A stair climbing robot capable of intelligently adjusting a limb

Abstract

The application is suitable for the field of intelligent robots, and provides a stair climbing robot capable of intelligently adjusting limbs, which comprises a mechanism groove, a rotating disc rotatably connected in the mechanism groove, a first motor fixedly connected with the rotating disc, and an output shaft of the first motor rotatably connected with a main body; the rotating disc is fixedly connected with two mechanism boxes; the end faces of the mechanism boxes are vertically and slidably connected with two outer sleeves; a transmission shaft is rotatably connected in each outer sleeve; the transmission shaft is rotatably connected with a rack rod; and a driving mechanism is arranged in the mechanism box. The stair climbing robot capable of intelligently adjusting limbs provided by the application can continue to shorten the third electric telescopic rod until the mechanism box drives the main body to separate from the ground when the track cannot turn well due to the uneven road surface, and all the auxiliary rods are in elastic abutment with the ground at the same time; at this time, all the rack rods can abut against the ground according to the ground height, thereby stably supporting the main body.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent robots, and particularly relates to a stair climbing robot capable of intelligently adjusting limbs. BACKGROUND

[0002] A robot is an intelligent machine capable of semi-autonomous or autonomous work. The robot can perform tasks such as work or movement through programming and automatic control. The stair climbing robot can perform climbing operation through mechanical movement under the control of a control system.

[0003] The existing patent with the publication number CN208557524U discloses an intelligent security robot capable of wide-range inspection, comprising a lower layer plate, two first connection assemblies are fixedly connected to the bottom surface of the lower layer plate, the first connection assembly comprises a first sleeve fixedly welded to the bottom surface of the lower layer plate, a first rotating rod is arranged in the first sleeve, the first rotating rod extends out of the first sleeve at both ends, and a first left inclined rod is fixedly welded to the left side of the front and rear ends of the first rotating rod. The bottom is provided with four track assemblies, the lower layer plate is connected to the track assemblies through the first connection assemblies, the upper layer plate is connected to the lower layer plate through the second connection assemblies and the electric push rod, the security inspection robot assembly is arranged on the upper layer plate, and the above arrangement enables the security robot to have the function of climbing stairs, has strong climbing ability, and is not easy to overturn during the climbing process.

[0004] The intelligent security robot in the above scheme is provided with four track assemblies, which can realize the function of climbing stairs, but when turning on a bumpy road, the length of the track in contact with the ground is relatively long, so that the track is easy to collide with the ground when turning, and it is not easy to turn around, which makes it difficult for the intelligent security robot to move.

[0005] In order to avoid the above technical problems, it is necessary to provide a stair climbing robot capable of intelligently adjusting limbs to overcome the defects in the prior art. SUMMARY

[0006] The present application aims to provide a stair climbing robot capable of intelligently adjusting limbs, which aims to solve the problem that the length of the track in contact with the ground is relatively long, so that the track is easy to collide with the ground when turning, and it is not easy to turn around.

[0007] The present application is implemented as follows: a stair climbing robot capable of intelligently adjusting limbs, comprising a main body, a first rotating roller is rotatably connected to both ends of the main body, a first electric telescopic rod is rotatably connected to the middle part of the main body, a second rotating roller is rotatably connected to the telescopic end of the first electric telescopic rod, a track is transmissionally connected between the first rotating roller and the second rotating roller, a second electric telescopic rod is rotatably connected between the first electric telescopic rod and the main body, the first rotating roller and the second rotating roller are connected with a power element, and the stair climbing robot further comprises:

[0008] Mechanism groove is arranged in the middle of the main body, the mechanism groove is rotatably connected with a rotating disc, the rotating disc is fixedly connected with a first motor, and the output shaft of the first motor is rotatably connected with the main body;

[0009] The rotating disc is fixedly connected with two mechanism boxes, and the two mechanism boxes are symmetrically arranged relative to the center of the rotating disc; the end surface of the mechanism box is vertically and slidably connected with two outer sleeves, each outer sleeve is rotatably connected with a transmission shaft, the transmission shaft is rotatably connected with a rack rod, a driving mechanism is arranged in the mechanism box, the driving mechanism can be engaged with the two rack rods at the same time, and the driving mechanism can drive the two rack rods to move vertically synchronously, thereby abutting against the ground;

[0010] One end of the transmission shaft outside the mechanism box is rotatably connected with a plurality of auxiliary rods, the auxiliary rods and the transmission shaft are connected with elastic torsion springs, and a thrust mechanism is arranged between the two transmission shafts, the thrust mechanism can drive the two transmission shafts to rotate synchronously.

[0011] Further technical solutions, the driving mechanism includes a third electric telescopic rod, a rotating seat and a gear;

[0012] The fixed end of the third electric telescopic rod is fixedly connected with the inner end surface of the mechanism box, the telescopic end of the third electric telescopic rod is fixedly connected with a rotating seat, the gear is rotatably connected with the rotating seat, and the gear is engaged with the two rack rods.

[0013] Further technical solutions, the thrust mechanism includes a second motor, a transmission wheel, a transmission rod and a connecting assembly;

[0014] The inner end surface of the mechanism box is fixedly connected with a fixed frame, the fixed frame is slidably connected with two transmission rods, the transmission wheel is rotatably connected with the fixed frame, and the transmission wheel is engaged with the two transmission rods, one end of the transmission shaft is annularly provided with engagement teeth, and the two transmission rods are engaged with the two transmission shafts respectively; the second motor is fixedly connected with the fixed frame, and the second motor is locked with the transmission wheel through the connecting assembly.

[0015] Further technical solutions, the connecting assembly includes a push block, a clamping block and a spring;

[0016] The transmission wheel is provided with a plurality of cavities, the output shaft of the second motor penetrates the transmission wheel, the output shaft of the second motor is fixedly connected with a plurality of push blocks, the cavities are slidably connected with clamping blocks, the clamping blocks and the inner end surface of the cavities are provided with springs, and the clamping blocks and the push blocks are in abutment.

[0017] Further technical solutions, the first electric telescopic rod, the second electric telescopic rod, the third electric telescopic rod, the power member, the first motor and the second motor are electrically connected with a controller, the controller is electrically connected with a detector, and the detector is fixedly connected with the main body.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] This invention provides a stair-climbing robot with intelligently adjustable limbs. When encountering uneven terrain that makes turning difficult, the third electric telescopic rod is activated. This rod drives a gear downwards, which in turn meshes with a rack, causing both racks to move downwards synchronously. The two racks, along with the drive shaft and outer casing, move downwards in sync. When the left rack contacts the ground first, it pushes the gear in the opposite direction, causing it to rotate clockwise. This drives the right rack to continue downwards until both racks are in contact with the ground, increasing the stability of the main body. The third electric telescopic rod then shortens until the mechanism lifts the main body off the ground, at which point all auxiliary rods simultaneously and elastically contact the ground. At this point, all racks are in contact with the ground according to their height, providing stable support for the main body and preventing instability during turning due to uneven terrain. All auxiliary rods also provide additional support to the racks, further increasing the vertical stability of the main body during turning.

[0020] The present invention provides a stair-climbing robot that can intelligently adjust its limbs. When the thrust reaches the limit, under the action of the reverse thrust of the side wall, the locking block pushes the spring to contract, thereby releasing the thrust on the auxiliary rod and preventing the auxiliary rod from breaking when it comes into contact with the side wall.

[0021] The present invention provides a stair-climbing robot that can intelligently adjust its limbs. When the first motor is started, the first motor drives the main body to rotate relative to the turntable. When the main body rotates, it has a horizontal axial inertial force, and the stability of the main body's turning is ensured by the action of the auxiliary rod.

[0022] This invention provides a stair-climbing robot with intelligently adjustable limbs. The transmission wheel drives two transmission rods to move relative to each other, and the two transmission rods drive two transmission shafts to rotate relative to each other. In turn, the two transmission shafts drive the auxiliary rods connected to them to rotate relative to each other. Thus, when the main body rotates relative to the turntable with the first motor, the auxiliary rods can be horizontally limited in both clockwise and counterclockwise directions, further ensuring the stability of the main body's turning. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 for Figure 1 A bottom view;

[0025] Figure 3 This is a sectional view of the mechanism box;

[0026] Figure 4 for Figure 3 Top view;

[0027] Figure 5 For Figure 4 enlarged structural schematic view of area A in the middle;

[0028] Figure 6 is a sectional view of a transmission wheel;

[0029] Figure 7 For Figure 6 enlarged structural schematic view of area B in the middle.

[0030] In the drawings: 1, main body; 2, No. 1 rotating roller; 3, mechanism box; 4, driving mechanism; 41, No. 3 electric telescopic rod; 42, rotating seat; 43, gear; 5, thrust mechanism; 51, No. 2 motor; 52, transmission wheel; 53, transmission rod; 54, connecting assembly; 54, connecting assembly; 541, push block; 542, clamping block; 543, spring; 6, mechanism groove; 7, rotating disc; 8, No. 1 motor; 9, transmission shaft; 10, rack rod; 11, No. 1 electric telescopic rod; 12, No. 2 rotating roller; 13, track; 14, No. 2 electric telescopic rod; 15, auxiliary rod; 16, fixing frame; 17, cavity; 18, power piece; 19, detector; 20, outer sleeve. Embodiment

[0031] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0032] The specific implementation of the present application is described in detail below in combination with specific examples.

[0033] As Figures 1-3 shown, a leg-adjustable stair climbing robot provided by the present application, comprising a main body 1, both ends of the main body 1 are rotatably connected with a No. 1 rotating roller 2, the middle part of the main body 1 is rotatably connected with a No. 1 electric telescopic rod 11, the telescopic end of the No. 1 electric telescopic rod 11 is rotatably connected with a No. 2 rotating roller 12, the No. 1 rotating roller 2 and the No. 2 rotating roller 12 are transmissionally connected with a track 13, the No. 1 electric telescopic rod 11 and the main body 1 are rotatably connected with a No. 2 electric telescopic rod 14, the No. 1 rotating roller 2 and the No. 2 rotating roller 12 are both connected with a power piece 18, the power piece 18 is preferably a rotating motor, further comprising:

[0034] A mechanism groove 6 is arranged in the middle part of the main body 1, the mechanism groove 6 is rotatably connected with a rotating disc 7, the rotating disc 7 is fixedly connected with a No. 1 motor 8, the output shaft of the No. 1 motor 8 is rotatably connected with the main body 1;

[0035] The rotating disc 7 is fixedly connected with two mechanism boxes 3, the two mechanism boxes 3 are symmetrically arranged relative to the center of the rotating disc 7; the end surface of the mechanism box 3 is vertically and slidingly connected with two outer sleeves 20, each outer sleeve 20 is rotatably connected with a transmission shaft 9, the transmission shaft 9 is rotatably connected with a rack rod 10, the mechanism box 3 is provided with a driving mechanism 4, the driving mechanism 4 can be engaged with the two rack rods 10 at the same time, and the driving mechanism 4 can drive the two rack rods 10 to move vertically synchronously, so as to abut against the ground;

[0036] The transmission shaft 9 is rotatably connected with a plurality of auxiliary rods 15 at one end outside the mechanism box 3, the auxiliary rod 15 and the transmission shaft 9 are connected with an elastic torsion spring, the two transmission shafts 9 are provided with a thrust mechanism 5, and the thrust mechanism 5 can drive the two transmission shafts 9 to rotate synchronously.

[0037] When the stair climbing robot climbs up to the left, the second electric telescopic rod 14 pushes the first electric telescopic rod 11 to rotate, the first electric telescopic rod 11 drives the second roller 12 to move, the second roller 12 keeps an acute angle with the main body 1, then the power piece 18 drives the track 13 to move through the first roller 2 and the second roller 12, the main body 1 moves forward, under the guidance of the second roller 12 and the track 13, the first roller 2 on the left side of the main body 1 is overlapped with the stair, then the second electric telescopic rod 14 pushes the first electric telescopic rod 11 to rotate reversely, the second roller 12 abuts against the ground on the right side of the main body 1, until the main body 1 keeps parallel with the stair surface, then the power piece 18 drives the track 13 to move, and the main body 1 moves upwards along the stair; when leveling, the second electric telescopic rod 14 pushes the first electric telescopic rod 11 to be perpendicular to the main body 1, so that the second roller 12 is located in the middle of the main body 1, and the gravity center of the device is kept stable.

[0038] When the track 13 cannot turn well due to the uneven road surface, the driving mechanisms 4 in the two mechanism boxes 3 move synchronously, the driving mechanisms 4 can drive the two rack rods 10 to move vertically synchronously, so as to stably abut against the ground, and all the auxiliary rods 15 elastically abut against the ground at the same time;

[0039] Then, under the driving of the driving mechanism 4, the main body 1 is reversely lifted, at this time, the thrust mechanism 5 can drive the two transmission shafts 9 to rotate synchronously, the two transmission shafts 9 respectively drive all the auxiliary rods 15 to rotate horizontally, the auxiliary rods 15 abut against the side wall of the uneven ground, at this time, the first motor 8 is started, the first motor 8 drives the main body 1 to rotate relative to the rotating disc 7, the rotating direction is the same as that of the transmission shaft 9, at this time, the main body 1 has horizontal axial inertial force when rotating, and the stability of the main body 1 in turning is ensured under the action of the auxiliary rods 15; when the main body 1 rotates to a predetermined direction, the driving mechanism 4 drives the rack rod 10 to move reversely and shrink into the mechanism box 3, so that the track 13 contacts the ground.

[0040] In the embodiment of the application, as shown inFigures 3-4 As shown in the drawings, as a preferred embodiment of the present application, the driving mechanism 4 comprises a third electric telescopic rod 41, a rotating seat 42 and a gear 43.

[0041] The fixed end of the third electric telescopic rod 41 is fixedly connected with the inner end face of the mechanism box 3, the telescopic end of the third electric telescopic rod 41 is fixedly connected with the rotating seat 42, the gear 43 is rotationally connected with the rotating seat 42, and the gear 43 is meshed with the two rack rods 10.

[0042] In the driving mechanism 4, the third electric telescopic rod 41 is started, the third electric telescopic rod 41 drives the gear 43 to move downward, the gear 43 drives the two rack rods 10 to synchronously move downward through the meshing with the rack rods 10, the two rack rods 10 synchronously move downward together with the transmission shaft 9 and the outer sleeve 20, when the rack rod 10 on the left side of the gear 43 first contacts the ground, the rack rod 10 on the left side reversely pushes the gear 43, the gear 43 rotates clockwise, the gear 43 drives the rack rod 10 on the right side to continuously move downward, until the rack rods 10 on both sides of the gear 43 are in abutment with the ground, the support stability of the main body 1 is increased, and then the third electric telescopic rod 41 continues to shorten, until the mechanism box 3 drives the main body 1 to separate from the ground.

[0043] In the embodiment of the present application, as shown in the drawings, Figures 5-6 As a preferred embodiment of the present application, the thrust mechanism 5 comprises a second motor 51, a transmission wheel 52, a transmission rod 53 and a connecting assembly 54.

[0044] The inner end face of the mechanism box 3 is fixedly connected with a fixed frame 16, the fixed frame 16 is slidably connected with the two transmission rods 53, the transmission wheel 52 is rotationally connected with the fixed frame 16, the transmission wheel 52 is meshed with the two transmission rods 53, one end of the transmission shaft 9 is annularly provided with meshing teeth, and the two transmission rods 53 are respectively meshed with the two transmission shafts 9; the second motor 51 is fixedly connected with the fixed frame 16, and the second motor 51 is locked with the transmission wheel 52 through the connecting assembly 54.

[0045] In the thrust mechanism 5, the second motor 51 is started, the second motor 51 drives the transmission wheel 52 to rotate through the connecting assembly 54, the transmission wheel 52 drives the two transmission rods 53 to relatively move, the two transmission rods 53 drive the two transmission shafts 9 to relatively rotate, and the transmission shaft 9 drives the auxiliary rod 15 connected therewith to rotate.

[0046] In the embodiment of the present application, as shown in the drawings, Figure 7 As a preferred embodiment of the present application, the connecting assembly 54 comprises a push block 541, a clamping block 542 and a spring 543.

[0047] The transmission wheel 52 is internally provided with a plurality of grooves 17, the output shaft of the second motor 51 penetrates the transmission wheel 52, the output shaft of the second motor 51 is fixedly connected with a plurality of push blocks 541, the grooves 17 are all slidably connected with clamping blocks 542, the clamping blocks 542 and the inner end faces of the grooves 17 are all provided with springs 543, and the clamping blocks 542 abut against the push blocks 541; when the auxiliary rod 15 abuts against the sidewall of a pit, when the pushing force reaches a limit value, under the action of the reverse pushing force of the sidewall, the clamping block 542 pushes the spring 543 to shrink, so that the pushing force on the auxiliary rod 15 is removed, and the auxiliary rod 15 is prevented from abutting against and breaking the sidewall.

[0048] The output shaft of the second motor 51 pushes the clamping block 542 through the push block 541, the clamping block 542 drives the transmission wheel 52 to rotate, so as to drive the transmission shaft 9 to rotate, and the transmission shaft 9 drives all the auxiliary rods 15 to rotate horizontally.

[0049] In the embodiment of the application, as a preferred embodiment of the application, the first electric telescopic rod 11, the second electric telescopic rod 14, the third electric telescopic rod 41, the power piece 18, the first motor 8 and the second motor 51 are all electrically connected with a controller, the controller is electrically connected with a detector 19, and the detector 19 is fixedly connected with the main body 1.

[0050] Working principle:

[0051] When the stair climbing robot climbs up to the left, the second electric telescopic rod 14 drives the first electric telescopic rod 11 to rotate, the first electric telescopic rod 11 drives the second roller 12 to move, the second roller 12 keeps an acute angle with the main body 1, then the power piece 18 drives the track 13 to move through the first roller 2 and the second roller 12, the main body 1 advances forward, under the guidance of the second roller 12 and the track 13, the first roller 2 on the left side of the main body 1 is lapped with a stair, then the second electric telescopic rod 14 drives the first electric telescopic rod 11 to reversely rotate, the second roller 12 abuts against the ground on the right side of the main body 1, until the main body 1 keeps parallel with a stair surface, then the power piece 18 drives the track 13 to move, and the main body 1 moves upward along the stair; when the floor is leveled, the second electric telescopic rod 14 drives the first electric telescopic rod 11 to be perpendicular to the main body 1, so that the second roller 12 is located in the middle of the main body 1, and the gravity center of the device is kept stable.

[0052] When encountering a pothole road surface causes the track 13 to turn bad, the two mechanism boxes 3 drive mechanism 4 synchronous movement in the drive mechanism 4, start the third electric telescopic rod 41, the third electric telescopic rod 41 gear 43 downward movement, gear 43 through the meshing with the rack bar 10 drive two rack bar 10 synchronous downward, two rack bar 10 together with the transmission shaft 9 and the sleeve 20 synchronous downward, when the gear 43 left side of the rack bar 10 first contact with the ground, the left side of the rack bar 10 reverse gear 43, gear 43 clockwise rotation, gear 43 drive right side of the rack bar 10 continue to move downward, until the gear 43 both sides of the rack bar 10 are in contact with the ground, increase the main body 1 support stability, after the third electric telescopic rod 41 continue to shorten, until the mechanism box 3 drive main body 1 off the ground, all auxiliary rod 15 at the same time with the ground elastic abutment; At this time, all the rack bar 10 can be in contact with the ground according to the ground height, so as to support the main body 1 smoothly, avoid the main body 1 due to the pothole road surface causes the turning support instability, all auxiliary rod 15 at the same time to the rack bar 10 auxiliary support, further increase the main body 1 turning vertical support stability;

[0053] After that, under the drive of the drive mechanism 4, the main body 1 reverse lifting, the output shaft of the second motor 51 through the push block 541 push the block 542, the block 542 drive transmission wheel 52 rotation, transmission wheel 52 drive two transmission rod 53 relative movement, two transmission rod 53 drive two transmission shaft 9 relative rotation, transmission shaft 9 drive its connected auxiliary rod 15 rotation, when the auxiliary rod 15 abutment to the side wall of the pit, when the push force reaches the limit, under the action of the reverse force of the side wall, the block 542 push the spring 543 contraction, so as to remove the push force of the auxiliary rod 15, avoid the auxiliary rod 15 and the side wall abutment broken;

[0054] At this time, start the first motor 8, the first motor 8 drive main body 1 relative to the rotating disc 7 rotation, the main body 1 rotation has horizontal axial inertia force, under the action of the auxiliary rod 15 ensure the stability of the main body 1 turning; When the main body 1 rotates to the predetermined direction, the drive mechanism 4 drive rack bar 10 reverse movement to the mechanism box 3 contraction, so as to make the track 13 contact with the ground;

[0055] Transmission wheel 52 drive two transmission rod 53 relative movement, two transmission rod 53 drive two transmission shaft 9 relative rotation, so that two transmission shaft 9 drive its connected auxiliary rod 15 relative rotation, so when the first motor 8 drive main body 1 relative to the rotating disc 7 rotation, clockwise or counterclockwise direction, can obtain the horizontal limit of the auxiliary rod 15, further ensure the stability of the main body 1 turning.

[0056] The above merely describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0057] In addition, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments that those skilled in the art can understand.

Claims

1. A stair climbing robot capable of intelligently adjusting limbs, comprising a main body (1), both ends of the main body (1) are rotatably connected with a first rotating roller (2), the middle part of the main body (1) is rotatably connected with a first electric telescopic rod (11), the telescopic end of the first electric telescopic rod (11) is rotatably connected with a second rotating roller (12), the first rotating roller (2) and the second rotating roller (12) are drivingly connected with a track (13), the first electric telescopic rod (11) and the main body (1) are rotatably connected with a second electric telescopic rod (14), the first rotating roller (2) and the second rotating roller (12) are connected with a power element (18), characterized in that, Also include: Mechanism groove (6) is arranged in the middle of the main body (1), the mechanism groove (6) is rotatably connected with the rotating disc (7), the rotating disc (7) is fixedly connected with the first motor (8), and the output shaft of the first motor (8) is rotatably connected with the main body (1); The rotating disc (7) is fixedly connected with two mechanism boxes (3), and the two mechanism boxes (3) are symmetrically arranged relative to the center of the rotating disc (7); the end surface of the mechanism box (3) is vertically slidably connected with two outer sleeves (20), each outer sleeve (20) is rotatably connected with a transmission shaft (9), the transmission shaft (9) is rotatably connected with a rack rod (10), the mechanism box (3) is provided with a driving mechanism (4), the driving mechanism (4) can be engaged with two rack rods (10) at the same time, and the driving mechanism (4) can drive two rack rods (10) to move vertically synchronously, so as to abut against the ground; The transmission shaft (9) is rotatably connected with a plurality of auxiliary rods (15) at one end outside the mechanism box (3), the elastic torsion spring is connected between the auxiliary rod (15) and the transmission shaft (9), and the thrust mechanism (5) is arranged between the two transmission shafts (9), the thrust mechanism (5) can drive the two transmission shafts (9) to rotate synchronously; The driving mechanism (4) comprises a third electric telescopic rod (41), a rotating seat (42) and a gear (43); The fixed end of the third electric telescopic rod (41) is fixedly connected with the inner end surface of the mechanism box (3), the telescopic end of the third electric telescopic rod (41) is fixedly connected with the rotating seat (42), the gear (43) is rotatably connected with the rotating seat (42), and the gear (43) is engaged with the two rack rods (10); The thrust mechanism (5) comprises a second motor (51), a transmission wheel (52), a transmission rod (53) and a connecting assembly (54); The inner end surface of the mechanism box (3) is fixedly connected with a fixed frame (16), the fixed frame (16) is slidably connected with two transmission rods (53), the transmission wheel (52) is rotatably connected with the fixed frame (16), and the transmission wheel (52) is engaged with the two transmission rods (53), one end of the transmission shaft (9) is annularly provided with engagement teeth, and the two transmission rods (53) are engaged with the two transmission shafts (9) respectively; the second motor (51) is fixedly connected with the fixed frame (16), and the second motor (51) is locked with the transmission wheel (52) through the connecting assembly (54).

2. The stair climbing robot capable of intelligently adjusting a limb according to claim 1, wherein, The connecting assembly (54) comprises a push block (541), a clamping block (542) and a spring (543); A plurality of groove cavities (17) are arranged in the transmission wheel (52), the output shaft of the second motor (51) penetrates the transmission wheel (52), a plurality of push blocks (541) are fixedly connected with the output shaft of the second motor (51), the clamping block (542) is slidably connected in the groove cavity (17), the spring (543) is arranged between the inner end surface of the groove cavity (17) and the clamping block (542), and the clamping block (542) abuts against the push block (541).

3. The stair climbing robot capable of intelligently adjusting a limb according to claim 1, wherein, The first electric telescopic rod (11), the second electric telescopic rod (14), the third electric telescopic rod (41), the power element (18), the first motor (8) and the second motor (51) are electrically connected with the controller, the controller is electrically connected with the detector (19), and the detector (19) is fixedly connected with the main body (1).

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