Stair climbing device and cleaning system

Abstract

The invention provides a stair climbing device and a cleaning system, and relates to the technical field of stair climbing devices. The stair climbing device comprises a first climbing arm; the second crawling arm is rotationally connected with the first crawling arm; the second driving assembly is arranged in the first crawling arm, and the second driving assembly is used for driving the second crawling arm to swing relative to the first crawling arm; the angle detection system comprises a follower and an angle detection device; wherein the follower is in linkage with the second driving assembly, in the operation process of the second driving assembly, the follower can move along with the second driving assembly, and the angle detection device is configured to represent the swing angle of the second crawling arm by detecting the rotation angle of the follower. According to the stair climbing device provided by the embodiment of the invention, the problem that the user experience feeling is poor due to the fact that a stair climbing device in the related technology is complex in structure and large in size can be solved.

Description

Technical Field

[0001] This application relates to the field of stair climbing device technology, and more particularly to a stair climbing device and cleaning system. Background Technology

[0002] With the increasing diversification of residential housing types, duplex, split-level, and other types of housing are becoming more common, and stairs have become a common structure connecting different floors. However, many pieces of equipment are limited by their own mobility and cannot autonomously cross stair steps, thus restricting their operating range to a single-floor area. To solve this problem, a stair-climbing device has been provided in related technologies. This device can transport equipment across stair steps, thereby helping the transported equipment to move and operate between different floors.

[0003] However, stair-climbing devices in related technologies generally suffer from complex structures and bulky layouts, resulting in a typically large overall size. This directly creates objective storage problems, leading to a poor user experience. Summary of the Invention

[0004] This application provides a stair-climbing device and a cleaning system to solve the problem that stair-climbing devices in the above-mentioned related technologies have complex structures and large sizes, resulting in a poor user experience.

[0005] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0006] A first aspect of this application provides a stair-climbing device, comprising: a first climbing arm; a second climbing arm rotatably connected to the first climbing arm; a second drive assembly disposed within the first climbing arm, the second drive assembly being used to drive the second climbing arm to swing relative to the first climbing arm; and an angle detection system including a follower and an angle detection device. The follower is linked to the second drive assembly, and during the operation of the second drive assembly, the follower can follow the movement of the second drive assembly. The angle detection device is configured to characterize the swing angle of the second climbing arm by detecting the rotation angle of the follower.

[0007] The stair-climbing device provided in this application linkes the follower of the angle detection system with the second drive assembly that drives the second climbing arm. This allows the angle detection device to characterize the swing angle of the second climbing arm by detecting the rotation angle of the follower. Due to the linkage between the follower and the second drive assembly (e.g., the meshing transmission between the follower and the second output gear of the second drive assembly), the angle detection system can obtain the swing angle of the second climbing arm in real time and accurately, providing a reliable feedback signal for motion control during the stair-climbing process. By integrating the angle detection system onto the second drive assembly, multiple structures can be integrated together, thereby simplifying the overall structural layout, saving installation space, avoiding the problem of external detection components being susceptible to interference or damage, and improving the stability and durability of the angle detection system.

[0008] In addition, this detection method eliminates the need for additional detection elements at the joints of the second crawling arm, reducing structural complexity and assembly difficulty. At the same time, the high precision of gear transmission ensures the accuracy and consistency of angle detection, thereby effectively improving the motion control accuracy and terrain adaptability of the climbing device during the climbing process.

[0009] In one possible implementation, the second drive assembly includes a second motor and a second gear set; the input end of the second gear set is connected to the output end of the second motor, and the output end of the second gear set is connected to the second crawling arm; the second motor drives the second gear set to rotate, so that the second crawling arm swings relative to the first crawling arm; the follower is a gear, and any gear in the second gear set meshes with the follower.

[0010] By configuring the second drive component, which includes a second motor and a second gear set, the second motor provides the initial power, while the second gear set reduces speed, increases torque, and transmits the power to the output of the second motor. Through a well-designed gear ratio, the high-speed, low-torque output of the second motor can be effectively converted into the low-speed, high-torque required to drive the second climbing arm's swing. This ensures the climbing device has sufficient power to overcome gravity and frictional resistance, achieving smooth and powerful arm lifting and obstacle-crossing movements. It also helps to match the second motor's efficient operating range and optimize energy consumption.

[0011] By setting the follower as a gear and directly meshing it with any gear in the second gear set, a stable and precise mechanical linkage can be established. Since gear meshing transmission has a definite transmission ratio and no slippage, the rotation angle of the follower corresponds to the rotation angle of the gear meshing with it, thus forming a linear proportional relationship with the swing angle of the second crawler arm. This direct-meshing mechanical angle transmission scheme avoids the signal delay and interference problems that may exist with electronic detection methods such as sensors, significantly improving the reliability and anti-interference capability of the angle detection system. At the same time, the structure is simple and compact, requiring no complex circuits or signal processing units, which helps reduce system costs.

[0012] In one possible implementation, the second gear set includes a second output gear; the second output gear is the output end of the second gear set, and the second motor is used to drive the second output gear to rotate, thereby causing the second crawling arm to swing relative to the first crawling arm, and the follower meshes with the second output gear.

[0013] By directly engaging the follower with the second output gear, the swing angle of the second crawler arm can be directly represented. The rotational motion of the second output gear directly determines the swing amplitude of the second crawler arm; therefore, this method can most accurately and synchronously reflect the actual position of the second crawler arm. This eliminates errors present in the intermediate stages of the second gear set, improving detection accuracy.

[0014] In one possible implementation, the outer diameters of the follower and the second output gear are equal, so that the rotational speeds of the follower and the second output gear are equal during rotation.

[0015] By setting the follower and the second output gear to have the same outer diameter, they have the same pitch circle diameter during meshing, thus achieving a 1:1 constant velocity transmission. This ensures that the rotational angular velocity and rotational angle of the follower are completely consistent with those of the second output gear at any given time. This simplifies the angle conversion process (eliminating the need for multiplication or division by the transmission ratio), reduces the computational burden on the control system, and eliminates conversion errors that may be introduced by differences in transmission ratios. This ensures the absolute accuracy and high linearity of the final output result of the angle detection system, providing the most direct and reliable data foundation for the precise attitude control of the stair-climbing device.

[0016] In one possible implementation, the second drive assembly includes a second drive member and a transmission gear; the transmission gear is connected to the second crawling arm, and the second drive member drives the transmission gear to rotate, so that the second crawling arm swings relative to the first crawling arm; the follower is a gear, and the transmission gear meshes with the follower.

[0017] This configuration simplifies the structure of the second drive assembly, eliminating the need for multi-stage gear sets and significantly shortening the transmission chain. This not only reduces the number of parts, assembly complexity, and the probability of mechanical failure, but also minimizes angle feedback lag or error caused by accumulated gear backlash due to the reduced number of transmission links. The follower, by meshing with the transmission gear that directly drives the second crawler arm, can quickly and directly respond to angle changes, improving the response speed of the angle detection system and the overall reliability of the structure.

[0018] In one possible implementation, the outer diameters of the follower and the transmission gear are equal, so that the rotational speeds of the follower and the transmission gear are equal during rotation.

[0019] This configuration enables a 1:1 constant velocity meshing transmission between the follower and the transmission gear. This ensures complete synchronization between the rotation of the follower and the swing of the second climbing arm. The angle detection values ​​can be used directly without any transmission ratio conversion, reducing the computational burden on the control system. It also eliminates conversion errors that might be introduced by differences in transmission ratios, thus ensuring the absolute accuracy and linearity of the final output of the angle detection system. This provides the most direct and reliable data foundation for the precise attitude control of the stair-climbing device.

[0020] In one possible implementation, the angle detection device includes a controller and an angle sensor; wherein the controller is electrically connected to the angle sensor, the angle sensor is used to detect the rotation angle of the follower and generate a sensing signal, and the controller is used to receive the sensing signal and obtain the swing angle of the second crawling arm based on the sensing signal.

[0021] By incorporating an angle detection device that includes both an angle sensor and a controller, precise and automated measurement and control of the swing angle can be achieved. Specifically, the angle sensor directly detects the rotation angle of the follower and generates a sensing signal. The controller receives this signal, processes and converts it, thereby accurately obtaining the swing angle of the second climbing arm. This separates the detection of physical quantities from logical operations, allowing a dedicated controller to process the angle information. This not only improves the reliability and anti-interference capability of angle measurement but also provides a core data foundation for subsequent complex motion control (such as angle closed-loop control and attitude adaptive adjustment), greatly enhancing the intelligence and control precision of the stair-climbing device.

[0022] In one possible implementation, the angle sensor is a rotary encoder or a potentiometer.

[0023] By employing either a rotary encoder or a potentiometer as the angle sensor, optimized solutions can be provided for different application scenarios and accuracy requirements. If a rotary encoder (especially an absolute type) is used, it represents the angle by outputting a digital signal, offering high detection accuracy, no cumulative error, and strong anti-interference capabilities, making it suitable for control applications requiring precise positioning and high reliability. If a potentiometer is used, it reflects the angle through changes in resistance, offering a simple structure, low cost, and convenient output signal processing, meeting general accuracy detection needs. This flexibility allows the device to be configured flexibly according to different performance and cost objectives, enhancing the product's market adaptability.

[0024] In one possible implementation, the first crawling arm includes a first boom and a first track, with the first track surrounding the first boom; the second crawling arm includes a second boom and a second track, with the second track surrounding the second boom, and the second boom being rotatably connected to the first boom; the second output gear of the second drive assembly is drively connected to the second boom, and the second drive assembly is used to drive the second crawling arm to swing relative to the first crawling arm.

[0025] By configuring the first and second crawling arms with a structure consisting of a boom and tracks, the contact area with the stair treads can be increased through the tracks, providing strong traction and adhesion, effectively preventing slippage or loss of grip during stair climbing, and ensuring the stability and reliability of propulsion. By directly connecting the second output gear of the second drive assembly to the second boom drive to drive its swing, this structure, which directly applies the drive source to the rotating joint, has a short force transmission path, high efficiency, and a compact structure. It provides sufficient torque for raising and lowering the second crawling arm, ensuring powerful and smooth execution of the stair climbing action.

[0026] In one possible implementation, the first crawling arm and the second crawling arm are rotatably connected by a swing shaft; wherein the swing shaft passes through the first arm and is rotatably connected to the first arm; one end of the swing shaft is driven by a second output gear, and the other end is fixedly connected to the second arm; the second drive assembly drives the swing shaft to rotate through the second output gear, and the rotation of the swing shaft causes the second arm to swing relative to the first crawling arm.

[0027] This configuration creates a stable and reliable rotating hub. The second drive component drives the second output gear to rotate, which in turn drives the connected swing shaft to rotate synchronously. Finally, the swing shaft directly transmits torque to the second boom, causing it to swing. This shaft connection method not only ensures the structural strength and stability of the connection between the two crawler arms, enabling it to withstand the complex loads generated during stair climbing, but also rigidly connects the drive and actuator components, reducing backlash and energy loss in the intermediate transmission links. This makes the swing response of the second crawler arm more direct, precise, and efficient.

[0028] In one possible implementation, the second output gear is mounted on the swing shaft and is fixedly connected to the swing shaft.

[0029] By mounting the second output gear onto and fixing it to the swing shaft, this integrated design makes the second output gear and the swing shaft a rigid, synchronously rotating unit. This structure completely eliminates any relative rotation or slippage that may exist between the second output gear and the swing shaft, ensuring lossless and precise transmission of drive torque from the second output gear to the swing shaft, thereby avoiding control lag or angle errors caused by transmission backlash. Simultaneously, this fixed connection method is simple in structure, easy to assemble, and reliable in connection, effectively improving the rigidity and response speed of the entire drive system. It provides a stable and slip-free speed signal source for the angle detection system, further ensuring high precision in swing angle detection and control.

[0030] In one possible implementation, the second motor and the second gear set are connected by a worm gear transmission.

[0031] The second motor and the second gear set are driven by a worm gear mechanism. This mechanism allows for a large reduction ratio with a single-stage transmission and has a compact structure, contributing to the miniaturization of the entire second drive assembly. Furthermore, the transmission between the worm gears is irreversible; the worm can drive the worm wheel, but the worm wheel can hardly drive the worm in the reverse direction. This characteristic ensures that when the second motor stops working, the second climbing arm can be reliably locked in its current position, preventing accidental swinging or falling due to external forces or its own weight. This achieves a highly efficient self-locking function, significantly improving the safety and stability of the climbing device when paused or stationary on stairs.

[0032] In one possible implementation, the first crawling arm is provided with two second crawling arms, which are respectively located at both ends of the extension direction of the first crawling arm; each second crawling arm corresponds to a second drive component; each second crawling arm corresponds to an angle detection system; the angle detection system is configured to independently detect the swing angle of each second crawling arm.

[0033] By setting a second crawling arm at each end of the first crawling arm, and configuring each second crawling arm with an independent second drive assembly and an angle detection system, independent control of the two second crawling arms is achieved. This structure allows the two second crawling arms, located in front of and behind (or left and right) the stair climbing device, to swing independently at different angles and in different sequences according to the actual terrain requirements. Combined with the real-time and precise boom posture feedback provided by their respective independent angle detection systems, the controller can achieve refined and differentiated collaborative control of the two second crawling arms. This enables the stair climbing device to flexibly adapt to asymmetrical or complex stair environments (such as stair turns and irregular steps), optimizing the center of gravity distribution and force application points by adjusting the swing posture of the front and rear arms, thereby significantly improving the stair climbing's passability, stability, and intelligent adaptability.

[0034] A second aspect of this application provides a cleaning system, including a base station, cleaning equipment, and a stair-climbing device as described in any of the first aspects above. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a stair-climbing device provided in an embodiment of this application;

[0037] Figure 2 An exploded view of the first and second crawling arms of a stair-climbing device provided in an embodiment of this application;

[0038] Figure 2A This is a schematic diagram of the internal structure of the first arm of a stair-climbing device provided in an embodiment of this application;

[0039] Figure 3 A cross-sectional structural diagram of the connection between the first and second crawling arms of a stair-climbing device provided in an embodiment of this application;

[0040] Figure 4 A schematic diagram of the structure of the second drive component and the angle detection system of the drive system of a stair-climbing device provided in this application embodiment;

[0041] Figure 4A This is a partial structural schematic diagram of an angle detection system for a stair-climbing device provided in an embodiment of this application;

[0042] Figure 5A partial structural diagram of a first drive assembly and a first climbing arm of a stair-climbing device provided in an embodiment of this application;

[0043] Figure 6 This is a schematic diagram of the structure of a stair-climbing device provided in an embodiment of this application;

[0044] Figure 7 This is a cross-sectional structural diagram of a stair-climbing device provided in an embodiment of this application;

[0045] Figure 8 This is an exploded view of a partial structure of a stair-climbing device provided in an embodiment of this application.

[0046] Explanation of reference numerals in the attached figures:

[0047] 10-Stair climbing device;

[0048] 100 - Support plate; 120 - Reception space; 121 - Opening;

[0049] 200 - Top cover plate; 300 - First crawling arm; 310 - First boom;

[0050] 311 - Mounting hole; 320 - First track; 330 - Drive system;

[0051] 331-First drive assembly; 3311-First motor; 3312-First gear set;

[0052] 3313 - First output gear; 332 - Second drive assembly; 3321 - Second motor;

[0053] 3322 - Second gear set; 3323 - Second output gear;

[0054] 351-First driving synchronous pulley; 3511-Assembly part; 352-First driven synchronous pulley;

[0055] 360 - Swing shaft; 370 - End cap; 400 - Supply assembly;

[0056] 500 - Second crawling arm; 510 - Second boom; 511 - Connector;

[0057] 520 - Second track; 531 - Second drive timing pulley;

[0058] 5311 - Fitting part; 532 - Second driven synchronous belt pulley;

[0059] 830 - Angle detection system; 831 - Follower; 832 - Angle detection device. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] To address the problem that complex structures and bulky layouts of existing stair-climbing devices lead to storage difficulties and negatively impact user experience, this application provides a stair-climbing device and cleaning system. This device features a compact layout and small size for easy storage, solving the storage problem and improving user experience.

[0062] The stair-climbing device and cleaning system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0063] Figure 1 This is a schematic diagram of a stair-climbing device provided in an embodiment of this application.

[0064] It should be noted that, for ease of description, in this embodiment, the height direction of the stair-climbing device is taken as the z-direction, the first direction as the x-direction, and the second direction as the y-direction. In this embodiment, the first direction is the width direction of the stair-climbing device, and the second direction is the travel direction of the stair-climbing device.

[0065] This application provides a stair-climbing device 10 and a cleaning system. The stair-climbing device 10 can be used to move equipment to be moved. The equipment to be moved can be cleaning equipment, such as a sweeping robot, a floor-washing robot, a sweeping and mopping robot, an air-purifying robot, a window cleaning robot, a pool cleaning robot, or any other automated or semi-automated cleaning equipment that needs to operate or move across floors.

[0066] The following explanation uses a robotic vacuum cleaner as an example of the equipment to be moved.

[0067] like Figure 1 As shown, the stair-climbing device 10 may include a support plate 100, first climbing arms 300, second climbing arms 500, and a top cover plate 200. The support plate 100 is configured as the base plate of the stair-climbing device 10, and the bottoms of the two first climbing arms 300 are connected to both sides of the support plate 100 along a first direction (x direction). The top cover plate 200 is spaced apart from the support plate 100 along the z direction, and the top cover plate 200 is connected to the tops of the two first climbing arms 300. Two second climbing arms 500 are provided on the outer side of each first climbing arm 300, and the second climbing arms 500 are rotatably connected to the first climbing arms 300 so that the second climbing arms 500 can swing relative to the first climbing arms 300.

[0068] For example, both the first crawling arm 300 and the second crawling arm 500 can be tracked robotic arm structures. Through the tracked movement of the two first crawling arms 300 and the tracked movement of the second crawling arm 500, the entire stair-climbing device 10 and the sweeping robot housed therein can climb the stairs step by step. The first crawling arm 300 and the second crawling arm 500 can realize the autonomous climbing capability of the stair-climbing device 10, solving the working range limitations of traditional sweeping robots.

[0069] The support plate 100, the two first crawling arms 300, and the upper cover plate 200 together enclose a receiving space 120 for accommodating the robotic vacuum cleaner. The receiving space 120 includes an opening 121 for the robotic vacuum cleaner to enter, and a supply component 400 disposed opposite to the opening 121. The supply component 400 is configured to perform at least one maintenance operation on the robotic vacuum cleaner parked in the receiving space 120.

[0070] For example, the replenishment component 400 may include a charging interface, a clean water tank, a wastewater tank, and a dust collection bin, and is equipped with corresponding docking interfaces for automatically docking with the charging interface, clean water interface, wastewater interface, and air intake channel on the robot vacuum cleaner when it stops, to complete at least one of the following operations: charging, replenishing clean water, recycling wastewater, and emptying the dust collection bin. The receiving space 120 is equipped with a positioning guide rail or electromagnetic guidance device to guide the robot vacuum cleaner to drive into and precisely dock at a preset docking position, ensuring that its interface aligns with the interface of the replenishment component 400.

[0071] For example, the opening 121 of the containment space 120 is disposed opposite to the supply assembly 400 along a second direction (y direction), which is perpendicular to the first direction (x direction).

[0072] It should be noted that "the first direction (x-direction) is perpendicular to the second direction (y-direction)" means that the first direction (x-direction) and the second direction (y-direction) are approximately perpendicular within a certain margin of error. For example, the angle between the first direction (x-direction) and the second direction (y-direction) is 90° or close to 90°. For instance, angles between the first direction (x-direction) and the second direction (y-direction) of 85° to 90° and 90° to 95° can be considered perpendicular. For example, when the angle between the first direction (x-direction) and the second direction (y-direction) is 85°, 86°, 87°, 88°, 89°, 91°, 92°, 93°, 94°, or 95°, the first direction (x-direction) and the second direction (y-direction) are all perpendicular.

[0073] It should be noted that in the embodiments of this application, "orientation" refers to orientation in a broad sense and is not limited to a front-facing arrangement, and "away from" refers to away from in a broad sense and is not limited to a back-to-back parallel arrangement.

[0074] The stair-climbing device 10 provided in this application embodiment forms a multi-sided, one-end-opening reception space 120 by combining a support plate 100 and a stable chassis composed of two first crawling arms 300 with a top cover plate 200. This multi-sided layout can provide all-round safety protection for the sweeping robot and ensure the structural stability of the stair-climbing device 10 during the stair-climbing process.

[0075] By setting the opening 121 of the drive-in receiving space 120 opposite to the supply component 400 along the travel direction (y direction), the drive-in path of the sweeping robot and the maintenance docking path form a straight line, which can form an efficient "drive-in-maintenance-drive-out" workflow, optimize space utilization, and improve the efficiency and reliability of docking and docking.

[0076] Furthermore, the replenishment component 400 integrated at the end of the housing space 120 can function as a mobile base station, enabling the robot vacuum to receive timely charging and water replenishment support on any floor. In addition, this compact layout design, integrating protection, mobility, and replenishment, achieves functional integration of the cleaning system. Optimized structural space layout ensures miniaturization, allowing a single robot vacuum, along with the stair-climbing device 10, to clean the entire house, solving the problem of frequent moving and avoiding the economic burden of repeated purchases. Ultimately, this achieves a complete closed loop for smart home cleaning and a comprehensive improvement in user experience.

[0077] For example, the second crawling arm 500 is rotatably disposed on the side of the first crawling arm 300 away from the receiving space 120. That is, the second crawling arm 500 can swing relative to the first crawling arm 300, which can increase the obstacle-crossing ability of the stair-climbing device 10.

[0078] It should be noted that the number of second crawling arms 500 can be one, two, three, or four. In this embodiment, the number of second crawling arms 500 is not further limited.

[0079] For example, the stair climbing device 10 may include two second climbing arms 500, with a second climbing arm 500 connected to the outside of each first climbing arm 300.

[0080] For example, the stair climbing device 10 may include four second climbing arms 500, with two second climbing arms 500 connected to the outside of each first climbing arm 300.

[0081] By rotating at least one second crawling arm 500 on the side of the first crawling arm 300 away from the receiving space 120, a multi-stage crawling arm system is formed. The second crawling arm 500, as an extension and supplement to the first crawling arm 300, can coordinate its movements with the first crawling arm 300, sequentially grasping or supporting obstacles such as stair steps, providing the stair climbing device 10 with a longer crossing distance and more stable support points. This effectively enhances the obstacle-crossing ability and terrain adaptability of the stair climbing device 10, enabling it to cope with higher or more complex stair environments.

[0082] In this embodiment, there are four second crawling arms 500. Each first crawling arm 300 has two second crawling arms 500. The two second crawling arms 500 located on the same first crawling arm 300 are spaced apart along a second direction (y-direction). For example, the two second crawling arms 500 located on the same first crawling arm 300 are respectively located at both ends of the first crawling arm 300 along the second direction (y-direction).

[0083] By providing two second climbing arms 500 spaced apart along the second direction (y-direction) (perpendicular to the first direction (x-direction)) on each first climbing arm 300, this structure achieves significant optimization in obstacle-crossing stability. The two second climbing arms 500 form a wider support surface perpendicular to the climbing direction, acting like "feet" for the device, making the contact between the device and the steps more stable during climbing and effectively preventing lateral tipping of the stair-climbing device 10. This layout greatly enhances the lateral balance and grip of the stair-climbing device 10, ensuring higher reliability and safety when performing stair-climbing actions.

[0084] In the embodiments of this application, such as Figure 2 As shown, the stair-climbing device 10 may further include a drive system 330, which is used to drive the first climbing arm 300 and the second climbing arm 500 to move. The movement of the first climbing arm 300 refers to the movement of the tracks on the first climbing arm 300, and the movement of the second climbing arm 500 refers to the swinging of the second climbing arm 500 relative to the first climbing arm 300 and the movement of the tracks on the second climbing arm 500.

[0085] In one possible implementation, two second crawling arms 500 located on the same first crawling arm 300 can be driven independently. Independent driving here means that the oscillation relative to the first crawling arm 300 is driven independently. The spacing between the two second crawling arms 500 is configured so that when one second crawling arm 500 is in a retracted state, it does not cause motion interference with the other second crawling arm 500.

[0086] It should be noted that the "folded state" refers to the state in which the second crawling arm 500 rotates relative to the first crawling arm 300 to the side of the first crawling arm 300, and the extension direction of the second crawling arm 500 is the same as the extension direction of the first crawling arm 300. In other words, the second crawling arm 500 is in the folded state when it rotates to the point where its extension direction is parallel to the second direction (y direction).

[0087] By configuring the two second crawling arms 500 located on the same first crawling arm 300 as independently driven, and ensuring that the spacing between them does not interfere with each other when one is retracted, the flexibility and precision of the obstacle-crossing strategy are greatly improved. Independent drive allows each second crawling arm 500 to independently adjust its rotation angle and position according to the actual stair conditions, thus adapting to non-standard or uneven stairs. At the same time, sufficient spacing ensures that each second crawling arm 500 has independent movement space in the retraction and extension action sequence, avoiding movement interference between mechanisms and ensuring reliable execution of complex climbing actions.

[0088] In the embodiments of this application, such as Figure 2 and Figure 2A As shown, the drive system 330 is disposed within the first boom 310 and the second boom 510. The drive system 330 is used to drive the second crawler arm 500 to swing relative to the first crawler arm 300, and to drive the first track 320 and the second track 520 to move.

[0089] For example, the drive system 330 may include a first drive assembly 331 and a second drive assembly 332. The first drive assembly 331 is driveably connected to the first track 320 and the second track 520, and is used to drive the first track 320 and the second track 520 to move. The second drive assembly 332 is disposed within the first crawler arm 300 and the second crawler arm 500, and is driveably connected to the second boom 510, and is used to drive the second crawler arm 500 to swing relative to the first crawler arm 300.

[0090] By configuring the drive system 330 to include a first drive assembly 331 and a second drive assembly 332, the movement of the tracks and the swinging of the second boom 510 are driven independently, respectively. The first drive assembly 331 simultaneously drives the movement of the first track 320 and the second track 520, ensuring the synchronization of the speeds of the first track 320 and the second track 520 during the climbing process of the stair climbing device 10. This avoids slippage, jamming, or deviation of the travel trajectory caused by speed differences, and ensures the stability of straight-line travel and obstacle crossing.

[0091] By dedicating the second drive assembly 332 to driving the swing of the second crawling arm 500, the lifting angle can be flexibly adjusted according to the height of the stair steps. This functionally separated structure ensures that the movement of the stair climbing device 10 and the swing of the second crawling arm 500 do not interfere with each other. The control system of the stair climbing device 10 can independently and precisely adjust the movement speed and swing posture, thereby achieving flexibility and coordination in the stair climbing action.

[0092] Combination Figure 1 and Figure 2 As shown, the first crawling arm 300 may include a first boom 310 and a first track 320. The first track 320 is arranged around the first boom 310, and a portion of the structure of the first track 320 is exposed from the bottom of the first boom 310 so that the first track 320 contacts the ground.

[0093] For example, the first boom 310 may include a mounting cavity, and the first track 320 is movably disposed within the mounting cavity. The bottom of the mounting cavity is an open structure, allowing the first track 320 to contact the ground from the opening at the bottom of the first boom 310. The first boom 310 is provided with synchronous pulleys, two of which are spaced apart along the extension direction (i.e., the y-direction) of the first boom 310. The first track 320 wraps around the outside of the two synchronous pulleys. Rotation of the synchronous pulleys drives the first track 320 to move, thus enabling the stair-climbing device 10 to move.

[0094] In this embodiment, the two synchronous pulleys inside the first boom 310 are a first driving synchronous pulley 351 and a first driven synchronous pulley 352. The first driving synchronous pulley 351 can be driven to rotate, thereby driving the first track 320 to move, and the movement of the first track 320 drives the first driven synchronous pulley 352 to rotate.

[0095] like Figure 2 As shown, the second climbing arm 500 may include a second boom 510 and a second track 520, with the second boom 510 rotatably connected to the first boom 310. The second track 520 is disposed around the outside of the second boom 510. For example, the interior of the second boom 510 is provided with two synchronous pulleys for driving the second track 520. The two synchronous pulleys are spaced apart along the extending direction of the second boom 510, and the second track 520 is disposed around the outside of the two synchronous pulleys. Rotation of the synchronous pulleys can drive the second track 520 to move, thereby enabling the stair-climbing device 10 to move.

[0096] In this embodiment of the application, the two synchronous pulleys that cooperate with the second track 520 are the second driving synchronous pulley 531 and the second driven synchronous pulley 532, wherein the rotation of the second driving synchronous pulley 531 can drive the second track 520 to move, and the movement of the second track 520 can drive the second driven synchronous pulley 532 to rotate.

[0097] By configuring the first crawler arm 300 and the second crawler arm 500 with a structure consisting of a boom and tracks, the contact area with the stair treads can be increased through the tracks, providing strong traction and adhesion, effectively preventing slippage or loss of contact during stair climbing, and ensuring the stability and reliability of propulsion.

[0098] like Figure 3 As shown, the first crawling arm 300 and the second crawling arm 500 are rotatably connected via a swing shaft 360. The swing shaft 360 passes through and is rotatably connected to the first boom 310. One end of the swing shaft 360 is connected to a second drive assembly 332, and the other end is fixedly connected to the second boom 510. The second drive assembly 332 drives the swing shaft 360 to rotate, causing the second boom 510 to swing relative to the first crawling arm 300.

[0099] For example, continue to participate Figure 2 As shown, a mounting hole 311 can be provided on the first boom 310, and a bearing can be installed in the mounting hole 311. The swing shaft 360 passes through the inner ring of the bearing, and the outer ring of the bearing can be fixedly connected to the mounting hole 311.

[0100] Combination Figure 3 and Figure 4 As shown, the second boom 510 is provided with a connector 511 for fixed connection with the swing shaft 360. One end of the swing shaft 360 is machined into a flat shape to form an anti-rotation plane. This flat end mates with a corresponding flat hole or clamping part on the connector 511 and is fixed by fasteners (e.g., screws) or interference fit. This connection method ensures that there is no relative rotation between the swing shaft 360 and the connector 511, achieving circumferential positioning, thereby accurately transmitting the rotational motion of the swing shaft 360 to the connector 511.

[0101] Of course, in other embodiments, the swing shaft 360 and the second boom 510 can also be fixedly connected by means of interference fit, key connection, spline connection, pin connection, etc., so that the swing shaft 360 and the second boom 510 can rotate synchronously. In addition, the connection between the swing shaft 360 and the second boom 510 is detachable, which facilitates maintenance.

[0102] In some embodiments, the swing shaft 360 may be a single-piece molded part. In other embodiments, the swing shaft 360 may be composed of multiple shaft segments arranged coaxially and connected by couplings to facilitate assembly and processing.

[0103] This configuration creates a stable and reliable rotating hub. The rotation of the second drive assembly 332 drives the connected swing shaft 360 to rotate synchronously, and the swing shaft 360 directly transmits torque to the second boom 510, causing it to swing. This shaft connection method not only ensures the structural strength and stability of the connection between the two climbing arms, enabling it to withstand the complex loads generated during stair climbing, but also rigidly connects the drive and execution components, reducing backlash and energy loss in the intermediate transmission links, making the swing response of the second climbing arm 500 more direct, precise, and efficient.

[0104] It should be noted that the 360-degree swing shaft is not only a rotating component, but also a key torque transmission hub and structural load-bearing component.

[0105] In some embodiments, such as Figure 4 As shown, the second drive assembly 332 may include a second motor 3321 and a second gear set 3322. The input end of the second gear set 3322 is connected to the output end of the second motor 3321, and the output end of the second gear set 3322 is connected to the second crawling arm 500. The second motor 3321 drives the second gear set 3322 to rotate, so that the second crawling arm 500 swings relative to the first crawling arm 300.

[0106] For example, the second gear set 3322 may include a second output gear 3323 and a second input gear. The second input gear is the input end of the second gear set 3322, and the second output gear 3323 is the output end of the second gear set 3322. The second output gear 3323 is fixedly connected to the swing shaft 360. The output end of the second motor 3321 is driven by the second input gear. The second motor 3321 is used to drive the second input gear to rotate, and ultimately drives the second output gear 3323 to rotate through the transmission of the second gear set 3322.

[0107] In some embodiments, the second motor 3321 may be a brushed DC motor, a brushless DC motor, or a stepper motor, and may optionally integrate a speed reducer. In this application embodiment, the type of the second motor 3321 is not further limited.

[0108] The second climbing arm 500 is driven to swing by a fixed connection between the second output gear 3323 and the swing shaft 360. This establishes a direct and efficient swing drive path. The torque output by the second motor 3321 is reduced and amplified by the second gear set 3322, and then directly transmitted to the fixed swing shaft 360 via the second output gear 3323, thereby driving the second boom 510, which is fixed to the other end of the swing shaft 360, to swing. This direct drive method has a short force transmission chain, good structural rigidity, and rapid response, providing ample and precise torque for the lifting and lowering of the second climbing arm 500, ensuring powerful and precise climbing movements.

[0109] See also Figure 4 As shown, the stair-climbing device 10 may further include an angle detection system 830, which may include a follower 831 and an angle detection device 832. The follower 831 is linked to the second drive assembly 332. During the operation of the second drive assembly 332, the follower 831 can follow the movement of the second drive assembly 332. The angle detection device 832 is configured to characterize the swing angle of the second climbing arm 500 by detecting the rotation angle of the follower 831.

[0110] For example, such as Figure 4A As shown, an end cap 370 can be provided on the outside of the drive system 330. The end cap 370 is detachably connected to the first boom 310. The end cap 370 covers the outside of the transmission structure (e.g., gear) in the drive system 330 to prevent the transmission structure from being exposed and causing dust accumulation. An angle detection device 832 can be installed on the outside of the end cap 370. This angle detection device 832 corresponds to the follower 831 to detect the rotation angle of the follower 831.

[0111] For example, the end cap 370 has a recessed structure in which the angle detection device 832 is embedded, thus preventing wear on the angle detection device 832 during assembly or maintenance. The detachable connection (such as screw fastening or interference fit) between the swing shaft 360 and the second boom 510, as well as the detachable design of the end cap 370, makes the maintenance and replacement of the drive and detection modules convenient.

[0112] In some embodiments, a sealing ring may be provided at the joint between the end cap 370 and the first boom 310 to prevent dust and moisture from entering the drive system 330 and improve the dustproof and waterproof rating of the entire device.

[0113] The stair-climbing device 10 provided in this application embodiment links the follower 831 of the angle detection system 830 with the second drive assembly 332 that drives the second climbing arm 500. This allows the angle detection device 832 to characterize the swing angle of the second climbing arm 500 by detecting the rotation angle of the follower 831. Due to the linkage between the follower 831 and the second drive assembly 332 (e.g., the meshing transmission between the follower 831 and the second output gear 3323 of the second drive assembly 332), the angle detection system 830 can accurately and in real-time acquire the swing angle of the second climbing arm 500, providing a reliable feedback signal for motion control during the stair-climbing process. By integrating the angle detection system 830 onto the second drive assembly 332, multiple structures can be integrated together, simplifying the overall structural layout, saving installation space, and avoiding the problem of external detection components being susceptible to interference or damage, thus improving the stability and durability of the angle detection system 830.

[0114] In addition, this detection method eliminates the need for additional detection elements at the joints of the second crawling arm 500, reducing structural complexity and assembly difficulty. At the same time, the high precision of gear transmission ensures the accuracy and consistency of angle detection, thereby effectively improving the motion control accuracy and terrain adaptability of the climbing device during the climbing process.

[0115] In one possible implementation, the follower 831 can be a gear, and any gear in the second gear set 3322 can mesh with the follower 831. In this way, the rotation angle of the gear meshing with the follower 831 can be related to the swing angle of the follower 831. The rotation angle of any gear in the second gear set 3322 is related to the rotation angle of the second crawling arm 500. Therefore, by meshing the follower 831 with any gear in the second gear set 3322, the swing angle of the second crawling arm 500 can be characterized by the rotation angle of the follower 831.

[0116] By configuring the follower 831 as a gear and directly meshing it with any gear in the second gear set 3322, a stable and precise mechanical linkage can be established. Since gear meshing transmission has a definite transmission ratio and no slippage, the rotation angle of the follower 831 corresponds to the rotation angle of the gear meshing with it, thus forming a linear proportional relationship with the swing angle of the second crawler arm 500. This direct-meshing mechanical angle transmission scheme avoids the signal delay and interference problems that may exist with electronic detection methods such as sensors, significantly improving the reliability and anti-interference capability of the angle detection system. At the same time, the structure is simple and compact, requiring no complex circuits or signal processing units, which helps reduce system costs.

[0117] In some embodiments, the follower 831 meshes with the second output gear 3323 of the second drive assembly 332, and the second output gear 3323 is used to drive the second crawler arm 500 to swing.

[0118] By directly engaging the follower 831 with the second output gear 3323, the swing angle of the second crawler arm 500 can be directly represented. The rotational motion of the second output gear 3323 directly determines the swing amplitude of the second crawler arm 500. Therefore, this can most accurately and synchronously reflect the actual position of the second crawler arm 500. This can eliminate the errors in the intermediate transmission stages of the second gear set 3322 and improve the detection accuracy.

[0119] In one possible implementation, the outer diameters of the follower 831 and the second output gear 3323 are equal, so that the rotational speeds of the follower 831 and the second output gear 3323 are equal during rotation.

[0120] By setting the follower 831 and the second output gear 3323 to have the same outer diameter, they have the same pitch circle diameter during meshing transmission, thus achieving a 1:1 constant velocity transmission. This ensures that the rotational angular velocity and rotational angle of the follower 831 are completely consistent with those of the second output gear 3323 at any given time. This simplifies the angle conversion process (eliminating the need for multiplication or division by the transmission ratio), reduces the computational burden on the control system, and eliminates conversion errors that may be introduced by differences in transmission ratios. This ensures the absolute accuracy and high linearity of the final output result of the angle detection system, providing the most direct and reliable data basis for the precise attitude control of the stair-climbing device 10.

[0121] The above embodiments describe one implementation of the second driving component 332. In other embodiments, the second driving component 332 may be configured with other structures.

[0122] For example, the second drive assembly 332 may include a second drive member and a transmission gear (not shown in the figure). The second drive member may be a linkage mechanism, a sprocket drive mechanism, a pulley drive mechanism, etc. In this embodiment, the specific structure of the second drive member is not further limited.

[0123] A transmission gear is connected to the second crawling arm 500. The second driving member drives the transmission gear to rotate, causing the second crawling arm 500 to swing relative to the first crawling arm 300. For example, the transmission gear is fixedly connected to the swing shaft 360, and the connection relationship between the swing shaft 360 and the second crawling arm 500 is the same as in the above embodiment (fixed connection).

[0124] This configuration simplifies the structure of the second drive assembly 332, eliminates the need for multi-stage gear sets, and significantly shortens the transmission chain. This not only reduces the number of parts, assembly complexity, and the probability of mechanical failure, but also reduces the angular feedback lag or error caused by the accumulation of gear backlash due to the reduction in transmission links.

[0125] The follower 831 can be a gear, and the follower 831 meshes with the transmission gear. By meshing with the transmission gear that directly drives the second crawler arm 500, the follower 831 can quickly and directly respond to its angle changes, thereby improving the response speed of the angle detection system 830 and the reliability of the overall structure.

[0126] In the embodiments of this application, the outer diameters of the follower 831 and the transmission gear are equal, so that the rotational speeds of the follower 831 and the transmission gear are equal during the rotation process.

[0127] This configuration enables a 1:1 constant velocity meshing transmission between the follower and the transmission gear. This ensures complete synchronization between the rotation of the follower 831 and the swing of the second climbing arm 500. The angle detection value can be used directly without any transmission ratio conversion, reducing the computational burden on the control system. It also eliminates conversion errors that may be introduced by differences in transmission ratios, thus ensuring the absolute accuracy and linearity of the final output of the angle detection system, providing the most direct and reliable data foundation for the precise attitude control of the climbing device 10.

[0128] It should be noted that this embodiment only introduces one different implementation of the second drive component 332. The structure of the stair climbing device 10 other than the second drive component 332 is the same as the structure introduced in the above embodiment.

[0129] In one possible implementation, the angle detection device 832 may include a controller and an angle sensor. The controller is electrically connected to the angle sensor, which is used to detect the rotation angle of the follower 831 and generate a sensing signal. The controller is used to receive the sensing signal and obtain the swing angle of the second crawling arm 500 based on the sensing signal.

[0130] By incorporating an angle sensor and a controller into the angle detection device 832, precise and automated measurement and control of the swing angle can be achieved. Specifically, the angle sensor can directly detect the rotation angle of the follower 831 and generate a sensing signal. The controller receives the signal, processes and converts it, thereby accurately obtaining the swing angle of the second climbing arm 500. This separates the detection of physical quantities from logical operations, allowing a dedicated controller to process the angle information. This not only improves the reliability and anti-interference capability of angle measurement but also provides a core data foundation for subsequent complex motion control (such as angle closed-loop control and attitude adaptive adjustment), greatly enhancing the intelligence and control precision of the stair-climbing device 10.

[0131] For example, the angle sensor is a rotary encoder or a potentiometer.

[0132] By employing either a rotary encoder or a potentiometer as the angle sensor, optimized solutions can be provided for different application scenarios and accuracy requirements. If a rotary encoder (especially an absolute type) is used, it represents the angle by outputting a digital signal, offering high detection accuracy, no cumulative error, and strong anti-interference capabilities, making it suitable for control applications requiring precise positioning and high reliability. If a potentiometer is used, it reflects the angle through changes in resistance, offering a simple structure, low cost, and convenient output signal processing, meeting general accuracy detection needs. This flexibility allows the device to be configured flexibly according to different performance and cost objectives, enhancing the product's market adaptability.

[0133] It should be noted that each second climbing arm 500 corresponds to an angle detection system 830. The angle detection system 830 is configured to independently detect the swing angle of each second climbing arm 500. This allows the two second climbing arms 500 located in front of and behind (or to the left and right) the stair climbing device 10 to swing independently at different angles and in different sequences according to the actual terrain requirements. With the real-time and accurate boom posture feedback provided by their respective independent angle detection systems 830, the controller can achieve refined and differentiated collaborative control of the two second climbing arms 500. This enables the stair climbing device 10 to flexibly adapt to asymmetrical or complex stair environments (such as stair turns and irregular steps), optimizing the center of gravity distribution and force application points by adjusting the swing posture of the front and rear arms, thereby significantly improving the stair climbing passability, stability, and intelligent adaptability.

[0134] In one possible implementation, the second output gear 3323 is sleeved on the swing shaft 360 and is fixedly connected to the swing shaft 360.

[0135] For example, one end of the swing shaft 360 connected to the second output gear 3323 is machined into a flat shape, forming an anti-rotation plane. This flat end mates with a corresponding flat hole or clamping part on the second output gear 3323 and is fixed by fasteners (e.g., screws) or interference fit. This connection method ensures no relative rotation between the swing shaft 360 and the second output gear 3323, achieving circumferential positioning, thereby accurately transmitting the rotational motion of the second output gear 3323 to the swing shaft 360.

[0136] This configuration makes the second output gear 3323 and the swing shaft 360 a rigid, synchronously rotating unit. It eliminates the connection gap between the second output gear 3323 and the swing shaft 360, ensuring lossless transmission of the swing drive torque from the second output gear 3323 to the swing shaft 360. Improved transmission rigidity and response speed make the swing control of the second crawler arm 500 more direct and precise. Furthermore, the stable connection avoids impacts and errors during reversal caused by gaps, enhancing the smoothness and control accuracy of the entire swing process.

[0137] Of course, in other embodiments, the second output gear 3323 and the swing shaft 360 can also be fixedly connected by means of set screws, interference fits, key connections, spline connections, pin connections, etc., so that the second output gear 3323 and the swing shaft 360 can rotate synchronously. In addition, the connection between the second output gear 3323 and the swing shaft 360 is a detachable connection, which facilitates maintenance.

[0138] In this embodiment, the second motor 3321 and the second gear set 3322 can be connected by a worm gear transmission.

[0139] For example, the output end of the second motor 3321 is fixedly connected to the worm gear, and the second gear set 3322 may include a plurality of meshing gears, wherein the gear located at the output end of the second gear set 3322 is configured as the second output gear 3323, the gear located at the input end of the second gear set 3322 is configured as the second input gear, the second input gear may be a worm gear, and the output end of the second motor 3321 may be provided with a worm gear.

[0140] For example, multiple meshing gears can be provided between the second input gear and the second output gear 3323, wherein the rotation center axes of the multiple gears in the second gear set 3322 can be parallel to each other. In this embodiment, the number and structure of the gears between the second input gear and the second output gear 3323 are not further limited, and can be set as needed.

[0141] It should be noted that the structures of the multiple gears in the second gear set 3322 can be the same or different. In this embodiment, the structure of the multiple gears in the second gear set 3322 is not further limited.

[0142] Of course, in other embodiments, the second motor 3321 and the second gear set 3322 can also be connected by ordinary spur gears. In this embodiment, the driving method between the second motor 3321 and the second gear set 3322 is not further limited.

[0143] The second motor 3321 and the second gear set 3322 are driven by a worm gear. The worm gear mechanism has the ability to achieve a large reduction ratio with a single-stage transmission and has a compact structure, which is beneficial for the miniaturization of the entire second drive assembly 332. Furthermore, the transmission between the worm gear and worm is irreversible; that is, the worm can drive the worm wheel, but the worm wheel can hardly drive the worm in the reverse direction. This characteristic allows the second climbing arm 500 to be reliably locked in its current position when the second motor 3321 stops working, preventing accidental swinging or falling due to external forces or its own weight. This achieves a highly efficient self-locking function, greatly improving the safety and stability of the climbing device when it pauses or stops on the stairs.

[0144] In this embodiment, there are two second crawling arms 500. The two second crawling arms 500 are rotatably connected to both ends of the first arm 310 in the extending direction via corresponding swing shafts 360. Each second crawling arm 500 corresponds to one second drive assembly 332 (see...). Figure 2 (As shown). The swinging of the two second crawling arms 500 is independently driven by the second drive assembly 332 corresponding to the second crawling arm 500.

[0145] For example, a first crawling arm 300 is provided with two swing shafts 360. The two swing shafts 360 are arranged at opposite intervals at both ends of the first crawling arm 300 along the extending direction of the first crawling arm 300. Each swing shaft 360 is connected to a second crawling arm 500. The axial direction of the swing shaft 360 is perpendicular to the extending direction of the first crawling arm 300, where the extending direction of the first crawling arm 300 is a second direction (y-direction), and the axial direction of the swing shaft 360 is a first direction (x-direction).

[0146] Specifically, the second output gear 3323 in each second drive assembly 332 is fixedly connected to the corresponding swing shaft 360, and the corresponding swing shaft 360 is fixedly connected to the second boom 510 of the corresponding second crawling arm 500.

[0147] It should be noted that the structure, principle and arrangement of the second drive component 332 corresponding to each second crawling arm 500 are the same. Therefore, the structure of the second drive component 332 corresponding to different second crawling arms 500 can be referred to the description of the second drive component 332 in the above embodiments, and will not be repeated here.

[0148] By setting a second crawling arm 500 at each end of the first boom 310 and independently configuring a second drive assembly 332 for each second crawling arm 500, independent drive of the dual swing arms is achieved. This structure allows the two second crawling arms 500 located at the front and rear of the body to swing independently at different angles and in different sequences according to the actual stair terrain. This independent drive and control capability enables the stair climbing device to flexibly adapt to asymmetrical or complex stair environments. For example, by adjusting the lifting height and timing of the front and rear arms, the center of gravity distribution can be optimized to avoid the body tipping over, thereby significantly improving the passability, adaptability, and overall stability of the stair climbing process.

[0149] In this embodiment, each second crawler arm 500 corresponds to an angle detection system 830. The angle detection system 830 is configured to independently detect the swing angle of each second crawler arm 500. The follower 831 of each angle detection system 830 is meshed with the second output gear 3323 of the corresponding second drive assembly 332.

[0150] By setting a second crawling arm 500 at each end of the first crawling arm 300, and configuring a second drive assembly 332 and an angle detection system 830 independently for each second crawling arm 500, independent control of the two second crawling arms 500 is achieved. This structure allows the two second crawling arms 500 located in front of and behind (or left and right of) the stair climbing device 10 to swing independently at different angles and in different sequences according to the actual terrain requirements. With the real-time and accurate boom posture feedback provided by their respective independent angle detection systems 830, the controller can achieve refined and differentiated collaborative control of the two second crawling arms 500. This enables the stair climbing device 10 to flexibly adapt to asymmetrical or complex stair environments (such as stair turns and irregular steps), and optimize the center of gravity distribution and force points by adjusting the swing posture of the front and rear arms, thereby significantly improving the stair climbing passability, stability, and intelligent adaptability.

[0151] In the embodiments of this application, such as Figure 5 As shown, the first drive assembly 331 may include a first motor 3311 and a first gear set 3312. The first gear set 3312 may include a first output gear 3313, which is rotatably mounted on the swing shaft 360. A first driving synchronous pulley 351 is coaxially fixed to the first output gear 3313 and rotatably mounted on the swing shaft 360.

[0152] For example, a bearing is provided between the first output gear 3313 and the swing shaft 360, and the first output gear 3313 can be rotatably mounted on the swing shaft 360 via the bearing. Similarly, a bearing can also be provided between the first driving synchronous pulley 351 and the swing shaft 360 to achieve a coaxial rotational connection.

[0153] In some embodiments, the first driving synchronous pulley 351 and the first output gear 3313 can be fixedly connected by means of set screws, interference fits, key connections, spline connections, pin connections, etc., so that the first driving synchronous pulley 351 and the first output gear 3313 can rotate synchronously. Furthermore, the connection between the first driving synchronous pulley 351 and the first output gear 3313 is detachable, which facilitates maintenance. In the embodiments of this application, the connection method between the first driving synchronous pulley 351 and the first output gear 3313 is not further limited.

[0154] The first motor 3311 is used to drive the first output gear 3313 to rotate. The rotation of the first output gear 3313 drives the first active synchronous pulley 351 to rotate. The rotation of the first active synchronous pulley 351 drives the first track 320 to move.

[0155] By rotatably connecting the first output gear 3313 and the first drive synchronous pulley 351 to the swing shaft 360, both the first output gear 3313 and the first drive synchronous pulley 351 can be loosely fitted onto the swing shaft 360. This decouples the drive system 330 of the first track 320 from the swing system of the second boom 510 in terms of mechanical structure. The rotation of the swing shaft 360 only drives the second boom 510 to swing, without affecting the normal rotation of the drive gears and pulleys (first output gear 3313 and first drive synchronous pulley 351) of the first track 320. This coaxial nested layout greatly saves the internal space of the first boom 310, making the structure more compact, while ensuring the independence of the drive function of the first track 320. This allows the stair-climbing device 10 to continuously provide the first track 320 with the driving power while adjusting the attitude of the second climbing arm 500.

[0156] In some embodiments, the first motor 3311 and the first gear set 3312 are connected by a worm gear transmission. For example, the first gear set 3312 may include multiple gears, wherein the gear located at the output end of the first gear set 3312 is configured as the first output gear 3313, and the gear located at the input end of the first gear set 3312 is configured as the first input gear. The first input gear may be a worm gear, and the output end of the first motor 3311 may be provided with a worm.

[0157] For example, multiple meshing transmission gears can be provided between the first input gear and the first output gear 3313. In this embodiment, the number and structure of the transmission gears between the first input gear and the first output gear 3313 are not further limited, and can be set as needed.

[0158] Of course, in other embodiments, the first motor 3311 and the first gear set 3312 can also be connected by ordinary spur gears. In this embodiment, the driving method between the first motor 3311 and the first gear set 3312 is not further limited.

[0159] The first motor 3311 and the first gear set 3312 are driven by a worm gear. The worm gear mechanism has the ability to achieve a large reduction ratio with a single-stage transmission, and its compact structure effectively converts the high speed of the first motor 3311 into the large torque required for track drive. Furthermore, the transmission between the eddy current worms has a self-locking characteristic; that is, the worm can drive the worm wheel, but the worm wheel is unlikely to drive the worm in the opposite direction. This characteristic ensures that when the first motor 3311 stops supplying power, the first track 320 and the second track 520 are reliably locked, preventing the climbing device 10 from slipping on slopes or stairs due to its own weight, greatly improving safety when pausing or stopping during the climbing process.

[0160] Of course, in other embodiments, the first motor 3311 and the first gear set 3312 can also be connected by ordinary spur gears. In this embodiment, the driving method between the first motor 3311 and the first gear set 3312 is not further limited.

[0161] To optimize space utilization, the second drive assembly 332 and the first drive assembly 331 adopt a compact layout with axial offset. That is, some gear structures of the two drive assemblies are not completely aligned axially along the swing shaft 360, but rather partially occupy the same axial space. This effectively reduces the size of the transmission system, solves the problem of the bulky layout of the multi-drive system 330, and is conducive to the miniaturization and lightweight design of the equipment.

[0162] See Figure 6 As shown, the first drive component 331 is disposed close to the first active synchronous pulley 351, and the second drive component 332, located at the first active synchronous pulley 351, is disposed close to the first drive component 331.

[0163] Specifically, some gears of the second drive assembly 332 and some gears of the first drive assembly 331 are staggered in the axial direction of the swing shaft 360. This causes the two sets of gears to partially overlap in the axial direction, rather than being completely parallel, thereby significantly reducing the overall space occupied by the drive system 330 in the axial and radial directions, making the overall structure more compact and the layout more reasonable.

[0164] like Figure 7 As shown, the second driving synchronous pulley 531 is coaxially fixed with the first driving synchronous pulley 351 and rotatably mounted on the swing shaft 360. The first output gear 3313 and the second driving synchronous pulley 531 are located on opposite sides of the first driving synchronous pulley 351 along its axial direction.

[0165] In some embodiments, the first drive assembly 331 may also be connected to the second track 520 in a transmission manner, and the first drive assembly 331 is configured to drive the second track 520 to move.

[0166] like Figure 8 As shown, the first driving synchronous pulley 351 is provided with an assembly part 3511, and the second driving synchronous pulley 531 is provided with a mating part 5311 that cooperates with the assembly part 3511. The assembly part 3511 and the mating part 5311 are inserted into each other and fixedly connected by fastening screws.

[0167] For example, one of the assembly portion 3511 and the mating portion 5311 is a protruding structure, and the other is a recessed structure. In addition, the assembly portion 3511 and the mating portion 5311 may be provided with a plane for circumferential limiting to prevent relative rotation between the first driving synchronous pulley 351 and the second driving synchronous pulley 531.

[0168] It should be noted that the second driving synchronous pulley 531 and the first driving synchronous pulley 351 can be fixedly connected by means of set screws, interference fits, flat key connections, spline connections, pin connections, etc., so that the second driving synchronous pulley 531 and the first driving synchronous pulley 351 can rotate synchronously. In addition, the connection between the second driving synchronous pulley 531 and the first driving synchronous pulley 351 is detachable, which facilitates maintenance.

[0169] By simultaneously driving the first track 320 and the second track 520 with the first drive assembly 331, the two-stage climbing arms can provide forward or backward driving force synchronously during movement, ensuring consistent motion. This eliminates the need for a separate driving source for the second climbing arm 500, simplifying the mechanical structure and control system of the first drive assembly 331, reducing cost and complexity, while ensuring that all tracks of the climbing device 10 in contact with the steps provide effective propulsion during climbing.

[0170] In some embodiments, the first output gear 3313, the first active synchronous pulley 351, and the second active synchronous pulley 531 rotate synchronously.

[0171] By rigidly connecting and synchronously rotating the first output gear 3313, the first drive synchronous pulley 351, and the second drive synchronous pulley 531, the synchronicity and efficiency of power transmission can be ensured. The three components rotate as a whole, eliminating transmission backlash, allowing the power output from the first drive assembly 331 to be transmitted simultaneously to the drive wheels of the first track 320 and the second track 520 without delay or loss. This improves transmission efficiency, ensures that the two tracks have consistent linear speeds, provides a stable and reliable foundation for the stair-climbing device 10 to travel in a straight line, and greatly enhances its stability and controllability during stair climbing.

[0172] In one possible implementation, the first drive component 331 is configured to synchronously drive the first track 320 and the two second tracks 520.

[0173] For example, the first active synchronous pulley 351 and the first driven synchronous pulley 352 are spaced apart at both ends of the first boom 310 along the extension direction of the first boom 310. The rotation of the first active synchronous pulley 351 drives the first track 320 to move, and the movement of the first track 320 drives the first driven synchronous pulley 352 to rotate.

[0174] The two second crawling arms 500 include a first-side second crawling arm and a second-side second crawling arm. The second driving synchronous pulley 531 of the first-side second crawling arm is coaxially fixed with the first driving synchronous pulley 351 and rotatably sleeved on the swing shaft 360 corresponding to the second crawling arm 500. The second driving synchronous pulley 531 of the second-side second crawling arm is coaxially fixed with the first driven synchronous pulley 352 and rotatably sleeved on the swing shaft 360 corresponding to the second crawling arm 500.

[0175] It should be noted that the two second crawling arms 500 have the same structure, only their positions are different.

[0176] In this embodiment, the connection method between the first driven synchronous pulley 352 and the second driving synchronous pulley 531 is the same as the connection method between the first driving synchronous pulley 351 and the second driving synchronous pulley 531. Therefore, the connection method between the first driven synchronous pulley 352 and the second driving synchronous pulley 531 is not further limited.

[0177] By configuring the first drive assembly 331 to synchronously drive the first track 320 and the two second tracks 520, it is understood that all three tracks on one side of the entire stair-climbing device 10 are driven by a common power source and maintain strict linear velocity synchronization. This allows multiple tracks to be driven with only one set of motors and transmission mechanisms, significantly reducing manufacturing costs, weight, and power consumption.

[0178] Furthermore, this design prevents problems such as pulling, interference, or slippage between different tracks caused by asynchronous speed control of multiple motors, ensuring that the stair-climbing device 10 maintains a stable and consistent ground wire speed during travel and stair climbing, thus guaranteeing linear motion performance and obstacle-crossing coordination. Additionally, this design improves the utilization of space within the first boom 310, making its structure more compact.

[0179] This application also provides a cleaning system, including a base station, cleaning equipment, and a stair-climbing device 10 as described in any of the above embodiments. The base station is used to maintain the stair-climbing device 10, such as storing, charging, refilling water, and cleaning it. In this application embodiment, the structure and function of the base station are not further limited.

[0180] It should be noted that the cleaning equipment includes, but is not limited to, robotic vacuum cleaners, robotic floor scrubbers, robotic vacuum and mop combos, robotic air purifiers, robotic window cleaners, robotic pool cleaners, or any other automated or semi-automated cleaning equipment that needs to operate across floors or move.

[0181] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0182] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0183] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0184] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A stair-climbing device, characterized in that, include: First crawling arm; The second crawling arm is rotatably connected to the first crawling arm; A second drive component is disposed within the first crawling arm and the second crawling arm, and the second drive component is used to drive the second crawling arm to swing relative to the first crawling arm; An angle detection system includes a follower and an angle detection device. The follower is linked to the second drive assembly. During the operation of the second drive assembly, the follower can follow the movement of the second drive assembly. The angle detection device is configured to characterize the swing angle of the second crawling arm by detecting the rotation angle of the follower.

2. The stair-climbing device according to claim 1, characterized in that, The second drive component includes a second motor and a second gear set; The input end of the second gear set is connected to the output end of the second motor, and the output end of the second gear set is connected to the second crawling arm. The second motor drives the second gear set to rotate, so that the second crawling arm swings relative to the first crawling arm. The follower is a gear, and any gear in the second gear set meshes with the follower.

3. The stair-climbing device according to claim 2, characterized in that, The second gear set includes a second output gear; The second output gear is the output end of the second gear set. The second motor is used to drive the second output gear to rotate, thereby causing the second crawling arm to swing relative to the first crawling arm. The follower meshes with the second output gear.

4. The stair-climbing device according to claim 3, characterized in that, The outer diameters of the follower and the second output gear are equal, so that the rotational speeds of the follower and the second output gear are equal during rotation.

5. The stair-climbing device according to claim 1, characterized in that, The second drive assembly includes a second drive element and a transmission gear; The transmission gear is connected to the second crawling arm, and the second driving member drives the transmission gear to rotate, so that the second crawling arm swings relative to the first crawling arm; The follower is a gear, and the transmission gear meshes with the follower.

6. The stair-climbing device according to claim 5, characterized in that, The outer diameters of the follower and the transmission gear are equal, so that the rotational speeds of the follower and the transmission gear are equal during rotation.

7. The stair-climbing device according to claim 1, characterized in that, The angle detection device includes a controller and an angle sensor; wherein... The controller is electrically connected to the angle sensor, which is used to detect the rotation angle of the follower and generate a sensing signal. The controller is used to receive the sensing signal and obtain the swing angle of the second crawling arm based on the sensing signal.

8. The stair-climbing device according to claim 7, characterized in that, The angle sensor is a rotary encoder or a potentiometer.

9. The stair-climbing device according to claim 3, characterized in that, The first crawler arm includes a first boom and a first track, with the first track being arranged around the first boom; The second crawler arm includes a second boom and a second track, the second track being arranged around the second boom, and the second boom being rotatably connected to the first boom; The second output gear of the second drive assembly is connected to the second boom drive assembly, and the second drive assembly is used to drive the second crawling arm to swing relative to the first crawling arm.

10. The stair-climbing device according to claim 9, characterized in that, The first crawler arm and the second crawler arm are rotatably connected by a swing shaft; wherein, The swing shaft passes through the first boom and is rotatably connected to the first boom; One end of the swing shaft is connected to the second output gear for transmission, and the other end is fixedly connected to the second boom; The second drive component drives the swing shaft to rotate via the second output gear, and the rotation of the swing shaft causes the second boom to swing relative to the first crawling arm.

11. The stair-climbing device according to claim 10, characterized in that, The second output gear is sleeved on the swing shaft and is fixedly connected to the swing shaft.

12. The stair-climbing device according to claim 1, characterized in that, The first crawling arm is provided with two second crawling arms, which are respectively located at both ends of the first crawling arm in the extension direction. Each of the second crawling arms corresponds to one of the second drive components; Each of the second crawling arms corresponds to one of the angle detection systems; The angle detection system is configured to independently detect the swing angle of each of the second crawling arms.

13. A cleaning system, characterized in that, It includes base stations, cleaning equipment, and stair-climbing devices as described in any one of claims 1-12.

Images