Robot capable of stably and automatically running on plane and step road surface

Abstract

The invention discloses a robot capable of stably and automatically running on a plane and a step road surface, and relates to the technical field of robots. Comprising a robot rack main body, a transportation container main body is arranged at the upper end of the robot rack main body, a running mechanism used for the ground and stairs is arranged on the robot rack main body, and the running mechanism comprises front wheels which are arranged at the front end of the robot rack main body and connected through an adjusting assembly; when a robot climbs a ladder, a screw rod in a sliding rail support rotates, a balancing weight is in threaded connection with the screw rod and is in sliding connection with the inner wall of the sliding rail support and a positioning sliding rod, and therefore the screw rod rotates to drive the balancing weight to slide forwards on the sliding rail support; the position of the balancing weight is adjusted, so that the gravity center of the robot is adjusted, the overturning risk caused by gravity center shift during ladder climbing is effectively prevented, and the stability of the robot under complex terrains is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot capable of running smoothly and automatically on flat and stepped surfaces. Background Art

[0002] A robot is an automated machine capable of performing specific tasks, making decisions and acting autonomously based on pre-programmed procedures or through artificial intelligence. Robots are commonly used in hazardous environments, on production lines, in healthcare, in the military, and for various tasks in daily life. They can take on various forms, including humanoid, animal, and vehicle-like. In cities, robots are used in a wide variety of scenarios and applications, such as service robots, logistics robots, cleaning robots, and construction robots.

[0003] The reference patent (publication number: CN118928579A; publication date: 2024-11-12) discloses a robot that can operate smoothly and automatically on flat and stepped roads, including a shell, an extension mechanism, and a stretching mechanism. The extension mechanism is slidably arranged on the shell, and a climbing mechanism is arranged on the extension mechanism. The extension mechanism is used to drive the climbing mechanism to slide on the shell, wherein the climbing mechanism is rotatably arranged on the extension mechanism, and the climbing mechanism is used to drive the shell to climb over the stairs. Multiple stretching mechanisms are circumferentially arranged on the climbing mechanism, and the stretching mechanism is used to drive the shell to climb over stairs of different heights, wherein the climbing mechanism is arranged on both sides of the extension mechanism. Through the above technical solution, the problem that traditional robots in the prior art are difficult to operate automatically when encountering road conditions with both flat and stepped roads is solved.

[0004] Based on the above patent, most robots on the market usually use ordinary wheels as moving parts when they are running. This structure can run quickly and efficiently on flat roads and has high maneuverability and flexibility. However, when encountering complex terrain such as stairs, the contact area between ordinary wheels and the stair surface is small and the contact points are limited, resulting in insufficient friction. It is difficult for the robot to obtain sufficient driving force to climb the stairs, and it may even slip, overturn and other dangerous situations, which seriously limit the robot's range of activities and application scenarios. Although some robots designed for stair environments have certain climbing capabilities, when climbing stairs, the robot needs to overcome the influence of its own gravity and the slope of the stairs, and the problem of center of gravity offset is more prominent. Once the center of gravity offset is too large, the robot is likely to roll over or overturn, which will not only cause damage to the robot itself, but may also cause harm to the surrounding environment and personnel. For this reason, the present invention provides a robot that can run smoothly and automatically on flat and stair surfaces. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a robot that can operate smoothly and automatically on flat and stepped surfaces. It solves the problem that although some robots designed for stair environments have certain climbing capabilities, when climbing stairs, the robots need to overcome the influence of their own gravity and the slope of the stairs, and the problem of center of gravity offset is more prominent. Once the center of gravity offset is too large, the robot is likely to roll over or overturn, which will not only cause damage to the robot itself, but may also cause harm to the surrounding environment and personnel.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A robot capable of smooth and automatic operation on flat and stepped surfaces, comprising a robot frame body, a transport container body being provided at the upper end of the robot frame body, and an operating mechanism for use on the ground and stairs being provided on the robot frame body, the operating mechanism comprising:

[0007] The switching assembly includes a front wheel provided at the front end of the robot frame body and connected by an adjustment assembly, a first conveying bracket provided on both sides of the robot frame body, a first conveying crawler provided on the outer side of the first conveying bracket, a second conveying bracket provided on the side wall of the first conveying bracket and connected by a pushing assembly, and a second conveying crawler provided on the outer wall of the second conveying bracket;

[0008] The stabilizing component includes a slide rail bracket arranged on the inner wall of the robot frame body, a counterweight block connected by a threaded component is arranged inside the slide rail bracket, fixed blocks are fixed to the two side walls of the robot frame body, a mounting block connected by a drive component is arranged inside the fixed block, and a support wheel connected by a telescopic component is arranged inside the mounting block.

[0009] Preferably, the adjustment component includes a first electric push rod rotatably connected to the robot frame body at one end thereof through a rotating shaft, a pair of first movable rods rotatably connected to the robot frame body at the lower end thereof, the front wheel is located at one end of the first movable rod and is rotatably connected to the first connecting rod, the inner wall of the first movable rod is rotatably connected to the first connecting rod, and the telescopic end of the first electric push rod is rotatably connected to the outer wall of the first connecting rod through the rotating shaft.

[0010] Preferably, the other end of the robot frame body is provided with a second electric push rod rotatably connected via a rotating shaft, the lower end of the rear side wall of the robot frame body is provided with a second movable rod rotatably connected via a rotating shaft, one end of the second movable rod is provided with a rear wheel, the inner wall of the second movable rod is rotatably connected to the second connecting rod, and the telescopic end of the second electric push rod is rotatably connected to the second connecting rod via the rotating shaft.

[0011] Preferably, the pushing assembly includes a mounting bracket arranged on the side wall of the first conveying bracket, a fourth electric push rod rotatably connected to the lower end face of the mounting bracket is provided with a rotating shaft, a support shaft is provided on one side of the side wall of the first conveying bracket, the second conveying bracket is located at the other end of the support shaft and is rotatably connected, and the output end of the fourth electric push rod is rotatably connected to the second conveying bracket.

[0012] Preferably, the threaded assembly includes a screw rod rotatably connected inside the slide rail bracket, the counterweight block is located on the inner wall of the slide rail bracket and is slidably connected, and the counterweight block is threadedly connected to the screw rod.

[0013] Preferably, a pair of positioning slide bars are fixed to the inner wall of the slide rail bracket, and the positioning slide bars are slidably connected to the counterweight block.

[0014] Preferably, the driving assembly includes a micro motor fixed inside a fixing block, and the mounting block is fixedly connected to an output end of the micro motor.

[0015] Preferably, the telescopic assembly includes a third electric push rod fixed inside the mounting block, and the support wheel is located at the output end of the third electric push rod.

[0016] Beneficial effects

[0017] The present invention provides a robot that can operate smoothly and automatically on flat and stepped surfaces. Compared with the existing technology, it has the following advantages:

[0018] First, the present invention adjusts the front and rear wheels through the adjustment component, so that the robot can flexibly adjust the position and angle of the wheels according to different ground and stair conditions, adapt to a variety of complex terrains, and improve the robot's passability and operating flexibility. The pushing component can realize the deployment and retraction of the second conveyor track. When on a stepped road, the second conveyor track is deployed to increase the contact area with the stairs, improve the robot's operating stability and passability on the stairs, and expand the robot's usage scenarios. Controlling the angle of the second conveyor track can better contact the stairs and adapt to stairs of different heights. Through adaptability, the track has a larger contact area with the stair surface than ordinary wheels. When climbing stairs, a larger contact area means that there are more contact points between the track and the stairs, which can generate greater friction.

[0019] Secondly, when the robot of the present invention is climbing the stairs, the screw inside the slide rail bracket rotates. Since the counterweight is threadedly connected to the screw and is slidably connected to the inner wall of the slide rail bracket and the positioning slide rod, the rotation of the screw will drive the counterweight to slide forward on the slide rail bracket, thereby adjusting the position of the counterweight to adjust the center of gravity of the robot, effectively preventing the risk of overturning due to center of gravity offset when climbing stairs, and improving the stability of the robot in complex terrain.

[0020] Third, when the robot encounters an uneven road surface on a plane or needs to enhance stability, the micro motor drives the mounting block to rotate, adjusts the support wheel to a suitable angle, and extends the third electric push rod to make the support wheel contact the ground, forming an additional support point, thereby improving the stability of the robot. In the process of climbing stairs, especially in the transition area of ​​the stair edge, the support wheel can extend to provide auxiliary support to prevent the robot from rolling over. The support wheel can flexibly adjust its position and angle through the drive assembly and the telescopic assembly, providing additional support points when needed, thereby enhancing the robot's anti-rollover ability on uneven roads or stair edges and improving overall safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the slide rail bracket structure of the present invention;

[0023] Figure 3 Schematic diagram of the front wheel connection structure of the present invention;

[0024] Figure 4 Schematic diagram of the rear wheel connection structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the support wheel structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the second conveyor belt connection structure of the present invention.

[0027] In the figure: 1. Robot frame body; 2. Transport container body; 3. First conveyor bracket; 301. First conveyor track; 4. Slide rail bracket; 401. Screw; 402. Counterweight; 403. Positioning slide; 5. First electric push rod; 501. First movable rod; 502. Front wheel; 503. First connecting rod; 6. Second electric push rod; 601. Second movable rod; 602. Rear wheel; 603. Second connecting rod; 7. Fixed block; 701. Micro motor; 702. Mounting block; 703. Third electric push rod; 704. Support wheel; 8. Mounting bracket; 801. Fourth electric push rod; 802. Second conveyor bracket; 803. Second conveyor track; 804. Support shaft. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figures 1-6 The present invention provides a technical solution: a robot capable of smooth and automatic operation on flat and stepped surfaces, comprising a robot frame body 1, a transport container body 2 being provided at the upper end of the robot frame body 1, and a running mechanism for use on the ground and stairs being provided on the robot frame body 1, the running mechanism comprising:

[0030] The switching assembly includes a front wheel 502 connected by an adjustment assembly at the front end of the robot frame body 1, a first conveying bracket 3 provided on both sides of the robot frame body 1, a first conveying crawler 301 provided on the outer side of the first conveying bracket 3, a second conveying bracket 802 connected by a pushing assembly provided on the side wall of the first conveying bracket 3, and a second conveying crawler 803 provided on the outer wall of the second conveying bracket 802;

[0031] The stabilizing component includes a slide rail bracket 4 arranged on the inner wall of the robot frame body 1, a counterweight block 402 connected by a threaded component is arranged inside the slide rail bracket 4, and fixed blocks 7 are fixed to the two side walls of the robot frame body 1. The interior of the fixed block 7 is provided with a mounting block 702 connected by a drive assembly, and the interior of the mounting block 702 is provided with a support wheel 704 connected by a telescopic assembly.

[0032] In a preferred embodiment, the adjustment component includes a first electric push rod 5 rotatably connected to the frame body 1 by a rotating shaft at one end of the robot frame body 1, a pair of first movable rods 501 rotatably connected to the frame body 1 by a rotating shaft at the lower end of the robot frame body 1, the front wheel 502 is located at one end of the first movable rod 501 and is rotatably connected, the inner wall of the first movable rod 501 is rotatably connected to the first connecting rod 503, the telescopic end of the first electric push rod 5 is rotatably connected to the outer wall of the first connecting rod 503 through the rotating shaft, the other end of the robot frame body 1 is provided with a second electric push rod 6 rotatably connected to the frame body 1 by a rotating shaft, the lower end of the rear side wall of the robot frame body 1 is provided with a second movable rod 601 rotatably connected to the frame body 1 by a rotating shaft, one end of the second movable rod 601 is provided with a rear wheel 602, the inner wall of the second movable rod 601 is rotatably connected to the second connecting rod 603, and the telescopic end of the second electric push rod 6 is rotatably connected to the second connecting rod 603 through the rotating shaft.

[0033] When the first electric push rod 5 is extended or retracted, since one end of the first electric push rod 5 is rotatably connected to the robot frame body 1 through a rotating shaft, the other end of the telescopic end is rotatably connected to the outer wall of the first connecting rod 503 through the rotating shaft, and the first connecting rod 503 is rotatably connected to the inner wall of the first movable rod 501, the lower end of the first movable rod 501 is rotatably connected to the front wheel 502 and the upper end is rotatably connected to the lower end of the robot frame body 1 through the rotating shaft, so the extension of the first electric push rod 5 will drive the first movable rod 501 to rotate around the rotating shaft with the robot frame body 1, thereby realizing the adjustment of the angle of the front wheel 502. Similarly, when the second electric push rod 6 is extended or retracted, it will drive the second movable rod 601 to rotate around the rotating shaft with the lower end of the rear side wall of the robot frame body 1, thereby adjusting the position of the rear wheel 602, so that the front wheel 502 and the rear wheel 602 contact the ground, forming a four-wheel support structure, so that the first conveyor crawler 301 is out of contact with the ground, and the robot is driven forward only by the front wheel 502 and the rear wheel 602 to realize flat walking.

[0034] When the second conveyor belt 803 is needed, the pushing assembly works and the fourth electric push rod 801 is extended and retracted. Since its lower end is rotatably connected to the mounting bracket 8 through a rotating shaft, the output end is rotatably connected to the second conveyor bracket 802, and the second conveyor bracket 802 is rotatably connected to the support shaft 804. The support shaft 804 is set on the side wall of the first conveyor bracket 3, so the extension and retraction of the fourth electric push rod 801 will push the second conveyor bracket 802 to rotate around the support shaft 804, so that the second conveyor belt 803 is unfolded or retracted to adapt to steps of different heights.

[0035] The fourth electric push rod 801 extends, pushing the second conveyor bracket 802 to rotate outward around the support shaft 804, so that the second conveyor belt 803 contacts the surface of the step. At the same time, the first electric push rod 5 and the second electric push rod 6 extend or contract appropriately to adjust the height of the front wheel 502 and the rear wheel 602, so that the overall posture of the robot adapts to the slope of the stairs. The first conveyor belt 301 and the second conveyor belt 803 work together to drive the robot to climb the stairs.

[0036] By adjusting the front wheels 502 and the rear wheels 602 through the adjustment component, the robot can flexibly adjust the position and angle of the wheels according to different ground and stair conditions, adapt to a variety of complex terrains, and improve the robot's passability and operational flexibility. The pushing component can realize the deployment and folding of the second conveyor belt 803. When on a stepped road, the second conveyor belt 803 is deployed to increase the contact area with the stairs, improve the robot's operational stability and passability on the stairs, and expand the robot's usage scenarios. Controlling the angle of the second conveyor belt 803 can better contact with the stairs, adapt to stairs of different heights, and improve adaptability.

[0037] In a preferred embodiment, the pushing assembly includes a mounting bracket 8 arranged on the side wall of the first conveying bracket 3, and the lower end face of the mounting bracket 8 is provided with a fourth electric push rod 801 rotatably connected through a rotating shaft, and the side wall of the first conveying bracket 3 is located on one side of the mounting bracket 8 and is provided with a support shaft 804, the second conveying bracket 802 is located at the other end of the support shaft 804 and is rotatably connected, and the output end of the fourth electric push rod 801 is rotatably connected to the second conveying bracket 802.

[0038] If the robot tends to tilt forward, the screw 401 rotates forward, driving the counterweight 402 to slide backward along the slide rail bracket 4, increasing the weight of the rear of the robot and balancing the center of gravity; conversely, if a backward tilt trend is detected, the screw 401 rotates reversely, causing the counterweight 402 to slide forward.

[0039] In a preferred embodiment, the threaded assembly includes a screw 401 that is rotatably connected inside the slide rail bracket 4, and the counterweight block 402 is located on the inner wall of the slide rail bracket 4 and is slidably connected, and the counterweight block 402 is threadedly connected to the screw 401. A pair of positioning slides 403 are fixed to the inner wall of the slide rail bracket 4, and the positioning slides 403 are slidably connected to the counterweight block 402 to ensure the sliding stability of the counterweight block 402. When the robot is climbing the ladder, the screw 401 inside the slide rail bracket 4 rotates. Since the counterweight block 402 is threadedly connected to the screw 401 and is slidably connected to the inner wall of the slide rail bracket 4 and the positioning slides 403, the rotation of the screw 401 will drive the counterweight block 402 to slide forward on the slide rail bracket 4, thereby adjusting the position of the counterweight block 402 to adjust the center of gravity of the robot, effectively preventing the risk of overturning due to center of gravity shift when climbing stairs, and improving the stability of the robot in complex terrain.

[0040] In a preferred embodiment, the drive assembly includes a micro motor 701 fixed inside the fixed block 7, the mounting block 702 is fixedly connected to the output end of the micro motor 701, the telescopic assembly includes a third electric push rod 703 fixed inside the mounting block 702, and the support wheel 704 is located at the output end of the third electric push rod 703. When the robot encounters an uneven road surface on a plane or needs to enhance stability, the micro motor 701 drives the mounting block 702 to rotate, adjusts the support wheel 704 to a suitable angle, and the third electric push rod 703 extends to make the support wheel 704 contact the ground, forming an additional support point to improve the stability of the robot. In the process of climbing stairs, especially in the transition area of ​​the step edge, the support wheel 704 can extend to provide auxiliary support to prevent the robot from rolling over. The support wheel 704 can flexibly adjust its position and angle through the drive assembly 701 and the telescopic assembly 703, providing additional support points when needed, enhancing the robot's anti-rollover ability on uneven roads or step edges, and improving overall safety.

[0041] The above-mentioned crawler belt rotates on the conveying bracket and is driven by the motor inside the conveying bracket, and the motor model is N30-050.

[0042] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0043] During operation, when walking on a flat surface, the first electric push rod 5 is extended and retracted, and through the rotational connection relationship between the first electric push rod 5 and the robot frame body 1, the first connecting rod 503, the first movable rod 501 and the front wheel 502, the first movable rod 501 is driven to rotate around the rotation axis with the robot frame body 1, so as to adjust the angle of the front wheel 502; similarly, the second electric push rod 6 is extended and retracted to drive the second movable rod 601 to rotate around the rotation axis with the lower end of the rear side wall of the robot frame body 1, so as to adjust the position of the rear wheel 602, so that the front wheel 502 and the rear wheel 602 contact the ground to form a four-wheel support structure, so that the first conveyor crawler 301 is out of contact with the ground, and the robot is driven forward only by the front wheel 502 and the rear wheel 602;

[0044] When it is necessary to climb the stairs, the pushing assembly works, the fourth electric push rod 801 extends, because its lower end is rotatably connected to the mounting bracket 8 through the rotating shaft, the output end is rotatably connected to the second conveying bracket 802, and the second conveying bracket 802 is rotatably connected to the support shaft 804, and the support shaft 804 is arranged on the side wall of the first conveying bracket 3, so the second conveying bracket 802 is pushed to rotate outward around the support shaft 804, so that the second conveying crawler 803 contacts the stair surface, and at the same time, the first electric push rod 5 and the second electric push rod 6 are appropriately extended or contracted to adjust the height of the front wheel 502 and the rear wheel 602, so that the overall posture of the robot adapts to the slope of the stairs, and the first conveying crawler 301 and the second conveying crawler 803 work together to drive the robot to climb the stairs, and by controlling the angle of the second conveying crawler 803, it can better adapt to stairs of different heights;

[0045] During operation, the stabilizing component plays a role. When the robot is climbing the stairs, the screw 401 inside the slide rail bracket 4 rotates. Since the counterweight 402 is threadedly connected to the screw 401 and is slidingly connected to the inner wall of the slide rail bracket 4 and the positioning slide 403, the rotation of the screw 401 drives the counterweight 402 to slide forward on the slide rail bracket 4, and the position of the counterweight 402 is adjusted to adjust the center of gravity of the robot to prevent it from overturning due to center of gravity shift when climbing stairs; when the robot encounters an uneven road surface on a plane or needs to enhance stability, the micro motor 701 drives the mounting block 702 to rotate and adjusts the support wheel 704 to a suitable angle. The third electric push rod 703 extends to make the support wheel 704 contact the ground to form an additional support point, and during the step climbing process, especially in the transition area of ​​the step edge, the support wheel 704 can extend auxiliary support to prevent the robot from tipping over.

[0046] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robot capable of running smoothly and automatically on a flat surface and a stepped surface, comprising a robot frame body (1), a transport container body (2) being provided at the upper end of the robot frame body (1), and characterized in that: The robot frame body (1) is provided with a running mechanism for use on the ground and stairs, and the running mechanism includes: A switching assembly comprises a robot frame body (1) having a front wheel (502) connected via an adjustment assembly provided at the front end thereof, first conveying brackets (3) provided on both sides of the robot frame body (1), a first conveying crawler (301) provided on the outer side of the first conveying bracket (3), a second conveying bracket (802) connected via a pushing assembly provided on the side wall of the first conveying bracket (3), and a second conveying crawler (803) provided on the outer wall of the second conveying bracket (802); The stabilizing assembly comprises a slide rail bracket (4) arranged on the inner wall of a robot frame body (1), a counterweight block (402) connected via a threaded assembly being arranged inside the slide rail bracket (4), fixed blocks (7) being fixed to both side walls of the robot frame body (1), a mounting block (702) connected via a drive assembly being arranged inside the fixed block (7), and a support wheel (704) connected via a telescopic assembly being arranged inside the mounting block (702).

2. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: The adjustment component comprises a first electric push rod (5) rotatably connected via a rotating shaft provided at one end of a robot frame body (1); a pair of first movable rods (501) rotatably connected via a rotating shaft provided at the lower end of the robot frame body (1); the front wheel (502) is located at one end of the first movable rod (501) and is rotatably connected; the inner wall of the first movable rod (501) is rotatably connected to a first connecting rod (503); and the telescopic end of the first electric push rod (5) is rotatably connected to the outer wall of the first connecting rod (503) via the rotating shaft.

3. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: The other end of the robot frame body (1) is provided with a second electric push rod (6) rotatably connected via a rotating shaft, the lower end of the rear side wall of the robot frame body (1) is provided with a second movable rod (601) rotatably connected via a rotating shaft, one end of the second movable rod (601) is provided with a rear wheel (602), the inner wall of the second movable rod (601) is rotatably connected to a second connecting rod (603), and the telescopic end of the second electric push rod (6) is rotatably connected to the second connecting rod (603) via the rotating shaft.

4. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: The pushing assembly includes a mounting bracket (8) arranged on the side wall of the first conveying bracket (3); a fourth electric push rod (801) rotatably connected via a rotating shaft is arranged on the lower end surface of the mounting bracket (8); a support shaft (804) is arranged on the side wall of the first conveying bracket (3) on one side of the mounting bracket (8); the second conveying bracket (802) is rotatably connected to the other end of the support shaft (804); and the output end of the fourth electric push rod (801) is rotatably connected to the second conveying bracket (802).

5. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: The threaded assembly comprises a screw (401) rotatably connected inside the slide rail bracket (4), a counterweight (402) is located on the inner wall of the slide rail bracket (4) and is slidably connected, and the counterweight (402) is threadedly connected to the screw (401).

6. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: A pair of positioning slide bars (403) are fixed to the inner wall of the slide rail bracket (4), and the positioning slide bars (403) are slidably connected to the counterweight block (402).

7. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: The driving assembly comprises a micro motor (701) fixed inside a fixing block (7), and the mounting block (702) is located at an output end of the micro motor (701) and fixedly connected thereto.

8. The robot capable of smooth and automatic operation on flat and stepped surfaces according to claim 1, characterized in that: The telescopic assembly comprises a third electric push rod (703) fixed inside the mounting block (702), and the supporting wheel (704) is located at the output end of the third electric push rod (703).

Images