Stair climbing robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a stair climbing robot. A stair climbing robot comprises a rack; the number of the walking wheels is four, and the four walking wheels are in transmission connection with the machine frame through a transmission assembly; each walking wheel is provided with a plurality of auxiliary wheels, the auxiliary wheels are distributed in the circumferential direction of the walking wheel at intervals, and the auxiliary wheels are rotationally connected with the walking wheel; each walking wheel is provided with the corresponding driving system, and the driving systems are connected with the multiple auxiliary wheels and used for synchronously driving the multiple auxiliary wheels to move to extend out of the walking wheels or be close to the axes of the walking wheels. According to the stair climbing robot, the stair climbing robot can conveniently adapt to different terrains to walk through the installed auxiliary wheels, and the flexibility is improved.

Description

Technical Field

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

[0002] A stair-climbing robot is a robot that can move autonomously on stairs, ramps or other uneven surfaces. This type of robot is often used in many fields such as rescue, logistics, and infrastructure inspection. It is usually equipped with a powerful motor and a suitable transmission mechanism, enabling it to effectively climb stairs of different heights and angles. In natural disasters, stair-climbing robots can enter high-rise buildings for search and rescue, and can also be used for infrastructure inspections, such as elevator shafts and pipelines and other hard-to-reach places.

[0003] Existing robots usually move on specific terrains, lack flexibility, and are difficult to adjust their walking state, which has obvious limitations. The invention patent "Crawler stair climbing robot" with application number 201811605336.5 proposes a crawler stair climbing mechanism. The crawler stair climbing mechanism has a faster stair climbing speed, but the crawler mechanism moves slowly on structured roads and is generally used in specific terrains; the invention patent "A stair climbing wheel set and a stair climbing robot composed of it" with application number 202110195787.1 proposes a wheel set combined stair climbing mechanism, which can drive the rotating shaft through the primary gear and the secondary gear to achieve stair climbing movement, but the three sets of wheel sets cooperate with each other and lack movement flexibility; the invention patent "A direct-acting quadruped guide stair climbing robot device" with application number 202011638724.0 proposes a quadruped coordinated swing arm telescopic stair climbing. Although it can achieve stair climbing action, it is difficult to adjust the stair climbing gait due to the lack of flexibility of the manipulator, and it cannot adapt to more environments. Summary of the invention

[0004] In order to make up for the shortcomings of the prior art and solve the problem of adapting to walking on different terrains, the present invention proposes a stair-climbing robot.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a stair climbing robot described in the present invention is characterized in that it includes:

[0006] frame;

[0007] Traveling wheels, four of which are provided, and the four traveling wheels are connected to the frame through a transmission assembly;

[0008] Auxiliary wheels, each of the walking wheels is provided with a plurality of the auxiliary wheels, the plurality of auxiliary wheels are distributed at intervals along the circumference of the walking wheel, and are all rotatably connected to the walking wheel;

[0009] A driving system is provided on each of the walking wheels, and the driving system is connected to the plurality of auxiliary wheels, and is used for synchronously driving the plurality of auxiliary wheels to move to extend outside the walking wheel or to approach the axis of the walking wheel.

[0010] Furthermore, the transmission assembly includes a first drive motor, a driving wheel, a driven wheel and a connecting rod, the first drive motor is arranged on the frame, the driving wheel is installed on the driving shaft of the first drive motor, the driven wheel is meshed with the driving wheel, and the connecting rod coaxially passes through the driven wheel and the frame and is connected and fixed to the walking wheel.

[0011] Furthermore, the auxiliary wheel is an "L"-shaped structure.

[0012] Further, the driving system includes a driving unit and a limiting unit;

[0013] The driving unit comprises a driving rod, a driving disc and a driving assembly, wherein the driving disc is rotatably mounted on the inner side of the walking wheel, and the driving assembly is drivingly connected to the driving disc, and is used to drive the driving disc to rotate. The driving rods are arranged one by one with the auxiliary wheels, one end of which is rotatably connected to the driving disc, and the other end of which is rotatably connected to the horizontal arm of the auxiliary wheel. The driving rod drives the horizontal arm of the auxiliary wheel to approach or move away from the axis of the walking wheel, so as to retract or extend the auxiliary wheel to the inner side of the walking wheel;

[0014] The limiting unit is connected to the auxiliary wheel, and when the auxiliary wheel extends out of the running wheel, the limiting unit limits the auxiliary wheel.

[0015] Furthermore, the walking wheel is provided with a first mounting circular groove, the driving disc is coaxially rotatably mounted in the first mounting circular groove, and the driving unit comprises:

[0016] A rotating ring, the rotating ring is coaxially embedded in the driving disk and fixedly connected to the driving disk; the rotating ring is rotatably connected to the first mounting circular groove;

[0017] A gear ring, the gear ring being coaxially sleeved on the outer side of the rotating ring;

[0018] A power gear, wherein the travel wheel is provided with a second circular mounting groove, the power gear is coaxially mounted in the second circular mounting groove, and the power gear is meshed with the gear ring;

[0019] A second driving motor, the power gear is mounted on a driving shaft of the second driving motor, and the second driving motor drives the power gear to rotate.

[0020] Furthermore, the limiting unit comprises:

[0021] A limit seat, wherein the limit seat is provided with a through hole, a second accommodating groove and two strip through grooves, the end of the strip through groove extends to the end of the limit seat, the end of the vertical arm of the auxiliary wheel is provided with a first accommodating groove, a positioning shaft is provided in the first accommodating groove, the limit seat is installed on the walking wheel, one side of the limit seat extends into the first accommodating groove, and the positioning shaft is arranged in the through hole;

[0022] A U-shaped limit block, wherein the U-shaped limit block is arranged in the second receiving groove, and the vertical sections thereof extend into the two strip-shaped through grooves respectively, and the U-shaped limit block can move along the length direction of the strip-shaped through grooves, and a limit groove adapted to the vertical section of the U-shaped limit block is provided on the vertical arm of the auxiliary wheel, and the limit groove is connected with the first receiving groove, and under the action of an external force, the vertical section of the U-shaped limit block moves into the limit groove;

[0023] The first linear conveying mechanism is arranged in the second containing groove, and the driving end of the first linear conveying mechanism is connected to the U-shaped limiting block and can drive the U-shaped limiting block to move toward the auxiliary wheel.

[0024] Furthermore, it also includes a control module, which is arranged at the upper end of the frame and has a controller inside.

[0025] Furthermore, a heat dissipation grille is provided in the control module, a gravity block is provided at the upper end of the heat dissipation grille, a second linear conveying mechanism is provided on one side of the gravity block, and the second linear conveying mechanism is used to drive the gravity block to move forward and backward.

[0026] Furthermore, a heat dissipation fan is provided on the gravity block.

[0027] Furthermore, a plurality of air diffusion holes are evenly distributed on the top of the control module, and filters are arranged inside the air diffusion holes.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. The stair-climbing robot of the present invention is equipped with auxiliary wheels to facilitate the stair-climbing robot to adapt to different terrains for walking, thereby improving flexibility;

[0030] 2. The stair-climbing robot described in the present invention can adjust the pressure state of the stair-climbing robot by setting a gravity block to avoid weightlessness when climbing stairs. When the stair-climbing robot climbs stairs, the gravity block is located at one end of the robot to apply pressure to the front end of the robot, thereby avoiding the front end of the robot from losing weight and leaning back when climbing stairs, thereby improving the stability of the stair-climbing robot when climbing stairs and avoiding tipping over due to weightlessness. The second linear conveying mechanism can adjust the pressure applied to the front end of the stair-climbing robot by moving the position of the gravity block, and the pressure can be adjusted according to actual needs.

[0031] 3. The stair-climbing robot described in the present invention can dissipate the internal heat of the stair-climbing robot through the cooling fan. When the air flows through the grille plate, the heat generated by the control component during operation will flow to the outside, thereby improving the heat dissipation efficiency of the control component and extending its service life. At the same time, when adjusting the position of the gravity block, heat dissipation treatment can be performed on different positions of the control component. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of the stair climbing robot of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of the traveling wheel in the present invention;

[0034] Figure 3 It is a schematic diagram of the structure of the traveling wheel in the present invention;

[0035] Figure 4 It is a structural schematic diagram of the heat dissipation module in the present invention;

[0036] Figure 5 It is a structural schematic diagram of the drive system in the present invention;

[0037] Figure 6 It is a structural schematic diagram of the limiting unit in the present invention;

[0038] Figure 7 is a cross-sectional view of the travel wheel in the present invention;

[0039] Figure 8 It is a structural schematic diagram of the auxiliary wheel in the present invention. DETAILED DESCRIPTION

[0040] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0041] like Figure 1-8 As shown, a stair climbing robot according to an embodiment of the present invention includes:

[0042] Rack 10;

[0043] A walking wheel 20, wherein four walking wheels 20 are provided, and the four walking wheels 20 are connected to the frame 10 through a transmission assembly;

[0044] Auxiliary wheels 30, each of the walking wheels 20 is provided with a plurality of the auxiliary wheels 30, the plurality of auxiliary wheels 30 are distributed at intervals along the circumference of the walking wheel 20, and are all rotatably connected to the walking wheel 20;

[0045] A driving system is provided on each of the walking wheels 20 , and the driving system is connected to the plurality of auxiliary wheels 30 , and is used for synchronously driving the plurality of auxiliary wheels 30 to move to extend outside the walking wheel 20 , or to approach the axis of the walking wheel 20 .

[0046] In the present invention, in order to achieve lightweight robot, the frame 10 is a load-bearing plate structure, and fixed plates 11 are vertically arranged on both sides thereof. Two groups of transmission components are provided, which are fixed on the fixed plates 11. Four running wheels 20 are respectively arranged at the front, rear, left and right positions of the load-bearing plate. The transmission component drives the running wheels 20 to rotate, so that the stair climbing robot can walk on the flat ground. The auxiliary wheels 30 are arranged on the inner side of the running wheels 20, which are used to assist the robot to climb the elevator. In the initial position, a plurality of auxiliary wheels 30 are retracted to the inner side of the running wheels 20. When the robot needs to be assisted to climb the stairs, the driving system drives it to rotate until it extends out of the running wheels 20. The auxiliary wheels 30 move after contacting with the stair steps, which enables the stair climbing robot to climb and walk on the stairs, thereby improving the flexibility of the stair climbing robot and facilitating walking in accordance with different terrains.

[0047] As an embodiment of the present invention, the transmission assembly includes a first drive motor 40, a driving wheel 41, a driven wheel 42 and a connecting rod 43, the first drive motor 40 is arranged on the frame 10, the driving wheel 41 is installed on the driving shaft of the first drive motor 40, the driven wheel 42 is meshed with the driving wheel 41, and the connecting rod 43 coaxially passes through the driven wheel 42 and the frame 10 and is connected and fixed to the walking wheel 20.

[0048] The transmission assembly of the present invention is an existing driving structure, and the present invention will not repeat its working principle. Optimally, both ends of the connecting rod 43 pass through the fixing plate 11 respectively, and are connected and fixed to the walking wheel 20 through the connector 44 .

[0049] As an embodiment of the present invention, the auxiliary wheel 30 is an "L"-shaped structure.

[0050] In the present invention, the auxiliary wheel 30 has a vertical arm and a horizontal arm, wherein the vertical arm is rotatably connected to the walking wheel 20, and the horizontal arm is a walking arm, which assists the walking wheel 20 in completing the climbing action. The auxiliary wheel 30 of the present invention has a simple structure, and the horizontal arm provides climbing and supporting force for the robot. Preferably, the auxiliary wheel 30 is provided with three.

[0051] As an embodiment of the present invention, the driving system includes a driving unit and a limiting unit;

[0052] The driving unit includes a driving rod 50, a driving disc 51 and a driving assembly. The driving disc 51 is rotatably mounted on the inner side of the walking wheel 20. The driving assembly is in transmission connection with the driving disc 51 and is used to drive the driving disc 51 to rotate. The driving rod 50 is arranged in a one-to-one correspondence with the auxiliary wheel 30. One end of the driving rod 50 is rotatably connected to the driving disc 51, and the other end of the driving rod 50 is rotatably connected to the horizontal arm of the auxiliary wheel 30. The driving rod 50 drives the horizontal arm of the auxiliary wheel 30 to approach or move away from the axis of the walking wheel 20, so as to retract or extend the auxiliary wheel 30 to the inner side of the walking wheel 20.

[0053] The limiting unit is connected to the auxiliary wheel 30 , and when the auxiliary wheel 30 extends out of the running wheel 20 , the limiting unit limits the auxiliary wheel 30 .

[0054] In the present invention, three driving rods 50 are provided, and a mounting seat 34 is provided on the auxiliary wheel 30. One end of the driving rod 50 is connected and fixed to the mounting seat 34. The driving assembly drives the driving rod 50 to rotate around the axis of the walking wheel 20. During this process, the driving rod 50 pushes the horizontal arm of the auxiliary wheel 30 to move along the radial direction of the walking wheel 20 until the horizontal arm of the auxiliary wheel 30 is fully extended to the outside of the walking wheel 20. The limiting assembly then limits the auxiliary wheel 30 to limit the movement of the auxiliary wheel 30. The driving system of the present invention realizes the driving and positioning of the auxiliary arm, improves the climbing function of the robot, and adapts to walking on different terrains.

[0055] As an embodiment of the present invention, the walking wheel 20 is provided with a first mounting circular groove 60, the driving disc 51 is coaxially rotatably mounted in the first mounting circular groove 60, and the driving unit includes:

[0056] A rotating ring 52, wherein the rotating ring 52 is coaxially embedded in the driving disk 51 and fixedly connected to the driving disk 51; the rotating ring 52 is rotatably connected to the first mounting circular groove 60;

[0057] A gear ring 53, wherein the gear ring 53 is coaxially sleeved on the outer side of the rotating ring 52;

[0058] A power gear 54, wherein the travel wheel 20 is provided with a second mounting circular groove 61, the power gear 54 is coaxially rotatably mounted in the second mounting circular groove 61, and the power gear 54 is meshed with the gear ring 53;

[0059] The second driving motor 55 , the power gear 54 is mounted on a driving shaft of the second driving motor 55 , and the second driving motor 55 drives the power gear 54 to rotate.

[0060] In the present invention, the first installation circular groove 60 and the second installation circular groove 61 are used to realize the installation and fixation of the driving disk 51 and the power gear 54, and the first installation circular groove 60 and the second installation circular groove 61 are connected. For the installation of the driving disk 51, an annular groove is provided on the outer side of the driving disk 51, and an annular protrusion is matched on the groove wall of the first installation circular groove 60, and the annular protrusion is embedded in the annular groove to realize the fixation of the driving disk 51. The fixing structure of the protrusion and the groove can not only ensure the fixing effect of the driving disk 51, but also does not affect the movement of the driving disk 51, and the implementation cost is low. In order to ensure the power supply of the second driving motor 55, a power supply component 56 is provided in the walking wheel 20, and the power supply component 56 is electrically connected to the second driving motor 55. The power supply component 56 is not the innovation of the present invention, but is the prior art. Therefore, the implementation structure and power supply principle of the power supply component 56 are not described in detail in the present invention. In the present invention, the second driving motor 55 drives the power gear 54 to drive the gear ring 53 to rotate, thereby realizing the rotation of the rotating ring 52 and the driving disk 51. The driving unit of the present invention has the advantages of simple operation and low implementation cost.

[0061] As an embodiment of the present invention, the limiting unit includes:

[0062] A limit seat 57, wherein the limit seat 57 is provided with a through hole 58, a second accommodating groove 59 and two strip-shaped through grooves 510, the end of the strip-shaped through groove 510 extends to the end of the limit seat 57, the end of the vertical arm of the auxiliary wheel 30 is provided with a first accommodating groove 31, and a positioning shaft 32 is provided in the first accommodating groove 31. The limit seat 57 is installed on the walking wheel 20, and one side thereof extends into the first accommodating groove 31, and the positioning shaft 32 is arranged in the through hole 58;

[0063] A U-shaped limit block 511, which is arranged in the second receiving groove 59, and whose vertical sections extend into the two strip through grooves 510 respectively. The U-shaped limit block 511 can move along the length direction of the strip through grooves 510. A limit groove 33 adapted to the vertical section of the U-shaped limit block 511 is provided on the vertical arm of the auxiliary wheel 30, and the limit groove 33 is connected with the first receiving groove 31. Under the action of external force, the vertical section of the U-shaped limit block 511 moves into the limit groove 33;

[0064] The first linear conveying mechanism 512 is disposed in the second containing groove 59 . The driving end of the first linear conveying mechanism 512 is connected to the U-shaped limit block 511 and can drive the U-shaped limit block 511 to move toward the auxiliary wheel 30 .

[0065] In the present invention, the limit seat 57 is arranged along the radial direction of the walking wheel 20, and the auxiliary wheel 30 is connected to the limit seat 57 through the positioning shaft 32. The first accommodating groove 31 is a through groove structure, so the auxiliary wheel 30 can rotate 270° around the positioning shaft 32. The U-shaped limit block 511 is arranged in the second accommodating groove 59 to improve the integration of the limit unit and save installation space. The length direction of the strip through groove 510 is consistent with the radial direction of the walking wheel 20, so that it is consistent with the extension direction of the auxiliary wheel 30, thereby realizing the limitation of the auxiliary wheel 30. Optimally, the first linear conveying mechanism 512 is fixed on the groove wall of the second accommodating groove 59, and its driving end is connected and fixed to the horizontal section of the U-shaped limit block 511. For the first linear conveying mechanism 512 in the present invention, it can be a linear drive structure such as an electric push rod or a linear module. When the auxiliary wheel 30 is extended until its vertical arm is located in the radial direction of the running wheel 20, the first linear conveying mechanism 512 is activated to drive the U-shaped limit block 511 to move toward the auxiliary wheel 30 until the vertical section of the U-shaped limit block 511 extends into the limit groove 33, thereby fixing and positioning the auxiliary wheel 30. The limit unit of the present invention has the advantages of good fixing effect and low implementation cost.

[0066] As an embodiment of the present invention, a control module 70 is further included. The control module 70 is arranged at the upper end of the frame 10 and a controller is arranged therein.

[0067] In the present invention, the controller is used to control the automatic operation of the electrical components of the robot to improve the intelligence of the robot. In order to achieve heat dissipation, a plurality of air diffusion holes 71 are evenly distributed on the top of the control module 70, and a filter is arranged inside the air diffusion holes 71 to prevent impurities from entering the control module 70.

[0068] As an embodiment of the present invention, a heat dissipation grille 72 is provided in the control module 70, a gravity block 73 is provided at the upper end of the heat dissipation grille 72, and a second linear conveying mechanism 74 is provided on one side of the gravity block 73, and the second linear conveying mechanism 74 is used to drive the gravity block 73 to move forward and backward.

[0069] In the present invention, the controller is arranged below the heat dissipation grille 72, and the heat dissipation grille 72 has divided the internal space of the control module 70 into upper and lower independent spaces and realizes heat dissipation. The gravity block 73 is used to apply gravity to the frame 10 to prevent the robot from tipping over during the climbing process, thereby improving the stability of the stair-climbing robot when climbing stairs. For example, when the robot is climbing down the stairs, the front of the frame 10 rises, and the second linear conveying mechanism 74 drives the gravity block 73 to move forward, which can apply pressure to the front end of the robot to avoid the weightlessness of the front end of the robot, resulting in the backward phenomenon. The second linear conveying mechanism 74 can also be an electric push rod or a direct module. In the present invention, the second linear conveying mechanism 74 is a linear drive structure of a motor and a threaded rod. Correspondingly, the gravity block 73 is provided with an internal thread that matches the threaded rod, and the gravity block 73 is threadedly connected to the threaded rod.

[0070] As an embodiment of the present invention, a heat dissipation fan 75 is provided on the gravity block 73 .

[0071] In the present invention, the heat dissipation fan 75 can further improve the heat dissipation effect of the heat dissipation module. Optimally, two heat dissipation fans 75 are provided.

[0072] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A stair climbing robot, characterized in that: include: frame; Traveling wheels, four of which are provided, and the four traveling wheels are connected to the frame through a transmission assembly; Auxiliary wheels, each of the walking wheels is provided with a plurality of the auxiliary wheels, the plurality of auxiliary wheels are distributed at intervals along the circumference of the walking wheel, and are all rotatably connected to the walking wheel; A driving system is provided on each of the walking wheels, and the driving system is connected to the plurality of auxiliary wheels, and is used for synchronously driving the plurality of auxiliary wheels to move to extend outside the walking wheel or to approach the axis of the walking wheel.

2. A stair climbing robot according to claim 1, characterized in that: The transmission assembly includes a first drive motor, a driving wheel, a driven wheel and a connecting rod. The first drive motor is arranged on the frame, the driving wheel is installed on the driving shaft of the first drive motor, the driven wheel is meshed with the driving wheel, and the connecting rod coaxially passes through the driven wheel and the frame and is connected and fixed to the walking wheel.

3. A stair climbing robot according to claim 1, characterized in that: The auxiliary wheel is an "L" shaped structure.

4. A stair climbing robot according to claim 3, characterized in that: The driving system comprises a driving unit and a limiting unit; The driving unit comprises a driving rod, a driving disc and a driving assembly, wherein the driving disc is rotatably mounted on the inner side of the walking wheel, and the driving assembly is drivingly connected to the driving disc, and is used to drive the driving disc to rotate. The driving rods are arranged one by one with the auxiliary wheels, one end of which is rotatably connected to the driving disc, and the other end of which is rotatably connected to the horizontal arm of the auxiliary wheel. The driving rod drives the horizontal arm of the auxiliary wheel to approach or move away from the axis of the walking wheel, so as to retract or extend the auxiliary wheel to the inner side of the walking wheel; The limiting unit is connected to the auxiliary wheel, and when the auxiliary wheel extends out of the running wheel, the limiting unit limits the auxiliary wheel.

5. A stair climbing robot according to claim 4, characterized in that: The walking wheel is provided with a first mounting circular groove, the driving disc is coaxially rotatably mounted in the first mounting circular groove, and the driving unit comprises: A rotating ring, the rotating ring is coaxially embedded in the driving disk and fixedly connected to the driving disk; the rotating ring is rotatably connected to the first mounting circular groove; A gear ring, the gear ring being coaxially sleeved on the outer side of the rotating ring; A power gear, wherein the travel wheel is provided with a second circular mounting groove, the power gear is coaxially mounted in the second circular mounting groove, and the power gear is meshed with the gear ring; A second driving motor, the power gear is mounted on a driving shaft of the second driving motor, and the second driving motor drives the power gear to rotate.

6. A stair climbing robot according to claim 4, characterized in that: The limiting unit comprises: A limit seat, wherein the limit seat is provided with a through hole, a second accommodating groove and two strip through grooves, the end of the strip through groove extends to the end of the limit seat, the end of the vertical arm of the auxiliary wheel is provided with a first accommodating groove, a positioning shaft is provided in the first accommodating groove, the limit seat is installed on the walking wheel, one side of the limit seat extends into the first accommodating groove, and the positioning shaft is arranged in the through hole; A U-shaped limit block, wherein the U-shaped limit block is arranged in the second receiving groove, and the vertical sections thereof extend into the two strip-shaped through grooves respectively, and the U-shaped limit block can move along the length direction of the strip-shaped through grooves, and a limit groove adapted to the vertical section of the U-shaped limit block is provided on the vertical arm of the auxiliary wheel, and the limit groove is connected with the first receiving groove, and under the action of an external force, the vertical section of the U-shaped limit block moves into the limit groove; The first linear conveying mechanism is arranged in the second containing groove, and the driving end of the first linear conveying mechanism is connected to the U-shaped limiting block and can drive the U-shaped limiting block to move toward the auxiliary wheel.

7. A stair climbing robot according to any one of claims 1 to 6, characterized in that: It also includes a control module, which is arranged at the upper end of the frame and has a controller inside.

8. The stair climbing robot according to claim 7, characterized in that: A heat dissipation grille is arranged in the control module, a gravity block is arranged at the upper end of the heat dissipation grille, a second linear conveying mechanism is arranged on one side of the gravity block, and the second linear conveying mechanism is used to drive the gravity block to move forward and backward.

9. The stair climbing robot according to claim 7, characterized in that: A heat dissipation fan is arranged on the gravity block.

10. The stair climbing robot according to claim 7, characterized in that: A plurality of air diffusion holes are evenly distributed on the top of the control module, and filters are arranged inside the air diffusion holes.

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