Stair climbing mechanism and sampling robot

Abstract

The invention relates to the technical field of medical equipment, in particular to a stair climbing mechanism and a sampling robot, and the stair climbing mechanism comprises a stair climbing assembly with a mounting plane at the top; the two groups of supporting assemblies are respectively positioned on the mounting plane; the supporting assembly comprises a sliding piece arranged on the installation plane in a sliding mode, a connecting rod rotationally connected with the sliding piece and an installation assembly, and the bottom of the supporting assembly is rotationally connected with the connecting rod. The driving assembly comprises an air distribution piece arranged on the installation plane, an air inlet piece arranged on the installation plane and connected with the air distribution piece, and two telescopic pieces matched with the two ends of the air distribution piece. According to the stair climbing mechanism and the sampling robot, when the stair climbing assembly carries out stair climbing operation, the inclination state of the mounting assembly is changed through the supporting assembly, so that the gravity center of a heavy object on the mounting assembly is kept above the stair climbing assembly, and it is ensured that the stair climbing assembly does not turn over due to inclination of the gravity center.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, and in particular to a stair climbing mechanism and a sampling robot. BACKGROUND

[0002] After closed management for the epidemic, it is necessary to sample and detect the personnel in the closed area to timely discover and intervene in treatment. In view of the existing notification of personnel to fixed places for detection, a large number of personnel are required to participate in centralized detection work, which increases the burden and risk of the detected persons who belong to the old, weak, sick, disabled and pregnant, and also affects the normal work and study of the detected persons.

[0003] As disclosed in CN115256416A, a nucleic acid sampling robot capable of climbing stairs and a sampling method thereof, the personnel in the closed area are collected by the sampling robot, but the center of gravity of the sampling robot will tilt when it climbs the stairs, and the sampling robot is prone to overturning during the climbing process, resulting in damage of the sampling robot. SUMMARY

[0004] In view of the problem that the center of gravity of the existing sampling robot will tilt when it climbs the stairs, the present application is proposed.

[0005] Therefore, one of the purposes of the present application is to provide a stair climbing mechanism which can keep the center of gravity from deviating when it climbs the stairs.

[0006] To solve the above technical problems, the present application provides the following technical scheme: a stair climbing mechanism, comprising a stair climbing assembly having an installation plane at the top; two support assemblies are arranged on the installation plane; the support assembly comprises a sliding member slidingly arranged on the installation plane, a connecting rod rotatably connected with the sliding member, and a mounting assembly rotatably connected with the connecting rod at the bottom; a driving assembly comprising a gas distribution member arranged on the installation plane, an air inlet member arranged on the installation plane and connected with the gas distribution member, and two telescopic members matched with both ends of the gas distribution member; the two telescopic members are respectively connected with the two sliding members.

[0007] As a preferred scheme of the stair climbing mechanism and the sampling robot, the gas distribution member comprises a gas distribution box arranged on the installation plane, a gas channel penetratingly arranged in the gas distribution box, a sealing ball slidingly arranged in the gas channel, a transition cylinder arranged at both ends of the gas distribution box and communicated with the gas channel, and a guide pipe arranged on the transition cylinder; the flow direction of the gas in the gas channel and the moving direction of the stair climbing assembly are not 90°; the sealing ball and the end of the transition cylinder are in sealing cooperation with each other; the two guide pipes are respectively connected with the two telescopic members.

[0008] As a preferred scheme of the stair climbing mechanism and the sampling robot, the air duct is at an angle of 0° with the moving direction of the stair climbing assembly.

[0009] As a preferred scheme of the stair climbing mechanism and the sampling robot, the middle section of the air duct is provided with a containing point, and the height of the containing point is lower than the height of the two ends of the air duct.

[0010] As a preferred scheme of the stair climbing mechanism and the sampling robot, the air inlet member comprises an air pump arranged on the mounting plane and an air inlet pipe arranged between the air pump and the air duct.

[0011] As a preferred scheme of the stair climbing mechanism and the sampling robot, the air inlet pipe is a three-way pipe, one end of which is connected with the air pump, the other two ends of which are connected with the air duct, and the containing point is located between the two ends of the air inlet pipe.

[0012] As a preferred scheme of the stair climbing mechanism and the sampling robot, the telescopic member is connected with the transition cylinder and / or the mounting plane.

[0013] As a preferred scheme of the stair climbing mechanism and the sampling robot, the telescopic member comprises a first pipe communicated with the guide pipe, a second pipe slidingly arranged in the first pipe, and a push rod slidingly arranged in the second pipe and connected with the sliding member.

[0014] As a preferred scheme of the stair climbing mechanism and the sampling robot, the sliding member comprises a slide rod slidingly arranged on the mounting plane and connected with the push rod, and at least two connecting rods are rotatably arranged on the slide rod.

[0015] The stair climbing mechanism has the beneficial effect that when the stair climbing assembly is performing the stair climbing operation, the support assembly changes the inclination state of the mounting assembly, so that the gravity center of the heavy object on the mounting assembly is kept above the stair climbing assembly, and the stair climbing assembly will not overturn due to the inclination of the gravity center.

[0016] Another object of the present application is to provide a sampling robot capable of safely performing the stair climbing operation.

[0017] To solve the above technical problems, the present application provides the following technical scheme: a sampling robot comprising a stair climbing mechanism, further comprising a mechanical arm arranged on the mounting assembly, and a storage box arranged on the mounting assembly.

[0018] The sampling robot has the beneficial effects that: when sampling on the door, the mechanical arm is installed on the installation assembly, the climbing assembly climbs with the mechanical arm, the installation assembly is adjusted in the climbing process, the mechanical arm is kept horizontal, the center of gravity is kept above the climbing assembly, and the overturning is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 The overall schematic diagram of embodiment 1 is shown; Figure 2 The driving assembly schematic diagram of embodiment 2 is shown; Figure 3 The gas flow path schematic diagram of embodiment 2 is shown; Figure 4 The upstairs state schematic diagram of embodiment 2 is shown; Figure 5 The downstairs state schematic diagram of embodiment 2 is shown; Figure 6 The airway schematic diagram of embodiment 3 is shown; Figure 7 The overall schematic diagram of embodiment 4 is shown. DETAILED DESCRIPTION

[0021] In order to make those skilled in the art better understand the present application, the present application will be further described in detail below in combination with specific embodiments and drawings.

[0022] The terms used in the present application are those general terms currently widely used in the art in consideration of the functions about the present application, but these terms can be changed according to the intention of those skilled in the art, precedents or new technologies in the art. In addition, specific terms can be selected by the applicant, and in this case, the detailed meaning thereof will be described in the detailed description of the present application. Therefore, the terms used in the specification should not be understood as simple names, but based on the meaning of the terms and the overall description of the present application.

[0023] Embodiment 1, refer to Figure 1 As the first embodiment of the present application, a stair climbing mechanism is provided, which includes a climbing assembly 100, a support assembly 200, a driving assembly 400 of an installation assembly 300.

[0024] The climbing assembly 100 is a conventional tracked vehicle, and a mounting plane M is provided on the top of the climbing assembly 100 to provide a mounting platform for the supporting assembly 200.

[0025] The supporting assembly 200 is provided with two groups of supporting assemblies 200, and the two groups of supporting assemblies 200 are arranged on the mounting plane M. The supporting assembly 200 comprises a sliding member 201 arranged on the mounting plane M in a sliding manner. The mounting plane M is provided with a slot for the sliding of the sliding member 201. A connecting rod 202 is arranged on the sliding member 201 in a rotating manner.

[0026] The bottom of the mounting assembly 300 is arranged in a rotating manner with the connecting rod 202. The mounting assembly 300 is provided in a plate shape, and the surface of the mounting assembly 300 is used for the mounting of a transportation device. The two sliding members 201 are arranged at the two ends of the mounting plane M, and the connecting rods 202 connected with the two sliding members 201 are arranged in a rotating manner with the two ends of the mounting assembly 300.

[0027] In an initial state, the two sliding members 201 are close to each other, and the mounting assembly 300 is kept in a horizontal state. When one of the sliding members 201 slides along the mounting plane M, the corresponding connecting rod 202 pushes the mounting assembly 300, so that the end of the mounting plane M is inclined. The sliding direction of the sliding member 201 is parallel to the moving direction of the climbing assembly 100. When the climbing assembly 100 performs a climbing operation, the sliding of one of the sliding members 201 is controlled to drive the mounting assembly 300 to move, so that the mounting assembly 300 is kept in a horizontal state.

[0028] The driving assembly 400 comprises a gas distribution member 401 arranged on the mounting plane M, an air inlet member 402 arranged on the mounting plane M and connected with the gas distribution member 401, and two telescopic members 403 arranged at the two ends of the gas distribution member 401.

[0029] The two telescopic members 403 are connected with the two sliding members 201. The inside of the telescopic member 403 is filled with gas, so that the top of the telescopic member 403 is extended, and the sliding of the sliding member 201 is controlled. The telescopic member 403 can be made of an air bag.

[0030] The gas distribution member 401 can be a control valve connected with the telescopic member 403. The gas distribution member 401 is made of a gas pump 402a or a compressor. The gas is injected into the corresponding telescopic member 403 through the control valve, so that the sliding of the corresponding sliding member 201 is controlled.

[0031] During the climbing process of the climbing assembly 100, the telescopic member 403 with the telescopic direction opposite to the advancing direction starts to work when the climbing assembly 100 climbs up, and the telescopic member 403 with the telescopic direction same as the advancing direction starts to work when the climbing assembly 100 climbs down. During the climbing up and the climbing down, the mounting assembly 300 is kept in a horizontal state by the supporting member of the supporting assembly 200.

[0032] Embodiment 2, refer to Figures 2-5 For the second embodiment of the present application, which is different from the first embodiment, the air distribution member 401 includes an air distribution box 401a arranged on the mounting plane M, an air passage 401b arranged through the air distribution box 401a, a sealing ball 401c slidingly arranged in the air passage 401b, a transition cylinder 401d arranged at both ends of the air distribution box 401a and communicating with the air passage 401b, and a guide pipe 401e arranged on the transition cylinder 401d.

[0033] The flow direction of the gas in the air passage 401b is not 90° to the moving direction of the stair climbing assembly 100; preferably, the air passage 401b is arranged parallel to the mounting plane M, and when the stair climbing assembly 100 is tilted, the sealing ball 401c slides in the air passage 401b to move away from or close to one end of the stair climbing assembly 100.

[0034] The sealing ball 401c and the end of the transition cylinder 401d are in sealing cooperation with each other; when the sealing ball 401c rolls to the end in the air passage 401b, it will contact the transition cylinder 401d, thereby sealing the end of the transition cylinder 401d, so that the gas flow in the air inlet member 402 cannot enter the transition cylinder 401d through the sealing ball 401c.

[0035] The two guide pipes 401e are respectively connected with the two telescopic members 403, and the end in the advancing direction of the stair climbing assembly 100 is the front, and the other end is the tail; preferably, the telescopic direction of the telescopic member 403 is parallel to the moving direction of the stair climbing assembly 100.

[0036] When the stair climbing assembly 100 is tilted during the process of climbing upstairs, the sealing ball 401c seals with the transition cylinder 401d in the direction of the tail, at this time, the gas flow entering the air passage 401b will enter the telescopic member 403 in the telescopic direction opposite to the advancing direction from the transition cylinder 401d entering the front, through the corresponding guide pipe 401e, so that the mounting assembly 300 above the tail is tilted to keep horizontal.

[0037] When the stair climbing assembly 100 is tilted during the process of climbing downstairs, the sealing ball 401c seals with the transition cylinder 401d in the direction of the front, at this time, the gas flow entering the air passage 401b will enter the telescopic member 403 in the telescopic direction same as the advancing direction from the transition cylinder 401d entering the tail, through the corresponding guide pipe 401e, so that the mounting assembly 300 above the front is tilted to keep horizontal.

[0038] Preferably, the angle between the air passage 401b and the moving direction of the stair climbing assembly 100 is 0°.

[0039] The air inlet member 402 includes an air pump 402a arranged on the mounting plane M, an air inlet pipe 402b arranged between the air pump 402a and the air passage 401b, and the air pump 402a injects gas into the air passage 401b.

[0040] The telescopic piece 403 can be connected with the transition cylinder 401d, the telescopic piece 403 is installed at the end of the transition cylinder 401d, or the telescopic piece 403 is connected with the mounting plane M, at this time, the two telescopic pieces 403 can be staggered, the space at the gas distribution box 401a can be effectively utilized, and two-stage telescoping can be selected.

[0041] Further, the telescopic piece 403 can be selected to have multi-stage telescoping, the length of the mounting plane M occupied in the contracted state can be reduced, and a suitable telescoping mode can be selected according to specific conditions.

[0042] The present application provides a three-stage telescoping mode, the telescopic piece 403 comprises a first pipe 403a in communication with the guide pipe 401e, a second pipe 403b slidingly arranged in the first pipe 403a, and a push rod 403c slidingly arranged in the second pipe 403b and connected with the sliding piece 201.

[0043] Further, the sliding piece 201 comprises a slide rod 201a slidingly arranged on the mounting plane M and connected with the push rod 403c, and at least two connecting rods 202 are rotatably arranged on the slide rod 201a, and the plurality of connecting rods 202 can improve the stability of the mounting assembly 300.

[0044] When the stair climbing assembly 100 is inclined, the gas pump 402a injects gas into the gas distribution box 401a, and the gas can be introduced into the corresponding first pipe 403a and second pipe 403b through the transition cylinder 401d and the guide pipe 401e, the push rod 403c and the second pipe 403b are pushed out to control the slide rod 201a to move, so that the connecting rod 202 pushes the mounting assembly 300 to rotate, keeps relative horizontal, and improves the stability of the stair climbing.

[0045] The remaining structure is the same as that of the first embodiment.

[0046] Embodiment 3, refer to Figure 6 This is the third embodiment of the present application, which is different from the second embodiment: the middle section of the airway 401b is provided with a containing point N, the height of the containing point N is lower than the height of the two ends of the airway 401b, and when the stair climbing assembly 100 is horizontal, the sealing ball 401c can automatically return to the containing point N, and when the stair climbing assembly 100 is inclined, the sealing ball 401c can roll to the end of the airway 401b and contact and seal with the transition cylinder 401d.

[0047] The air inlet pipe 402b is a three-way pipe, one end of which is connected with the air pump 402a, the other two ends of which are connected with the air duct 401b, and the accommodation point N is located between the two ends of the air inlet pipe 402b; when the stair climbing assembly 100 is in a horizontal state, the sealing ball 401c is located at the accommodation point N, at this time, the air pump 402a injects air into the air duct 401b, and the air can pass through the two transition cylinders 401d and the guide pipe 401e to extend the two telescopic members 403 at the same time, thereby improving the height of the installation assembly 300.

[0048] The rest of the structure is the same as that of example 2.

[0049] Example 4, refer to Figure 7 As a fourth embodiment of the present application, the embodiment provides a sampling robot, which comprises a stair climbing mechanism, further comprising: a mechanical arm 500 arranged on the installation assembly 300; and a storage box 600 arranged on the installation assembly 300.

[0050] By climbing the stairs through the stair climbing assembly 100, the sampling robot can be moved to the entrance of the closed area personnel, and then the mechanical arm 500 automatically grabs the sampling test paper or sampling cotton swab inside the storage box 600 to collect and store again in the storage box 600, wherein the storage box 600 has multiple areas for placing different types of sampling materials.

[0051] The sampling robot can realize voice and text questioning and feedback of the state of the person to be sampled and the working state of the robot through the binocular 3D real sense depth camera, OLED display screen, microphone and sound card, power amplifier, sound box and handwriting input board carried on the body, realize bidirectional state notification of man / machine, so as to ensure the normal sampling work of man / machine.

[0052] The binocular 3D real sense depth camera carried on the body is used for face identity recognition of the person to be sampled, the identity of the person is determined, and the sampling scheme is determined according to the epidemic prevention and control and public security information associated with the identity (single detection for key personnel and mixed detection for ordinary personnel), and the detection resources are reasonably allocated.

[0053] The 5G communication intelligent module can also be carried on the body, which supports various communication systems of international mainstream, and only needs to insert a general telephone card to realize cellular data network communication. Real-time data exchange is carried out with the epidemic prevention big data, household registration and public security big data systems; the population number of the residence (room) and online intelligent identification of each person are completed, sampling and sample submission data are submitted in real time, remote monitoring and audio and video recording (if necessary) can also be realized based on the 5G communication platform; the detection telephone notice and on-duty time reminder are carried out for the person to be sampled; for the person who does not open the door on time, the telephone calling mode is used to "telephone knock", and the sampling efficiency is improved.

[0054] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced, without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A stair climbing mechanism, characterized by: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

2. The stair climbing mechanism of claim 1, wherein: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401). The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

3. The stair climbing mechanism of claim 2, wherein: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

4. A stair climbing mechanism according to claim 2 or 3, characterised in that: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

5. The stair climbing mechanism of claim 4, wherein: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

6. The stair climbing mechanism of claim 5, wherein: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

7. The stair climbing mechanism according to any one of claims 2, 3, 5, 6, wherein: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M) and connected to the gas distribution member (401), and two telescopic members (403) arranged at the two ends of the gas distribution member (401).

8. The stair climbing mechanism of claim 7, wherein: The utility model relates to a stair climbing device, which comprises a stair climbing assembly (100) having a mounting plane (M) at the top thereof, two support assemblies (200) arranged on the mounting plane (M), a mounting assembly (300) rotatably connected to the connecting rods (202), a driving assembly (400) comprising a gas distribution member (401) arranged on the mounting plane (M), an air inlet member (402) arranged on the mounting plane (M 9. The stair climbing mechanism of claim 8, wherein: The sliding piece (201) comprises a sliding rod (201a) slidingly arranged on the mounting plane (M) and connected with the push rod (403c), and at least two connecting rods (202) are rotationally arranged on the sliding rod (201a).

10. A sampling robot characterized by: The stair climbing mechanism comprises the stair climbing mechanism according to claim 1 or 9, further comprising: A mechanical arm (500) is arranged on the mounting assembly (300); and A storage box (600) is arranged on the mounting assembly (300).

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