Walking mechanism and stair climbing device

Abstract

The invention discloses a walking mechanism and a stair climbing device. The walking mechanism comprises a rack, a driving assembly and a detection assembly. The driving assembly comprises a first wheel body, a second wheel body, a first driving part and a second driving part, the first wheel body is rotationally connected to the rack, a plurality of protruding blocks are arranged on the side walls of the first wheel body and the second wheel body at intervals in the circumferential direction, a notch is formed between every two adjacent protruding blocks, and the first driving part is used for driving the first wheel body to rotate; a mounting groove is defined by the first wheel body and the second wheel body, and the second driving part is arranged in the mounting groove and used for driving the second wheel body to rotate; the detection assembly comprises a first gear, a second gear, an encoder and a controller, the first gear is fixedly connected to the second wheel body, the second gear is fixedly connected to the movable end of the encoder, the encoder is fixedly arranged in the mounting groove, and the second driving part and the encoder are electrically connected with the controller. According to the walking mechanism, the obstacle crossing ability can be improved, and the structural complexity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to a walking mechanism and a stair-climbing device. Background Art

[0002] In the related art, the walking mechanism of existing robots mainly uses four wheels as the drive. This walking mechanism realizes the stable movement and flexible turning of the robot on flat ground. However, it is often difficult to cross obstacles such as stairs and steps, and an auxiliary mechanism needs to be added to assist the robot in crossing the obstacles. This not only increases the complexity of the robot, but also increases the energy consumption of the robot and shortens the battery life of the robot. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a walking mechanism that can improve the obstacle-crossing ability and reduce the structural complexity.

[0004] The present invention also provides a stair-climbing device having the above walking mechanism.

[0005] According to the walking mechanism of the first aspect embodiment of the present invention, it includes a frame, a driving assembly and a detection assembly; the driving assembly includes a first wheel body, a second wheel body, a first driving member and a second driving member. The first wheel body is rotatably connected to the frame, the second wheel body is rotatably connected to the first wheel body. A plurality of bumps are arranged at intervals along the circumferences of the side walls of the first wheel body and the second wheel body, and a notch is formed between two adjacent bumps. The first driving member is used to drive the first wheel body to rotate. An installation groove is formed between the first wheel body and the second wheel body. The second driving member is arranged in the installation groove. The fixed end of the second driving member is hinged to the first wheel body, and the movable end of the second driving member is hinged to the second wheel body. The second driving member is used to drive the second wheel body to rotate; the detection assembly includes a first gear, a second gear, an encoder and a controller. The first gear is fixedly connected to the second wheel body, the second gear is fixedly connected to the movable end of the encoder, the first gear meshes with the second gear, the encoder is fixedly arranged in the installation groove, and the second driving member and the encoder are both electrically connected to the controller.

[0006] The walking mechanism according to an embodiment of the present invention has at least the following beneficial effects: The first wheel body is rotatably connected to the frame, and the second wheel body is rotatably connected to the first wheel body. The first driving member can drive the first wheel body and the second wheel body to rotate synchronously, so that the cooperation of the first wheel body and the second wheel body can drive the frame to move. The first wheel body and the second wheel body enclose an installation groove, and the second driving member is arranged in the installation groove. By setting the fixed end of the second driving member to be hinged to the first wheel body and the movable end of the second driving member to be hinged to the second wheel body, the second driving member can drive the second wheel body to rotate on the first wheel body, so that the bumps on the first wheel body and the second wheel body can overlap or stagger. When the bumps on the first wheel body and the second wheel body overlap, the obstacle can extend into the notch, enhancing the grip of the first wheel body and the second wheel body on the obstacle and improving the obstacle-crossing ability of the walking mechanism; when the bumps on the first wheel body and the second wheel body are staggered, the bumps on the first wheel body and the second wheel body are continuously arranged in the circumferential direction, which can improve the support stability on flat ground and facilitate walking on flat ground. In addition, the first gear is fixedly connected to the second wheel body, and the second gear is fixedly connected to the movable end of the encoder. By setting the first gear to mesh with the second gear, the encoder can detect the position of the second wheel body, so that the controller can accurately control the second driving member to drive the second wheel body to rotate on the first wheel body and make the position of the second wheel body accurate.

[0007] According to some embodiments of the present invention, the first wheel body is provided with a first annular convex edge, the second wheel body is provided with a second annular convex edge, the second annular convex edge is arranged inside the first annular convex edge, and the first annular convex edge abuts against the second annular convex edge.

[0008] According to some embodiments of the present invention, the detection assembly further includes a photoelectric disk and a photoelectric switch. The photoelectric disk is fixedly connected to the first wheel body. The photoelectric disk is provided with a plurality of baffles at intervals in the circumferential direction, and the baffles correspond to the bumps on the first wheel body one by one. The photoelectric switch is used to detect the baffles.

[0009] According to some embodiments of the present invention, the bump includes a connecting portion and a hook portion. One end of the connecting portion is connected to the side wall of the first wheel body or the second wheel body, the other end of the connecting portion is connected to the hook portion, and the hook portion extends along both sides of the connecting portion.

[0010] According to some embodiments of the present invention, the thickness of the hook portion gradually decreases in the direction away from the connecting portion.

[0011] According to some embodiments of the present invention, along the length direction of the hook portion, both ends of the hook portion are provided with rounded corners.

[0012] According to some embodiments of the present invention, a filling block is detachably connected to the notch, the shape of the filling block matches that of the notch, and the filling block is an elastic part.

[0013] According to some embodiments of the present invention, the driving assembly further includes a shock-absorbing component, which includes a fixing plate, a movable plate, a guide rod, a linear bearing and a spring. The fixing plate is connected to the frame, the linear bearing is fixedly connected to the fixing plate, the guide rod is fixedly connected to the movable plate, and the guide rod is arranged in the linear bearing. The spring is arranged between the fixing plate and the movable plate, and the spring is used to drive the movable plate to move away from the fixing plate. The fixed end of the first driving member is fixedly connected to the movable plate.

[0014] The stair-climbing device according to the second aspect embodiment of the present invention includes the walking mechanism according to the first aspect embodiment of the present invention. The number of the driving assemblies is set to four groups. Every two groups of the driving assemblies are respectively arranged on both sides of the frame, and the two groups of the driving assemblies on the same side are respectively arranged at both ends of the frame.

[0015] The stair-climbing device according to the embodiment of the present invention has at least the following beneficial effects: By arranging four groups of driving assemblies, the stability of stair climbing can be improved, the structural complexity can be reduced, and the obstacle-crossing ability can be enhanced.

[0016] According to some embodiments of the present invention, the driving assembly further includes a third driving member and a steering shaft. The first wheel body is connected to the steering shaft, and the third driving member is used to drive the steering shaft to rotate.

[0017] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following further describes the present invention in conjunction with the drawings and embodiments, wherein: Figure 1 It is a schematic diagram of the flat ground mode of the walking mechanism according to the first aspect embodiment of the present invention; Figure 2 It is a schematic diagram of the obstacle-crossing mode of the walking mechanism according to the first aspect embodiment of the present invention; Figure 3 It is another schematic diagram of the flat ground mode of the walking mechanism according to the first aspect embodiment of the present invention; Figure 4 It is a cross-sectional view of the walking mechanism according to the first aspect embodiment of the present invention; Figure 5 It is Figure 4 The partial enlarged view at A of Figure 6Exploded schematic view of the walking mechanism according to the embodiment of the first aspect of the present invention; Figure 7 Schematic diagram of the second wheel body of the walking mechanism according to the embodiment of the first aspect of the present invention Figure 1 ; Figure 8 Schematic diagram of the second wheel body of the walking mechanism according to the embodiment of the first aspect of the present invention Figure 2 ; Figure 9 Schematic diagram of the second wheel body of the walking mechanism according to the embodiment of the first aspect of the present invention Figure 3 ; Figure 10 Schematic diagram of the stair climbing device according to the embodiment of the second aspect of the present invention Figure 1 ; Figure 11 Schematic diagram of the stair climbing device according to the embodiment of the second aspect of the present invention Figure 2 .

[0019] Reference numerals: Frame 100; Drive assembly 200, first wheel body 210, first annular flange 211, second wheel body 220, second annular flange 221, bump 231, connecting portion 232, hook portion 233, rounded corner 234, notch 235, filling block 236, mounting groove 237, first drive member 240, second drive member 250, shock absorption member 260, fixing plate 261, movable plate 262, guide rod 263, linear bearing 264, spring 265, third drive member 271, steering shaft 272; Detection assembly 300, first gear 310, second gear 320, encoder 330, optical disk 340, baffle 341, optical switch 350; LiDAR 410, camera 420, seat 430. Detailed implementation manners

[0020] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus should not be construed as a limitation of the present invention.

[0022] In the description of the present invention, the meaning of "a number of" is one or more, the meaning of "a plurality of" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the base number, and understandings such as "above", "below", "within", etc. include the base number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention in combination with the specific content of the technical solution.

[0024] It can be understood that, with reference to Figure 1 , Figure 2 and Figure 6 The walking mechanism according to the first aspect embodiment of the present invention includes a frame 100, a driving assembly 200, and a detection assembly 300; the driving assembly 200 includes a first wheel body 210, a second wheel body 220, a first driving member 240, and a second driving member 250. The first wheel body 210 is rotatably connected to the frame 100, the second wheel body 220 is rotatably connected to the first wheel body 210. A plurality of bumps 231 are arranged at intervals along the circumferences of the side walls of the first wheel body 210 and the second wheel body 220, and a notch 235 is formed between two adjacent bumps 231. The first driving member 240 is used to drive the first wheel body 210 to rotate. The first wheel body 210 and the second wheel body 220 enclose an installation groove 237. The second driving member 250 is arranged in the installation groove 237. The fixed end of the second driving member 250 is hinged to the first wheel body 210, and the movable end of the second driving member 250 is hinged to the second wheel body 220. The second driving member 250 is used to drive the second wheel body 220 to rotate; the detection assembly 300 includes a first gear 310, a second gear 320, an encoder 330, and a controller. The first gear 310 is fixedly connected to the second wheel body 220, the second gear 320 is fixedly connected to the movable end of the encoder 330. The first gear 310 meshes with the second gear 320. The encoder 330 is fixedly arranged in the installation groove 237. The second driving member 250 and the encoder 330 are both electrically connected to the controller.

[0025] The first round body 210 is rotatably connected to the frame 100, and the second round body 220 is rotatably connected to the first round body 210. The first driving member 240 can drive the first round body 210 and the second round body 220 to rotate synchronously, so that the cooperation of the first round body 210 and the second round body 220 can drive the frame 100 to move. The first round body 210 and the second round body 220 enclose an installation groove 237, and the second driving member 250 is arranged in the installation groove 237. By setting the fixed end of the second driving member 250 to be hinged to the first round body 210 and the movable end of the second driving member 250 to be hinged to the second round body 220, the second driving member 250 can drive the second round body 220 to rotate on the first round body 210, so that the bumps 231 on the first round body 210 and the second round body 220 can overlap or stagger.

[0026] Referring to Figure 2 , when the bumps 231 on the first round body 210 and the second round body 220 overlap, the traveling mechanism is in the obstacle-crossing mode. When the first driving member 240 drives the first round body 210 and the second round body 220 to rotate synchronously, it can drive the frame 100 to move, and the obstacle can extend into the notch 235, so that the side wall of the bump 231 can abut against the obstacle, enhancing the grip of the first round body 210 and the second round body 220 on the obstacle, facilitating the support of the frame 100 to cross the obstacle, and improving the obstacle-crossing ability of the traveling mechanism; Referring to Figure 1 , when the bumps 231 on the first round body 210 and the second round body 220 are staggered, the traveling mechanism is in the flat-ground mode. The bumps 231 on the first round body 210 and the second round body 220 are arranged continuously in the circumferential direction. When the first driving member 240 drives the first round body 210 and the second round body 220 to rotate synchronously, it can drive the frame 100 to move, improving the support stability on the flat ground and facilitating walking on the flat ground. The second driving member 250 can drive the second round body 220 to rotate on the first round body 210, so that the traveling mechanism can switch between the flat-ground mode and the obstacle-crossing mode. Without additionally adding an auxiliary mechanism to cooperate with the traveling mechanism to cross obstacles, the structure of the traveling mechanism can be simplified, which helps to reduce the energy consumption of the traveling mechanism and improve the service performance.

[0027] In addition, the first gear 310 is fixedly connected to the second round body 220, and the second gear 320 is fixedly connected to the movable end of the encoder 330. By setting the first gear 310 to mesh with the second gear 320, the encoder 330 can detect the position of the second round body 220. Thus, when the second driving member 250 drives the second round body 220 to rotate, the first gear 310 and the second gear 320 cooperate to enable the encoder 330 to detect the position of the second gear 320. Furthermore, the controller can control the second driving member 250 to accurately drive the second round body 220 to rotate on the first round body 210, making the position of the second round body 220 accurate and improving the mode-switching stability of the traveling mechanism.

[0028] Among them, the first wheel body 210 and the second wheel body 220 enclose an installation groove 237. By arranging the second driving member 250 in the installation groove 237, not only can the installation and arrangement of the second driving member 250 be facilitated, avoiding the additional installation of a connecting mechanism to connect the second driving member 250, making the structure of the driving assembly 200 compact and reducing the structural complexity, but also the transmission path of the second driving member 250 can be shortened, improving the transmission efficiency, enabling the second wheel body 220 to rotate quickly and stably, and improving the reliability.

[0029] It should be noted that the first driving member 240 can be a motor, a pneumatic motor, etc.; the second driving member 250 can be an electric push rod, an electric cylinder, a linear slide table module, etc.; the controller can be a single-chip microcomputer, a programmable logic controller, an industrial personal computer, etc., which are not limited herein.

[0030] Specifically, referring to Figure 6 , the number of the second driving members 250 is set to two, and the two second driving members 250 are arranged at equal intervals along the circumferential direction of the installation groove 237. By setting the second driving members 250, the second wheel body 220 can be synchronously pushed to rotate on the first wheel body 210, making the force on the second wheel body 220 stable, enabling smooth rotation, and improving the stability of adjustment.

[0031] It can be understood that referring to Figure 1 , Figure 4 and Figure 5 , the first wheel body 210 is provided with a first annular flange 211, the second wheel body 220 is provided with a second annular flange 221, the second annular flange 221 is arranged inside the first annular flange 211, and the first annular flange 211 abuts against the second annular flange 221. The first wheel body 210 is provided with the first annular flange 211, and the second wheel body 220 is provided with the second annular flange 221. By arranging the second annular flange 221 to abut against the inner side of the first annular flange 211, it can effectively prevent external impurities such as dust, soil, and gravel from entering the installation groove 237, keep the first wheel body 210 and the second wheel body 220 sealed, avoid the invasion of impurities to the internal components of the installation groove 237, ensure that components such as the second driving member 250 and the encoder 330 work in a clean and stable environment, enable the walking mechanism to stably and accurately switch between the flat ground mode and the obstacle crossing mode, and improve the service life and reliability of these key components.

[0032] It should be noted that the outer diameter of the second annular flange 221 is equal to the inner diameter of the first annular flange 211, so that the second annular flange 221 can abut against the first annular flange 211, so that the second annular flange 221 can remain in contact when the first annular flange 211 rotates, seal the installation groove 237, avoid the invasion of impurities, and improve the reliability.

[0033] It can be understood that referring toFigure 3 In addition, the detection component 300 further includes an optical disk 340 and an optical switch 350. The optical disk 340 is fixedly connected to the first wheel body 210. A plurality of baffles 341 are circumferentially and spacedly arranged on the optical disk 340, and the baffles 341 correspond one-to-one to the bumps 231 on the first wheel body 210. The optical switch 350 is used to detect the baffles 341. The optical disk 340 is fixedly connected to the first wheel body 210, and a plurality of baffles 341 are arranged on the optical disk 340. When the first wheel body 210 rotates, it can drive the plurality of baffles 341 to rotate synchronously. The optical switch 350 can detect the baffles 341, so that the controller can detect the position of the first wheel body 210 according to the baffles 341 on the optical disk 340, and further the controller can control the operation of the first driving member 240, improving the walking stability of the walking mechanism.

[0034] It should be noted that by setting the baffles 341 to correspond one-to-one to the bumps 231 on the first wheel body 210, the detection accuracy of the first wheel body 210 can be improved. When the optical switch 350 detects the baffle 341, the lowermost end of the first wheel body 210 is the bump 231; when the optical switch 350 detects between two adjacent baffles 341, the lowermost end of the first wheel body 210 is the notch 235. Thus, the detection accuracy of the first wheel body 210 can be improved, and the driving accuracy of the first driving member 240 can be improved.

[0035] It can be understood that with reference to Figure 7 and Figure 8 , the bump 231 includes a connecting portion 232 and a hook portion 233. One end of the connecting portion 232 is connected to the side wall of the first wheel body 210 or the second wheel body 220. The other end of the connecting portion 232 is connected to the hook portion 233, and the hook portion 233 extends along both sides of the connecting portion 232. One end of the connecting portion 232 is connected to the side wall of the first wheel body 210 or the first wheel body 210, and the other end is connected to the hook portion 233. By setting the hook portion 233 to extend along both sides of the connecting portion 232, the gripping ability and obstacle-crossing performance of the walking mechanism on complex terrains can be enhanced, the adaptability of the walking mechanism to various complex terrains can be improved, and the application scenarios can be expanded.

[0036] It should be noted that in the flat ground mode, when the walking mechanism moves on soft ground, the hook portion 233 can be embedded in the ground to a certain depth, providing greater friction and support force, preventing the walking mechanism from slipping or sinking, and enabling the walking mechanism to move forward stably and efficiently.

[0037] In the obstacle-crossing mode, in the face of a raised obstacle, the hook portion 233 can hook the edge or corner of the obstacle, generating a greater acting force to pull the walking mechanism upward, helping it successfully cross the obstacle and improving the obstacle-crossing ability.

[0038] Specifically, with reference to Figure 7, the thickness of the hook portion 233 gradually decreases in a direction away from the connecting portion 232. By setting the thickness of the hook portion 233 to gradually decrease in a direction away from the connecting portion 232, the obstacle-crossing ability, the ground-gripping performance, the passability, and the overall operating efficiency of the traveling mechanism are improved. In the obstacle-crossing mode, when the hook portion 233 contacts an obstacle, the relatively thick connecting portion 232 provides a solid structural support for the hook portion 233, making it difficult for the hook portion 233 to deform or be damaged when bearing an impact force. And the thickness of the hook portion 233 gradually decreases, making its front end sharper. When contacting the edge or corner of an obstacle, it can be more easily embedded therein, generating a greater acting force, effectively reducing the driving force required to cross the obstacle, and enabling the traveling mechanism to cross the obstacle more labor-savingly.

[0039] Specifically, referring to Figure 8 , both ends of the hook portion 233 are provided with rounded corners 234 along the length direction of the hook portion 233. By setting both ends of the hook portion 233 as rounded corners 234, the stress generated by the collision can be effectively dispersed, avoiding the occurrence of cracks or even fractures in the hook portion 233 when it is subjected to an impact force, enhancing the structural strength and the impact resistance of the hook portion 233, and prolonging the service life of the hook portion 233. At the same time, the rounded corners 234 can also reduce the scraping resistance between the hook portion 233 and the obstacle, enabling the rounded corners 234 to be more smoothly pressed into the surface of the obstacle, facilitating the hanging of the hook portion 233 on the obstacle, and reducing the possibility of small obstacles getting stuck on the hook portion 233, enabling the hook portion 233 to be smoothly separated from the obstacle, and facilitating the smoother and more efficient movement of the traveling mechanism.

[0040] It can be understood that referring to Figure 9 , a filling block 236 is detachably connected to the notch 235. The shape of the filling block 236 matches that of the notch 235, and the filling block 236 is an elastic member. The filling block 236 is detachably connected to the notch 235. By setting the shape of the filling block 236 to match that of the notch 235, the filling block 236 can be stably located in the notch 235. The filling block 236 is an elastic member, so that when the filling block 236 contacts the ground, it can undergo elastic deformation, which can not only better conform to the ground undulation, significantly improve the ground-gripping force, and reduce the slipping risk of the first wheel body 210 and the second wheel body 220, but also buffer the impact force of the terrain change on the first wheel body 210 and the second wheel body 220, enabling the traveling mechanism to move smoothly and efficiently.

[0041] When the walking mechanism is climbing stairs, the filling block 236 can prevent obstacles from getting stuck in the gap 235, and can reduce the impact and vibration caused by climbing stairs. When the first wheel body 210 and the second wheel body 220 rotate, the filling block 236 can abut against the edge of the stairs, and the filling block 236 can be compressed and deformed inward, so that the side wall of the protrusion 231 can hook the stairs, which is convenient for the walking mechanism to climb over obstacles, and can reduce the radial runout caused by the stairs getting stuck in the gap 235, reduce the impact and vibration, and improve the walking stability.

[0042] It should be noted that the filling block 236 can be detachably connected to the gap 235 by snapping, gluing, fasteners, etc.; the filling block 236 can be an elastic part such as a rubber part, a silicone part, etc., which will not be described in detail here.

[0043] It is understandable that, referring to Figure 3 The driving assembly 200 also includes a shock absorbing component 260, which includes a fixed plate 261, a movable plate 262, a guide rod 263, a linear bearing 264 and a spring 265. The fixed plate 261 is connected to the frame 100, the linear bearing 264 is fixedly connected to the fixed plate 261, the guide rod 263 is fixedly connected to the movable plate 262, and the guide rod 263 is inserted into the linear bearing 264. The spring 265 is arranged between the fixed plate 261 and the movable plate 262. The spring 265 is used to drive the movable plate 262 to move in a direction away from the fixed plate 261. The fixed end of the first driving member 240 is fixedly connected to the movable plate 262. The fixed plate 261 is fixedly connected to the frame 100, the linear bearing 264 is fixedly connected to the fixed plate 261, and the guide rod 263 is fixedly connected to the movable plate 262. The guide rod 263 is arranged to pass through the linear bearing 264 so that the movable plate 262 can slide along the axial direction of the guide rod 263. The spring 265 is arranged between the fixed plate 261 and the movable plate 262. The fixed end of the first driving member 240 is fixedly connected to the movable plate 262, so that when the first wheel body 210 and the second wheel body 220 walk on complex terrain, the spring 265 buffers and absorbs the vertical bouncing of the first wheel body 210 and the second wheel body 220, can absorb impact energy, and slowly release energy under the action of elastic restoring force, drive the movable plate 262 to move in the direction away from the fixed plate 261, effectively buffer and weaken the impact force, and improve walking stability.

[0044] In addition, by setting the guide rod 263 to be slidably connected to the linear bearing 264, the sliding resistance of the guide rod 263 can be reduced, so that the movable plate 262 can slide smoothly along the axial direction of the guide rod 263, avoiding shaking or deviation of the movable plate 262 and improving shock absorption stability.

[0045] It should be noted that the number of guide rods 263 is set to be multiple, and the multiple guide rods 263 are arranged in parallel at intervals on the movable plate 262. The number of linear bearings 264 is also set to be multiple, and the guide rods 263 and the linear bearings 264 are in one-to-one correspondence, thereby improving the movement stability of the movable plate 262.

[0046] It can be understood that, referring to Figure 10 and Figure 11 , the stair-climbing device according to the second aspect embodiment of the present invention includes the traveling mechanism according to the first aspect embodiment of the present invention. The number of drive assemblies 200 is set to be four groups, and every two groups of drive assemblies 200 are respectively arranged on both sides of the frame 100, and the two groups of drive assemblies 200 on the same side are respectively arranged at both ends of the frame 100.

[0047] By arranging every two groups of drive assemblies 200 on both sides of the frame 100 respectively, and the two groups of drive assemblies 200 on the same side are respectively arranged at both ends of the frame 100, the four groups of drive assemblies 200 work together to provide a stable driving force, so that when the stair-climbing device climbs the stairs, sufficient power can be obtained at both the front and rear ends, effectively avoiding front and rear shaking or climbing stagnation caused by insufficient power, ensuring that the device can move up or down along the stairs smoothly and efficiently, and greatly improving the stability and reliability of stair climbing.

[0048] Specifically, referring to Figure 6 and Figure 10 , the frame 100 is fixedly connected with a lidar 410, and the lidar 410 is electrically connected to the controller. By setting the lidar 410, the surrounding environment can be detected, so that the stair-climbing device can adjust the stair-climbing strategy according to the size and direction of the stairs. The controller can control the second driving member 250 to drive the second wheel body 220 to rotate, so as to adjust the overlapping degree of the bumps 231 on the first wheel body 210 and the second wheel body 220, thereby being able to flexibly adjust the size of the notch 235 formed by the first wheel body 210 and the second wheel body 220 to adapt to different stairs and improve the passability.

[0049] Specifically, referring to Figure 6 and Figure 10 , the frame 100 is fixedly connected with a camera 420, the camera 420 is electrically connected to the controller, and the camera 420 is used to photograph the first wheel body 210 and the second wheel body 220. By setting the camera 420, the first wheel body 210 and the second wheel body 220 can be photographed, so as to conveniently detect whether there is an obstacle stuck in the notch 235, so that the controller can drive the second driving member 250 to reciprocate, so that the first wheel body 210 and the second wheel body 220 can rotate in opposite directions reciprocally, and further enable the obstacle to automatically escape from the notch 235, improving the reliability.

[0050] It should be noted that the camera 420 is connected to a first driving component, which is used to drive the movement of the camera 420 so that the camera 420 can respectively take pictures of the four groups of driving components 200, thereby enabling the automatic detection of the four groups of driving components 200 and improving the reliability of the stair-climbing mechanism.

[0051] Specifically, referring to Figure 11 , the frame 100 is provided with a seat 430, and the seat 430 is rotatably connected to the frame 100. By providing the seat 430 on the frame 100, it is convenient for the stair-climbing device to carry the user to climb the stairs. Moreover, the seat 430 is rotatably connected to the frame 100 so that the seat 430 can adapt to the slope change during stair climbing and keep the seat 430 in a horizontal state, improving the user experience.

[0052] It should be noted that the seat 430 is connected to a second driving component, and the frame 100 is provided with a slope sensor. The second driving component is used to drive the seat 430 to rotate in the vertical plane, and the slope sensor is used to detect the angle change of the frame 100. By detecting the angle of the frame 100 through the slope sensor, the second driving member 250 can drive the seat 430 to rotate on the frame 100, so that the seat 430 can maintain a horizontal state and can adapt to rotate according to the slope change of the stairs, improving the user experience.

[0053] It can be understood that, referring to Figure 3 and Figure 10 , the driving component 200 further includes a third driving member 271 and a steering shaft 272. The first wheel body 210 is connected to the steering shaft 272, and the third driving member 271 is used to drive the steering shaft 272 to rotate. The steering shaft 272 is rotatably connected to the frame 100. One end of the steering shaft 272 is connected to the movable end of the third driving member 271, and the other end is connected to the first wheel body 210. By the third driving member 271, the steering shaft 272 can be driven to rotate, so that the first wheel body 210 can rotate around the steering shaft 272, thereby enabling the stair-climbing device to quickly and accurately adjust the driving direction and improving the flexibility of the stair-climbing device.

[0054] It should be noted that the stair-climbing device is provided with four groups of driving components 200, and each group of driving components 200 can be individually steered, thereby improving the moving flexibility of the stair-climbing device, adapting to different site environments, and enhancing the user experience.

[0055] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art.

Claims

1. Walking mechanism, characterized in that: include: frame; A driving assembly, comprising a first wheel body, a second wheel body, a first driving member and a second driving member, wherein the first wheel body is rotatably connected to the frame, the second wheel body is rotatably connected to the first wheel body, the side walls of the first wheel body and the second wheel body are arranged with a plurality of protrusions at intervals along the circumferential direction, and a gap is formed between two adjacent protrusions, the first driving member is used to drive the first wheel body to rotate, the first wheel body and the second wheel body form a mounting groove, the second driving member is arranged in the mounting groove, the fixed end of the second driving member is hinged to the first wheel body, the movable end of the second driving member is hinged to the second wheel body, and the second driving member is used to drive the second wheel body to rotate; The detection component includes a first gear, a second gear, an encoder and a controller, wherein the first gear is fixedly connected to the second wheel body, the second gear is fixedly connected to the movable end of the encoder, the first gear is meshed with the second gear, the encoder is fixedly arranged in the mounting groove, and the second driving member and the encoder are electrically connected to the controller.

2. The walking mechanism according to claim 1, characterized in that: The first wheel body is provided with a first annular ridge, and the second wheel body is provided with a second annular ridge. The second annular ridge is provided inside the first annular ridge, and the first annular ridge abuts against the second annular ridge.

3. The walking mechanism according to claim 1, characterized in that: The detection component also includes a photoelectric disk and a photoelectric switch. The photoelectric disk is fixedly connected to the first wheel body. The photoelectric disk is provided with a plurality of baffles at intervals along the circumferential direction, and the baffles correspond one-to-one to the protrusions on the first wheel body. The photoelectric switch is used to detect the baffles.

4. The walking mechanism according to claim 1, characterized in that: The protrusion includes a connecting portion and a hook portion, one end of the connecting portion is connected to the side wall of the first wheel body or the second wheel body, the other end of the connecting portion is connected to the hook portion, and the hook portion extends along both sides of the connecting portion.

5. The walking mechanism according to claim 4, characterized in that: The thickness of the hook portion gradually decreases in a direction away from the connecting portion.

6. The walking mechanism according to claim 4, characterized in that: Along the length direction of the hook portion, both ends of the hook portion are arranged to be rounded.

7. The walking mechanism according to claim 1, characterized in that: The notch is detachably connected with a filling block, the shape of the filling block matches the notch, and the filling block is an elastic component.

8. The traveling mechanism according to claim 1, characterized in that: The driving assembly also includes a shock-absorbing component, which includes a fixed plate, a movable plate, a guide rod, a linear bearing and a spring. The fixed plate is connected to the frame, the linear bearing is fixedly connected to the fixed plate, the guide rod is fixedly connected to the movable plate, and the guide rod is passed through the linear bearing. The spring is arranged between the fixed plate and the movable plate, and the spring is used to drive the movable plate to move in a direction away from the fixed plate. The fixed end of the first driving member is fixedly connected to the movable plate.

9. A stair climbing device, characterized in that: It comprises a walking mechanism as described in any one of claims 1 to 8, wherein the number of the drive assemblies is set to four groups, each two groups of the drive assemblies are respectively arranged on both sides of the frame, and the two groups of the drive assemblies on the same side are respectively arranged at both ends of the frame.

10. The stair climbing device according to claim 9, characterized in that: The driving assembly also includes a third driving member and a steering shaft. The first wheel body is connected to the steering shaft. The third driving member is used to drive the steering shaft to rotate.

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