rotate with the rotating mechanism, and also includes a limiting device and a spring for the anchor-shaped member; A rotating motor is arranged at the center of the support plate outside the wheat wheel, and a plurality of anchor-shaped parts are evenly distributed on the upper surface of the support plate. The bottom of the anchor-shaped parts is connected by a spring, and the middle of the anchor-shaped parts is hinged on the support plate. The connecting rod of the anchor-shaped parts is limited by a limiting device; a safety key of a frame structure is arranged in the middle of the connecting rod of the anchor-shaped parts; The anchor is a T-shaped structure, the connecting rod of the anchor is hinged on the bracket plate, the end of the connecting rod is connected to the spring, and the rocker arm of the anchor and the hinge part are limited by limit devices I and II; The control mechanism controls the movement of the wheat wheel and the rotation of the bracket plate, and the anchor-shaped part is extended or shortened accordingly, so that the robot can go up or down the stairs.

2. The mobile robot stair-going and downstairs mechanism based on the omnidirectional steering function of the McLennan according to claim 1 is characterized in that: The support plate is a circular plate which is smaller than the outer radius of the wheat wheel and is fixed on the outer side of the wheat wheel.

3. The mobile robot stair-going and downstairs mechanism based on the omnidirectional steering function of the McLennan according to claim 1 is characterized in that: The anchor-shaped parts are evenly distributed on the support plate, the anchor rods point to the center of the support plate, and the rotation axis is arranged on the anchor rods; the rocker arms of the anchor-shaped parts fixed on the support plate are flush with the outer circumference of the support plate.

4. The mobile robot stair-going and downstairs mechanism based on the omnidirectional steering function of the McLennan according to claim 1 is characterized in that: The automatic balancing mechanism of the loading surface comprises a shock absorbing spring and an oblique support arranged on the platform support, one end of the oblique support is fixed on the lower support of the platform support, and the other end is hinged on the upper support of the platform support.

5. The mobile robot stair-going and downstairs mechanism based on the omnidirectional steering function of the McLennan according to claim 4 is characterized in that: The McReel is connected to a platform bracket via a McReel motor. The platform bracket supports a lower loading platform via a pair of platform legs, and an upper loading platform is supported via an electric cylinder above the lower loading platform.

6. The mobile robot stair-going and downstairs mechanism based on the omnidirectional steering function of the McLennan according to claim 5 is characterized in that: The four electric cylinders supporting the loading platform, the two electric cylinders at the front end are connected to the loading platform by universal fixings and rotating pairs; the two electric cylinders at the rear end are connected to the tracks on the loading platform by bull's eye wheels.

7. The mobile robot stair-going and downstairs mechanism based on the omnidirectional steering function of the McLennan according to claim 1 is characterized in that: Infrared sensors are respectively arranged on the edges of the multi-layer loading platforms. The length of the upper loading platform is greater than that of the lower loading platform. A control mechanism and a level detection sensor are arranged on the loading platform.

8. A method for a mobile robot going up and down stairs based on the mechanism described in any one of claims 1 to 7 and the omnidirectional steering function of the McLennan, characterized in that: The steps include: 1) When going upstairs, the control mechanism controls the rotation of the McDonnell Douglas motor according to the detection information of the infrared sensor to drive the robot to move to the staircase. The rotating motor on the bracket plate rotates forward and drives the shaft sleeve to rotate. The spring stretches and drives the anchor to reverse and extend out of the outer edge of the McDonnell Douglas. 2) The anchor rotates with the wheel. When the extended part of the anchor contacts the upper surface of the stairs, the wheel rotates and moves upward around the contact point between the anchor and the stairs, driving the robot to move upward. 3) After the robot moves to the predetermined floor, the rotating motor reverses and returns to the initial position, driving the shaft sleeve to rotate and retract the spring, and the anchor-shaped part retracts to the outer edge of the wheat wheel. At this time, the robot completes the action of going upstairs; 4) When going downstairs, the robot moves to the staircase, the rotary motor reverses to drive the shaft sleeve to rotate, and the tension spring drives the anchor-shaped part to rotate forward and extend out of the outer edge of the wheat wheel; 5) The anchor rotates with the McDonnell Douglas. When the McDonnell Douglas moves to the edge of the stairs, the protruding part of the anchor will buckle the stair surface, and the McDonnell Douglas will rotate and move downward around the contact point, thereby driving the robot to move downward; 6) The loading platform always remains level under the joint action of the level detector, electric cylinder and control mechanism.

9. The method for going up and down stairs of a mobile robot based on the omnidirectional steering function of the McLennan according to claim 8 is characterized in that: The angle of the rotating motor in forward or reverse rotation Determined by the size of the anchor and the position of the center of rotation; The rotation angle is: Wherein, b is the length of the anchor claw, and c is the length from the anchor claw to the rotation center in the anchor rod; The length of the anchor extending out of the outer edge of the wheat wheel s The structure of the anchor and the radius of the wheel R , Radius of rotating mechanism r and the height of the stairs h The relationship is; when hour, when hour, in, a It is the distance from the rotation center of the anchor to the outer surface of the sleeve.

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