A ladder climbing disinfection robot

Abstract

The present application relates to a kind of ladder climbing disinfecting robot, including front caterpillar mechanism, middle caterpillar mechanism, rear caterpillar mechanism, inverted T-shaped connecting piece, disinfecting mechanism;The front caterpillar mechanism and the middle caterpillar mechanism are connected by the horizontal edge of the inverted T-shaped connecting piece hinge connection, and the middle caterpillar mechanism and the rear caterpillar mechanism are connected by the horizontal edge of the inverted T-shaped connecting piece hinge connection;The top of the vertical edge of the inverted T-shaped connecting piece and corresponding caterpillar mechanism are connected by elastic member;The front end of the front caterpillar mechanism is obliquely arranged upwards;The disinfecting mechanism includes water tank, and the spray device connected to the water tank, and the water tank is arranged on the middle caterpillar mechanism.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a ladder-climbing disinfection robot. Background Technology

[0002] The industry has evolved from mechanization to electrification and informatization, and has now entered the era of intelligentization, in which robots play a vital role. Intelligent robots can help people perform various actions, such as grasping, carrying, and identification, and are widely used in machine production lines, electronics and automobile production lines to assist people in completing various tasks.

[0003] During their movement, robots encounter terrain other than flat ground, such as stairs and rocks, requiring them to have ladder-climbing capabilities. Additionally, in public places like hospitals and train stations, regular disinfection is necessary, or insecticides need to be sprayed on lawns. In these scenarios, robots are equipped with water tanks containing solutions and sprayers, placing higher demands on their stability and maneuverability when traversing obstacles. Existing robots, such as CN201810083358.3, a stair-climbing robot with cross-shaped wheels, climb stairs by rotating the wheels. However, this robot experiences severe shaking during the climb, potentially causing the disinfection robot's water tank to spill. Another example is CN201810768929.7, a lifting stair-climbing robot that uses a multi-section structure and lifting motors to raise and lower the sections to climb stairs. This climbing robot's movements are complex and slow during the stair-climbing process.

[0004] The purpose of this invention is to design a ladder-climbing disinfection robot to address the problems existing in the prior art. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a ladder-climbing disinfection robot that can effectively solve at least one of the problems existing in the prior art.

[0006] The technical solution of this invention is:

[0007] A ladder-climbing disinfection robot includes a front track mechanism, a middle track mechanism, a rear track mechanism, an inverted T-shaped connector, and a disinfection mechanism;

[0008] The front track mechanism and the middle track mechanism are hinged together by the horizontal side of the inverted T-shaped connector, allowing the front track mechanism and the middle track mechanism to bend. The middle track mechanism and the rear track mechanism are also hinged together by the horizontal side of the inverted T-shaped connector, allowing the middle track mechanism and the rear track mechanism to bend.

[0009] The top of the vertical side of the inverted T-shaped connector is connected to the corresponding track mechanism by an elastic element;

[0010] The front end of the front track mechanism is angled upwards. When the front end of the front track mechanism contacts the staircase, the front track mechanism bends towards the middle track mechanism, changing the contact between the front end of the front track mechanism and the staircase from point contact to surface contact. The elastic element between the front track mechanism and the middle track mechanism is compressed, and the reaction force of the elastic element increases the friction between the front end of the front track mechanism and the staircase. After the front track mechanism climbs the staircase, the elastic element of the inverted T-shaped connector between the front track mechanism and the middle track mechanism is stretched, and the reaction force of the elastic element lifts the middle track mechanism and allows it to climb the staircase. After the middle track mechanism climbs the staircase, the elastic element between the middle track mechanism and the rear track mechanism is stretched, and the reaction force of the elastic element lifts the rear track mechanism and allows it to climb the staircase.

[0011] The disinfection mechanism includes a water tank and a spray device connected to the water tank, the water tank being mounted on the track mechanism.

[0012] Furthermore, it includes several rigid connecting members, which are respectively disposed between the front track mechanism and the middle track mechanism, and between the middle track mechanism and the rear track mechanism. The rigid connecting members can be bent at a certain angle, thereby limiting the bending angle between the front track mechanism and the middle track mechanism, and between the middle track mechanism and the rear track mechanism.

[0013] Furthermore, the rigid connector is formed by two connecting rods connected by bolts and screw holes with a clearance fit. The clearance fit allows the two connecting rods to bend within a certain angle range, and the two connecting rods become a rigid connection after bending beyond the angle range.

[0014] Furthermore, the front track mechanism includes a plurality of tensioning wheels, which are used to tension the front track mechanism.

[0015] Furthermore, the front track mechanism includes several top rollers, and the distance between the top rollers and the ground is 10-20cm.

[0016] Furthermore, the elastic element is a spring, and when the ladder-climbing disinfection robot is on a horizontal plane, the angle between the spring and the horizontal plane is 40°-50° and the spring is in a relaxed state.

[0017] Furthermore, the bottom surface length of the middle track mechanism is shorter than that of the front track mechanism, and the bottom surface length of the rear track mechanism is longer than that of either the front or middle track mechanism.

[0018] Furthermore, the angle between the front end of the front track mechanism and the horizontal plane is 70°-80°.

[0019] Furthermore, it includes one or more of the following: a camera, a navigation and obstacle avoidance module, and a communication module.

[0020] Furthermore, the front track mechanism, the middle track mechanism, and the rear track mechanism are all equipped with drive wheels, and the drive wheels are all driven by corresponding rotating motors.

[0021] Therefore, the present invention provides the following effects and / or advantages:

[0022] This application utilizes a three-section track mechanism, which not only adapts to various terrains but also allows for climbing stairs to complete disinfection tasks. Each of the three track sections can bend at a certain angle. During the climbing process, the rebound force of the elastic element can provide better friction to the front track mechanism, or the pulling force of the elastic element can better lift or pull the rear track mechanism upwards at an angle.

[0023] The water tank of this application is set on the middle track mechanism. The middle track mechanism has the advantages of being pulled up and moving diagonally upwards against the right angle of the stairs most of the time. Its orientation changes little and its walking speed is stable. It is suitable for water tanks and prevents the liquid in the water tank from shaking violently or spilling out.

[0024] This application uses two connecting rods connected by bolts and screw holes with clearance fit, so that adjacent track mechanisms can be bent at a certain angle, which is convenient for bending during climbing and lifting. At the same time, it has rigidity, so that when both are bent to the limit angle during movement, they can drive the corresponding track mechanism to move.

[0025] It should be understood that the above summary and the following detailed description of the invention are exemplary and explanatory, and are intended to provide further explanation of the invention as claimed. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.

[0027] Figure 2 for Figure 1 The front view.

[0028] Figure 3 This is a schematic diagram of the state when the front track mechanism just contacts the step according to an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram illustrating the state of the front track mechanism from point contact to surface contact in an embodiment of the present invention.

[0030] Figure 5This is a schematic diagram of the state of the front track mechanism when it has just climbed the steps, according to an embodiment of the present invention.

[0031] Figure 6 This is a schematic diagram of the front track mechanism continuing to crawl forward, according to an embodiment of the present invention.

[0032] Figure 7 This is a schematic diagram of the state in which the front track mechanism continues to climb forward and the bottom surface of the middle track mechanism contacts the step at a right angle, according to an embodiment of the present invention.

[0033] Figure 8 This is a schematic diagram of the state of the front track mechanism climbing two flights of stairs according to an embodiment of the present invention.

[0034] Figure 9 This is a structural schematic diagram of a rigid connector. Detailed Implementation

[0035] To facilitate understanding by those skilled in the art, the structure of the present invention will now be described in further detail with reference to the accompanying drawings:

[0036] refer to Figure 1-2 A ladder-climbing disinfection robot includes a front track mechanism 1, a middle track mechanism 2, a rear track mechanism 3, an inverted T-shaped connector 4, and a disinfection mechanism 5.

[0037] In this embodiment, the front track mechanism 1, the middle track mechanism 2, and the rear track mechanism 3 are all tracked mechanisms. A carrier plate is formed in the middle of each tracked mechanism, which can hold a rotating motor, a battery, a control mainboard, and a disinfection mechanism, etc. The disinfection mechanism 5 includes a water tank and a sprayer that draws water from the tank and sprays it. The tracked mechanisms and the disinfection mechanism 5 are direct adoptions of existing technology, and their specific structures and working principles are not elaborated here.

[0038] The front track mechanism 1 and the middle track mechanism 2 are hinged together by the horizontal side of the inverted T-shaped connector 4, allowing the front track mechanism 1 and the middle track mechanism 3 to be bent. The middle track mechanism 2 and the rear track mechanism 3 are hinged together by the horizontal side of the inverted T-shaped connector 4, allowing the middle track mechanism 2 and the rear track mechanism 3 to be bent.

[0039] In this embodiment, the transverse side of the inverted T-shaped connector 4 is connected to the corresponding track mechanism through a planar bearing, so that the corresponding track mechanism can rotate at the hinge point with the inverted T-shaped connector 4, thereby improving the mobility and flexibility of the front and rear track mechanisms in the vertical direction. Under this structure, the front and rear track mechanisms can be bent to achieve merging and approaching at a certain angle or turning outward at a certain angle.

[0040] The top of the vertical side of the inverted T-shaped connector 4 is connected to the corresponding track mechanism by an elastic member 6;

[0041] The front end of the front track mechanism 1 is angled upward. When the front end of the front track mechanism 1 contacts the staircase, the front track mechanism 1 bends towards the middle track mechanism 2, changing the contact between the front end of the front track mechanism 1 and the staircase from point contact to surface contact. The elastic element 6 between the front track mechanism 1 and the middle track mechanism 2 is compressed. The reaction force of the elastic element 6 is used to increase the friction between the front end of the front track mechanism 1 and the staircase. After the front track mechanism 1 climbs the staircase, the elastic element 6 of the inverted T-shaped connector 4 between the front track mechanism 1 and the middle track mechanism 2 is stretched. The reaction force of the elastic element 6 is used to lift the middle track mechanism 2 and allow it to climb the staircase. After the middle track mechanism 2 climbs the staircase, the elastic element 6 between the middle track mechanism 2 and the rear track mechanism 3 is stretched. The reaction force of the elastic element 6 is used to lift the rear track mechanism 3 and allow it to climb the staircase.

[0042] In this embodiment, adjacent track mechanisms are hinged by inverted T-shaped connectors 4, and the top of the inverted T-shaped connectors 4 and the adjacent track mechanisms are connected by elastic members 6, which is the core structure. Through this structure, when walking on flat ground, the inverted T-shaped connectors 4 and elastic members 6 work together to achieve a shock absorption effect, as well as the following workflow and technical effects.

[0043] At the beginning, such as Figure 3 As shown, when the front track mechanism 1 first contacts the staircase, due to the connection between the front track mechanism 1 and the middle track mechanism 2 via the inverted T-shaped connector 4 and the presence of the elastic element 6, and because the front end of the front track mechanism 1 is tilted upwards, there is only one point of contact between the front track mechanism 1 and the staircase. At this time, the angle between the bottom surface of the front track mechanism 1 and the bottom surface of the middle track mechanism 2 is equal to 180°.

[0044] Next, as Figure 4As shown, with the current track mechanism 1 continuing to move forward, and propelled by the middle track mechanism 2 and the rear track mechanism 3, the upward-sloping side of the front track mechanism 1 is compressed, causing it to press against the vertical section of the staircase. At this time, the elastic element 6 between the front track mechanism 1 and the inverted T-shaped connector 4 is compressed. As the front track mechanism 1 continues to move forward, and propelled by the middle track mechanism 2 and the rear track mechanism 3, there is a certain pressure between the upward-sloping side of the front track mechanism 1 and the vertical section of the staircase. Under the restoring force of the elastic element 6 returning to its natural shape, the elastic element 6 provides an additional pressure between the upward-sloping side of the front track mechanism 1 and the vertical section of the staircase. The friction generated by this total pressure provides sufficient friction for the upward-sloping side of the front track mechanism 1 to climb the vertical section of the staircase. The height of the front track mechanism 1 is greater than that of the middle track mechanism 2; therefore, the angle between the bottom surface of the front track mechanism 1 and the bottom surface of the middle track mechanism 2 is less than 180°.

[0045] Next, as Figure 5 As shown, at this time, the front end of the front track mechanism 1 climbs up the upper step of the stairs, the front track mechanism 1 swings forward, and the bottom surface of the front track mechanism 1 begins to contact the transverse section of the upper step of the stairs. During this process, the elastic element 6 is stretched, and the height of the front track mechanism 1 is greater than that of the middle track mechanism 2. The front track mechanism 1 drives the middle track mechanism 2 to increase its height through the inverted T-shaped connector 4. At this time, the elastic element 6 is stretched, and the force of the elastic element 6 contraction is used to assist in driving the middle track mechanism 2 to increase its height. At this time, the angle between the bottom surface of the front track mechanism 1 and the bottom surface of the middle track mechanism 2 is greater than 180°.

[0046] Next, as Figure 6 As shown, the front track mechanism 1 continues to move forward on the horizontal section of the upper staircase, and the front track mechanism 1 drives the middle track mechanism 2 to further increase its height through the inverted T-shaped connector 4.

[0047] Next, as Figure 7 As shown, the front track mechanism 1 continues to move forward on the horizontal section of the upper staircase. At this time, the bottom surface of the middle track mechanism 2 abuts against the right angle of the staircase. At this time, the elastic element 6 and the inverted T-shaped connecting element 4 together drive the middle track mechanism 2 to move diagonally upward at the right angle of the staircase, while driving the rear track mechanism 3 to rise in height.

[0048] Finally, as Figure 8As shown, when the current track mechanism 1 continues to move forward on the horizontal section of the upper staircase until it contacts the vertical section of the staircase above it, the front track mechanism 1 repeats the change from point contact to surface contact and climbs upward. The front track mechanism 1 begins to climb the vertical section of the upper staircase. At this time, the elastic element 6 and the inverted T-shaped connector 4 together drive the bottom surface of the middle track mechanism 2 to move diagonally upward along the right angle of the staircase. The elastic element 6 and the inverted T-shaped connector 4 together drive the bottom surface of the rear track mechanism 3 to also move diagonally upward along the right angle of the staircase.

[0049] The disinfection mechanism 5 includes a water tank and a spraying device connected to the water tank, and the water tank is mounted on the track mechanism 2.

[0050] In this embodiment, during the climbing process, after the middle track mechanism 2 is pulled up, it spends most of its time walking diagonally upward against the right angle of the stairs. Its orientation changes little and its walking speed is stable. Therefore, setting the water tank on the middle track mechanism 2 can better ensure that the water tank is kept in a certain direction and prevent the liquid in the water tank from shaking violently or spilling out.

[0051] Furthermore, it includes several rigid connecting members 7, which are respectively disposed between the front track mechanism 1 and the middle track mechanism 2, and between the middle track mechanism 2 and the rear track mechanism 3. The rigid connecting members 7 can be bent at a certain angle, thereby limiting the bending angle between the front track mechanism 1 and the middle track mechanism 2, and between the middle track mechanism 2 and the rear track mechanism 3.

[0052] Furthermore, the rigid connector 7 is formed by two connecting rods connected by bolts and screw holes through a clearance fit. The clearance fit allows the two connecting rods to bend within a certain angle range, and the two connecting rods become a rigid connection after bending beyond this angle range.

[0053] In this embodiment, the connecting rod is a copper column, with bolts and screw holes respectively provided on opposite sides of the copper column. The clearance fit between the bolt and the screw hole means that the clearance between the bolt and the screw hole is positive, i.e., the bolt diameter is smaller than the screw hole diameter. Therefore, the bolt can offset a certain angle within the screw hole, creating an angle between the two connecting rods. Simultaneously, when the bolt can offset to its limit angle within the screw hole, the two connecting rods cannot bend further, becoming a rigid connection. This is because, during the ladder climbing process, the front track mechanism 1 drives the middle track mechanism 2, and the middle track mechanism 2 drives the rear track mechanism 3. If there is no rigid connection between the two, relying solely on the force of the inverted T-shaped connector 4 and the elastic element 6 to drive the latter's movement would result in adjacent track mechanisms being relatively flexible and having excessively large bending angles during the ladder climbing process, making it difficult to drive the corresponding track mechanism to move. This embodiment connects the two connecting rods through bolts and screw holes with a clearance fit, allowing adjacent track mechanisms to bend to a certain angle, facilitating bending during ladder climbing and lifting. Simultaneously, it possesses rigidity, ensuring that after bending to their limit angles during movement, they can drive the corresponding track mechanism to move.

[0054] This embodiment limits the vertical mobility and flexibility of the front and rear tracked mechanisms to a reasonable range. This allows the three tracked mechanisms to work collaboratively, adapting to various terrains and environments, and enabling them to climb stairs.

[0055] Furthermore, the front track mechanism 1 includes a plurality of tensioning wheels 101, which are used to tension the front track mechanism 1.

[0056] The tensioning wheel 101 can tension the front track mechanism 1. When tensioned, the front track mechanism 1 can better contact the stairs, changing from point contact to surface contact, allowing it to climb the stairs. A loose track mechanism 1, on the other hand, is prone to deformation during this transition from point to surface contact. This prevents the track from becoming loose, as a loose track can easily get stuck at the top wheel 102, preventing the climber from ascending the stairs.

[0057] Furthermore, the front track mechanism 1 includes several top rollers 102, the distance between the top rollers 102 and the ground is 10-20cm. The bottom surface of the front track mechanism 1 is 20-23cm, the bottom surface of the middle track mechanism 2 is 88-20cm, and the bottom surface of the rear track mechanism 3 is 28-30cm.

[0058] In this embodiment, the top wheel 102 is used to ensure that the front end of the front track mechanism 1 rigidly abuts against the stairs when it first contacts the stairs, achieving better point contact and helping the front end of the front track mechanism 1 climb the stairs more easily. Furthermore, the standard height of the stairs should generally be between 15 and 20 centimeters, and the width should generally be between 20 and 26 centimeters. By setting the distance between the top wheel 102 and the ground to 10-20 cm in this embodiment, it can be applied to standard stairs. When the front end of the front track mechanism 1 first contacts the stairs, the top wheel 102 is positioned near the right angle of the stairs. The limitation on the bottom length of each track section adapts to the standard width of the stairs, allowing the robot to climb several steps so that the middle track mechanism 2 and the rear track mechanism 3 are positioned at the right angle where their bottom surfaces contact the stairs. As the front track mechanism 1 continuously contacts and climbs to the next step, it maintains... Figure 8 The state of the system, and during the process of the front track mechanism 1 climbing the ladder, the bottom surfaces of the middle track mechanism 2 and the rear track mechanism 3 contact the right-angled edge of the ladder, thus providing a certain thrust to help the front track mechanism 1 climb the ladder. Ultimately, this allows the disinfection device to be maintained at a certain angle, and minimizes the swing angle of the middle track mechanism 2, thereby preventing the water tank from shaking or spilling liquid.

[0059] Furthermore, the elastic element 6 is a spring. When the climbing disinfection robot is on a horizontal plane, the angle between the spring and the horizontal plane is 40°-50° and the spring is in a relaxed state.

[0060] The spring has an angle of 40°-50° with the horizontal plane, which can transmit the force of compression or stretching of the spring more evenly to the other end of the inverted T-shaped connector 4.

[0061] Furthermore, the bottom length of the middle track mechanism 2 is shorter than the bottom length of the front track mechanism 1, and the bottom length of the rear track mechanism 3 is longer than the bottom length of either the front track mechanism 1 or the middle track mechanism 2.

[0062] In this embodiment, the length of the middle track mechanism 2 is shorter than that of the other track mechanisms, so that it will not get stuck when going up the stairs, and at the same time it can provide propulsion for the vehicle. The ground length of the rear track mechanism 3 is relatively long because the propulsion of the front track mechanism 1 when climbing the stairs is mainly provided by the rear track mechanism 3. In order to prevent the rear track mechanism 3 from slipping, this embodiment has increased its length, thereby increasing the friction.

[0063] Furthermore, the angle between the front end of the front track mechanism 1 and the horizontal plane is 70°-80°.

[0064] This included angle creates a small angle between the front end of the front track mechanism 1 and the vertical plane, allowing the front track mechanism 1 to transition from point contact to surface contact during the climbing process with only a small required swing angle. At the same time, the degree of spring compression is just right for the front end of the climbing robot to climb.

[0065] Furthermore, it includes one or more of the following: a camera, a navigation and obstacle avoidance module, and a communication module.

[0066] In this embodiment, the navigation obstacle avoidance module is ultrasonic navigation obstacle avoidance, and the camera can transmit the corresponding images back through the communication module.

[0067] Furthermore, the front track mechanism, the middle track mechanism, and the rear track mechanism are all equipped with drive wheels, and the drive wheels are all driven by corresponding rotating motors.

[0068] In this embodiment, the front track mechanism, the middle track mechanism, and the rear track mechanism are all powered and can move forward, providing force respectively during the climbing process.

[0069] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0070] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0071] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A ladder-climbing disinfection robot, characterized in that: Includes front track mechanism, middle track mechanism, rear track mechanism, inverted T-shaped connector, and disinfection mechanism; The front track mechanism and the middle track mechanism are hinged together by the horizontal side of the inverted T-shaped connector, allowing the front track mechanism and the middle track mechanism to bend. The middle track mechanism and the rear track mechanism are also hinged together by the horizontal side of the inverted T-shaped connector, allowing the middle track mechanism and the rear track mechanism to bend. The top of the vertical side of the inverted T-shaped connector is connected to the corresponding track mechanism by an elastic element; The front end of the front track mechanism is angled upwards. When the front end of the front track mechanism contacts the staircase, the front track mechanism bends towards the middle track mechanism, changing the contact between the front end of the front track mechanism and the staircase from point contact to surface contact. The elastic element between the front track mechanism and the middle track mechanism is compressed, and the reaction force of the elastic element increases the friction between the front end of the front track mechanism and the staircase. After the front track mechanism climbs the staircase, the elastic element of the inverted T-shaped connector between the front track mechanism and the middle track mechanism is stretched, and the reaction force of the elastic element lifts the middle track mechanism and allows it to climb the staircase. After the middle track mechanism climbs the staircase, the elastic element between the middle track mechanism and the rear track mechanism is stretched, and the reaction force of the elastic element lifts the rear track mechanism and allows it to climb the staircase. The disinfection mechanism includes a water tank and a spraying device connected to the water tank, the water tank being mounted on the tracked mechanism; It includes several rigid connecting members, which are respectively disposed between the front track mechanism and the middle track mechanism, and between the middle track mechanism and the rear track mechanism. The rigid connecting members can be bent at a certain angle, thereby limiting the bending angle between the front track mechanism and the middle track mechanism, and between the middle track mechanism and the rear track mechanism.

2. The ladder-climbing disinfection robot according to claim 1, characterized in that: The rigid connector is formed by connecting two connecting rods with bolts and screw holes through a clearance fit. The clearance fit allows the two connecting rods to bend within a certain angle range, and the two connecting rods become a rigid connection after bending beyond this angle range.

3. The ladder-climbing disinfection robot according to claim 1, characterized in that: The front track mechanism includes a plurality of tensioning wheels, which are used to tension the front track mechanism.

4. The ladder-climbing disinfection robot according to claim 1, characterized in that: The front track mechanism includes several top rollers, and the distance between the top rollers and the ground is 10-20cm.

5. The ladder-climbing disinfection robot according to claim 1, characterized in that: The elastic element is a spring. When the ladder-climbing disinfection robot is on a horizontal plane, the angle between the spring and the horizontal plane is 40°-50° and the spring is in a relaxed state.

6. The ladder-climbing disinfection robot according to claim 1, characterized in that: The bottom surface length of the middle track mechanism is shorter than that of the front track mechanism, and the bottom surface length of the rear track mechanism is longer than that of either the front or middle track mechanism.

7. The ladder-climbing disinfection robot according to claim 1, characterized in that: The angle between the front end of the front track mechanism and the horizontal plane is 70°-80°.

8. The ladder-climbing disinfection robot according to claim 1, characterized in that: It includes one or more of the following: camera, navigation and obstacle avoidance module, and communication module.

9. The ladder-climbing disinfection robot according to claim 1, characterized in that: The front track mechanism, the middle track mechanism, and the rear track mechanism are all equipped with drive wheels, and the drive wheels are all driven by corresponding rotating motors.

Images