Eight-foot stair-climbing robot

Abstract

The invention provides an eight-foot stair-climbing robot which comprises a robot mounting plate, a seat assembly, a controller assembly and two mechanical movement rows, the seat assembly and the mechanical movement rows are electrically connected with the controller assembly, a gyroscope is arranged in the controller assembly, each mechanical movement row is composed of four mechanical feet, and the robot mounting plate is arranged on the robot mounting plate. The mechanical feet in the two mechanical movement rows synchronously move in a one-to-one correspondence mode from front to back to form movement sets, every two of the four movement sets are matched in a spaced mode to move or support, and alternate switching between a movement state and a supporting state can be achieved through every two of the four movement sets in a spaced mode. The mechanical foot comprises a thigh joint driving assembly, a thigh body, a knee driving assembly, a shank body and a sole part which are connected in sequence, and the sole part is hinged to the shank body. The stair-climbing robot has the beneficial effects that the frequency of later maintenance is reduced, and the two moving groups are always fixed on the steps in the operation process, so that the stair-climbing robot is stable and safe in the process of going up and down in a corridor.

Description

Technical Field

[0001] The present invention relates to the technical field of stair-climbing robots, and particularly to an eight-legged stair-climbing robot. Background Art

[0002] At present, nearly half of the urban residents in China still live in buildings without elevators below the 7th floor. When traveling daily, they first have to face the problem of climbing stairs. For young and middle-aged people, the burden is not great, but for the elderly or special groups, it brings great inconvenience.

[0003] To solve this problem, stair-climbing machines have emerged, which can send people upstairs. Most of the stair-climbing devices use two crawlers to slide on the stair steps. The crawlers are prone to wear at the sharp corners of the steps, resulting in poor safety and a high frequency of later maintenance. To solve this problem, some stair-climbing robots use mechanical feet that simulate the human posture as the motion driving device. However, when the existing mechanical feet lift and walk alternately, there will be a large amplitude of movement jolts and poor stability during the walking alternation interval, affecting the use experience of the passengers, and even causing safety problems, unable to meet the user's use requirements, and not conducive to improving the competitiveness of the product. Summary of the Invention

[0004] To solve the problems in the prior art, the present invention provides an eight-legged stair-climbing robot, which solves the problems of easy wear and poor stability existing in the prior art when the stair-climbing robot uses crawlers and mechanical feet for stair-climbing work.

[0005] An eight-legged stair-climbing robot of the present invention includes a robot mounting plate, a seat assembly, a controller assembly, and two mechanical motion rows. The seat assembly and the mechanical motion rows are both electrically connected to the controller assembly. A gyroscope is provided in the controller assembly, which can improve the stability of the mechanical motion row. The mechanical motion row is composed of four mechanical feet. The mechanical feet in the two mechanical motion rows are synchronously moved one by one from front to back to form a motion group. The four motion groups are alternately combined in pairs for motion or support, and the alternate combination in pairs can realize the alternate switching between the motion state and the support state. The two mechanical motion rows are fixedly arranged on both sides of the lower end surface of the robot mounting plate, and the seat assembly is fixedly arranged on the upper end surface of the robot mounting plate. The mechanical foot includes a thigh joint driving component, a thigh main body, a knee driving component, a calf main body, and a sole member connected in sequence. The thigh joint driving component can drive the thigh main body to swing back and forth, the knee driving component can drive the calf main body to swing back and forth, and the sole member is hinged to the calf main body.

[0006] The present invention is further improved in that the four mechanical feet in the mechanical motion row are spaced front and back and arranged with left and right offsets.

[0007] The present invention is further improved. The thigh joint drive assembly includes a side swing drive device, a rotation drive device, and a front-back swing drive device. The side swing drive device can drive the thigh main body to swing left and right, and the rotation drive device can drive the thigh main body to rotate.

[0008] The present invention is further improved. A plurality of cameras, a depth camera, a lidar, and an ultrasonic radar are arranged on the robot mounting plate. The cameras, the depth camera, the lidar, and the ultrasonic radar are electrically connected to the controller assembly.

[0009] The present invention is further improved. The seat assembly includes a horizontal adjustment assembly and a seat main body. The moving end of the horizontal adjustment assembly is hinged to the bottom end of the seat main body, and one side of the seat main body is hinged to the robot mounting plate. The horizontal adjustment assembly can push the seat main body to swing relative to the robot mounting plate.

[0010] The present invention is further improved. A display screen and function buttons are further arranged on the seat main body. The display screen and the function buttons are both electrically connected to the controller assembly.

[0011] The present invention is further improved. The horizontal adjustment assembly is a servo drive assembly motor and a drive link. The servo drive assembly motor is inclined and arranged at the bottom of the robot mounting plate. A drive window matching the drive link is arranged on the robot mounting plate. The drive link passes through the drive window and is connected to the seat main body.

[0012] The present invention is further improved. A lifting helmet assembly, a safety belt, and a footrest are arranged on the seat main body. The lifting helmet assembly includes a helmet main body and a lifting adjustment member. The helmet main body can cooperate with the lifting adjustment member to adapt to the heights of different people to protect the head.

[0013] The present invention is further improved. A safety guardrail is arranged on the outer side of the seat main body. A guardrail airbag is arranged on the safety guardrail. The guardrail airbag can further improve the use safety of the user.

[0014] The present invention is further improved. The lifting adjustment member is a helmet drive device. The helmet drive device is fixedly arranged on the seat main body. The moving end of the helmet drive device is connected to the helmet main body. A guide post is arranged on the helmet main body. A guide groove matching the guide post is arranged on the seat main body. A helmet airbag is arranged inside the helmet main body.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides an eight-legged stair-climbing robot. With its structure, it can effectively solve the problems of easy wear and poor stability existing in the prior art where stair-climbing robots use crawlers and mechanical feet for stair-climbing work. With the structure of this solution, through the setting of eight mechanical feet, it can replace the structure that uses crawlers for up-and-down movement, simulate the movement form of human leg joints, reduce the frequency of later maintenance, and always ensure that two sets of moving groups are fixed on the steps during operation, so that the stair-climbing robot is stable and safe during the up-and-down process in the corridor, and can effectively improve the user's riding experience and the competitiveness of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the eight-legged stair-climbing robot; Figure 2 It is a schematic diagram of the structure of the eight-legged stair-climbing robot from another perspective; Figure 3 It is a schematic diagram of the disassembled structure of the eight-legged stair-climbing robot. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the art belonging to the technical field of the present invention; the terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" and any variations thereof in the description and claims of the present invention and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the description and claims of the present invention or the above drawings are used to distinguish different objects and not to describe a specific order.

[0019] When referring to "embodiments" in the present invention, it means that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an exclusive, independent, or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in the present invention can be combined with other embodiments.

[0020] To enable those skilled in the art of this technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0021] As Figures 1-3 shown, an eight-legged stair-climbing robot of the present invention includes a robot mounting plate 1, a seat assembly, a controller assembly, and two mechanical motion rows 2. The seat assembly and the mechanical motion row 2 are both electrically connected to the controller assembly. A gyroscope is provided in the controller assembly, and the gyroscope can improve the stability of the movement of the mechanical motion row 2. The mechanical motion row 2 is composed of four mechanical feet 3. The two mechanical motion rows 2 are fixedly arranged on both sides of the lower end surface of the robot mounting plate 1, and the seat assembly is fixedly arranged on the upper end surface of the robot mounting plate 1. The mechanical foot 3 includes a thigh joint drive assembly, a thigh main body 31, a knee drive assembly 32, a calf main body 33, and a sole member 34 connected in sequence. The thigh joint drive assembly can drive the thigh main body 31 to swing back and forth, the knee drive assembly 32 can drive the calf main body 33 to swing back and forth, and the sole member 34 is hinged to the calf main body 33.

[0022] Through the arrangement of the four mechanical feet 3, the structure that uses a crawler for going up and down stairs can be replaced, the movement form of the human leg joints can be simulated, the subsequent maintenance frequency can be controlled, and the situation that some crawler grooves are suspended easily when the difference in the sizes of adjacent steps is large, causing the stair-climbing seat to slip can be avoided. Moreover, through the cooperation of the four mechanical feet 3 and the gyroscope, the movement stability and the user's riding experience can be effectively improved, and the competitiveness of the product can be enhanced.

[0023] The mechanical feet 3 of the two mechanical motion rows 2 move synchronously one by one from front to back to form a motion group. For example, the first mechanical feet 3 of the two mechanical motion rows 2 form the first motion group, the second mechanical feet 3 of the two mechanical motion rows 2 form the second motion group, the third mechanical feet 3 of the two mechanical motion rows 2 form the third motion group, and the fourth mechanical feet 3 of the two mechanical motion rows 2 form the fourth motion group. The eight mechanical feet 3 are divided into four motion groups in total. When going up and down stairs, the first motion group and the third motion group simulate the walking of the human legs, the second motion group and the fourth motion group support the robot, and then the second motion group and the fourth motion group are switched to simulate the walking of the human feet, and the first motion group and the third motion group support the robot to achieve the alternating movement between the motion groups. While simulating the running form of a person climbing stairs, two motion groups are always fixed on the steps during the running process, so that the stair-climbing robot is stable and safe during the up and down process in the corridor; achieving a prominent effect of better stability among similar products in the existing market.

[0024] A sole driving motor is provided at the hinge of the sole member 34. The sole driving motor can drive the sole member 34 to swing back and forth, flexibly control the sole member 34 to rotate a certain angle, so as to adapt to uneven step surfaces. A pressure sensor is provided at the bottom of the sole member 34. The pressure sensor can detect whether the contact surface stepped on by the sole member is greater than or equal to a preset value. When the contact surface is less than the preset value, the mechanical foot is lifted again for stepping, improving the stability of climbing stairs.

[0025] The four mechanical feet 3 in the mechanical movement row 2 are arranged at intervals front and back and offset left and right. By arranging at intervals front and back and offset left and right, the force distribution of the entire device is made more uniform, further improving the stability of the device movement and enhancing the user's riding experience.

[0026] Each mechanical foot moves independently of each other and can be applied to stair steps with inclined surfaces.

[0027] The thigh joint driving assembly includes a side swing driving device 35, a rotation driving device 36, and a front and back swing driving device 37. The side swing driving device 35 can drive the thigh main body 31 to swing left and right, and the rotation driving device 36 can drive the thigh main body 31 to rotate.

[0028] Through the settings of the side swing driving device 35, the rotation driving device 36, the front and back swing driving device 37, and the knee driving assembly 32, the mechanical foot 3 has four degrees of freedom, can meet more application scenarios, and the mechanical foot 3 has higher flexibility in use.

[0029] During the operation process, the person always faces the lower part of the steps. When going upstairs, the eight mechanical feet 3 walk forward. When turning downstairs, the eight rotation driving devices 36 respectively control the corresponding mechanical feet 3 to rotate 180 degrees, and the eight mechanical feet 3 change from walking backward to walking forward without the need for the entire device to rotate, with high flexibility. The significant advantage is that it can pass through a relatively narrow corridor space, and when encountering obstacles when going up and down stairs, due to the advantage of multiple degrees of freedom, the device can achieve lateral movement.

[0030] The seat assembly includes a horizontal adjustment assembly 4 and a seat main body 5. The moving end of the horizontal adjustment assembly 4 is hinged to the bottom end of the seat main body 5, and one side of the seat main body 5 is hinged to the robot mounting plate 1.

[0031] Through the setting of the horizontal adjustment assembly 4, the level of the seat main body 5 can be adjusted in real time, pushing the seat main body 5 to swing relative to the robot mounting plate 1, so that the rider is always in a horizontal state, improving the user's riding experience.

[0032] A display screen 6 and function buttons 7 are also provided on the seat main body 5. Both the display screen 6 and the function buttons 7 are electrically connected to the controller assembly.

[0033] Through the settings of the display screen 6 and the function keys 7, the efficiency of the user to obtain device information and the usage experience of the device can be improved.

[0034] A plurality of cameras 101, depth cameras 102, lidar 103, and ultrasonic radars 104 are arranged on the robot mounting plate 1, and the cameras 101, depth cameras 102, lidar 103, and ultrasonic radars 104 are electrically connected to the controller assembly.

[0035] With the addition of a plurality of cameras 101, depth cameras 102, lidar 103, and ultrasonic radars 104, and in cooperation with the existing deep learning large model, it can automatically avoid obstacles that hinder walking without the need for the operator to operate, ensuring the safe operation of the machine during the climbing process; at the same time, the surrounding road conditions can be viewed in real time through the display screen 6 to prevent emergencies.

[0036] The horizontal adjustment component 4 is a servo drive component motor and a drive link. The servo drive component motor is inclined and arranged at the bottom of the robot mounting plate 1. A drive window that cooperates with the drive link is arranged on the robot mounting plate 1, and the drive link passes through the drive window and is connected to the seat body 5.

[0037] An elevating helmet component 51, a safety belt 52, and a footrest 53 are arranged on the seat body 5. The elevating helmet component 51 includes a helmet main body 511 and an elevating adjustment member. The helmet main body 511 can cooperate with the elevating adjustment member to adapt to the heights of different people to protect the head.

[0038] A safety guardrail 54 is arranged on the outside of the seat body 5, and a guardrail airbag 55 is arranged on the safety guardrail 54. The guardrail airbag 55 can further improve the usage safety of the user and avoid injury when the device topples over.

[0039] The elevating adjustment member is a helmet driving device 512. The helmet driving device 512 is fixedly arranged on the seat body 5. The moving end of the helmet driving device 512 is connected to the helmet main body 511. A guide post is arranged on the helmet main body 511, and a guide groove that cooperates with the guide post is arranged on the seat body 5. A helmet airbag 513 is arranged inside the helmet main body 511.

[0040] Through the setting of the helmet driving device 512, the usage requirements of users with different body types can be met, and the usage experience of users can be improved.

[0041] The number of depth cameras 101 is 8, the number of lidar 102 is 4, and the number of ultrasonic radars 103 is 12.

[0042] As can be seen from the above, the beneficial effects of the present invention are as follows: It can effectively solve the problems of easy wear and poor stability existing in the prior art where climbing robots use crawlers and mechanical feet for climbing work. By adopting the structure of this solution and setting eight mechanical feet 3, it can replace the structure that uses crawlers for going up and down stairs, simulate the movement form of human leg joints, reduce the frequency of later maintenance, and always ensure that the two sets of motion groups are fixed on the steps during operation. As a result, the climbing robot is stable and safe during the up and down process in the corridor, which can effectively improve the user's riding experience and the competitiveness of the product.

[0043] The above-mentioned specific implementation manners are the preferred implementation manners of the present invention, and do not limit the specific implementation scope of the present invention hereby. The scope of the present invention includes but is not limited to this specific implementation manner. All equivalent changes made in accordance with the present invention are within the protection scope of the present invention.

Claims

1. An eight-legged stair-climbing robot, characterized in that: It includes a robot mounting plate, a seat assembly, a controller assembly, and two mechanical motion rows. The seat assembly and the mechanical motion rows are both electrically connected to the controller assembly. A gyroscope is provided in the controller assembly, and the gyroscope can improve the stability of the movement of the mechanical motion rows. The mechanical motion row is composed of four mechanical feet. The mechanical feet in the two mechanical motion rows correspond to each other and move synchronously from front to back to form a motion group. The four motion groups cooperate with each other at intervals to perform movement or support, and the cooperation at intervals can realize the alternating switching between the movement state and the support state. The two mechanical motion rows are fixedly arranged on both sides of the lower end surface of the robot mounting plate, and the seat assembly is fixedly arranged on the upper end surface of the robot mounting plate. The mechanical foot includes a thigh joint drive assembly, a thigh main body, a knee drive assembly, a calf main body, and a sole member connected in sequence. The thigh joint drive assembly can drive the thigh main body to swing back and forth, the knee drive assembly can drive the calf main body to swing back and forth, and the sole member is hinged to the calf main body.

2. The octopod stair-climbing robot according to claim 1, wherein: The four mechanical feet in the mechanical motion row are arranged at intervals front and back and are offset left and right.

3. The octopod climbing robot according to claim 1, wherein: The thigh joint drive assembly includes a side swing drive device, a rotation drive device, and a front and back swing drive device. The side swing drive device can drive the thigh main body to swing left and right, and the rotation drive device can drive the thigh main body to rotate.

4. The octopod climbing robot according to claim 1, characterized in that: A plurality of cameras, a depth camera, a lidar, and an ultrasonic radar are provided on the robot mounting plate. The cameras, the depth camera, the lidar, and the ultrasonic radar are electrically connected to the controller assembly.

5. The octopod stair-climbing robot according to any one of claims 1-4, characterized in that: The seat assembly includes a horizontal adjustment component and a seat main body. The moving end of the horizontal adjustment component is hinged to the bottom end of the seat main body. One side of the seat main body is hinged to the robot mounting plate. The horizontal adjustment component can push the seat main body to swing relative to the robot mounting plate.

6. The octopod climbing robot according to claim 5, wherein: A display screen and function buttons are further provided on the seat main body. The display screen and the function buttons are both electrically connected to the controller assembly.

7. The octopod climbing robot according to claim 5, wherein: The horizontal adjustment component is a servo drive component motor and a drive link. The servo drive component motor is inclined and arranged at the bottom of the robot mounting plate. A drive window matching the drive link is provided on the robot mounting plate. The drive link passes through the drive window and is connected to the seat main body.

8. The octopod stair-climbing robot according to claim 5, wherein: A lifting helmet component, a safety belt, and a footrest are provided on the seat main body. The lifting helmet component includes a helmet main body and a lifting adjustment member. The helmet main body can cooperate with the lifting adjustment member to adapt to different people's heights to protect the head.

9. The octopod stair-climbing robot according to claim 8, characterized in that: A safety guardrail is provided on the outer side of the seat main body. A guardrail airbag is provided on the safety guardrail. The guardrail airbag can further improve the use safety of the user.

10. The octopod climbing robot according to claim 8, wherein: The lifting and adjusting member is a helmet driving device, the helmet driving device is fixedly arranged on the seat body, the moving end of the helmet driving device is connected to the helmet body, a guiding column is arranged on the helmet body, a guiding groove matched with the guiding column is arranged on the seat body, and a helmet airbag is arranged in the helmet body.

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