Stair-climbing cleaning robot

Abstract

The stair-climbing cleaning robot comprises a supporting frame, a lifting frame, a lifting module and a robot body, a front driving wheel module is arranged at the front end of the supporting frame, a rear driving wheel module is arranged at the rear end of the supporting frame, and the height difference between the front driving wheel module and the rear driving wheel module is the height of at least one step; the lifting frame is slidably arranged on the supporting frame, the lifting module is arranged between the lifting frame and the supporting frame, and the robot body is rotationally arranged at the bottom of the lifting frame. A walking module, a sweeping module and a dust collection module are arranged at the bottom of the robot body, and the robot body is provided with a control module, an area scanning module and an obstacle detection module. The cleaning efficiency and the cleaning coverage rate can be effectively improved, and the problem that in the prior art, due to the fact that a random cleaning mode is adopted, the cleaning efficiency is low due to missing cleaning and repeated cleaning is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning robots, and in particular relates to a stair-climbing cleaning robot. Background Art

[0002] With the continuous improvement of science and technology, the robot industry is booming. Now more and more robots appear in people's daily life, and robots have become an indispensable part of modern life. Stairs are a common obstacle in daily life, and cleaning robots with stair climbing function are widely used in daily life.

[0003] At present, stair climbing robots mainly include stepping type, crawler type, star wheel type, four-link type and six-wheel type, which have wide practical applications in different fields. Chinese patent document CN215128064U discloses a stair climbing cleaning robot, including a chassis, on which a walking mechanism, a driving mechanism and a cleaning mechanism are arranged, which can be used to clean flat ground and stairways. The cleaning mechanism has two cleaning arms, each of which can be swung up and down to adapt to the cleaning of cleaning surfaces of different heights, such as flat ground and staircases, and the cleaning head is rotatably connected to the front end of the cleaning arm through a pin shaft, which can ensure that the cleaning surface of the cleaning head is always facing downward under the action of gravity. Each cleaning arm consists of three foldable arms that can rotate horizontally to sweep the garbage into the chassis, and the length of the cleaning arm can be adjusted by folding the arms. When the two cleaning arms are extended to different lengths, the cleaning robot moves laterally and the lengths of the two cleaning heads are superimposed to clean stair treads of different widths. The cleaning range is large and the cleaning is flexible.

[0004] Although the climbing cleaning robot of the above patent can clean surfaces at different heights, it is unable to construct a map of the environment and navigate autonomously. It usually adopts a random cleaning method for cleaning, and the random cleaning method often has problems of missed cleaning and repeated cleaning, resulting in low cleaning coverage and affecting cleaning efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a stair-climbing cleaning robot to solve the above-mentioned problems existing in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a stair climbing cleaning robot, comprising a support frame, a lifting frame, a lifting module and a robot body, wherein a front driving wheel module is provided at the front end of the support frame, and a rear driving wheel module is provided at the rear end of the support frame, and the height difference between the front driving wheel module and the rear driving wheel module is the height of at least one step; the lifting frame is slidably arranged on the support frame, the lifting module is arranged between the lifting frame and the support frame, and the robot body is rotatably arranged at the bottom of the lifting frame; a walking module, a cleaning module and a dust collection module are arranged at the bottom of the robot body, and the robot body is equipped with a control module, an area scanning module and an obstacle detection module, wherein the area scanning module, the obstacle detection module, the front driving wheel module, the rear driving wheel module, the lifting module, the walking module, the cleaning module and the dust collection module are all connected to the control module, and the area scanning module is used to scan the area to be cleaned to obtain an electronic map of the area where the robot body is located, and the control module obtains a cleaning trajectory based on the electronic map, and controls the walking module to move in the area to be cleaned according to the cleaning trajectory, and cleans the area to be cleaned through the cleaning module and the dust collection module.

[0007] As an optional implementation of the above technical solution, the robot body is equipped with a step detection module, and the step detection module is connected to the control module. When the step detection module detects a step, the control module controls the front drive wheel module to move to the upper step, and then drives the lifting frame and the robot body to lift the height of at least one step through the lifting module. The control module controls the front drive wheel module and the rear drive wheel module to move forward, so that the lifting frame and the robot body move to the upper step, and then controls the support frame to lift the height of at least one step relative to the lifting frame through the lifting module, so that the rear drive wheel module rises to the height of the upper step, and drives the robot body to move on the upper step through the walking module, and uses the cleaning module and the dust collection module to clean the upper step.

[0008] As an optional implementation of the above technical solution, the robot body is equipped with a cleanliness assessment module, which is connected to the control module. The cleanliness assessment module is used to evaluate the cleaned area to determine whether the cleaning cleanliness of the area meets the threshold requirements.

[0009] As an optional implementation of the above technical solution, the walking module includes a universal wheel unit and two fixed wheel units, the universal wheel unit and the two fixed wheel units are both arranged at the bottom of the robot body, and the universal wheel unit is connected to the control module.

[0010] As an optional implementation of the above technical solution, the front drive wheel module includes a front drive wheel and a front drive motor, the front drive motor is connected to the control module, and the output end of the front drive motor is connected to the front drive wheel.

[0011] As an optional implementation of the above technical solution, the rear drive wheel module includes a rear drive wheel and a rear drive motor, the rear drive motor is connected to the control module, and the output end of the rear drive motor is connected to the rear drive wheel.

[0012] As an optional implementation of the above technical solution, the lifting module includes a first lifting mechanism and a second lifting mechanism arranged side by side, the first lifting mechanism and the second lifting mechanism are both arranged on a support frame, and the lifting ends of the first lifting mechanism and the second lifting mechanism are both connected to the lifting frame.

[0013] As an optional implementation of the above technical solution, the lifting frame is provided with a guide rod, and the supporting frame is provided with a sliding sleeve adapted to the guide rod.

[0014] As an optional implementation of the above technical solution, the first lifting mechanism includes a first base, a first rigid chain, a first driving gear, and a first driving motor. The first base is provided with a first arc guide rail adapted to the first rigid chain. The first rigid chain and the first driving gear are meshed with each other. The lifting end of the first rigid chain is connected to the lifting frame, and the output end of the first driving motor is connected to the first driving gear.

[0015] As an optional implementation of the above technical solution, the second lifting mechanism includes a second base, a second rigid chain, a second driving gear, and a second driving motor. The second base is provided with a second arc guide rail adapted to the second rigid chain. The second rigid chain and the second driving gear are meshed with each other. The lifting end of the second rigid chain is connected to the lifting frame, and the output end of the second driving motor is connected to the second driving gear.

[0016] As an optional implementation of the above technical solution, the first rigid chain includes a plurality of first link monomers that are rotatably connected in sequence, the second rigid chain includes a plurality of second link monomers that are rotatably connected in sequence, and a locking structure is provided between the second link monomers and the first link monomers.

[0017] As an optional implementation of the above technical solution, the locking structure includes a buckle hook and a buckle groove that cooperate with each other, the buckle groove is arranged on the side wall of the first link monomer, and the buckle hook is arranged on the side wall of the second link monomer.

[0018] The beneficial effects of the present invention are:

[0019] The present invention provides a stair-climbing cleaning robot, wherein the height difference between a front driving wheel module and a rear driving wheel module is the height of at least one step, and an area scanning module, an obstacle detection module, a front driving wheel module, a rear driving wheel module, a lifting module, a walking module, a cleaning module and a dust collection module are all connected to a control module. The present invention utilizes the area scanning module to scan an area to be cleaned, thereby obtaining an electronic map of the area to be cleaned, and forms a cleaning trajectory of the stair-climbing cleaning robot based on the electronic map. The stair-climbing cleaning robot moves according to the cleaning trajectory, and utilizes the cleaning module and the dust collection module to clean the area to be cleaned, thereby achieving efficient cleaning. The stair-climbing cleaning robot can effectively improve the cleaning efficiency and the cleaning coverage rate, and solves the problem of low cleaning efficiency caused by missed cleaning and repeated cleaning in the random cleaning method adopted in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a stair-climbing cleaning robot in one embodiment of the present invention;

[0021] Figure 2 is a structural schematic diagram of a lifting module in one embodiment of the present invention;

[0022] Figure 3 is a schematic structural diagram of a first link monomer in one embodiment of the present invention;

[0023] Figure 4 is a schematic structural diagram of a second link monomer in one embodiment of the present invention;

[0024] Figure 5 It is a control block diagram of a stair-climbing cleaning robot in one embodiment of the present invention.

[0025] In the figure: 1-support frame; 2-lifting frame; 3-lifting module; 4-robot body; 5-front drive wheel module; 6-rear drive wheel module; 7-walking module; 8-cleaning module; 9-dust suction module; 10-control module; 11-area scanning module; 12-obstacle detection module; 13-step detection module; 14-cleanliness assessment module; 15-universal wheel unit; 16-directional wheel unit; 17-front drive wheel; 18-front drive motor; 19-rear drive wheel; 20-rear drive motor; 21-guide rod; 22-sliding sleeve; 23-first rigid chain; 24-first drive gear; 25-second rigid chain; 26-second drive gear; 27-first chain link monomer; 28-second chain link monomer; 29-hook; 30-slot. DETAILED DESCRIPTION

[0026] like Figure 1-Figure 5As shown, this embodiment provides a stair-climbing cleaning robot, including a support frame 1, a lifting frame 2, a lifting module 3 and a robot body 4. The support frame 1 and the lifting frame 2 are slidably matched, and the lifting frame 2 can be lifted and lowered relative to the support frame 1, such as the support frame 1 remains stationary and the lifting frame 2 is lifted and lowered, or the lifting frame 2 remains stationary and the support frame 1 is lifted and lowered.

[0027] The front end of the support frame 1 is provided with a front drive wheel module 5, and the rear end of the support frame 1 is provided with a rear drive wheel module 6. The height difference between the front drive wheel module 5 and the rear drive wheel module 6 is the height of at least one step. The front drive wheel module 5 and the rear drive wheel module 6 can drive the support frame 1 to move forward, so that the front drive wheel module 5 moves to the upper step, and the rear drive wheel module 6 stays on the lower step, and the lifting module 3 is used to drive the stair-climbing cleaning robot to climb the steps step by step.

[0028] like Figure 1 As shown, the lifting frame 2 is slidably arranged on the support frame 1, and the lifting module 3 is arranged between the lifting frame 2 and the support frame 1. Specifically, the lifting frame 2 is provided with a guide rod 21, and the support frame 1 is provided with a sliding sleeve 22 adapted to the guide rod 21, and the lifting module 3 is used to drive the lifting frame 2 to move relative to the support frame 1.

[0029] The robot body 4 is rotatably arranged at the bottom of the lifting frame 2, and the robot body 4 can move laterally along the steps to clean the steps. A walking module 7, a cleaning module 8 and a dust collecting module 9 are arranged at the bottom of the robot body 4. The walking module 7 is used to drive the robot body 4 to move, and the cleaning module 8 has a plurality of brushes, which are used to clean the steps, and the dust collecting module 9 sucks away the debris on the steps.

[0030] like Figure 5 As shown, the robot body 4 is equipped with a control module 10, an area scanning module 11 and an obstacle detection module 12, and the area scanning module 11, the obstacle detection module 12, the front drive wheel module 5, the rear drive wheel module 6, the lifting module 3, the walking module 7, the cleaning module 8 and the dust collection module 9 are all connected to the control module 10. The area scanning module 11 is used to scan the area to be cleaned to obtain an electronic map of the area where the robot body 4 is located. The control module 10 obtains a cleaning track based on the electronic map, and controls the walking module 7 to move in the area to be cleaned according to the cleaning track, and cleans the area to be cleaned through the cleaning module 8 and the dust collection module 9. The obstacle detection module 12 is used to detect obstacles in the area to be cleaned, so as to improve the cleaning effect of the stair climbing cleaning robot.

[0031] The present invention utilizes the area scanning module 11 to scan the area to be cleaned, thereby obtaining an electronic map of the area to be cleaned, and based on the electronic map, forms a cleaning trajectory of the stair-climbing cleaning robot. The stair-climbing cleaning robot moves according to the cleaning trajectory, and utilizes the cleaning module 8 and the dust collection module 9 to clean the area to be cleaned, thereby achieving efficient cleaning. It can effectively improve the cleaning efficiency and cleaning coverage, and solves the problem of low cleaning efficiency caused by missed cleaning and repeated cleaning in the random cleaning method adopted in the prior art.

[0032] In this embodiment, the robot body 4 is equipped with a step detection module 13, and the step detection module 13 is connected to the control module 10. When the step detection module 13 detects a step, the control module 10 controls the front drive wheel module 5 to move to the upper step, and then drives the lifting frame 2 and the robot body 4 to lift the height of at least one step through the lifting module 3. The control module 10 controls the front drive wheel module 5 and the rear drive wheel module 6 to move forward, so that the lifting frame 2 and the robot body 4 move to the upper step, and then controls the support frame 1 to lift the height of at least one step relative to the lifting frame 2 through the lifting module 3, so that the rear drive wheel module 6 rises to the height of the upper step, and drives the robot body 4 to move on the upper step through the walking module 7, and uses the cleaning module 8 and the dust collection module 9 to clean the upper step. After the robot body 4 moves to the upper step, the area scanning module 11 scans the area to be cleaned of the upper step to obtain an electronic map of the upper step, the control module 10 calculates the cleaning track of the upper step, the walking module 7 moves according to the cleaning track, and the cleaning module 8 and the dust collection module 9 clean the area to be cleaned. In this way, the cleaning function of multiple steps is realized.

[0033] The robot body 4 is equipped with a cleanliness evaluation module 14, which is connected to the control module 10. The cleanliness evaluation module 14 is used to evaluate the cleaned area to determine whether the cleanliness of the area meets the threshold requirement. For areas that do not meet the threshold requirement, the robot body 4 re-cleans the area to improve the cleaning effect.

[0034] like Figure 1 As shown, in a specific embodiment, the walking module 7 includes a universal wheel unit 15 and two directional wheel units 16, and the universal wheel unit 15 and the two directional wheel units 16 are both arranged at the bottom of the robot body 4, and the universal wheel unit 15 is connected to the control module 10. The universal wheel unit 15 is located at the bottom front end of the robot body 4, and the two directional wheel units 16 are located at the bottom rear end of the robot body 4. The universal wheel unit 15 provides walking power for the robot body 4, and the universal wheel unit 15 drives the robot body 4 to move in different directions, so that the robot body 4 can move according to the cleaning trajectory to clean the area to be cleaned.

[0035] In a specific embodiment, the front drive wheel module 5 includes a front drive wheel 17 and a front drive motor 18, the front drive motor 18 is connected to the control module 10, and the output end of the front drive motor 18 is connected to the front drive wheel 17. The rear drive wheel module 6 includes a rear drive wheel 19 and a rear drive motor 20, the rear drive motor 20 is connected to the control module 10, and the output end of the rear drive motor 20 is connected to the rear drive wheel 19. The front drive wheel 17 and the rear drive wheel 19 are both driven by independent motors, which is convenient for the climbing cleaning robot to move. The center of the front drive wheel 17 is higher than the center of the rear drive wheel 19, and the height difference between the front drive wheel 17 and the rear drive wheel 19 is the height of at least one step, so that the climbing cleaning robot can climb the stairs.

[0036] As an optional implementation of this embodiment, the lifting module 3 includes a first lifting mechanism and a second lifting mechanism arranged side by side, the first lifting mechanism and the second lifting mechanism are both arranged on the support frame 1, and the lifting ends of the first lifting mechanism and the second lifting mechanism are both connected to the lifting frame 2. The tops of the first lifting mechanism and the second lifting mechanism are both fixed on the support frame 1, and the bottoms of the first lifting mechanism and the second lifting mechanism are both connected to the lifting frame 2. The first lifting mechanism and the second lifting mechanism are used to synchronously drive the lifting frame 2 to move relative to the support frame 1, thereby improving the lifting stability of the lifting frame 2.

[0037] like Figure 2 As shown, specifically, the first lifting mechanism includes a first base, a first rigid chain 23, a first driving gear 24, and a first driving motor. A first arc-shaped guide rail adapted to the first rigid chain 23 is provided in the first base. The first rigid chain 23 and the first driving gear 24 are meshed with each other. The lifting end of the first rigid chain 23 is connected to the lifting frame 2. The output end of the first driving motor is connected to the first driving gear 24. The first driving motor drives the first driving gear 24 to rotate. The first driving gear 24 and the first rigid chain 23 are meshed with each other, so that the first rigid chain 23 moves along the first arc-shaped guide rail. The lifting end of the first rigid chain 23 extends downward, driving the lifting frame 2 to descend or the support frame 1 to ascend.

[0038] The second lifting mechanism includes a second base, a second rigid chain 25, a second driving gear 26, and a second driving motor. A second arc-shaped guide rail adapted to the second rigid chain 25 is provided in the second base. The second rigid chain 25 and the second driving gear 26 are meshed with each other. The lifting end of the second rigid chain 25 is connected to the lifting frame 2. The output end of the second driving motor is connected to the second driving gear 26. The second driving motor drives the second driving gear 26 to rotate. The second driving gear 26 and the second rigid chain 25 are meshed with each other, so that the second rigid chain 25 moves along the second arc-shaped guide rail. The lifting end of the second rigid chain 25 extends downward to drive the lifting frame 2 to descend or the support frame 1 to ascend. The first driving motor and the second driving motor are controlled by the control module 10. The first driving motor and the second driving motor operate synchronously to realize the lifting and lowering of the lifting frame 2 and the lifting and lowering of the support frame 1.

[0039] The first rigid chain 23 includes a plurality of first chain link monomers 27 that are sequentially connected and rotated, and the second rigid chain 25 includes a plurality of second chain link monomers 28 that are sequentially connected and rotated, and a locking structure is provided between the second chain link monomers 28 and the first chain link monomers 27. The present invention utilizes a first drive motor to drive the first drive gear 24 to rotate, and a second drive motor to drive the second drive gear 26 to rotate, and the teeth of the first drive gear 24 mesh with the pin of the first rigid chain 23, and the teeth of the second drive gear 26 mesh with the pin of the second rigid chain 25, thereby pushing each chain link monomer of the first rigid chain 23 and the second rigid chain 25 to move, and then forming a chain column with a certain rigidity in the vertical direction, so as to realize the descending function of the lifting frame 2; when the rigid chain moves in the opposite direction, the ascending function of the lifting frame 2 is realized. Since there is a locking structure between the second chain link monomer 28 and the first chain link monomer 27, the second chain link monomer 28 and the first chain link monomer 27 are locked by the locking structure, thereby improving the stability of the first rigid chain 23 and the second rigid chain 25.

[0040] like Figure 3 and Figure 4 As shown, specifically, the locking structure includes a hook 29 and a groove 30 that cooperate with each other, the groove 30 is arranged on the side wall of the first chain link monomer 27, and the hook 29 is arranged on. After the first rigid chain 23 extends downward from the first base, and the second rigid chain 25 extends downward from the second base, the groove 30 on the side wall of the first chain link monomer 27 and the hook 29 on the side wall of the second chain link monomer 28 are mutually engaged, so that the first rigid chain 23 and the second rigid chain 25 are connected as a whole, thereby improving the lifting stability of the lifting frame 2.

[0041] In the description of the present invention, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, and may be fixedly connected, detachably connected, or integrated; may be mechanically connected or electrically connected; may be directly connected or indirectly connected through an intermediate medium, may be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood. In addition, the specific features, structures, etc. described in the embodiments are included in at least one embodiment. Under the condition that there is no contradiction, those skilled in the art may combine the features of different embodiments. The protection scope of the present invention is not limited to the above-mentioned specific embodiments. According to the basic technical concept of the present invention, the embodiments that can be associated with by ordinary technicians in this field without creative work all belong to the protection scope of the present invention.

Claims

1. A stair-climbing cleaning robot, characterized in that: The robot comprises a support frame (1), a lifting frame (2), a lifting module (3) and a robot body (4); the front end of the support frame (1) is provided with a front drive wheel module (5), the rear end of the support frame (1) is provided with a rear drive wheel module (6), and the height difference between the front drive wheel module (5) and the rear drive wheel module (6) is the height of at least one step; the lifting frame (2) is slidably arranged on the support frame (1), the lifting module (3) is arranged between the lifting frame (2) and the support frame (1), and the robot body (4) is rotatably arranged at the bottom of the lifting frame (2); the bottom of the robot body (4) is provided with a walking module (7), a cleaning module (8) and a dust collection module (9), and the robot body (4) is equipped with a control module (8). The robot body (4) comprises a control module (10), an area scanning module (11) and an obstacle detection module (12), wherein the area scanning module (11), the obstacle detection module (12), the front driving wheel module (5), the rear driving wheel module (6), the lifting module (3), the walking module (7), the cleaning module (8) and the dust collection module (9) are all connected to the control module (10), the area scanning module (11) is used to scan the area to be cleaned to obtain an electronic map of the area where the robot body (4) is located, the control module (10) obtains a cleaning track based on the electronic map, and controls the walking module (7) to move in the area to be cleaned according to the cleaning track, and cleans the area to be cleaned through the cleaning module (8) and the dust collection module (9).

2. The stair-climbing cleaning robot according to claim 1, characterized in that: The robot body (4) is equipped with a step detection module (13), and the step detection module (13) is connected to the control module (10). When the step detection module (13) detects a step, the control module (10) controls the front drive wheel module (5) to move to the upper step, and then drives the lifting frame (2) and the robot body (4) to raise the height of at least one step through the lifting module (3). The control module (10) controls the front drive wheel module (5) and the rear drive wheel module (6) to move forward, so that the lifting frame (2) and the robot body (4) move to the upper step, and then controls the support frame (1) to raise the height of at least one step relative to the lifting frame (2) through the lifting module (3), so that the rear drive wheel module (6) rises to the height of the upper step, and drives the robot body (4) to move on the upper step through the walking module (7), and cleans the upper step using the cleaning module (8) and the dust collection module (9).

3. The stair-climbing cleaning robot according to claim 2, characterized in that: The robot body (4) is equipped with a cleanliness assessment module (14), which is connected to the control module (10). The cleanliness assessment module (14) is used to assess the cleaned area to determine whether the cleanliness of the area meets the threshold requirement.

4. The stair-climbing cleaning robot according to claim 1, characterized in that: The walking module (7) comprises a universal wheel unit (15) and two directional wheel units (16), wherein the universal wheel unit (15) and the two directional wheel units (16) are both arranged at the bottom of the robot body (4), and the universal wheel unit (15) is connected to the control module (10).

5. The stair-climbing cleaning robot according to claim 1, characterized in that: The front drive wheel module (5) comprises a front drive wheel (17) and a front drive motor (18), wherein the front drive motor (18) is connected to the control module (10), and the output end of the front drive motor (18) is connected to the front drive wheel (17); the rear drive wheel module (6) comprises a rear drive wheel (19) and a rear drive motor (20), wherein the rear drive motor (20) is connected to the control module (10), and the output end of the rear drive motor (20) is connected to the rear drive wheel (19).

6. The stair-climbing cleaning robot according to claim 1, characterized in that: The lifting module (3) comprises a first lifting mechanism and a second lifting mechanism arranged side by side, the first lifting mechanism and the second lifting mechanism are both arranged on the support frame (1), and the lifting ends of the first lifting mechanism and the second lifting mechanism are both connected to the lifting frame (2).

7. The stair-climbing cleaning robot according to claim 6, characterized in that: The lifting frame (2) is provided with a guide rod (21), and the support frame (1) is provided with a sliding sleeve (22) adapted to the guide rod (21).

8. The stair-climbing cleaning robot according to claim 6, characterized in that: The first lifting mechanism comprises a first base, a first rigid chain (23), a first driving gear (24), and a first driving motor; a first arc-shaped guide rail adapted to the first rigid chain (23) is provided in the first base; the first rigid chain (23) and the first driving gear (24) are meshed with each other; a lifting end of the first rigid chain (23) is connected to the lifting frame (2); and an output end of the first driving motor is connected to the first driving gear (24); the second lifting mechanism comprises a second base, a second rigid chain (25), a second driving gear (26), and a second driving motor; a second arc-shaped guide rail adapted to the second rigid chain (25) is provided in the second base; the second rigid chain (25) and the second driving gear (26) are meshed with each other; a lifting end of the second rigid chain (25) is connected to the lifting frame (2); and an output end of the second driving motor is connected to the second driving gear (26).

9. The stair-climbing cleaning robot according to claim 8, characterized in that: The first rigid chain (23) comprises a plurality of first chain link monomers (27) that are rotatably connected in sequence, and the second rigid chain (25) comprises a plurality of second chain link monomers (28) that are rotatably connected in sequence, and a locking structure is provided between the second chain link monomers (28) and the first chain link monomers (27).

10. The stair-climbing cleaning robot according to claim 9, characterized in that: The locking structure comprises a buckle hook (29) and a buckle groove (30) which cooperate with each other, wherein the buckle groove (30) is arranged on the side wall of the first chain link monomer (27), and the buckle hook (29) is arranged on the side wall of the second chain link monomer (28).

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