Composite supporting leg type stair climbing robot
Through the composite supporting leg design, combined with the lifting structure and the leg-drive structure, the problems of difficult center of gravity balance and slow climbing speed of the stair cleaning robot are solved, achieving more efficient stair cleaning.
Patent Information
- Application Number
- CN202510171788.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-17
- Publication Date
- 2025-04-25
AI Technical Summary
The existing stair cleaning robot has difficulty balancing the center of gravity during climbing the stairs, resulting in complex structure and slow climbing speed, affecting the cleaning efficiency.
It adopts a composite support leg design, combining the lifting structure and the leg-drive structure, the front and rear support structures can be lifted and rotated independently, realizing leg bent action, and the chassis drive wheel drive cabin frame moves.
It improves the adaptability and flexibility of the robot on the stairs, reduces the width difference of the support legs, maintains the stability of the center of gravity, improves the cleaning efficiency, and can adapt to a diverse stair environment.
Smart Images
Figure CN119867593A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of cleaning robots, and in particular to a composite support-leg type stair climbing robot. Background Art
[0002] With the acceleration of urbanization, the number of high-rise buildings and public places continues to increase, and stairs have become an indispensable passage for people's daily activities. In this context, the task of cleaning stairs has become increasingly arduous. Traditional manual cleaning methods are not only inefficient, but also pose safety hazards. In order to improve cleaning efficiency, automated stair cleaning robots have emerged. However, existing stair cleaning robots still face many technical difficulties in structural design and functional realization, which limits their wide application and performance improvement.
[0003] Currently, most stair cleaning robots use a three-stage or bionic cockroach style to cope with the height differences of steps on different stairs, but these design solutions still have certain defects.
[0004] The applicant has found that the prior art has at least the following technical problems: First, in order to solve the problem of center of gravity balance during stair climbing, the existing design balances the center of gravity by adjusting the center of gravity or lifting support, but these methods usually lead to complex robot structures. In addition, the lifting structure takes a long time to adjust the lifting during stair climbing, and the climbing speed is slow, which directly affects the cleaning efficiency. Especially in a more complex stair environment, the robot's movement smoothness and reaction speed are limited. Summary of the invention
[0005] The purpose of the present invention is to provide a composite support leg type stair climbing robot to solve the technical problem of low stair climbing efficiency in order to ensure structural stability in the prior art. The preferred technical solution among the many technical solutions provided by the present invention can produce many technical effects as described below.
[0006] To achieve the above object, the present invention provides the following technical solutions: The composite support leg type stair climbing robot provided by the present invention comprises a body frame, a front support frame, a front support leg, a rear support frame, a rear support leg and a chassis driving wheel for driving the body frame to move, wherein: The chassis driving wheel is rotatably connected to the box frame, and the box frame is provided with auxiliary working equipment; The front support frame is fixed to the front part of the box frame, the front support leg is arranged to be liftable along the front support frame, the front support leg is arranged to be rotatable, and the front support leg is rotatable toward the rear of the box frame, thereby completing the leg bending action; The rear support frame is fixed to the rear part of the box body frame, the rear support leg is arranged to be raised and lowered along the rear support frame, the rear support leg is arranged to be rotatable, and the rear support leg is rotatable toward the rear of the box body frame, thereby completing the leg bending action.
[0007] Preferably, a front telescopic driving device is fixed on the front support frame, and the front telescopic driving device is drivingly connected to the front supporting leg to drive the front supporting leg to vertically lift; The output end of the front telescopic drive device is connected to a screw rod, the screw rod is vertically arranged, a nut portion is threadedly connected to the screw rod, a front connecting frame is fixed to the nut portion, the front connecting frame is slidably connected to the front support frame, and the front support leg is rotatably connected to the front connecting frame; Alternatively, the front telescopic driving device drives the front supporting legs to vertically rise and fall via a gear rack structure.
[0008] Preferably, a rear telescopic driving device is fixed on the rear support frame, and the rear telescopic driving device is drivingly connected to the rear supporting legs to drive the rear supporting legs to vertically lift and lower; The output end of the rear telescopic drive device is connected to a screw rod, the screw rod is vertically arranged, a nut portion is threadedly connected to the screw rod, a rear connecting frame is fixed to the nut portion, the rear connecting frame is slidably connected to the rear support frame, and the rear support leg is rotatably connected to the rear connecting frame; Alternatively, the rear telescopic driving device drives the rear supporting legs to vertically rise and fall via a gear rack structure.
[0009] Preferably, the composite support leg type stair climbing robot further comprises a front rotation drive device and a front connecting frame, wherein: The front connecting frame is arranged to be liftable along the front supporting frame, and the front rotation driving device is fixed on the front connecting frame and is drivingly connected to the front supporting legs, so as to drive the front supporting legs to rotate on the front connecting frame.
[0010] Preferably, the composite support leg type stair climbing robot further comprises a rear rotation drive device and a rear connecting frame, wherein: The rear connecting frame is arranged to be liftable along the rear supporting frame, and the rear rotation driving device is fixed on the rear connecting frame and drivingly connected to the rear supporting legs, so as to drive the rear supporting legs to rotate on the rear connecting frame.
[0011] Preferably, the bottom of the rear supporting leg is rotatably connected to a rear leg driving wheel.
[0012] Preferably, the box frame is an integral frame; Alternatively, the body frame includes a front body and a rear body, wherein: The front support frame is fixed on the front compartment body, and the rear support frame is fixed on the rear compartment body; A lifting drive mechanism is arranged between the front compartment body and the rear compartment body, and the lifting drive mechanism is used to drive the rear compartment body and the front compartment body to move relative to each other in a vertical direction.
[0013] Preferably, the lifting drive mechanism comprises a balancing frame, a lifting drive device and a moving frame, wherein: The balancing frame is fixed on the front body, the lifting drive device is fixed on the balancing frame, a guide screw is fixed on the output end of the lifting drive device, the guide screw is vertically arranged, the movable frame is threadedly connected to the guide screw, the movable frame is fixedly connected to the rear body, and is slidably connected to the front body.
[0014] Preferably, the auxiliary working equipment includes a cleaning device, which is located on opposite sides of the compartment frame, and includes a vacuum cleaner and a mop.
[0015] Preferably, the composite support leg type stair climbing robot further includes a buffer frame and an elastic buffer, wherein: The auxiliary working equipment is located on the buffer frame, a mounting rod is provided on the side of the box frame, and the buffer frame is slidably connected to the mounting rod; The elastic buffer is sleeved on the mounting rod, and two opposite sides of the elastic buffer are respectively against the buffer frame and the box frame, and the buffer frame is slidably connected to the mounting rod.
[0016] The composite support leg type stair climbing robot provided by the present invention has the following beneficial effects compared with the prior art: the front and rear two support structures adopt a lifting structure combined with a leg type driving structure, the lifting structures of the front supporting legs and the rear supporting legs are connected to the leg type structure at the end of the movement and can complete the leg bending movement, and the chassis driving wheels drive the body frame to move, so that it has better adaptability and flexibility when climbing stairs. In the actual stair movement process, the front supporting legs and the rear supporting legs can be bent and retracted, avoiding the process of waiting for retraction, and the bent leg type structure can also stably send the front wheels to the next step; such a structure not only reduces the width difference between the front supporting legs and the rear supporting legs, but also allows the front supporting legs and the rear supporting legs to alternate with the body frame without causing the center of gravity to shift, thereby saving space for the robot; and the front supporting legs and the rear supporting legs are independent of each other, and the two alternately take the next step, making the movement smoother and more stable, and can adapt to more standard step heights and widths, so that the robot can maintain a high cleaning efficiency in a variety of stair environments. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0018] Figure 1 is a schematic diagram of the initial structure of the composite support leg type stair climbing robot in the first embodiment; Figure 2 is a side view of a composite support leg type stair climbing robot in the first embodiment; Figure 3 is a front view of a compound support leg type stair climbing robot in the first embodiment; Figure 4 is a top view of the composite support leg type stair climbing robot in the first embodiment; Figure 5 1 is a schematic diagram of a state in which the front and rear compartments of the composite support-leg stair-climbing robot move relative to each other in the first embodiment; Figure 6 is a schematic diagram of the state of the composite support leg type stair climbing robot when climbing stairs in the first embodiment; Figure 7 is a schematic structural diagram of a composite support leg type stair climbing robot in a second embodiment; Figure 8 It is a schematic diagram of the structure of the front supporting leg; Fig. 9 It is a schematic diagram of the structure of the rear supporting legs; Fig.10 a-10e is a schematic diagram of the decomposition of the action of the composite support leg stair climbing robot starting to climb stairs from flat ground; Fig.11 a-11e is a schematic diagram of the decomposition of the composite support leg stair climbing robot climbing between stairs; Fig.12 A-12e is a schematic diagram of the action decomposition of the composite support leg stair climbing robot when it is about to complete climbing the stairs.
[0019] In the figure, 100 is a step; 1. a car body frame; 101. a front car body; 102. a rear car body; 2. a front supporting frame; 3. a front supporting leg; 4. a rear supporting frame; 5. a rear supporting leg; 6. a chassis driving wheel; 7. a lifting driving mechanism; 71. a front telescopic driving device; 72. a lead screw; 73. a nut portion; 74. a front connecting frame; 81. a rear telescopic driving device; 82. a gear; 9. a front rotating driving device; 10. a rear rotating driving device; 11. a rear connecting frame; 12. a rear leg driving wheel; 13. a balancing frame; 14. a lifting driving device; 15. a moving frame; 16. a guide screw; 17. a vacuum cleaner; 18. a mop; 191. a buffer frame; 192. an elastic buffer; 193. a mounting rod; 21. a front chassis driving wheel; 22. a rear chassis driving wheel. DETAILED DESCRIPTION
[0020] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.
[0021] In the description of the present invention, it should be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.
[0022] An embodiment of the present invention provides a composite support leg type stair climbing robot, which can adapt to more standard step heights and widths, so that the robot can maintain a high cleaning efficiency in a variety of stair environments.
[0023] Combine the following Figure 1-Figure 12 The technical solution provided by the present invention is described in more detail.
[0024] Embodiment 1: See also Figure 1-Figure 6 , Figure 8-Figure 12As shown, the composite support leg type stair climbing robot provided by the present invention comprises a body frame 1, a front support frame 2, a front support leg 3, a rear support frame 4, a rear support leg 5 and a chassis driving wheel 6 for driving the body frame 1 to move, wherein: the chassis driving wheel 6 is rotatably connected to the body frame 1, and the body frame 1 is provided with auxiliary working equipment; the front support frame 2 is fixed to the front part of the body frame 1, the front support leg 3 is arranged to be liftable along the front support frame 2, the front support leg 3 assembly is arranged to be rotatable, and the front support leg 3 assembly is rotatable toward the rear of the body frame 1, thereby completing the leg bending action; the rear support frame 4 is fixed to the rear part of the body frame 1, the rear support leg 5 is arranged to be liftable along the rear support frame 4, the rear support leg 5 is arranged to be rotatable, and the rear support leg 5 is rotatable toward the rear of the body frame 1, thereby completing the leg bending action.
[0025] The chassis driving wheel 6 includes a front chassis driving wheel 21 and a rear chassis driving wheel 22. The chassis driving wheel of the front body 101 is installed on the front side of the front supporting leg 3, and the rear chassis driving wheel 22 is installed on the front side of the rear supporting leg 5, so as to improve the movement efficiency. The front chassis driving wheel 21 and the rear chassis driving wheel 22 can be Mecanum wheels in the prior art, which can move laterally and longitudinally, so that the robot can move laterally and longitudinally on the step surface, thereby improving the cleaning effect.
[0026] As an alternative embodiment, see Figure 1 As shown, the auxiliary working equipment includes a cleaning device, which is located on opposite sides of the vehicle body frame 1 , and includes a vacuum cleaner 17 and a mop 18 .
[0027] The vacuum cleaners 17 and mopping components on both sides are respectively installed on both sides of the box frame 1 through connecting parts, and are used for cleaning work when the robot climbs the stairs 100.
[0028] The composite support leg-type stair-climbing robot of this embodiment has two support structures at the front and rear that adopt a combination of a lifting structure and a leg-type driving structure. The lifting structures of the front supporting legs 3 and the rear supporting legs 5 are connected to the leg-type structures at the end of the movement and can complete the leg bending movement. The chassis driving wheels 6 drive the body frame 1 to move, so that the robot has better adaptability and flexibility when climbing stairs. During the actual stair movement, the front supporting legs 3 and the rear supporting legs 5 can be bent and retracted, avoiding the process of waiting for retraction. The bent leg-type structure can also stably send the front wheels to the next step 100.
[0029] Such a structure not only reduces the width difference between the front supporting legs 3 and the rear supporting legs 5, but also allows the front supporting legs 3 and the rear supporting legs 5 to alternate with the body frame 1 without causing the center of gravity to shift, thereby saving space for the robot.
[0030] Moreover, the front supporting legs 3 and the rear supporting legs 5 are independent of each other, and they are alternately placed on the next step 100, making the movement smoother and more stable, and can adapt to more standard step 100 heights and widths, so that the robot can maintain a high cleaning efficiency in a variety of stair environments.
[0031] As an alternative embodiment, see Figure 1 , Figure 5 , Figure 8 As shown, a front telescopic driving device 71 is fixed on the front support frame 2, and the front telescopic driving device 71 is drivingly connected to the front supporting leg 3 for driving the front supporting leg 3 to vertically lift and lower; the front telescopic driving device 71 can be a motor, and the output end of the front telescopic driving device 71 is connected to a screw rod 72, the screw rod 72 is vertically arranged, and a nut portion 73 is threadedly connected to the screw rod 72, and a front connecting frame 74 is fixed to the nut portion 73, and the front connecting frame 74 is slidingly connected to the front support frame 2, and the front supporting leg 3 is rotatably connected to the front connecting frame 74.
[0032] See also Figure 1 , Figure 5 , Figure 8 As shown, the current telescopic driving device 71 (such as a motor) drives the screw rod 72 to rotate. Since the nut portion 73 is threadedly connected to the screw rod 72, the front connecting frame 74 is slidingly connected to the front support frame 2, and the front support leg 3 can be raised and lowered synchronously with the front connecting frame 74.
[0033] Alternatively, as an embodiment not shown, the front telescopic driving device 71 drives the front supporting leg 3 to vertically rise and fall via the gear 82 rack structure.
[0034] As an alternative embodiment, see Figure 1 , Figure 5 , Fig. 9 As shown, the rear telescopic driving device 81 drives the rear supporting leg 5 to vertically rise and fall through the gear 82 rack structure.
[0035] Specifically, the output end of the rear telescopic driving device 81 (such as a motor) is connected to a gear 82, and the gear 82 is meshed with a rack portion, and the rack portion is vertically arranged. In this embodiment, the rack portion is fixed to the rear supporting frame 4, and the rear telescopic driving device 81 is fixed to the rear connecting frame 11. The rear connecting frame 11 is slidably connected to the rear supporting frame 4 in the vertical direction, and the rear supporting leg 5 is rotatably connected to the rear connecting frame 11.
[0036] Alternatively, the driving structure of the rear telescopic drive device 81 is the same as the driving structure of the front telescopic drive device 71. As an embodiment not shown, a rear telescopic drive device 81 is fixed to the rear support frame 4, and the rear telescopic drive device 81 is drivingly connected to the rear support leg 5 to drive the rear support leg 5 to vertically lift and lower; the rear telescopic drive device 81 drives the rear connecting frame 11 and the rear support leg 5 to rise and fall synchronously through the structure of the screw rod 72 and the nut pair.
[0037] The above structure of the front supporting legs 3 and the rear supporting legs 5 adopts a combination of a lifting structure and a leg-type driving structure, which has better adaptability and flexibility when climbing on stairs.
[0038] As an alternative embodiment, see Figure 1-Figure 6 , Figure 8 As shown, the composite support leg type stair climbing robot also includes a front rotation drive device 9 and a front connecting frame 74, wherein: the front connecting frame 74 is arranged to be liftable along the front supporting frame 2, the front rotation drive device 9 is fixed on the front connecting frame 74, and is drivingly connected to the front supporting leg 3, and is used to drive the front supporting leg 3 to rotate on the front connecting frame 74.
[0039] The front rotation driving device 9 may be a front steering gear, which is used to drive the front supporting legs 3 to rotate toward the rear of the car frame through an intermediate shaft, and the rotation angle may be set at 30° (not specifically limited).
[0040] The structure of the front supporting legs 3 can bend and recover during the retraction process, so that the robot decelerates and moves forward to approach the step 100 instead of stopping, thereby improving the efficiency of climbing stairs.
[0041] As an alternative embodiment, see Figure 1-Figure 6 , Fig. 9 As shown, the composite support leg type stair climbing robot also includes a rear rotation drive device 10 and a rear connecting frame 11, wherein: the rear connecting frame 11 is arranged to be liftable along the rear supporting frame 4, the rear rotation drive device 10 is fixed on the rear connecting frame 11, and is drivingly connected to the rear supporting leg 5, and is used to drive the rear supporting leg 5 to rotate on the rear connecting frame 11.
[0042] The rear rotation driving device 10 may be a rear steering gear, which is used to drive the rear supporting legs 5 to rotate toward the rear of the car frame through an intermediate shaft, and the rotation angle may be set at 30° (not specifically limited).
[0043] The structure of the rear supporting legs 5 can bend and retract during the retraction process, so that the robot decelerates and moves forward to approach the step 100 instead of stopping, thereby improving the efficiency of climbing stairs.
[0044] For the above structure, see Figure 10-12 As shown, during the actual stair movement, the front supporting legs 3 and the rear supporting legs 5 can be bent and retracted, avoiding the process of waiting for retraction. The bent leg structure can also stably send the front wheels to the next step 100.
[0045] As an alternative embodiment, see Figure 1 and Fig. 9As shown, the bottom of the rear support leg 5 is rotatably connected with a rear leg driving wheel 12. The rear leg driving wheel 12 can cooperate with the chassis driving wheel 6 to send the vehicle body to the front elevation of the step 100, thereby improving the moving efficiency of the robot.
[0046] Existing robots can often only adapt to stairs of a single size, or are designed with complex mechanisms to cope with stairs of different sizes, resulting in bloated structures, high costs and poor reliability.
[0047] For the above questions, see Figure 1 -As shown in the figure, the body frame 1 of this embodiment includes a front body 101 and a rear body 102, wherein: the front support frame 2 is fixed on the front body 101, and the rear support frame 4 is fixed on the rear body 102; a lifting drive mechanism 7 is arranged between the front body 101 and the rear body 102, and the lifting drive mechanism 7 is used to drive the rear body 102 and the front body 101 to be relatively movable in the vertical direction.
[0048] In this embodiment, the present invention achieves significant adaptability to the height and width of the stairs through the adjustment of two sets of front and rear independent support components and the lifting drive mechanism 7 between the two compartments, simplifies the overall design, and at the same time enhances the robot's ability to adapt to various step 100 specifications and improves stability.
[0049] As an alternative embodiment, see Figure 1 and Figure 5 As shown, the lifting drive mechanism 7 includes a balancing frame 13, a lifting drive device 14 and a moving frame 15, wherein: the balancing frame 13 is fixed on the front body 101, the lifting drive device 14 is fixed on the balancing frame 13, a guide screw 16 is fixed on the output end of the lifting drive device 14, the guide screw 16 is vertically arranged, the moving frame 15 is threadedly connected to the guide screw 16, the moving frame 15 is fixedly connected to the rear body 102, and is slidably connected to the front body 101. The lifting drive device 14 can be a motor.
[0050] By setting the lifting drive mechanism 7, the robot's adaptability to different stair heights is improved, and the center of gravity distribution of the robot's overall structure is optimized. Specifically, the robot's front body 101 and rear body 102 are connected through the lifting drive mechanism 7, and the lifting drive mechanism 7 realizes precise control of the height difference between the front body 101 and the rear body 102 through the combination of precision guide rails and guide screws 16. Through this structure, not only can it flexibly adapt to the height dimensions of different stairs, but it can also effectively deal with the height error generated during the stair installation process, thereby improving the robot's adaptability in complex environments.
[0051] In this embodiment, by combining the lifting and leg-type drive structure, a two-compartment balance module is used to optimize the robot's center of gravity distribution, which significantly improves the climbing speed and stability of the stair cleaning robot and solves the problems of imbalanced center of gravity and low climbing efficiency in the prior art.
[0052] As an optional implementation, the composite support leg type stair climbing robot also includes a buffer frame 191 and an elastic buffer member 192, wherein: the auxiliary working equipment is located on the buffer frame 191, a mounting rod 193 is provided on the side of the body frame 1, and the buffer frame 191 is slidably connected to the mounting rod 193; the elastic buffer member 192 is sleeved on the mounting rod 193, and the opposite sides of the elastic buffer member 192 are respectively abutted against the buffer frame 191 and the body frame 1, and the buffer frame 191 is slidably connected to the mounting rod 193.
[0053] A pressure sensor may also be provided in the buffer frame 191. When the buffer frame 191 hits the walls or handrails on both sides of the step 100, the pressure sensor transmits a signal to the control unit, and the control unit controls the lateral movement of the chassis driving wheel 6 to stop and move to the next level.
[0054] During the working process, first, the stair information is obtained through the multi-sensor fusion adjustment module and transmitted to the main control system. The main control system controls the front support legs 3 and the rear support legs 5 to start individually or together to complete the lifting robot's own action according to the environmental information. In this process, the two-compartment intermediate connector uses the guide screw 16 to drive the dynamic balance of the front compartment 101 and the rear compartment 102, and dynamically adjusts the height difference between the front compartment 101 and the rear compartment 102 according to the sensor information, so as to adapt to different stair heights or height differences caused by stair installation errors, realize adaptive adjustment, and avoid the tilt or overturning problem caused by the center of gravity offset in the traditional structure.
[0055] Secondly, in the process of approaching the step 100, since the front body 101 and the rear body 102 each have an independent supporting structure, when facing step surfaces of different widths, they can slow down and retract the front supporting leg 3 or the rear supporting leg 5 in real time or retract the supporting legs at the same time. In addition, the design of the leg structure can perform bending and recovery movements during the retraction process, and the robot slows down and moves forward instead of stopping, thereby improving the efficiency of climbing stairs.
[0056] Subsequently, the chassis driving wheels 6 are started successively, and the robot position is corrected and the center of the step 100 is aligned through the coordinated work of the motor and the chassis driving wheels 6. In this process, the main control system controls the front supporting legs 3 and the rear supporting legs 5 to rise and fall, swing and retract successively to complete the stair climbing action.
[0057] After completing the above adjustments, the robot begins to enter the normal cleaning operation stage. During the cleaning process, the chassis drive wheels 6 are respectively installed at the bottom of the front body 101 and the rear body 102, the driving force is evenly distributed, and the anti-slip protrusions or grooves on the step surface are avoided, ensuring the stable movement of the robot in the width direction of the stairs, and avoiding the friction of the cleaning mechanism on the ground causing the body to deviate and overturn. The sweeping and mopping machines on both sides complete the cleaning operation, and the signals are transmitted through the collision mechanism on both sides at the end of the stairs to control the stop. The entire climbing and cleaning process is fully automatically adjusted without human intervention.
[0058] This technical solution effectively solves the problems of traditional stair cleaning robots, such as unstable center of gravity, slow climbing speed, and unreasonable lateral drive distribution, and provides a reliable solution for efficient cleaning in complex stair environments.
[0059] The complete process of climbing stairs is as follows Fig.10 a-10e, Fig.11 a-11e, Fig.12 A-12e shows: First, see Fig.10 a-10e: The state on flat ground is the initial state. First, the front supporting leg 3 is extended through the front telescopic drive device 71, and the lifting drive device 14 (motor) on the balancing frame 13 is used to keep the body parallel to the ground, so that the front body 101 is supported. At this time, the rear chassis driving wheel 22 pushes the robot forward and approaches the step surface. When the front chassis driving wheel 21 passes the step surface, the photoelectric switch controls the front rotation driving device 9 (front servo) and the front supporting frame 2 to swing the front supporting leg 3 backward and retract it upward. The lifting drive device 14 (motor) on the balancing frame 13 keeps the body parallel to the ground. The front chassis driving wheel 21 contacts the ground and starts to take over the drive, and together with the rear chassis driving wheel 22, the body is sent to the front facade of the step 100, completing the first level of climbing of the step 100.
[0060] Then, see Fig.11 a-11e: During the lateral movement, the vacuum cleaners and mops 18 (floor scrubbers) on both sides, driven by the vehicle body, complete the work of cleaning the steps 100. When they hit the walls or handrails on both sides, the sensors in the buffer frame 191 stop the lateral movement and move to the next level.
[0061] When the robot is in the middle of the stairs, it climbs to the next level. First, the front supporting legs 3 and the rear supporting legs 5, driven by the front supporting frames 2 and the rear supporting frames 4, support the entire body of the robot. The rear leg driving wheels 12 at the bottom of the rear supporting legs 5 drive the body of the robot forward. When the front chassis driving wheels 21 pass through the step surface, the photoelectric switch controls the front rotation driving device 9 (front servo) and the front supporting frame 2 to swing the front supporting legs 3 backward and retract them upward at the same time. The lifting driving device 14 (motor) on the balancing frame 13 keeps the body of the robot parallel to the ground. The front chassis driving wheels 21 touch the ground and start to take over the drive, cooperating with the rear driving wheels at the bottom of the rear supporting legs 5. The leg driving wheel 12 pushes the vehicle body forward continuously. When the rear chassis driving wheel 22 passes the step surface, the photoelectric switch controls the rear rotation driving device 10 (rear servo) and the rear support frame 4 to swing the rear support legs 5 backward and retract them upward. The lifting driving device 14 (motor) on the balance frame 13 keeps the vehicle body parallel to the ground. The rear chassis driving wheel 22 contacts the ground to take over the drive, and cooperates with the front chassis driving wheel 21 to push the vehicle body forward continuously. When it reaches the appropriate position, the sensor controls the motor to stop, completing the climbing process in the middle of the step 100. The chassis changes mode to move laterally to complete the cleaning of the step 100.
[0062] See also Fig.12 a-12e, the process of finally leaving the step 100, first, the rear supporting leg 5 is extended downwardly driven by the rear telescopic drive device 81, and at the same time, in order to maintain balance, the lifting drive device 14 (motor) of the middle balance frame 13 controls the rear compartment 102 to retract upward, keep it parallel to the ground, reach the limit, the front chassis drive wheel 21 cooperates with the rear leg drive wheel 12 to push the robot forward, when the rear chassis drive wheel 22 passes the step surface, the photoelectric switch controls the rear rotation drive device 10 (rear servo) and the rear supporting frame 4 to swing the rear supporting leg 5 backward and retract it upward at the same time, the lifting drive device 14 (motor) on the balance frame 13 between the two compartments keeps the body parallel to the ground, the rear chassis drive wheel 22 contacts the ground, starts to take over the drive, and cooperates with the front chassis drive wheel 21 to continuously push the body forward, reaches the appropriate position, and the sensor controls the motor to stop, completing the action of leaving the stairs.
[0063] The robot's front and rear composite "lifting" and "leg-type" support structures complete stable and highly adaptable climbing movements. During the climbing process, the two-compartment drive distribution and the adjustment of the intermediate connecting structure effectively avoid the problem of tilting or tipping caused by the center of gravity offset, ensuring the robot's stability in irregular stair environments. Through this technical solution, the robot's movement in complex stair environments is more efficient and stable, and can achieve fully automatic cleaning operations without human intervention.
[0064] Embodiment 2: See also Figure 7As shown, the difference between this embodiment 2 and embodiment 1 is that the car body frame 1 is an integral frame.
[0065] Specifically, the front support frame 2 and the rear support frame 4 are respectively located at the front and rear sides of the body frame 1.
[0066] The overall frame of the robot can adopt a single-compartment type, with cleaning devices mounted on both sides, or a two-compartment structure design. The front compartment 101 and the rear compartment 102 are connected by a compartment lifting drive mechanism 7, and the height difference between the two compartments is controlled by guide rails and guide screws 16. This can not only adapt to different stair heights or height differences caused by stair installation errors, but also simplify the overall mechanical structure of the robot. Different cleaning devices can be mounted on both sides of each compartment, thereby improving cleaning efficiency.
[0067] In order to ensure the intelligence of the robot, a main control chip and a multi-sensor fusion adjustment module are added to control the robot's climbing in real time.
[0068] The stair cleaning robot of the present invention has a compact structural design, which reduces the size and floor space of the device and improves the convenience of transportation and deployment. At the same time, the innovative combination of lifting and leg-type drive optimizes the robot's motion path across the steps 100, greatly improving the climbing speed and cleaning efficiency. The invention provides an efficient, stable and automated solution for stair cleaning robots and has broad application prospects.
[0069] In the description of this specification, specific features, structures or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.
[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0071] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
Claims
1. A composite support leg type stair climbing robot, characterized in that: It includes a car body frame, a front support frame, front support legs, a rear support frame, a rear support leg and a chassis driving wheel for driving the car body frame to move, wherein: The chassis driving wheel is rotatably connected to the box frame, and the box frame is provided with auxiliary working equipment; The front support frame is fixed to the front part of the box frame, the front support leg is arranged to be liftable along the front support frame, the front support leg is arranged to be rotatable, and the front support leg is rotatable toward the rear of the box frame, thereby completing the leg bending action; The rear support frame is fixed to the rear part of the box body frame, the rear support leg is arranged to be raised and lowered along the rear support frame, the rear support leg is arranged to be rotatable, and the rear support leg is rotatable toward the rear of the box body frame, thereby completing the leg bending action.
2. The composite support leg type stair climbing robot according to claim 1, characterized in that: A front telescopic driving device is fixed on the front support frame, and the front telescopic driving device is drivingly connected to the front supporting leg for driving the front supporting leg to vertically lift; The output end of the front telescopic drive device is connected to a screw rod, the screw rod is vertically arranged, a nut portion is threadedly connected to the screw rod, a front connecting frame is fixed to the nut portion, the front connecting frame is slidably connected to the front support frame, and the front support leg is rotatably connected to the front connecting frame; Alternatively, the front telescopic driving device drives the front supporting legs to vertically rise and fall via a gear rack structure.
3. The composite support leg type stair climbing robot according to claim 1, characterized in that: A rear telescopic driving device is fixed on the rear support frame, and the rear telescopic driving device is drivingly connected to the rear supporting legs for driving the rear supporting legs to vertically lift and lower; The output end of the rear telescopic drive device is connected to a screw rod, the screw rod is vertically arranged, a nut portion is threadedly connected to the screw rod, a rear connecting frame is fixed to the nut portion, the rear connecting frame is slidably connected to the rear support frame, and the rear support leg is rotatably connected to the rear connecting frame; Alternatively, the rear telescopic driving device drives the rear supporting legs to vertically rise and fall via a gear rack structure.
4. The composite support leg type stair climbing robot according to claim 1, characterized in that: The composite support leg type stair climbing robot further comprises a front rotation drive device and a front connecting frame, wherein: The front connecting frame is arranged to be liftable along the front supporting frame, and the front rotation driving device is fixed on the front connecting frame and is drivingly connected to the front supporting legs, so as to drive the front supporting legs to rotate on the front connecting frame.
5. The composite support leg type stair climbing robot according to claim 1, characterized in that: The composite support leg type stair climbing robot further comprises a rear rotation drive device and a rear connecting frame, wherein: The rear connecting frame is arranged to be liftable along the rear supporting frame, and the rear rotation driving device is fixed on the rear connecting frame and drivingly connected to the rear supporting legs, so as to drive the rear supporting legs to rotate on the rear connecting frame.
6. The composite support leg type stair climbing robot according to claim 1, characterized in that: The bottom of the rear supporting leg is rotatably connected with a rear leg driving wheel.
7. The composite support leg type stair climbing robot according to claim 1, characterized in that: The box frame is a frame as a whole; Alternatively, the body frame includes a front body and a rear body, wherein: The front support frame is fixed on the front compartment body, and the rear support frame is fixed on the rear compartment body; A lifting drive mechanism is arranged between the front compartment body and the rear compartment body, and the lifting drive mechanism is used to drive the rear compartment body and the front compartment body to move relative to each other in a vertical direction.
8. The composite support leg type stair climbing robot according to claim 7, characterized in that: The lifting drive mechanism comprises a balancing frame, a lifting drive device and a moving frame, wherein: The balancing frame is fixed on the front body, the lifting drive device is fixed on the balancing frame, a guide screw is fixed on the output end of the lifting drive device, the guide screw is vertically arranged, the movable frame is threadedly connected to the guide screw, the movable frame is fixedly connected to the rear body, and is slidably connected to the front body.
9. The composite support leg type stair climbing robot according to claim 1, characterized in that: The auxiliary working equipment comprises a cleaning device, which is located on two opposite sides of the box frame and comprises a vacuum cleaner and a mop.
10. The composite support leg type stair climbing robot according to claim 1, characterized in that: The composite support leg type stair climbing robot further comprises a buffer frame and an elastic buffer member, wherein: The auxiliary working equipment is located on the buffer frame, a mounting rod is provided on the side of the box frame, and the buffer frame is slidably connected to the mounting rod; The elastic buffer is sleeved on the mounting rod, and two opposite sides of the elastic buffer are respectively against the buffer frame and the box frame, and the buffer frame is slidably connected to the mounting rod.