A climbing device

Abstract

The present application provides a climbing device, which includes a first climbing component and a second climbing component. The first climbing component includes a first main body; the second climbing component is arranged on the first main body; the first climbing component and the second climbing component are distributed front and back in a climbing state, and the climbing length of at least one of the first climbing component and the second climbing component can be changed. The length of at least one of the first climbing component and the second climbing component can be changed, so that when the climbing device is in a climbing state, the length of the climbing device in the climbing state is increased, so that the stability of the climbing device when climbing can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a climbing device. Background Art

[0002] With the rapid development of intelligent technology, intelligent robots are widely used in different fields. For example, in the cleaning field, more and more cleaning robots are being developed to replace traditional manual cleaning methods, so as to gradually liberate consumers' hands and save cleaning time.

[0003] When the cleaning robot goes up and down stairs, it needs to use a climbing device to do so. However, the existing climbing devices are mostly two-section combined crawlers. The center of the two-section crawler main unit is far back, and the center of the whole is also far back, which makes it unstable when going up stairs and has poor stability when going up stairs. Utility Model Content

[0004] In view of this, the present application provides a climbing device, which solves the problem of poor stability of the climbing device when climbing stairs.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A climbing device, comprising:

[0007] A first climbing assembly includes a first body;

[0008] A second climbing assembly, arranged on the first body;

[0009] The first climbing assembly and the second climbing assembly are distributed front and back in a climbing state, and a climbing length of at least one of the first climbing assembly and the second climbing assembly can be changed.

[0010] Optionally, in a climbing state, the second climbing assembly is located in front of the first climbing assembly on a climbing path, and a climbing length of the first climbing assembly can be changed.

[0011] Optionally, the climbing length of the first climbing assembly is changed by telescoping relative to the first main body, and the first climbing assembly comprises:

[0012] A first climbing crawler, arranged on the first body;

[0013] The telescopic member is telescopically arranged on the first main body. When the telescopic member is extended relative to the first main body, the telescopic member is located at the rear side of the first main body on the climbing path.

[0014] Optionally, a driving component is provided on the first body, and the driving component is arranged on the first body through a fixing member, and drives the telescopic member through a transmission assembly to make the telescopic member telescope relative to the first body.

[0015] Optionally, a first guide structure is provided between the telescopic member and the first body to guide the telescopic member to extend and retract along a preset path;

[0016] And / or, the telescopic member is extended and retracted under the drive of a driving component, the driving component is arranged on the first main body through a fixing component, and a second guide structure is arranged between the telescopic member and the fixing component to guide the telescopic member to extend and retract along a preset path.

[0017] Optionally, a first main body slide groove for the telescopic part to move is provided on the first main body, and a first guide slide groove is provided on the side wall of the first main body slide groove, and the first guide slide groove is slidably matched with the side wall of the telescopic part to form a first guide structure, or, a first main body slide groove for the telescopic part to move is provided on the first main body, and a rolling assembly is provided on the side wall of the first main body slide groove, and the telescopic part is rollingly matched with the rolling assembly to form a first guide structure.

[0018] The fixing member is located at the bottom side of the telescopic member, a second guide slot is arranged on the fixing member, a reinforcing rib extending into the second guide slot is arranged on the bottom wall of the telescopic member, and the reinforcing rib is slidably matched with the second guide slot to form a second guide structure.

[0019] Optionally, two ends of the telescopic member in the telescopic direction are respectively a guide end and a connecting end, and:

[0020] In the extended state, the guide end extends from the first body and is substantially flush with the first climbing track;

[0021] The connecting end is located inside the first main body in both the extended state and the retracted state and has a blocking portion; a first limiting portion and a second limiting portion are provided inside the first main body, and in the extended state, the blocking portion is blocked by the first limiting portion to prevent the telescopic member from being excessively extended; in the retracted state, the blocking portion is blocked by the second limiting portion to prevent the telescopic member from being excessively retracted.

[0022] Optionally, a third limiting portion is provided on the top surface of the telescopic member, and a fourth limiting portion is provided on the top wall of the first main body slide groove of the first main body. When the telescopic member is subjected to force and contacts the top wall, the third limiting portion can block the fourth limiting portion to prevent the telescopic member from contracting.

[0023] Optionally, a fifth limiting portion is provided on the top wall of the first main body sliding groove of the first main body, and the fifth limiting portion limits the telescopic member in a direction away from the first climbing crawler.

[0024] Optionally, the second climbing component includes:

[0025] A second body is rotatably disposed on the first body and can be located in front of the first body or overlap with the first body on the climbing path by rotating;

[0026] The second climbing crawler is arranged on the second body.

[0027] The climbing device provided by the present application comprises a first climbing assembly and a second climbing assembly which are divided into front and rear parts in a climbing state, wherein the length of at least one of the first climbing assembly and the second climbing assembly can be changed, so that when the climbing device is in the climbing state, the length of the climbing device in the climbing state is increased, thereby improving the stability of the climbing device when climbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work. Figure 1 A side view of the climbing device provided in this embodiment in a first state;

[0029] Figure 2 is a side view of the climbing device in the second state;

[0030] Figure 3 for Figure 2 Sectional view at AA;

[0031] Figure 4 for Figure 3 A magnified view of point B;

[0032] Figure 5 A side view of the telescopic member of the climbing device when extended;

[0033] Figure 6 A side view of the climbing device in a first position when climbing stairs;

[0034] Figure 7 for Figure 6 Enlarged view of point C;

[0035] Figure 8 is a side view of the telescopic member;

[0036] Fig. 9 A side view of the climbing device in a second position when climbing stairs;

[0037] Fig.10 A side view of the climbing device in the third position when climbing stairs;

[0038] Fig.11 is a side view of the climbing device in the third state;

[0039] Fig.12 For another implementation Figure 2 Sectional view at AA;

[0040] Fig.13 for Fig.12 The enlarged view of point D;

[0041] Figure 14-Figure 21 It is a side view of the climbing device in different states when climbing stairs;

[0042] Figure 22-Figure 29 It is a side view of the climbing device in different states when going down the stairs;

[0043] Figure 30-Figure 35 It is a side view of different states of the object to be climbed being moved onto the climbing device;

[0044] Figure 36-Figure 39 The figures are side views of the climbing device in different states when the object to be climbed is removed from the climbing device.

[0045] Figure 1-Figure 39 middle:

[0046] 1-first climbing component, 2-second climbing component, 3-object to be climbed, 4-stairs;

[0047] 11-first main body, 12-first climbing crawler, 13-telescopic member, 14-driving member, 15-fixing member, 16-transmission assembly, 17-second guide structure, 21-second main body, 22-second climbing crawler, 41-lowest step, 42-highest step;

[0048] 111-first limiting portion, 112-second limiting portion, 113-fourth limiting portion, 114-first main body slide groove, 115-top wall, 116-first guide slide groove, 117-rolling assembly, 131-guide end, 132-connecting end, 133-third limiting portion, 161-rack, 162-gear, 171-second guide slide groove, 172-reinforcement rib;

[0049] 1321 - blocking part, 1171 - pin, 1172 - fixing pin, 1173 - roller, 1151 - fifth limiting part. DETAILED DESCRIPTION

[0050] The present application provides a climbing device and a method for climbing stairs applicable to the climbing device.

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] like Figure 1-Figure 39 As shown, the embodiment of the present application provides a climbing device for driving an object 3 to be climbed to climb stairs 4, so that the object 3 to be climbed can achieve an upstairs climbing action or a downstairs climbing action. The object 3 to be climbed can be an intelligent device such as a cleaning robot, and the cleaning robot is used to clean the floor surface to be cleaned. The climbing device mainly includes a first climbing component 1 and a second climbing component 2, wherein the first climbing component 1 is the main structure of the climbing device, and the first climbing component 1 includes a first main body 11, and the first main body 11 provides a placement position for the object 3 to be climbed, that is, the object 3 to be climbed is placed on the first main body 11, and the climbing device drives the object 3 to be climbed to climb stairs 4 together. Specifically, the second climbing component 2 is set on the first main body 11, and the climbing component has a climbing state and a non-climbing state. In the non-climbing state, the object 3 to be climbed moves to the first main body 11, and then the climbing device switches to a climbing state. At this time, the first climbing component 1 and the second climbing component 2 are distributed front and back, and the object 3 to be climbed is driven to climb stairs 4 under the cooperation of the first climbing component 1 and the second climbing component 2.

[0053] More importantly, the climbing length of at least one of the first climbing assembly 1 and the second climbing assembly 2 can be changed, so that when the climbing assembly drives the object to be climbed 3 to climb, the climbing length of the first climbing assembly 1 and the second climbing assembly 2 can be increased, so that in the climbing direction, the overall length of the first climbing assembly 1 and the second climbing assembly 2 will increase, thereby increasing the contact area between the first climbing assembly 1 and the second climbing assembly 2 and the stairs 4 as a whole, thereby improving the stability of the climbing assembly when climbing, so that the climbing assembly drives the object to be climbed 3 to climb more smoothly. In addition, when the climbing device is in a non-climbing state, the length of at least one of the first climbing assembly 1 and the second climbing assembly 2 is lengthened, and the object to be climbed 3 can be moved to the climbing assembly along the lengthened portion, so that the object to be climbed 3 can be conveniently moved to the climbing assembly, thereby improving the efficiency of moving and installing the object to be climbed 3. In the present application, the component with increased length of at least one of the first climbing assembly 1 and the second climbing assembly 2 is a telescopic member 13 (described below). The telescopic member 13 can extend the length of the climbing device in the climbing direction to improve the climbing stability when the climbing device is climbing. At the same time, the telescopic member 13 can also facilitate the movement of the object to be climbed 3 onto the climbing assembly.

[0054] Exemplarily, the climbing length of at least one of the first climbing assembly 1 and the second climbing assembly 2 can be changed, which includes that the climbing length of the first climbing assembly 1 can be changed, the climbing length of the second climbing assembly 2 can be changed, and the climbing length of both the first climbing assembly 1 and the second climbing assembly 2 can be changed.

[0055] It should be noted that the climbing length refers to the length of the first climbing component 1 and the second climbing component 2 in the climbing direction when the climbing device is in the climbing state. Fig.14 Middle arrow F and Fig. 22 The direction indicated by the arrow H in the middle, wherein the arrow F indicates the climbing direction of the climbing device when going upstairs, and the arrow H indicates the climbing direction of the climbing device when going downstairs.

[0056] In the present application, when the climbing device is in the climbing state, on the climbing path, the second climbing component 2 is located in front of the first climbing component 1, and the climbing length of the first climbing component 1 can be changed. Preferably, the length of the first climbing component 1 becomes longer toward the rear of the first climbing component 1 on the climbing path. In this way, when the climbing device drives the object to be climbed 3 up the stairs, when the climbing device moves to the highest step 42, and the second climbing component 2 located in the front has been moved out of the stairs 4 (see Fig.17), the lengthened first climbing assembly 1 will contact the highest step 42 and the second highest step from the bottom, which can ensure that the climbing device has at least two support points in contact with the stairs 4, thereby ensuring the stability of the climbing device when climbing. Accordingly, when the climbing device drives the object to be climbed 3 down the stairs, when the climbing device moves to the lowest step 41, and the second climbing assembly 2 located at the front side has been moved out of the stairs 4 (see Fig.24 ), the lengthened first climbing assembly 1 will contact the first step 41 and the second to last step, which can ensure that the climbing device has at least two supporting points in contact with the stairs 4, thereby ensuring the stability of the climbing device when climbing.

[0057] Furthermore, the length of the first climbing assembly 1 increases toward the rear side of the first climbing assembly 1 on the climbing path, which can also facilitate the movement of the object to be climbed 3 onto the climbing assembly in a non-climbing state.

[0058] In addition, in the climbing state, the second climbing assembly 2 is located behind the first climbing path on the climbing path, and the length of the second climbing assembly 2 can be changed. Such an arrangement can also ensure the stability of the climbing device when the climbing device drives the object to be climbed 3 to climb.

[0059] Furthermore, the first climbing assembly 1 includes a first climbing crawler 12 arranged on the first main body 11 and a telescopic member 13 which is telescopically arranged on the first main body 11. The climbing length of the first climbing assembly 1 is changed by telescoping relative to the first main body 11, so that when the length of the first climbing assembly 1 needs to be increased, the telescopic member 13 is extended from the first main body 11 of the first climbing assembly 1, and when the climbing action is finished, the telescopic member 13 is retracted into the first main body 11, and the length of the first climbing assembly 1 is changed by telescoping, which is simple to operate and has high efficiency in changing the length. Moreover, the length of the first climbing assembly 1 is changed by the telescopic member 13, so that the extended telescopic member 13 can be located on the extension line of the length direction of the first climbing assembly 1, and the telescopic member 13 is set as a ramp block, that is, one side of the telescopic member is in contact with the ground, and the other side is a ramp, and the ramp is so that the object 3 to be climbed can move along the ramp block to the first main body 11 of the first climbing assembly 1. In this way, the telescopic member 13 can be extended relative to the first main body 11 when the climbing device is in the climbing state to increase the length of the first telescopic assembly, and the telescopic member 13 is located at the rear side of the first main body 11 on the climbing path, so that when the climbing device climbs to the highest step 42 or the lowest step 41, the telescopic member 13 contacts the second-to-last highest step or the second-to-last lowest step of the stairs 4, thereby improving the stability of the climbing device when climbing; the telescopic member 13 can also be extended from the first main body 11 when the climbing device is in the non-climbing state, thereby facilitating the object 3 to be climbed to be moved to the first main body 11 through the telescopic member 13.

[0060] In addition, the telescopic member 13 can also change the climbing length of the first climbing component 1 by other means, for example: the telescopic member 13 changes the climbing length of the first climbing component 1 by folding; the telescopic member 13 changes the climbing length of the first climbing component 1 by rotating; the telescopic member 13 changes the length of the first climbing component 1 by a combination of at least two of telescoping, folding and rotating, etc.

[0061] Furthermore, the second climbing assembly 2 includes a second main body 21 and a second climbing crawler 22. The second main body 21 is the main part of the second climbing assembly 2. A retractable retractable component can also be arranged in the second main body 21. The climbing length of the second climbing assembly 2 is also changed by at least one of retracting, rotating or folding relative to the second main body 21. The second main body 21 is rotatably arranged on the first main body 11, and can be located in front of the first main body 11 or overlap with the first main body 11 on the climbing path by rotating. Specifically, when in a non-climbing state, the second main body 21 overlaps with the first main body 11, so that the length of the climbing device can be reduced in the non-climbing state and the space occupied by the climbing device can be reduced; when in a climbing state, the second main body is located in front of the first main body 11, so that the length of the climbing device is increased in the climbing state, thereby improving the stability of the climbing device when climbing. The second climbing crawler 22 is arranged on the second main body 21, and the second climbing crawler 22 cooperates with the first climbing crawler 12 to enable the climbing device to climb along the stairs 4 on the climbing path.

[0062] In some embodiments, see Figures 1 to 3 , a driving component 14 is arranged on the first body 11, and the driving component 14 can be a motor, a driving handle, etc. The driving component 14 is fixedly arranged on the first body 11, and drives the telescopic member 13 through the transmission assembly 16. The driving component 14 acts on the transmission assembly 16, thereby driving the telescopic member 13 to telescope relative to the first body 11, so as to achieve the change of the length of the first climbing crawler 12. Among them, the transmission assembly 16 includes a rack 161 fixedly arranged on the telescopic member 13 and a gear 162 connected to the driving component 14 in a transmission manner, and the gear 162 and the rack 161 are meshed. In this way, the driving component 14 drives the gear 162 to rotate, and the rack 161 will move relative to the gear 162, and the rack 161 is fixedly connected to the telescopic member 13, so that the telescopic member 13 will move synchronously with the rack 161, thereby achieving the telescopic member 13 relative to the first body 11. By setting the gear 162 and the rack 161 to realize the above-mentioned transmission, the transmission can be made more accurate and the telescopic member 13 can be telescoped more smoothly.

[0063] In addition, the driving component 14 and the transmission assembly 16 can also be other structures or be arranged in other ways. For example: the driving component 14 is a driving motor, the transmission assembly 16 is a screw slider structure, the driving component 14 is connected to the screw for transmission, and the slider is fixedly connected to the telescopic member 13; the driving component 14 is a hydraulic cylinder, a cylinder or the like structure, the transmission assembly 16 is a slider and a slide rail structure, the driving component 14 is connected to the slider, the transmission component is fixedly connected to the slider, and the driving component 14 pushes the slider to slide along the slide rail to realize the telescopic member 13 relative to the first body 11.

[0064] Furthermore, in order to ensure that the telescopic member 13 moves along a preset path, where the preset path is that the telescopic member 13 telescopes toward the rear side of the first body 11 on the climbing path, a guide structure is provided, and the number of guide structures is not limited here, and the guide structure may be one or more.

[0065] In this embodiment, an optional implementation is provided, in which a first guide structure (not shown in the figure) is provided between the telescopic member 13 and the first body 11 to guide the telescopic member 13 to telescope along a preset path. Figure 3 A first main body slide groove 114 is provided on the first main body 11, and the first main body slide groove 114 is slidably connected with the telescopic member 13. The side wall of the first main body slide groove 114 is a first guide slide groove 116. In this way, the first guide slide groove 116 cooperates with the side wall of the telescopic member 13 to form a first guide structure, so that the telescopic member 13 can be retracted according to a preset path. With such a configuration, the structure is simple, the guiding effect is stable, the layout of the first main body 11 is more compact, and the first guide structure realizes the guiding effect of roughly limiting the movement of the telescopic member 13. For another exemplary example, please refer to Figure 12 to Figure 13 , a first main body chute 114 is provided on the first main body 11, and a rolling assembly 117 is provided on the side wall of the first main body chute 114. The rolling assembly 117 is connected to the telescopic member 13 by rolling, so that the rolling assembly 117 forms a first guide structure by cooperating with the side wall of the telescopic member 13, so that the telescopic member 13 can be retracted according to a preset path. Specifically, the rolling assembly 117 includes a pin 1171, a fixed pin 1172 and a rolling path. The pin 1171 is protrudingly provided on the side wall of the main body chute, and a pin hole is provided on the pin shaft; one end of the fixed pin 1172 extends into the pin hole to be fixedly connected with the pin 1171, and the other end has a blocking structure; the roller 1173 is rotatably sleeved on the fixed pin 1172, and is located between the pin 1171 and the blocking portion 1321, so as to avoid being separated from the fixed pin 1172 under the blocking of the blocking structure. With such arrangement, the rolling assembly 117 and the telescopic member 13 cooperate to achieve a guiding function, and the friction force is small, so the extension and retraction speed of the telescopic member 13 can be increased, and the transmission stability is good.

[0066] In this embodiment, an optional implementation is provided. The telescopic member 13 is extended and retracted under the drive of the driving member 14. The driving member 14 is arranged on the first body 11 through the fixing member 15. A second guide structure 17 is arranged between the telescopic member 13 and the fixing member 15 to guide the telescopic member 13 to extend and retract along a preset path. Figure 4 , the second guide structure 17 is used to accurately guide the movement of the telescopic member 13. On the basis of setting the first guide structure, the second guide structure 17 is set, so that the telescopic member 13 can be more accurately telescoped and run smoothly through the cooperation of the first guide structure and the second guide structure 17. Specifically, the fixing member 15 is arranged on the bottom side of the telescopic member 13, and a second guide slot 171 is arranged on the fixing member 15, and a reinforcing rib 172 extending into the second guide slot 171 is arranged on the bottom wall of the telescopic member 13, and the second guide slot 171 and the reinforcing rib 172 are slidably connected, so that the reinforcing rib 172 and the second guide slot 171 cooperate to form the second guide structure 17, and the second guide structure 17 also plays a guiding role in the process of telescopic member 13 telescopic relative to the first body 11. Moreover, the reinforcing rib 172 can also enhance the structural strength of the telescopic member 13.

[0067] In this embodiment, only the first guide structure can be provided, only the second guide structure 17 can be provided, or both the first guide structure and the second guide structure 17 can be provided. When both the first guide structure and the second guide structure 17 are provided, the first guide structure is provided at both ends of the telescopic member 13 in the width direction, and the second guide structure 17 is provided in the middle of the telescopic member 13 in the width direction. In addition, a plurality of second guide structures 17 are provided and are evenly arranged in the width direction of the telescopic member 13. In this way, the first guide member and the second guide structure 17 cooperate to make the telescopic member 13 run more smoothly when it is telescoped in the preset direction, so that the telescopic member 13 can move more accurately in the preset direction. It should be noted that the width direction of the telescopic member 13 refers to Figure 3 The direction is indicated by the double-headed arrow X.

[0068] In some embodiments, see Figure 5 , Figure 8 and Fig.11The telescopic member 13 includes a guide end 131 and a connection end 132, and the guide end 131 and the connection end 132 are respectively located at two ends of the telescopic member 13 in the telescopic direction; when the telescopic member 13 is in the extended state, the guide end 131 extends from the first body 11, but the connection end 132 is located inside the first body 11, and the guide end 131 is substantially flush with the first climbing crawler 12, and the first climbing crawler 12 is located on the ground at this time, so that the telescopic member 13 in the extended state is convenient for the object to be climbed 3 to climb onto the first body 11 through the telescopic member 13. When the telescopic member 13 is in the retracted state, the guide end 131 and the connection end 132 are both located inside the first body 11. Specifically, the connection end 132 has a blocking portion 1321, and the first limiting portion 111 and the second limiting portion 112 are provided in the first body 11. Exemplarily, the first limiting portion 111 and the second limiting portion 112 are both blocks of the limiting blocking portion 1321. When the telescopic member 13 needs to be extended, the driving component 14 drives the telescopic member 13 to extend relative to the first body 11 through the transmission assembly 16, until one side of the blocking portion 1321 abuts against the first limiting portion 111, and the first limiting portion 111 blocks the blocking portion 1321 from continuing to extend outward, thereby avoiding excessive extension of the telescopic member 13; when the telescopic member 13 needs to be retracted, the driving component 14 drives the telescopic member 13 to be retracted relative to the first body 11 through the transmission assembly 16, and the telescopic member 13 moves into the first body 11, until the other side of the blocking portion 1321 abuts against the second limiting portion 112, and the second limiting portion 112 blocks the blocking portion 1321 from continuing to move into the first body 11, thereby avoiding excessive contraction of the telescopic member 13. Here, through the cooperation of the first limiting portion 111 and the second limiting portion 112 with the blocking portion 1321, the maximum extension position and the maximum contraction position of the telescopic member 13 are limited, the excessive extension and excessive contraction of the telescopic member 13 are avoided, and the limiting of the telescopic member 13 when moving is achieved.

[0069] It should be noted that, in the extended state, the guide end 131 and the first climbing crawler 12 are basically flush, wherein basically flush includes both that the guide end 131 and the first climbing crawler 12 are flush, and that there is a height difference between the guide end 131 and the first climbing crawler 12. Since the object 3 to be climbed is an intelligent device such as a cleaning robot and has the ability to move by itself, even if there is a height difference between the guide end 131 and the first climbing crawler 12, the object 3 to be climbed can be moved to the first main body 11 by extending the telescopic member 13.

[0070] It should be noted that the telescopic direction of the telescopic member 13 is Figure 5 The direction is indicated by the double-headed arrow Y.

[0071] When the climbing device climbs the stairs 4, the telescopic member 13 extends from the first body 11, and the telescopic member 13 abuts against the corners of the stairs 4. At this time, the stairs 4 will exert a supporting force on the telescopic member 13, which is decomposed into a thrust that pushes the telescopic member 13 into the first body 11, in order to prevent the telescopic member 13 from retracting into the first body 11 in the climbing state. Figure 6 and Figure 7 As shown, a third limiting portion 133 is provided on the top surface of the telescopic member 13, and the third limiting portion 133 is a convex block provided on the top surface of the telescopic member 13 and protruding toward the top of the first main body 11. A fourth limiting portion 113 is provided on the top of the first main body slide groove 114, and the fourth limiting block is a convex block provided on the top of the first main body 11 and protruding toward the telescopic member 13. When the telescopic member 13 is supported by the stairs 4 and contacts the top wall 115, the third limiting portion 133 and the fourth limiting portion 113 abut against each other, and the fourth limiting portion 113 will prevent the third limiting portion 133 from further shrinking into the first main body 11, thereby preventing the telescopic member 13 from shrinking into the first main body 11 in the climbing state.

[0072] It should be noted that the direction of the supporting force is Figure 6 The direction indicated by arrow E.

[0073] In some embodiments, Figure 2 and Fig.11 As shown, a fifth limiting portion 1151 is provided on the top wall 115 of the first main body chute 114 of the first main body 11, and the fifth limiting portion 1151 forms a limit on the telescopic member 13 in the direction away from the first climbing crawler 12. Whether the climbing device is in a climbing state or a non-climbing state, when the telescopic member 13 is in the telescopic state and the climbing device moves, the telescopic member 13 may shake in the direction perpendicular to the first climbing crawler 12, thereby affecting the user experience and easily causing damage to the telescopic member 13. The fifth limiting portion 1151 can limit the telescopic member 13 in the direction away from the first climbing crawler 12, thereby improving the stability of the telescopic member 13 during the movement of the climbing device. There is a gap between the fifth limiting portion 1151 and the telescopic member 13, or the fifth limiting portion is slidably connected to the telescopic member 13, that is, during the telescopic process of the telescopic member 13, the fifth limiting portion 1151 does not block the telescopic member 13.

[0074] Exemplarily, the fifth limiting portion 1151 can be a reinforcing rib structure, which can limit the telescopic member 13 in the direction away from the first climbing track 12 while also enhancing the strength of the top wall 115 structure of the first main body slide groove 114; the fifth limiting portion 1151 can also be a limiting plate or a limiting block structure.

[0075] It should be noted that the direction away from the first climbing crawler belt 12 refers to Figure 2 The direction indicated by the arrow Z.

[0076] A method for climbing stairs is applicable to any of the above climbing devices. Since the method for climbing stairs is applicable to the above climbing device, the beneficial effects of the method for climbing stairs brought by the climbing device can be found in the above content and will not be described in detail here.

[0077] The following discusses the method of climbing stairs 4 in two directions, namely, the climbing device performs an ascending action and a descending action.

[0078] When climbing up stairs, please refer to Figures 14 to 21 :

[0079] The first climbing crawler 12 and the second climbing crawler 22 of the climbing device are in contact with the stair 4 and climb upward along the stair 4. When it is detected that the second climbing component 2 on the front side of the first climbing component 1 climbs to the highest step 42, the driving component 14 is controlled to act on the transmission component 16, so that the telescopic member 13 is guided by the first guide structure and the second guide structure 17 to extend backward from the first body 11 according to a preset path. At this time, the telescopic member 13, the first climbing crawler 12 and the second climbing crawler 22 climb the stair 4 together, and the stair 4 provides an upward supporting force for the telescopic member 13, so that the third limiting portion 133 on the top surface of the telescopic member 13 abuts against the fourth limiting member on the top wall 115 of the first body slide groove 114, thereby preventing the telescopic member 13 from shrinking;

[0080] The climbing device continues to climb upward along the stair 4. When it is detected that the center of gravity of the first main body 11 has passed the highest step 42, the second climbing track 22 on the front side of the first climbing component 1 has passed the highest step 42. The first climbing track 12 and the telescopic member 13 are in contact with the stair 4. The second climbing component 2 is controlled to rotate in a clockwise direction until the first climbing track 12 and the second climbing track 22 are in contact with the tread of the last stair 4. The driving component 14 is controlled to act on the transmission component 16, so that the telescopic member 13 is retracted into the first main body 11 according to a preset path under the guidance of the first guide structure and the second guide structure 17. The second climbing component 2 is controlled to rotate in a counterclockwise direction to retract the second climbing component 2, and the climbing device completes the action of going upstairs.

[0081] When the climbing device is performing the downstairs action, please refer to Figures 14 to 29 :

[0082] The first climbing crawler 12 and the second climbing crawler 22 of the climbing device are in contact with the stair 4 and climb down along the stair 4. When it is detected that the second climbing component 2 on the front side of the first climbing component 1 climbs to the lowest step 41, the driving component 14 is controlled to act on the transmission component 16, so that the telescopic member 13 is guided by the first guide structure and the second guide structure 17 to extend backward from the first body 11 according to a preset path. At this time, the telescopic member 13, the first climbing crawler 12 and the second climbing crawler 22 climb the stair 4 together, and the stair 4 provides an upward supporting force for the telescopic member 13, so that the third limiting portion 133 on the top surface of the telescopic member 13 abuts against the fourth limiting member on the top wall 115 of the first body slide groove 114, thereby preventing the telescopic member 13 from shrinking;

[0083] The climbing device continues to climb down along the stair 4. When it is detected that the second climbing crawler 22 on the front side of the first climbing crawler 12 is in contact with the ground, the second climbing component 2 rotates clockwise. At this time, the end of the second climbing component 2 away from the first climbing component 1 is in continuous contact with the ground, and the first climbing crawler 12 and the telescopic member 13 are in contact with the stair 4. The climbing device continues to climb down. When it is detected that the first climbing crawler 12 is separated from the lowest step 41, the telescopic member 13 abuts against the lowest step 41, and the second climbing crawler 22 abuts against the ground. At this time, the second climbing component 2 is rotated clockwise and continues to rotate after passing the overlap position with the first body 11 until it is in contact with the ground with the second climbing crawler 22.

[0084] The second climbing component 2 is controlled to move forward on the ground so that the telescopic member 13 is separated from the lowest step 41, and the driving component 14 is controlled to act on the transmission component 16 so that the telescopic member 13 is retracted into the first main body 11 along a preset path under the guidance of the first guide structure and the second guide structure 17, thereby completing the descending action of the climbing device.

[0085] It should be noted that, during the process of the climbing device ascending the stairs 4, Fig. 9 and Fig.10 As shown, the length of the first climbing track 12 is L 1 The length of the second climbing track 22 is L 2 The sum of the lengths of the two steps must be greater than the total length of the hypotenuse L 3 , and leave a certain safety margin L 0 , where L 1 , L 2 , L 3 and L 0 Satisfy: That is L 1 +L 2 =L 3 +L 0 , where the total length of the hypotenuse is L 3 =640mm, safety margin L 0≥50mm, i.e. L 1 +L 2 ≥690mm.

[0086] Furthermore, when the first climbing assembly 1 reaches the last step, the second climbing assembly 2 has been separated from the stairs 4 and is now supported on the step edge by the first climbing crawler 12 and the telescopic member 13. If the climbing assembly is to stably cross the last step, the following conditions must be met: when the overall center of gravity crosses the last step edge, the telescopic member 13 is still supported on the second-to-last step and there is a certain safety margin L in length. 6 , that is, L 4 +L 5 =L 3 / 2+L 6 , where: L 3 / 2=320mm, safety margin L 6 ≥50mm, in this solution, the distance L between the center of gravity of the whole and the end of the first climbing crawler 12 close to the telescopic member 13 5 =200mm, so the extension length L of the telescopic member 13 4 ≥170mm. Otherwise, the center of gravity of the climbing device cannot pass over the last step and will fall backwards, posing a risk of falling.

[0087] Here, the executing entity for controlling the climbing device to climb the stairs 4 is not limited. For example, the executing entity of the climbing device can be the climbing device itself, that is, the climbing device transmits a signal to the object to be climbed 3, and the climbing device detects the positions of the first climbing component 1, the second climbing component 2, and the center of gravity of the climbing device and other parameters; the executing entity can also be the carried equipment of the climbing device, that is, the object to be climbed 3, that is, the object to be climbed 3 transmits a signal to the climbing device, and the object to be climbed 3 detects the positions of the first climbing component 1, the second climbing component 2, and the center of gravity of the climbing device and other parameters.

[0088] It should also be noted that when the climbing device performs the ascending and descending actions, the climbing length of the first climbing component 1 and / or the second climbing component 2 can be increased, that is, the first climbing component 1 can be telescoped in the first main body 11 by the telescopic member 13 to change the climbing length of the first climbing component 1; the second climbing component 2 can also be telescoped in the second main body 21 by the telescopic member 13 to change the climbing length of the second climbing component 2; while the first climbing component 1 is telescoped in the first main body 11 by the telescopic member 13 to change the climbing length of the first climbing component 1, the second climbing component 2 is telescoped in the second main body 21 by the telescopic member 13 to change the climbing length of the second climbing component 2.

[0089] It should also be noted that the center of gravity of the climbing device is Figures 14 to 19 The position shown in G.

[0090] The method for moving the climbing object 3 onto the climbing device is as follows: Figure 30 to Figure 35 :

[0091] The driving component 14 acts on the transmission assembly 16, so that the telescopic member 13 is extended from the first body 11 along a preset path under the guidance of the first guide structure and the second guide structure 17, until the telescopic member 13 is extended to the maximum limit position, that is, the blocking portion 1321 abuts against the first limit portion 111;

[0092] The object to be climbed 3 moves along the telescopic member 13 to the first body 11. When the object to be climbed 3 moves to the target position, the driving component 14 acts on the transmission assembly 16, so that the telescopic member 13 is guided by the first guide structure and the second guide structure 17 and retracts into the first body 11 along a preset path until the telescopic member 13 is retracted to the maximum limit position, that is, the blocking portion 1321 abuts against the second limit portion 112.

[0093] The second climbing assembly 2 rotates relative to the first climbing assembly 1, and the second climbing crawler 22 contacts the ground, so that the object to be climbed 3 located on the first body 11 is in a horizontal state, and the second climbing crawler 22 rotates to move the climbing device on the ground, completing the action of moving the object to be climbed 3 onto the climbing device.

[0094] The method for removing the climbing object 3 from the climbing device is as follows: Figure 36 to Figure 39 :

[0095] The second climbing assembly 2 rotates relative to the first climbing assembly 1, so that the first climbing crawler 12 of the first climbing assembly 1 abuts against the ground;

[0096] The driving component 14 acts on the transmission assembly 16, so that the telescopic member 13 is extended from the first body 11 along a preset path under the guidance of the first guide structure and the second guide structure 17, until the telescopic member 13 is extended to the maximum limit position, that is, the blocking portion 1321 abuts against the first limit portion 111;

[0097] The object to be climbed 3 is moved away from the first body 11 along the telescopic member 13. When the object to be climbed 3 is moved from the telescopic member 13 to the ground, the driving component 14 acts on the transmission assembly 16 to make the telescopic member 13 retract into the first body 11 along a preset path under the guidance of the first guide structure and the second guide structure 17 until the telescopic member 13 is retracted to the maximum limit position, that is, the blocking portion 1321 abuts against the second limit portion 112, thereby completing the action of removing the object to be climbed 3 from the climbing device.

[0098] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0099] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0100] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0101] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0102] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0103] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A climbing device, characterized in that: include: A first climbing assembly includes a first body; A second climbing assembly, arranged on the first body; The first climbing assembly and the second climbing assembly are distributed front and back in a climbing state, and a climbing length of at least one of the first climbing assembly and the second climbing assembly can be changed.

2. The climbing device according to claim 1, characterized in that: In the climbing state, the second climbing assembly is located in front of the first climbing assembly on the climbing path, and the climbing length of the first climbing assembly can be changed.

3. The climbing device according to claim 2, characterized in that: The climbing length of the first climbing assembly is changed by telescoping relative to the first main body, wherein the first climbing assembly comprises: A first climbing crawler, arranged on the first body; The telescopic member is telescopically arranged on the first main body. When the telescopic member is extended relative to the first main body, the telescopic member is located at the rear side of the first main body on the climbing path.

4. The climbing device according to claim 3, characterized in that: The first body is provided with a driving component, which is arranged on the first body through a fixing member and drives the telescopic member through a transmission assembly so that the telescopic member is telescoped relative to the first body.

5. The climbing device according to claim 3, characterized in that: A first guide structure is provided between the telescopic member and the first body to guide the telescopic member to extend and retract along a preset path; And / or, the telescopic member is extended and retracted under the drive of a driving component, the driving component is arranged on the first main body through a fixing component, and a second guide structure is arranged between the telescopic member and the fixing component to guide the telescopic member to extend and retract along a preset path.

6. The climbing device according to claim 5, characterized in that: The first main body is provided with a first main body slide groove for the telescopic member to move, and the side wall of the first main body slide groove is provided with a first guide slide groove, and the first guide slide groove is slidably matched with the side wall of the telescopic member to form a first guide structure, or the first main body is provided with a first main body slide groove for the telescopic member to move, and the side wall of the first main body slide groove is provided with a rolling assembly, and the telescopic member is rolled with the rolling assembly to form a first guide structure; The fixing member is located at the bottom side of the telescopic member, a second guide slot is arranged on the fixing member, a reinforcing rib extending into the second guide slot is arranged on the bottom wall of the telescopic member, and the reinforcing rib is slidably matched with the second guide slot to form a second guide structure.

7. The climbing device according to claim 3, characterized in that: The two ends of the telescopic member in the telescopic direction are respectively a guide end and a connecting end, and: In the extended state, the guide end extends from the first body and is substantially flush with the first climbing track; The connecting end is located inside the first body in both the extended state and the retracted state and has a blocking portion; a first limiting portion and a second limiting portion are provided inside the first body, and in the extended state, the blocking portion is blocked by the first limiting portion to prevent the telescopic member from being excessively extended; In the contracted state, the blocking portion is blocked by the second limiting portion to prevent the telescopic member from over-contracting.

8. The climbing device according to claim 3, characterized in that: A third limiting portion is arranged on the top surface of the telescopic member, and a fourth limiting portion is arranged on the top wall of the first main body slide groove of the first main body. When the telescopic member is subjected to force and contacts the top wall, the third limiting portion can block the fourth limiting portion to prevent the telescopic member from contracting.

9. The climbing device according to claim 3, characterized in that: A fifth limiting portion is provided on the top wall of the first main body sliding groove of the first main body, and the fifth limiting portion limits the telescopic member in a direction away from the first climbing crawler.

10. The climbing device according to any one of claims 1 to 9, characterized in that: The second climbing assembly comprises: A second body is rotatably disposed on the first body and can be located in front of the first body or overlap with the first body on the climbing path by rotating; The second climbing crawler is arranged on the second body.

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