Climbing device

Abstract

The utility model provides a climbing device which comprises walking wheels and a walking crawler belt, the climbing device has a first moving mode used for climbing stairs and a second moving mode used for walking on the ground, and in the first moving mode, the walking crawler belt achieves movement of the climbing device; and in the second moving mode, the walking wheels realize the movement of the climbing device. According to the climbing device, the walking wheels are used for moving when the climbing device moves on the flat ground, and the walking crawler belt is used for moving when the climbing device climbs stairs, so that the walking crawler belt is prevented from generating large transverse friction with the ground when the climbing device turns or turns around on the ground, the walking crawler belt is not abraded any more, and the falling risk of the walking crawler belt is eliminated; and friction marks are prevented from being left on the ground, so that the climbing device can be more suitable for being used in a family environment.

Description

Technical Field

[0001] This application relates to the technical field of household appliances, and specifically relates to a climbing device. Background Art

[0002] Most existing tracked climbing robots are used in outdoor or special engineering occasions. When the tracked moving mechanism of the climbing robot turns or maneuvers on the ground, the left and right tracks rotate in opposite directions. The contact surface between the tracks and the ground has a large lateral friction with the ground at positions far from the center of rotation. This not only exacerbates track wear, but also increases the risk of track detachment, and may also leave friction marks on the ground (floor), making it unsuitable for use in a home environment. Utility Model Content

[0003] In view of this, this application provides a climbing device that can reduce lateral friction and avoid leaving friction marks on the ground.

[0004] To achieve the above object, this application provides the following technical solutions:

[0005] A climbing device includes traveling wheels and a traveling track, and the climbing device has a first moving mode for climbing stairs and a second moving mode for ground walking, where:

[0006] In the first moving mode, the traveling track realizes the movement of the climbing device;

[0007] In the second moving mode, the traveling wheels realize the movement of the climbing device.

[0008] Optionally, it includes a main body and a swing arm rotatably provided on the main body, and the traveling wheels and the traveling track are provided on the swing arm;

[0009] Two track wheels for supporting the traveling track are provided on the swing arm. The two track sections of the traveling track between the two track wheels are respectively a forward-side track section and a backward-side track section. The traveling wheels are located at the position where the backward-side track section is located, so as to realize the switching between the forward-side track section and the traveling wheels through the rotation of the swing arm.

[0010] Optionally, the traveling wheels are arranged to overlap with the backward-side track section and rotate under the drive of the backward-side track section.

[0011] Optionally, the traveling wheels are arranged inside the annular traveling track, and the first arc portion of the traveling wheels protrudes away from the forward side track section relative to the back side track section, so that the back side track section forms a ground moving portion under the support of the traveling wheels; alternatively, the traveling wheels are arranged outside the annular traveling track, and the second arc portion of the traveling wheels protrudes towards the forward side track section relative to the back side track section, so that the portion of the traveling wheels opposite to the second arc portion forms a ground moving portion.

[0012] Optionally, it further includes a universal wheel telescopically arranged on the main body of the climbing device; the universal wheel retracts into the main body in the first movement mode;

[0013] The universal wheel extends out of the main body in the second movement mode to jointly support the main body with the traveling wheels.

[0014] Optionally, the telescoping of the universal wheel is associated with the swinging angle of the swing arm, where:

[0015] When the swing arm is within the swinging angle range of the first movement mode, the universal wheel retracts into the main body;

[0016] When the swing arm is within the swinging angle range of the second movement mode, the universal wheel extends out of the main body.

[0017] Optionally, the universal wheel is linked with the swing arm so as to be able to extend out of the main body during the rotation of the swing arm.

[0018] Optionally, a driving cylinder is rotatably arranged on the main body, and the swing arm is fixedly connected to the driving cylinder to rotate synchronously with the driving cylinder;

[0019] The universal wheel is connected to a rotating frame, the rotating frame is rotatably sleeved on the driving cylinder, and a pushing member capable of pushing the rotating frame to rotate is arranged on the driving cylinder. During the process of the driving cylinder driving the swing arm to rotate forward, the pushing member approaches the rotating frame and pushes the rotating frame to rotate on the driving cylinder as the driving cylinder rotates, so that the universal wheel extends out of the main body; the universal wheel contracts into the main body under the drive of an elastic member; or, the universal wheel is arranged at one end of a connecting frame, the other end of the connecting frame is hinged to the main body; a pushing member is rotatably sleeved on the driving cylinder, one end of the pushing member is eccentrically sleeved on the driving cylinder, the other end of the pushing member is hinged to the connecting frame, and the pushing member reciprocates under the eccentric drive of the driving cylinder to approach and move away from the hinged end of the connecting frame so as to drive the universal wheel to telescopically move; or,

[0020] The universal wheel is arranged at one end of the connecting frame, and the other end of the connecting frame is hinged to the main body; a pushing member is rotatably sleeved on the driving cylinder, one end of the pushing member is eccentrically sleeved on the driving cylinder, the other end of the pushing member is slidably connected to the connecting frame, and the pushing member reciprocates under the eccentric driving of the driving cylinder to approach and move away from the hinged end of the connecting frame, thereby driving the universal wheel to extend out of the main body; the universal wheel contracts into the main body under the driving of an elastic member.

[0021] Optionally, it includes a main body and a swing arm rotatably arranged on the main body. The traveling wheels and the traveling tracks are arranged on the swing arm, and a swing arm motor for driving the swing arm to rotate and a track motor for driving the traveling tracks to rotate are coaxially arranged.

[0022] Optionally, the swing arm is rotatably connected to the main body through a driving cylinder, and the swing arm motor and the track motor are coaxially arranged in the driving cylinder.

[0023] The climbing device provided by the present application uses traveling wheels for movement when moving on flat ground, and uses traveling tracks for movement when climbing stairs. Thus, when the climbing device turns or makes a U-turn on the ground, it can avoid large lateral friction between the traveling tracks and the ground, preventing the traveling tracks from being worn, eliminating the risk of the traveling tracks falling off, and also avoiding leaving friction marks on the ground, making the climbing device more suitable for use in a home environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0025] Figure 1 It is a schematic structural diagram of the climbing device provided by the embodiment of the present application carrying an electronic device about to climb a staircase;

[0026] Figure 2 It is a schematic structural diagram of the climbing device in the first moving mode;

[0027] Figure 3 It is a schematic structural diagram of the climbing device in the second moving mode;

[0028] Figure 4 It is a schematic structural diagram of the arrangement mode in which the traveling wheels are arranged inside the swing arm track;

[0029] Figure 5 It is a schematic structural diagram of the arrangement mode in which the traveling wheels are arranged outside the swing arm track;

[0030] Figure 6 Schematic diagram of the structure where the swing arm crawler drives the road wheel through a synchronous pulley and a synchronous belt;

[0031] Figure 7 Schematic diagram of the structure of the cooperation of the road wheel, the connecting frame and the rotating frame;

[0032] Figure 8 Schematic diagram of the structure where the road wheel is arranged on the drive cylinder assembly;

[0033] Figure 9 Schematic diagram of the structure where multiple mounting grooves are provided on the drive cylinder assembly;

[0034] Figure 10 、 Figure 12 and Figure 14 Schematic diagrams of different stages when the road wheel, the connecting frame, the rotating frame and the drive cylinder assembly are cooperated in the first embodiment;

[0035] Figure 11 、 Figure 13 and Figure 15 respectively are Figure 10 、 Figure 12 and Figure 14 partial enlarged views;

[0036] Figure 16 and Figure 17 Schematic diagrams of different stages when the road wheel, the connecting frame, the rotating frame and the drive cylinder assembly are cooperated in the second embodiment;

[0037] Figure 18 Schematic diagram of the structure of the cooperation of the road wheel, the connecting frame, the rotating frame and the drive cylinder assembly in the third embodiment;

[0038] Figure 19 Schematic diagram of the structure where an omnidirectional wheel is provided on the swing arm;

[0039] Figure 20 Front view sectional view of the drive cylinder assembly;

[0040] Figure 21 Axonometric sectional view of the drive cylinder assembly;

[0041] Figure 22 Schematic diagram of the structure of the cooperation of the swing arm gear set on the climbing device;

[0042] Figure 23 Schematic diagram of the structure of the cooperation of the crawler gear set on the climbing device;

[0043] Figure 24 For Figure 9 front view of the structure shown;

[0044] Figure 25 The Figure 8 front view of the drive cylinder assembly shown;

[0045] Figure 26 The cross-sectional view of the drive cylinder assembly at the unlocking groove;

[0046] Figure 27 The Figure 25 schematic structural diagram of the cooperation between the wire winding groove and the wire outlet in the structure shown.

[0047] In Figures 1 - 27 :

[0048] 1 - Climbing device, 2 - Electronic device, 3 - Stair;

[0049] 11 - Main body, 12 - Main body walking part, 13 - Swing arm, 14 - Omnidirectional wheel, 15 - Drive cylinder assembly, 16 - Connecting frame, 17 - Rotating frame, 18 - Return spring, 19 - Internal gear ring;

[0050] 1301 - Swing arm body, 1302 - Swing arm track, 1303 - Driving track wheel, 1304 - Front collision plate, 1305 - Driven track wheel, 1306 - Walking wheel, 1307 - Tensioning wheel, 1308 - Tensioning block, 1309 - First synchronous wheel, 1310 - Second synchronous wheel, 1311 - Synchronous belt, 1312 - Omnidirectional wheel;

[0051] 1501 - Cylinder body, 1502 - Installation groove, 1503 - Push rod, 1504 - Eccentric structure, 1505 - Swing arm motor, 1506 - Track motor, 1507 - Swing arm sun gear, 1508 - Swing arm planet gear, 1509 - Track sun gear, 1510 - Track planet gear, 1511 - Hollow locating pin, 1512 - Track gear ring, 1513 - Unlocking groove, 1514 - Unlocking block, 1515 - Wire winding groove, 1516 - Wire outlet;

[0052] 1701 - Semi - circular part, 1702 - Hinge shaft, 1703 - Fixed end, 1704 - Connecting rod, 1705 - Strip hole;

[0053] 13021 - Forward side track section, 13022 - Backward side track section. Specific embodiments

[0054] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0055] As shown Figures 1 - 27 in the figure, an embodiment of the present application provides a climbing device 1, which can be used to carry an electronic device 2 to cross an obstacle. That is to say, the climbing device 1 can transport the electronic device 2 from a low place to a high place and from a high place to a low place. For example, the climbing device 1 can carry a cleaning robot to climb a staircase 3 to achieve cross-floor cleaning of the cleaning robot. Moreover, when the climbing device 1 transports the cleaning robot, it autonomously completes the stair-climbing action, that is, the climbing device 1 itself has a control module. At this time, the cleaning robot is only equivalent to a "passenger" riding on the climbing device 1; alternatively, the climbing device 1 can also transport the cleaning robot under the control of the cleaning robot. That is, the climbing device 1 may not be provided with a control module, but the climbing device 1 is communicatively connected to the cleaning robot and performs a stair-climbing action under the control of the control module of the cleaning robot. At this time, the cleaning robot is equivalent to a "driver" who rides and controls the climbing device 1.

[0056] As shown Figures 1 - 3 in the figure, the climbing device 1 mainly includes a main body 11 and a traveling mechanism, and the traveling mechanism further includes a main body traveling part 12 and a swing arm 13. Among them, the main body 11 can be understood as the vehicle body of the climbing device 1, which provides a placement position for the electronic device 2. That is to say, the electronic device 2 is carried on the main body 11. If the climbing device 1 includes a control module, the control module is arranged in the main body 11. The main body traveling part 12 is arranged at the bottom on both sides of the main body 11. In the prior art, in order to improve the climbing performance or obstacle-crossing performance of the climbing device 1, the main body traveling part 12 is generally a crawler assembly (the crawler assembly refers to components such as a crawler and a crawler wheel that drives the crawler to rotate). The present application also sets it as a crawler assembly. The swing arm 13 is rotatably arranged at the front end of the main body 11 and can rotate relative to the main body 11 to realize the switching between a coincident position and a forward-extended position. The coincident position is the position coincident with the main body 11, and the forward-extended position is the position located at the front end of the main body 11. A crawler assembly is also arranged on the swing arm 13, so that the swing arm 13 constitutes a swinging traveling part. When the swing arm 13 rotates to the forward-extended position, as shown Figure 2 in the figure, the swing arm crawler 1302 on the swing arm 13 and the main body crawler on the main body 11 can be located in the same plane, so that the climbing device 1 has a greater climbing length and more contact points with an obstacle (such as the staircase 3), and thus can more easily achieve climbing. At this time, the climbing device 1 is in the first moving mode; when the climbing device 1 does not climb an obstacle but moves on flat ground, the swing arm 13 can be rotated back to the coincident position, and the main body traveling part 12 drives the main body 11 to move. Or, as shown Figure 3As shown, the swing arm 13 can also continue to rotate after rotating to the overlapping position, so as to lift the main body 11 and the main body traveling part 12, so that the main body 11 and the main body traveling part 12 are separated from the ground, and the ground walking of the climbing device 1 is realized by making the crawler assembly on the swing arm 13 work. At this time, the climbing device 1 is in the second moving mode.

[0057] As Figures 4 - 6 shown, the swing arm 13 includes a swing arm body 1301. One end of the swing arm body 1301 is rotatably connected to the main body 11, and a driving crawler wheel 1303 for driving the crawler belt (this crawler belt can also be called a traveling crawler belt or a swing arm crawler belt 1302) to rotate is arranged at this end. And at the other end of the swing arm 13 (this other end is the extended end of the swing arm 13, and a front bumper 1304 is arranged at this position), a driven crawler wheel 1305 is arranged. The swing arm crawler belt 1302 is sleeved on the driving crawler wheel 1303 and the driven crawler wheel 1305, and the driven crawler wheel 1305 can be adjusted in position on the swing arm body 1301. By adjusting the position of the driven crawler wheel 1305, the tension adjustment of the swing arm crawler belt 1302 can be realized. That is to say, the driven crawler wheel 1305 is also a tension adjustment wheel for the crawler belt at the same time. And, the outer edge of one side of the driven crawler wheel 1305 is flush with the outer edge of one side of the driving crawler wheel 1303. When the swing arm 13 rotates to the extended position, the flush position of the driven crawler wheel 1305 and the driving crawler wheel 1303 can be in contact with the ground at the same time on the flat ground, so that a straight section of the swing arm crawler belt 1302 between the outer edge of the driven crawler wheel 1305 and the outer edge of the driving crawler wheel 1303 is a straight section. For the convenience of description, this section of the swing arm crawler belt 1302 in this application is called the forward side crawler belt section 13021. When the climbing device 1 is in the first moving mode, this forward side crawler belt section 13021 contacts the stairs 3 to realize climbing the stairs. In addition, the swing arm crawler belt 1302 also includes two meshing sections that are respectively in contact (or meshed) with the driving crawler wheel 1303 and the driven crawler wheel 1305, and the remaining back side crawler belt section 13022. This back side crawler belt section 13022 and the forward side crawler belt section 13021 are respectively located on the upper and lower sides of the driving crawler wheel 1303 and the driven crawler wheel 1305. When the swing arm 13 supports the main body 11 for moving on the flat ground, through the rotation of the swing arm 13, the swing arm 13 is switched from the forward side crawler belt section 13021 touching the ground to the back side crawler belt section 13022 touching the ground. That is to say, when the climbing device 1 is in the second moving mode, the movement of the climbing device 1 can be realized by the back side crawler belt section 13022 on the swing arm 13 walking on the ground.

[0058] Further, as Figures 4 - 6As shown, a traveling wheel 1306 is further provided on the swing arm 13. This traveling wheel 1306 is provided on the swing arm body 1301 and is located within the distribution range of the back-side track section 13022. A part of the outer edge of this traveling wheel 1306 protrudes from the swing arm body 1301 to form a ground moving part. By setting it like this, when the climbing device 1 is in the second moving mode, the traveling wheel 1306 can walk on the ground to realize the movement of the climbing device 1. Since only a part of the arc-shaped outer edge of the traveling wheel 1306 contacts the ground when walking on the ground, compared with the way of realizing the movement of the climbing device 1 by using the entire back-side track section 13022 to walk on the ground or one side track section of the main body walking part 12 to walk on the ground, the contact area with the ground can be significantly reduced. Thus, when the climbing device 1 turns or makes a U-turn on the ground, it can avoid a large lateral friction between the track (this track is the swing arm track 1302 or the main body track of the main body walking part 12) and the ground, so that the track is no longer worn, the risk of track shedding is eliminated, and the friction marks on the ground are also avoided, making the climbing device 1 more suitable for use in a home environment. Moreover, by adopting the method of two swing arms 13 and one universal wheel 14, when the climbing device 1 makes a differential turn on a flat ground, the parts of the two swing arms 13 in contact with the ground can be made to have almost no sliding.

[0059] In this application, the swing arm track 1302 can be used to provide power for the traveling wheel 1306. By setting it like this, on the one hand, the swing arm track 1302 can be fully utilized to make the swing arm track 1302 have multiple functions. On the other hand, the structure can be simplified to avoid adding special power components to the traveling wheel 1306, which would lead to a more complex structure. On the basis that the swing arm track 1302 provides power for the traveling wheel 1306, the swing arm track 1302 and the traveling wheel 1306 can be cooperated in different ways. In an optional embodiment, such as Figure 4As shown, meshing teeth that can mesh with the track teeth on the inner side of the track are provided on the outer circumference of the running wheel 1306 (the meshing mode of the running wheel 1306 and the swing arm track 1302 is the same as that of the driving track wheel 1303 and the swing arm track 1302), and the back-side track section 13022 of the track is meshed on the protruding outer edge of the running wheel 1306 that protrudes from the swing arm body 1301 (that is, the running wheel 1306 and the back-side track section 13022 are arranged in coincidence), that is to say, the running wheel 1306 is located inside the annular swing arm track 1302. To ensure the meshing effect between the back-side track section 13022 and the running wheel 1306, tension wheels 1307 are provided on both the side of the running wheel 1306 close to the driving track wheel 1303 and the side close to the driven track wheel. The two tension wheels 1307 are located outside the annular swing arm track 1302, and apply a tension force to the back-side track section 13022 to approach the front-side track section on both the left and right sides of the running wheel 1306, so that the back-side track section 13022 is closely attached to and meshed with the protruding outer edge of the running wheel 1306. When the driving track wheel 1303 drives the track to rotate, the swing arm track 1302 acts as a transmission belt to drive the running wheel 1306 to rotate, so that the running wheel 1306 has the power to drive the climbing device 1 to move horizontally. Among them, in the radial direction of the running wheel 1306, the back-side track section 13022 meshing with the meshing teeth may protrude from the outer edge of the running wheel 1306. At this time, the component actually contacting the ground is a smaller-area local track at the arc top of the protruding outer edge of the swing arm track 1302; or, the back-side track section 13022 meshing with the meshing teeth may not protrude from the outer edge of the running wheel 1306. For example, a groove is radially dug on the outer circumference of the running wheel 1306, and the groove forms an annular groove on the outer circumference of the running wheel 1306, and the meshing teeth are arranged on the bottom wall of the groove. The swing arm track 1302 meshing with the meshing teeth is also accommodated in the groove. At this time, the component actually contacting the ground is the outer edge of the running wheel 1306.

[0060] In another alternative embodiment, as Figure 5As shown, the back-side crawler section 13022 can be wound reversely around the running wheel 1306 and the tension wheel 1307, that is, the running wheel 1306 is located outside the annular swing-arm crawler 1302, and the two tension wheels 1307 are located inside the crawler. At this time, the outer-edge part of the running wheel 1306 facing the front-side crawler section 13021 and opposite to the protruding outer edge (i.e., the ground moving part) meshes with the back-side crawler section 13022, and the two tension wheels 1307 apply a tension force away from the front-side crawler section on both the left and right sides of the running wheel 1306 to make the back-side crawler section 13022 closely fit and mesh with the running wheel 1306, which can increase the contact area between the crawler section 13022 and the running wheel 1306 and is not easy to slip. In this way, the swing-arm crawler 1302 can also drive the running wheel 1306 to rotate. In addition, in this setting method, since the tension wheel 1307 needs to be arranged inside the swing-arm crawler 1302 and the tension wheel 1307 has a relatively large volume, in order to avoid interference with other components inside the swing-arm crawler 1302 and also to avoid the over-protrusion of the tensioned part of the back-side crawler section 13022 from the swing-arm body 1301 and affect the normal walking of the climbing device 1, the structure of the tension wheel 1307 is further improved to reduce its volume. For example Figure 5 as shown, the tension wheel 1307 can be replaced with a tension block 1308 having a tension arc surface.

[0061] In another alternative embodiment, such as Figure 6As shown, the running wheel 1306 is no longer directly engaged with the back-side track section 13022 (i.e., the running wheel 1306 and the back-side track section 13022 are not arranged in coincidence). Instead, a first synchronous wheel 1309 is fixedly arranged coaxially on the driven track wheel 1305, a second synchronous wheel 1310 is fixedly arranged coaxially on the running wheel 1306, and the first synchronous wheel 1309 and the second synchronous wheel 1310 are drivingly connected by a synchronous belt 1311. Through the drive of the synchronous belt 1311, the meshing area between the synchronous wheel and the synchronous belt 1311 is increased, and slippage is not likely to occur, improving the reliability of the above connection. When the driving track wheel 1303 drives the swing-arm track 1302 to rotate, the first synchronous wheel 1309 arranged on the driven track wheel 1305 also rotates under the drive of the swing-arm track 1302, and the second synchronous wheel 1310 also rotates through the drive of the synchronous belt 1311, thereby driving the running wheel 1306 to rotate synchronously, so as to realize the movement of the climbing device 1. In addition, the first synchronous belt 1311 wheel can also be fixedly arranged coaxially on the driving track wheel 1303. Or, instead of arranging the first synchronous wheel 1309 on the driven track wheel 1305 and the second synchronous wheel 1310 on the running wheel 1306, they are rotatably connected to the swing-arm body 1301, and the first synchronous wheel 1309 and the second synchronous wheel 1310 are respectively engaged with the driven track wheel 1305 and the running wheel 1306 (such engagement does not affect the engagement between the driven track wheel 1305, the running wheel 1306 and the track). In this way, the power can also be transmitted from the swing-arm track 1302 to the running wheel 1306.

[0062] In other examples, the running wheel 1306 and the track can also be independently arranged on the main body 11 of the climbing device 1. That is, the running wheel 1306 can also be arranged on the main body 11 and there is no linkage with the main track on the main body 11, that is, the running wheel 1306 and the main track are respectively driven by different power components.

[0063] In the above-mentioned various embodiments, the forward-side track section 13021 remains the straight section as described above.

[0064] On the basis that the swing arm 13 can support the main body 11 to move on a flat ground, such as Figures 14 - 18As shown in the figure, universal wheels 14 are also provided on the main body 11. The universal wheels 14 can cooperate with the traveling wheels 1306 to jointly support the main body 11, making the flat ground movement of the climbing device 1 more stable. The number of universal wheels 14 provided can be set to one or more according to the performance requirements of the climbing device 1. In addition, the universal wheels 14 can also not be provided, but only the traveling wheels 1306 on the two swing arms 13 on both sides of the main body 11 are used to realize the movement of the climbing device 1 on the flat ground. That is to say, by providing one traveling wheel 1306 on each swing arm 13 and using the two coaxially arranged traveling wheels 1306 on both sides of the main body 11 to support and move the climbing device 1, and the balance of the climbing device 1 during the movement can be controlled and realized by the electronic devices provided on the main body 11. Since the climbing device 1 needs to climb the stairs 3 in the second movement mode, in order to avoid the additional universal wheels 14 affecting the stair climbing, the universal wheels 14 can be telescopic on the main body 11, and the telescopic movement of the universal wheels 14 is associated with the working state of the traveling wheels 1306. When the traveling wheels 1306 are in contact with the ground, the universal wheels 14 extend from the main body 11, and when the traveling wheels 1306 are separated from the ground, the universal wheels 14 retract into the main body 11.

[0065] Among them, the association method between the telescopic movement of the universal wheels 14 and the working state of the traveling wheels 1306 can be as follows: when the swing arm 13 rotates within the swing angle range of the second movement mode, that is, when the swing arm 13 is used to support the main body 11 and the main body traveling part 12 on the flat ground, the universal wheels 14 extend from the main body 11 to cooperate with the two traveling wheels 1306 supporting the main body 11 to realize the support of the main body 11, so that the main body 11 has at least three support points, so that the climbing device 1 can move more stably on the ground; when the swing arm 13 rotates within the swing angle range of the first movement mode, that is, when the swing arm 13 is used for stair climbing, the universal wheels 14 retract into the interior of the main body 11, so as to avoid the interference between the universal wheels 14 and the stairs 3 and affect the stair climbing. Specifically, when the climbing device 1 carrying the cleaning robot needs to climb the stairs, after the climbing device 1 moves to the vicinity of the stairs 3 in the second movement mode, as Figure 1 shown, the swing arm 13 rotates from the position supporting the main body 11 to the front side of the main body 11 to form a certain forward tilt angle relative to the ground. As the swing arm 13 rotates forward, the universal wheels 14 retract into the main body 11, and the main body 11 and the traveling part of the main body 11 fall and contact the ground again. The climbing device 1 approaches the stairs 3 through the movement of the main body traveling part 12 on the flat ground until the forward-tilted swing arm 13 contacts the edge of the lowest step of the stairs 3. At this time, the positive-side track section 13021 (i.e., the straight section) of the swing arm track 1302 contacts the lowest step. After that, the swing arm 13 and the main body traveling part 12 cooperate to continue climbing the stairs 3, as Figure 2As shown, as the main body 11 gradually moves from the ground onto the stairs 3, the swing arm 13 will continue to rotate towards the front side of the main body 11 until the forward-side crawler section 13021 and the bottom crawler section of the main body crawler are in the same plane. In this way, the climbing length of the climbing device 1 is the sum of the length of the forward-side crawler section 13021 and the length of the bottom crawler section of the main body walking part 12, enabling the climbing device 1 to be distributed on the edges of multiple steps at the same time, with more contact points with the stairs 3, thus improving both the grip and stability of the climbing device 1 on the stairs 3.

[0066] The implementation method of the connection between the universal wheel 14 and the walking wheel 1306 can be achieved in different ways. In an alternative embodiment, as Figures 9 - 11 shown, the universal wheel 14 can be linked with the swing arm 13, that is, the above connection between the universal wheel 14 and the walking wheel 1306 is achieved through the cooperation of mechanical structures. Or, in other alternative embodiments, the above connection between the universal wheel 14 and the walking wheel 1306 can also be achieved through an electric control method.

[0067] When the universal wheel 14 and the swing arm 13 are linked through a mechanical structure, the mechanical structure for realizing the linkage can be combined with the drive cylinder assembly 15 that drives the swing arm 13 to rotate. The drive cylinder assembly 15 is a component for driving the swing arm 13 to rotate relative to the main body 11 and driving the crawler assemblies on the main body 11 and the swing arm 13 to work. The drive cylinder assembly 15 is arranged in the main body 11 and is located at the front end of the main body 11, and both ends of the drive cylinder assembly 15 are exposed from both sides of the main body 11 for connecting the swing arm 13 and the driving sprocket 1303 of the main body walking part 12. On this basis, the way of linking the universal wheel 14 and the swing arm 13 through a mechanical structure can be achieved through the following multiple different embodiments.

[0068] In the first alternative embodiment, the universal wheel 14 is rotatably connected to one end of the connecting frame 16. The connecting frame 16 is used to realize the universal adjustment of the universal wheel 14, that is, the connecting frame 16 changes the traveling direction of the universal wheel 14 by driving the universal wheel 14 to rotate 360 degrees. At the same time, the connecting frame 16 also functions as a connecting arm to increase the telescopic stroke of the universal wheel 14, enabling the universal wheel 14 to fully retract and fully extend relative to the main body 11; the other end of the connecting frame 16 is fixedly connected to the rotating frame 17. The rotating frame 17 is a ring-shaped structure that rotatably sleeved on the cylinder body 1501 of the drive cylinder assembly 15. To ensure the stable rotation of the rotating frame 17 on the drive cylinder assembly 15, an annular installation groove 1502 for the rotating frame 17 to be sleeved is provided on the cylinder body 1501 of the drive cylinder assembly 15. Since the number of the walking wheels 1306 can be one or more, so respectively as Figure 8 and Figure 9As shown, the number of installation grooves 1502 provided on the cylinder 1501 can also be one or more, and a pushing member is provided in the installation groove 1502, such as Figure 8 As shown, this pushing member can be set as a push rod 1503 extending from one wall surface of the installation groove 1502 to the other side wall; for the convenience of assembly, the rotating frame 17 is set as two semi-circular parts 1701, one end of the two semi-circular parts 1701 is hinged by a hinge shaft 1702, the two semi-circular parts 1701 can rotate around the hinge shaft 1702, and the other end of the two semi-circular parts 1701 can be fixedly connected by a locking member (the locking member is, for example, a pin shaft, a clip, etc.). For the convenience of description, in this application, this end fixedly connected by the locking member is called the fixed end 1703. When assembling the rotating frame 17 onto the driving cylinder assembly 15, first rotate the two semi-circular parts 1701 around the hinge shaft 1702 to open each other, then pass the position of the installation groove 1502 of the driving cylinder assembly 15 through the opened opening into the space between the two semi-circular parts 1701, and then use the locking member to lock the opened end to form the fixed end 1703, so as to realize the assembly of the rotating frame 17 in the installation groove 1502, and it is necessary to ensure that the rotating frame 17 located in the installation groove 1502 can rotate relative to the driving cylinder assembly 15. At the same time, an elastic member capable of resetting the connecting frame 16, such as a return spring 18, is connected between the connecting frame 16 and the main body 11 or between the rotating frame 17 and the main body 11.

[0069] The working process of this structure is as follows: As Figures 10 - 15 shown, during the process that the driving cylinder assembly 15 drives the swing arm 13 to rotate to the swing angle range of the second moving mode (for the convenience of description, this rotation process is defined as the forward rotation process), since the driving cylinder assembly 15 is fixedly connected to the swing arm 13, when the driving cylinder assembly 15 drives the swing arm 13 to rotate forward, the driving cylinder assembly 15 will also rotate forward synchronously, and then the push rod 1503 will rotate forward accordingly. Since the rotating frame 17 is rotatably sleeved in the installation groove 1502, the rotating frame 17 does not rotate forward at the initial stage of forward rotation (as Figure 10 and Figure 11 shown), but as the push rod 1503 rotates forward, the push rod 1503 will approach the fixed end 1703 and finally push the fixed end 1703 to rotate forward (as Figure 12 and Figure 13 shown). Since the universal wheel 14 is fixedly connected to the rotating frame 17 through the connecting frame 16, the rotating frame 17 pushed forward by the push rod 1503 will drive the universal wheel 14 to rotate around the driving cylinder assembly 15, so that the universal wheel 14 extends outwards from the main body 11 (as Figure 14 and Figure 15As shown, during the extension process of the caster wheel 14, the return spring 18 is stretched and deformed; when the drive cylinder assembly 15 drives the swing arm 13 to rotate within the swing angle range of the first movement mode, that is, when the drive cylinder assembly 15 drives the swing arm 13 to rotate in the reverse direction, the push rod 1503 no longer applies a positive thrust to the fixed end 1703, and the caster wheel 14 rotates in the reverse direction around the drive cylinder assembly 15 under the pulling of the return spring 18 and retracts into the main body.

[0070] In the second alternative embodiment, the self-structures of the caster wheel 14 and the connecting frame 16 and the way they cooperate with each other are the same as those in the first embodiment, and as Figure 16 and Figure 17 shown, the part of the drive cylinder assembly 15 provided with the installation groove 1502 is set as an eccentric structure 1504 (or a cam structure). The forming method of the eccentric structure 1504 can be achieved by making the depths of different circumferential parts of the installation groove 1502 different and gradually changing, and a radially protruding connecting rod 1704 is added to the rotating frame 17 on the basis of the structure in the first embodiment, and the rotating frame 17 still rotates and is arranged in the installation groove 1502. The rotating frame 17 provided with the connecting rod 1704 forms a pushing member with a new structure. Moreover, one end of the connecting frame 16 far from the caster wheel 14 is hinged to the main body 11, and at the same time, the protruding end of the connecting rod 1704 is also hinged to the connecting frame 16. There is a certain distance between the hinge positions of these two and the hinge position of the connecting frame 16 and the main body 11, so that the push rod 1503 can drive the connecting frame 16 to rotate relative to the main body 11 around the hinge point. At the same time, the return spring 18 is no longer provided.

[0071] The working process of this structure is as follows: when the drive cylinder assembly 15 rotates forward, the eccentric structure 1504 moves from a position close to the connecting frame 16 to a position far from the connecting frame 16 (that is, the eccentric structure 1504 moves from the Figure 16 left side to the right side in ), and then drives the rotating frame 17 sleeved on the eccentric structure 1504 and the connecting rod 1704 arranged on the rotating frame 17 to also move to the right side. The connecting rod 1704 will pull the connecting frame 16 to rotate to the right side, and then the caster wheel 14 extends from the inside of the main body 11 to the outside of the main body 11, as Figure 17 shown; when the drive cylinder assembly 15 rotates in the reverse direction, the eccentric structure 1504 moves from the right side to the left side, and then drives the rotating frame 17 sleeved on the eccentric structure 1504 and the connecting rod 1704 arranged on the rotating frame 17 to also move to the left side. The connecting rod 1704 will push the connecting frame 16 to rotate to the left side, and then the caster wheel 14 retracts from the outside of the main body 11 to the inside of the main body 11, as Figure 16 shown.

[0072] In the third alternative embodiment, the structure in the second embodiment is further optimized, that is, the following improvements are made on the basis of the structure in the second embodiment: As Figure 18 shown, a strip-shaped hole 1705 is provided at the protruding end of the connecting rod 1704, and the hinge shaft 1702 connected to the connecting frame 16 is inserted into the strip-shaped hole 1705 and can slide and rotate in the strip-shaped hole 1705, so that the connecting rod 1704 and the connecting frame 16 are both rotationally connected and slidably connected, enabling the connecting rod 1704 and the connecting frame 16 to move relatively more freely, making the telescoping of the universal wheel 14 more flexible. At the same time, a return spring 18 is also provided between the main body 11 and the connecting frame 16, and the return spring 18 always applies a pulling force to the connecting frame 16 in the retracting direction of the universal wheel 14 to reduce or even avoid the extension delay or retraction delay caused by the sliding of the hinge shaft 1702 in the strip-shaped hole 1705.

[0073] In addition, the principle of realizing the association between the universal wheel 14 and the traveling wheel 1306 by an electric control method is as follows: A sensor for detecting the swing angle of the swing arm 13 or the rotation angle of the drive cylinder assembly 15 is provided on the main body 11. The connecting frame 16 and the universal wheel 14 are telescoped under the drive of a motor. The sensor sends the detected angle information to a controller (this controller can be the controller possessed by the climbing device 1 itself or the controller possessed by the electronic device 2 carried by the climbing device 1). The controller analyzes the obtained angle information. When the analysis result is that the swing arm 13 has been within the swing angle range of the second moving mode, the controller sends a start signal to the motor, and the motor drives the connecting frame 16 and the universal wheel 14 to rotate forward to extend to the outside of the main body 11, and then controls the motor to stop working; when the analysis result is that the swing arm 13 has been within the swing angle range of the first moving mode, the controller sends a start signal to the motor, and the motor drives the connecting frame 16 and the universal wheel 14 to rotate backward to retract into the main body 11, and then controls the motor to stop working.

[0074] In the present application, other methods can also be used to assist the traveling wheel 1306 to achieve stable movement of the climbing device 1 on flat ground. For example Figure 19 shown, an omnidirectional wheel 1312 capable of rotating is provided on the swing arm body 1301 to replace the universal wheel 14 to achieve auxiliary support for the climbing device 1, thereby enabling the second moving mode of the climbing device 1 to proceed smoothly. That is to say, instead of providing the universal wheel 14 on the main body 11, the omnidirectional wheel 1312 is provided on the swing arm 13. The omnidirectional wheel 1312 and the traveling wheel 1306 are provided on the same side of the swing arm body 1301, that is, the side corresponding to the back-side crawler section 13022. When the traveling wheel 1306 travels on flat ground, the omnidirectional wheel 1312 also contacts the ground and rolls on the ground. At this time, the main body realizes support and movement on the ground through the two traveling wheels 1306 and the two omnidirectional wheels 1312.

[0075] In the prior art, the drive motor of the crawler and the drive motor of the swing arm 13 are not arranged on the same axis, resulting in the structure of the climbing device 1 not being compact enough and occupying a large space. In this application, as Figures 20 - 26 shown, the structure of the drive crawler and the structure of the drive swing arm 13 are improved so that they are on the same axis, that is, the swing arm motor 1505 that drives the swing arm 13 to rotate and the crawler motor 1506 that drives the walking crawler to rotate are coaxially arranged. In this way, the structure of the climbing device 1 is more compact, the volume is smaller, the occupied space is reduced, and it can be applied to the drive of a climbing device 1 with a smaller size, making the use and transportation of the climbing device 1 more convenient.

[0076] Specifically, as Figure 20 and Figure 21 shown, two crawler motors 1506 for driving the crawler and one swing arm motor 1505 for driving the swing arm 13 are arranged in the same linear cylinder 1501. Since crawlers are provided on both sides of the main body 11 and the rotational speed and / or direction of the crawlers on both sides need to be different when turning, two crawler motors 1506 are required to drive the crawlers on both sides of the main body 11 respectively. And the two swing arms 13 on both sides of the main body 11 need to always rotate synchronously, so only one swing arm motor 1505 can be used to drive the two swing arms 13 simultaneously. When arranged in the cylinder 1501, the two crawler motors 1506 are respectively located at both ends of the cylinder 1501, and the swing arm motor 1505 is arranged between the two crawler motors 1506. Based on the installation positions of the motors, in this application, the cylinder 1501 is divided into a first end section, an intermediate section, and a second end section arranged axially in sequence. The two swing arms 13 on both sides of the main body 11 are respectively fixedly connected to the first end section and the second end section, and the two crawler motors 1506 are also respectively arranged in the first end section and the second end section, while the swing arm motor 1505 is arranged in the intermediate section.

[0077] As Figure 20 and Figure 22As shown, the swing arm motor 1505 is fixedly arranged inside the cylinder body 1501, and a swing arm 13 gear set is connected to the output shaft of the swing arm motor 1505. This swing arm 13 gear set has a part of its outer peripheral wall protruding radially in the middle section. Moreover, an internal gear ring 19 is fixedly arranged at the corresponding position on the main body 11. The teeth of the swing arm 13 gear set mesh with the teeth on the internal gear ring 19. When the swing arm motor 1505 drives the swing arm 13 gear set to rotate, since the gear ring meshing with it is fixedly arranged on the main body 11, and the swing arm motor 1505 is fixedly connected to the middle section of the cylinder body 1501, the swing arm motor 1505 can make the middle section drive the first end section and the second end section to rotate. That is to say, the swing arm motor 1505 can drive the entire cylinder body 1501 to rotate relative to the main body 11. Since the swing arm 13 is fixedly connected to both ends of the cylinder body 1501, the swing arm motor 1505 can drive the swing arm 13 by driving the entire cylinder body 1501 to rotate, so that the swing arm 13 rotates relative to the main body 11. Among them, as Figure 20 and Figure 22 shown, the swing arm 13 gear set is preferably a planetary gear mechanism (in order to facilitate the distinction from the planetary gear mechanism described later, this planetary gear mechanism is called the swing arm 13 planetary gear mechanism, and each of its components is prefixed with "swing arm 13"). The swing arm sun gear 1507 of the swing arm 13 planetary gear mechanism is fixedly connected to the output shaft of the swing arm motor 1505. A plurality of swing arm planet gears 1508 of the swing arm 13 planetary gear mechanism surround the swing arm sun gear 1507 and mesh with the swing arm sun gear 1507. And all the swing arm planet gears 1508 are rotatably (self-rotating) arranged on the cylinder body 1501. That is to say, the cylinder body 1501 is the swing arm 13 planet carrier of the swing arm 13 planetary gear mechanism, and the part of the swing arm 13 gear set protruding from the cylinder body 1501 is the part of the swing arm planet gear 1508. After the swing arm motor 1505 is started, the swing arm motor 1505 drives the swing arm sun gear 1507 to rotate self, and the swing arm sun gear 1507 drives the swing arm planet gears 1508 to rotate self. Since the swing arm planet gears 1508 also mesh with the internal gear ring 19 and the internal gear ring 19 is fixed, the swing arm sun gear 1507 can drive the swing arm planet gears 1508 to rotate self and also drive all the swing arm planet gears 1508 to revolve around the swing arm sun gear 1507. The revolving swing arm planet gears 1508 will drive the swing arm 13 planet carrier to rotate around the swing arm sun gear 1507. Since the cylinder body 1501 is the swing arm 13 planet carrier, the swing arm motor 1505 realizes the drive of the cylinder body 1501, and thus realizes the drive of the swing arm 13.

[0078] As Figure 21 and Figure 23As shown in the figure, at one end of the first end section and the second end section away from the middle section, a crawler gear set drivingly connected to the crawler motor 1506 is provided, and the traveling crawler is arranged on the crawler gear set and driven by the crawler gear set. Among them, the crawler gear set is also preferably a planetary gear mechanism (in order to facilitate the distinction from the aforementioned planetary gear mechanism, this planetary gear mechanism is called the crawler planetary gear mechanism, and each of its components is prefixed with "crawler"). The crawler sun gear 1509 of the crawler planetary gear mechanism is fixedly connected to the output shaft of the crawler motor 1506. A plurality of crawler planet gears 1510 of the crawler planetary gear mechanism surround the crawler sun gear 1509 and are all meshed with the crawler sun gear 1509. And all the crawler planet gears 1510 are rotatably (self-rotating) arranged on the cylinder 1501 through hollow positioning pins 1511 (the cylinder 1501 includes end caps closing its two side ports, and the hollow positioning pins 1511 are arranged on the end caps). That is to say, the cylinder 1501 is the crawler planet carrier of the crawler planetary gear mechanism. The crawler ring gear 1512 of the crawler planetary gear mechanism is sleeved on the outside of all the crawler planet gears 1510. The crawler ring gear 1512 has internal teeth and external teeth. The internal teeth are meshed with all the crawler planet gears 1510, and the external teeth are meshed with the teeth on the inner side of the crawler. That is to say, the crawler is sleeved on the crawler ring gear 1512, and the crawler ring gear 1512 is the driving crawler wheel 1303. After the crawler motor 1506 is started, the crawler motor 1506 drives the crawler sun gear 1509 to rotate self, and the crawler sun gear 1509 drives the crawler planet gears 1510 to rotate self. Since the crawler planet gears 1510 are meshed with the crawler ring gear 1512, the crawler sun gear 1509 can drive the crawler ring gear 1512 to rotate around the crawler sun gear 1509 by driving the crawler planet gears 1510 to rotate self. Since the crawler is sleeved on the crawler ring gear 1512 and meshed with the crawler ring gear 1512, the crawler motor 1506 realizes the drive of the crawler.

[0079] Further, in order to realize the normal and balanced drive of the crawlers on both sides of the main body 11, as Figure 20 and Figure 21 shown, the crawler motor 1506 and the crawler gear set in the first end section are symmetrically arranged with the crawler motor 1506 and the crawler gear set in the second end section with respect to the middle section.

[0080] As Figures 24 - 26As shown, a plurality of unlocking grooves 1513 are further provided on the cylinder body 1501, and unlocking blocks 1514 (the shape of the unlocking blocks 1514 is similar to that of the pawls in a ratchet and pawl mechanism) are arranged in each unlocking groove 1513. The unlocking grooves 1513 are also circumferential annular grooves. The unlocking blocks 1514 protrude from the bottom wall of the unlocking grooves 1513 but do not protrude from the openings of the unlocking grooves 1513. Correspondingly, an unlocking device is provided on the main body 11. When the unlocking blocks 1514 rotate with the cylinder body 1501 and abut against the unlocking device, the unlocking blocks 1514 can drive the unlocking device to unlock. After the unlocking device is unlocked, the climbing device 1 can perform other operations.

[0081] As Figure 25 and Figure 27 shown, a wire winding groove 1515 may be further provided on the cylinder body 1501, and a wire outlet 1516 is arranged on the wire winding groove 1515. Since electronic components such as motors arranged in the cylinder body 1501 need to be powered, wires extending into the cylinder body 1501 need to be arranged. In this application, in order to make the wire arrangement more regular, a wire winding groove 1515 dedicated to combing and accommodating wires is provided on the outer peripheral wall of the cylinder body 1501. This wire winding groove 1515 is also arranged as a circumferential annular groove, and a wire outlet 1516 is also opened in the wire winding groove 1515, so that the wires electrically connected to the motor can be directly led out from the inside of the cylinder body 1501 through the wire outlet 1516 into the wire winding groove 1515, realizing the near-by wiring of the wires outside the cylinder body 1501, avoiding excessive distribution of the wires outside the cylinder body 1501, making the layout of the wires more reasonable, and at the same time avoiding the interference of the wires when walking outside the cylinder body 1501 with other components, and optimizing the performance of the climbing device 1.

[0082] It should be noted that the advantages, advantages, effects, etc. mentioned in this application are only examples and not limitations. It cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of this application. In addition, the above-disclosed specific details are only for the purposes of illustration and easy understanding, rather than limitations. The above details do not limit this application to necessarily adopt the above specific details to implement.

[0083] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this 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, It includes walking wheels and a walking track, and the climbing device has a first moving mode for climbing stairs and a second moving mode for ground walking, where: In the first moving mode, the walking track realizes the movement of the climbing device; In the second moving mode, the walking wheels realize the movement of the climbing device; The climbing device further includes a main body and a swing arm rotatably arranged on the main body, and the walking wheels and the walking track are arranged on the swing arm; Two track wheels for supporting the walking track are arranged on the swing arm. The two track sections of the walking track between the two track wheels are respectively a forward-side track section and a backward-side track section. The walking wheels are located at the position of the backward-side track section to realize the switching between the forward-side track section and the walking wheels through the rotation of the swing arm.

2. The climbing device according to claim 1, wherein The walking wheels are arranged to overlap with the backward-side track section and rotate under the drive of the backward-side track section.

3. The climbing device according to claim 2, characterized in that, The walking wheels are arranged inside the annular walking track, and the first arc portion of the walking wheels protrudes away from the forward-side track section relative to the backward-side track section, so that the backward-side track section forms a ground moving part under the support of the walking wheels; or, the walking wheels are arranged outside the annular walking track, and the second arc portion of the walking wheels protrudes towards the forward-side track section relative to the backward-side track section, so that the part of the walking wheels opposite to the second arc portion forms a ground moving part.

4. The climbing device according to any one of claims 1-3, characterized in that It further includes a universal wheel telescopically arranged on the main body of the climbing device; the universal wheel retracts into the main body in the first moving mode; The universal wheel extends out of the main body in the second moving mode to support the main body together with the walking wheels.

5. The climbing device according to claim 4, characterized in that, The telescoping of the universal wheel is associated with the swing angle of the swing arm, where: When the swing arm is within the swing angle range of the first moving mode, the universal wheel retracts into the main body; When the swing arm is within the swing angle range of the second moving mode, the universal wheel extends out of the main body.

6. The climbing device according to claim 5, characterized in that, The universal wheel is linked with the swing arm so as to be able to extend out of the main body during the rotation of the swing arm.

7. The climbing device according to claim 6, wherein A drive cylinder is rotatably arranged on the main body, and the swing arm is fixedly connected to the drive cylinder to rotate synchronously with the drive cylinder; The universal wheel is connected to the rotating frame, the rotating frame is rotatably sleeved on the driving cylinder, and a pushing member capable of pushing the rotating frame to rotate is arranged on the driving cylinder. During the process of the driving cylinder driving the swing arm to rotate forward, the pushing member approaches the rotating frame and pushes the rotating frame to rotate on the driving cylinder as the driving cylinder rotates, so that the universal wheel extends out of the main body; the universal wheel contracts into the main body under the drive of the elastic member; or, the universal wheel is arranged at one end of the connecting frame, and the other end of the connecting frame is hinged to the main body; a pushing member is rotatably sleeved on the driving cylinder, one end of the pushing member is eccentrically sleeved on the driving cylinder, and the other end of the pushing member is hinged to the connecting frame. The pushing member reciprocates under the eccentric drive of the driving cylinder to drive the universal wheel to expand and contract by approaching and departing from the hinged end of the connecting frame; or, The universal wheel is arranged at one end of the connecting frame, and the other end of the connecting frame is hinged to the main body; a pushing member is rotatably sleeved on the driving cylinder, one end of the pushing member is eccentrically sleeved on the driving cylinder, and the other end of the pushing member is slidably connected to the connecting frame. The pushing member reciprocates under the eccentric drive of the driving cylinder to drive the universal wheel to extend out of the main body by approaching and departing from the hinged end of the connecting frame; the universal wheel contracts into the main body under the drive of the elastic member.

8. The climbing device according to any one of claims 1 to 3, characterized in that, It includes a main body and a swing arm rotatably arranged on the main body. The traveling wheels and the traveling tracks are arranged on the swing arm. The swing arm motor for driving the swing arm to rotate and the track motor for driving the traveling tracks to rotate are coaxially arranged.

9. The climbing device according to claim 8, characterized in that, The swing arm is rotatably connected to the main body through a driving cylinder, and the swing arm motor and the track motor are coaxially arranged in the driving cylinder.

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