Intelligent stair-climbing cargo conveying robot

Abstract

The utility model provides an intelligent stair-climbing and cargo-transporting robot which comprises a stair-climbing and cargo-transporting robot chassis, a rubber crawler-type roller assembly is arranged below the stair-climbing and cargo-transporting robot chassis, a transporting table is arranged above the rubber crawler-type roller assembly and the stair-climbing and cargo-transporting robot chassis, and a folding metal fence is arranged above the transporting table. The whole shape of the rubber crawler belt is changed from a traditional trapezoid crawler belt mode to the rubber crawler belt of the parallelogram structure, compared with a traditional tire type transportation mode, the rubber crawler belt has the advantages that the ground contact area is larger, and the stability and the bearing capacity of the structure are improved. The barbs are additionally arranged on the basis of the rubber track and used for increasing the friction force and the road holding force of the track, the stability of the machine is improved, sliding is prevented, and goods can be safely and stably transported to the purpose.

Description

TECHNICAL FIELD

[0001] The utility model relates to a freight robot field, specifically, relates to an intelligent freight robot that climbs stairs. BACKGROUND

[0002] The robot can solve various problems such as climbing stairs and freight, and the current climbing robot faces difficult problems. Through the review of relevant data, several currently common climbing robot running mechanisms are sorted out. The climbing robot of trapezoidal structure is not stable and prone to backward turning because the rear structure is raised and cannot contact the surface of the stairs when climbing; the semi-manual climbing robot cannot completely save manpower and has certain dangerous factors when in use; the operator has a visual blind area when operating the remote control type climbing robot, so that the robot cannot be accurately controlled and operated; it is found that the existing robot has some deficiencies in use and needs to be improved. The existing robot has poor mobility in complex environments, heavy load affects movement, the movement environment is relatively single, the transportation quality is not high (such as small vibration and stable gravity center during robot operation), and the attitude is difficult to adjust. The problems that the above-mentioned robot cannot solve are solved by the straight line unit mechanism, rotating mechanism and alternate vertical motion mechanism under the reasonable control of various electric control accessories, so that the problems faced by various complex environments are solved to the maximum extent. The problem of overall instability of the climbing robot when climbing stairs is solved. Therefore, we improve it and propose an intelligent freight robot that climbs stairs. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims at the problems existing in the background technology. In order to realize the above-mentioned utility model purpose, the utility model provides the following technical scheme: an intelligent freight robot that climbs stairs, including the freight robot chassis, the lower part of the freight robot chassis is provided with a rubber track type roller assembly, the rubber track type roller assembly, the upper part of the freight robot chassis is provided with a transport platform, the upper part of the transport platform is provided with a folding metal fence, the front of the freight robot chassis is provided with an infrared sensor.

[0004] As a preferred technical scheme of the utility model, the rubber track type roller assembly includes a roller, a rubber track and a track barb.

[0005] As a preferred technical scheme of the utility model, the outer surface of the roller is provided with a rubber track, and the outer surface of the rubber track is provided with a track barb.

[0006] As a preferred technical scheme of the utility model, the roller of the rubber track type roller assembly and the rubber track form a parallelogram structure.

[0007] The lower portion of the stair-climbing freight transporting robot chassis is provided with a roller motor, the roller motor is connected with a motor shaft, the tail end of the motor shaft is connected with a driving gear, and the driving gear is engaged with a driven gear.

[0008] The driven gear is connected with the roller rotating shaft of the roller.

[0009] The two sides of the roller motor are provided with a cross type tripod, and the cross type tripod is arranged below the stair-climbing freight transporting robot chassis.

[0010] The lower portion of the stair-climbing freight transporting robot chassis is provided with a Bluetooth wireless connection module.

[0011] The stair-climbing freight transporting robot chassis is provided with an automatic unloading mechanism, the automatic unloading mechanism comprises an unloading hopper, an unloading hydraulic cylinder and an unloading hydraulic telescopic rod, the unloading hopper is connected with the unloading hydraulic telescopic rod, and the unloading hydraulic telescopic rod is matched with the unloading hydraulic cylinder.

[0012] The side of the stair-climbing freight transporting robot chassis is provided with an anti-toppling auxiliary wheel mechanism, the anti-toppling auxiliary wheel mechanism comprises an anti-toppling auxiliary wheel, an auxiliary wheel V-shaped mounting frame, an auxiliary wheel pneumatic cylinder and an auxiliary wheel pneumatic rod, the anti-toppling auxiliary wheel is arranged on the auxiliary wheel V-shaped mounting frame, the auxiliary wheel V-shaped mounting frame is connected with the auxiliary wheel pneumatic rod, the auxiliary wheel pneumatic rod is connected with the auxiliary wheel pneumatic cylinder, and the stair-climbing freight transporting robot chassis is provided with a power supply battery.

[0013] Compared with the prior art, the utility model has the advantages that: in the scheme of the utility model, rubber track type design is adopted, and it can be seen from the advantage evaluation literature of rubber track given by Huajing industry research institute that rubber track reduces ground weight, improves bearing, has high special terrain passing rate, small vibration, low noise, does not damage pavement and many advantages, thereby reducing the wear degree of steps, and the rubber track has more ground contact area than the traditional tire type transportation mode, reduces the ground pressure, thereby increasing the product stability and bearing capacity.

[0014] 2. The overall shape is changed from the traditional trapezoidal track to a parallelogram track structure. Papers analyzing the kinematics of parallelogram-tracked robots show that robots with parallelogram tracks have strong mobility and excellent obstacle-crossing ability. Therefore, parallelogram tracks are more suitable for working on stairs and are ideal for rolling on stairs. Thus, our intelligent stair-climbing and cargo-carrying robot innovatively uses parallelogram tracks based on the traditional inverted trapezoidal tracks. The design combines large and small tires. Based on the principles of bicycle motion, using the large tire as the drive wheel to move the small tire achieves a labor-saving effect. Applying this to the intelligent stair-climbing and cargo-carrying robot can save power resources, maximizing the utilization of every unit of electricity.

[0015] 3. The machine's overall drive uses an electric motor instead of a combustion engine. Unlike traditional internal combustion engines, electric motors do not produce exhaust fumes and noise pollution, thus causing less environmental pollution and aligning with modern people's pursuit of environmental protection and health. Electric motors are much more efficient than traditional engines, fully utilizing electrical energy with a high energy conversion rate. They are highly energy efficient and feature high torque, high speed, and high power, resulting in smoother vehicle starting, acceleration, and driving, saving fuel consumption and maintenance costs for owners. The electric motor can be precisely controlled through an intelligent control system, making the vehicle's power output more stable and improving the safety of transporting goods. Unlike traditional motors, we use a 350W brushless motor. Brushless motors use semiconductor switching devices for electronic commutation, replacing traditional contact commutators and brushes with electronic switching devices. A brushless motor consists of a permanent magnet rotor, a multi-pole winding stator, and a position sensor. The position sensor, based on changes in rotor position, commutates the stator winding current in a specific sequence (i.e., it detects the position of the rotor's magnetic poles relative to the stator winding, generates a position detection signal, and a signal conversion circuit controls the power switching circuit, switching the winding current according to a specific logic). The electronic switching circuit controlled by the position sensor output provides the operating voltage to the stator winding. Brushless motors are highly reliable, produce no commutation sparks, and have low mechanical noise, making them widely used in high-end video recorders, electronic instruments, and automated office equipment. Compared to brushed motors, brushless motors offer better durability and higher efficiency. The addition and use of two 350W brushless motors further extends the lifespan and durability of the intelligent cargo robot and significantly improves its work efficiency. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0018] Figure 3The utility model provides an anti -topple auxiliary wheel mechanism structure schematic view.

[0019] Figure 4 The utility model provides an automatic unloading mechanism structure schematic view.

[0020] Figure 5 The utility model provides an automatic unloading mechanism structure schematic view.

[0021] Figure 6 The utility model provides a structure schematic view.

[0022] Figure 7 The utility model provides a rubber track type gyro wheel subassembly structure schematic view.

[0023] Figure 8 The utility model provides a track barb structure schematic view.

[0024] Figure 9 The utility model provides an infrared inductor structure schematic view.

[0025] Figure 10 The utility model provides a cross type tripod structure schematic view.

[0026] Figure 11 The utility model provides a stair -climbing robot operation flow chart.

[0027] Indicated in the drawing:

[0028] 1, stair -climbing robot chassis;2, rubber track type gyro wheel subassembly;21, gyro wheel;221, gyro wheel rotation axis;22, rubber track;221, track barb;3, gyro wheel electric motor;31, motor shaft;4, driving gear;5, driven gear;6, cross type tripod;7, transport platform;8, folding type metal fence;9, infrared inductor;10, bluetooth wireless connection module;11, automatic unloading mechanism;111, unloading hopper;112, unloading hydraulic cylinder;113, unloading hydraulic telescopic rod;12, anti -topple auxiliary wheel mechanism;121, anti -topple auxiliary wheel;122, auxiliary wheel V type mounting frame;123, auxiliary wheel pneumatic cylinder, 124, auxiliary wheel pneumatic rod;13, power supply battery. Specific implementation

[0029] In order to make the utility model embodiment's purpose, technical scheme and advantage more clear, below, to the technical scheme in the utility model embodiment, clear, complete description will be conducted with the drawings. Obviously, the described embodiment is the utility model part embodiment, instead of all embodiments.

[0030] Therefore, the following detailed description of embodiments of the present application is not intended to limit the scope of the present application as claimed, but merely represents some embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application. It should be noted that the embodiments in the present application and the features and technical solutions in the embodiments can be combined with each other without conflict, and attention should be paid to: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] Embodiment 1: please refer to Figures 1-7 The intelligent stair-climbing freight robot comprises a stair-climbing freight robot chassis 1, a rubber track type roller assembly 2 arranged below the stair-climbing freight robot chassis 1, the rubber track type roller assembly 2, a transportation table 7 arranged above the stair-climbing freight robot chassis 1, a folding metal fence 8 arranged above the transportation table 7, and an infrared sensor 9 arranged in front of the stair-climbing freight robot chassis 1.

[0032] The rubber track type roller assembly 2 comprises a roller 21, a rubber track 22, and a track barb 221. The outer surface of the roller 21 is provided with the rubber track 22, and the outer surface of the rubber track 22 is provided with the track barb 221. The roller 21 of the rubber track type roller assembly 2 and the rubber track 22 form a parallelogram structure. A roller electric motor 3 is arranged below the stair-climbing freight robot chassis 1, the roller electric motor 3 is connected with a motor shaft 31, the distal end of the motor shaft 31 is connected with a driving gear 4, and the driving gear 4 is engaged with a driven gear 5. The driven gear 5 is connected with a roller 21 rotating shaft of the roller 21. Crossed tripods 6 are arranged on both sides of the roller electric motor 3, and the crossed tripods 6 are arranged below the stair-climbing freight robot chassis 1. A Bluetooth wireless connection module 10 is arranged below the stair-climbing freight robot chassis 1.

[0033] An automatic unloading mechanism 11 is arranged on the stair-climbing freight robot chassis 1, the automatic unloading mechanism 11 comprises an unloading hopper 111, an unloading hydraulic cylinder 112, and an unloading hydraulic telescopic rod 113, the unloading hopper 111 is connected with the unloading hydraulic telescopic rod 113, and the unloading hydraulic telescopic rod 113 cooperates with the unloading hydraulic cylinder 112.

[0034] The side of the cargo climbing robot chassis 1 is provided with an anti-toppling auxiliary wheel mechanism 12, which includes an anti-toppling auxiliary wheel 121, an auxiliary wheel V-shaped mounting bracket 122, an auxiliary wheel pneumatic cylinder 123, and an auxiliary wheel pneumatic rod 124. The anti-toppling auxiliary wheel 121 is arranged on the auxiliary wheel V-shaped mounting bracket 122, the auxiliary wheel V-shaped mounting bracket 122 is connected with the auxiliary wheel pneumatic rod 124, the auxiliary wheel pneumatic rod 124 is connected with the auxiliary wheel pneumatic cylinder 123, and the cargo climbing robot chassis 1 is provided with a power supply battery 13.

[0035] Automatic unloading mechanism: when unloading is needed, the unloading hydraulic cylinder 112 is started, and the unloading hydraulic telescopic rod 113 is pushed to perform telescopic movement. Since the unloading bucket 111 is connected with the unloading hydraulic telescopic rod 113, as the unloading hydraulic telescopic rod 113 is extended, the unloading bucket 111 will be lifted, realizing the function of automatic unloading. When the unloading is completed, the unloading hydraulic cylinder 112 is reversely moved, driving the unloading hydraulic telescopic rod 113 to retract, and the unloading bucket 111 returns to the original position.

[0036] Anti-toppling auxiliary wheel mechanism: in the process of running of the cargo climbing robot, in order to prevent toppling, the anti-toppling auxiliary wheel mechanism 12 plays a role. When the robot may have a tendency to topple, the auxiliary wheel pneumatic cylinder 123 works, pushing the auxiliary wheel pneumatic rod 124 to extend. The auxiliary wheel pneumatic rod 124 is connected with the auxiliary wheel V-shaped mounting bracket 122, so that the anti-toppling auxiliary wheel 121 mounted on the auxiliary wheel V-shaped mounting bracket 122 contacts the ground, increasing the support point and improving the stability of the robot, preventing toppling. When the anti-toppling auxiliary wheel 121 is not needed, the auxiliary wheel pneumatic cylinder 123 drives the auxiliary wheel pneumatic rod 124 to retract, and the anti-toppling auxiliary wheel 121 leaves the ground.

[0037] The power supply battery 13 provides power support for each component of the cargo climbing robot, ensuring that the robot can normally run

[0038] The working principle of the intelligent cargo climbing robot is as follows: the robot moves by using the rubber track type roller assembly 2. After the roller electric motor 3 is started, the motor shaft 31 drives the driving gear 4 to rotate, the driving gear 4 is engaged with the driven gear 5, so that the driven gear 5 drives the roller 21 shaft of the roller 21 to rotate. The outer surface of the roller 21 is provided with a rubber track 22, and the outer surface of the rubber track 22 is provided with a track barb 221. This design makes the robot run, the rubber track 22 can reduce the ground weight, improve the bearing capacity, the special terrain pass rate is high, the vibration is small, the noise is low, and the road surface is not damaged, and at the same time the track barb 221 can increase the friction and grip of the track, improve the stability of the machine, prevent sliding, and safely and stably transport goods.

[0039] The rollers 21 of the rubber track roller assembly 2 form a parallelogram structure with the rubber tracks 22. According to relevant research papers, this kind of parallelogram track robot has strong mobility, strong front-end obstacle crossing ability, and is more suitable for working in stair environments. It can roll on stairs, making the robot more stable when climbing stairs to transport goods.

[0040] In addition, the robot uses an electric motor instead of a fuel engine. The electric motor does not produce exhaust gas and noise pollution, has little environmental pollution, and meets environmental protection and health requirements. It is efficient, can fully utilize electric energy, has high energy conversion efficiency, and has high torque, high speed, and high power, making the robot start, accelerate, and travel more smoothly, and also saving power resources. At the same time, the electric motor can be precisely controlled by an intelligent control system, and the power output is more stable, improving the safety of transporting goods. The electric motor uses a 350w brushless motor, which detects the position of the rotor magnetic pole relative to the stator winding through a position sensor, generates a position detection signal, and replaces the traditional contact commutator and brush with an electronic switching device to achieve electronic commutation.

[0041] An infrared sensor 9 is arranged at the front of the robot chassis, which can be used to detect obstacles in front to avoid collisions. A transport platform 7 is arranged above the robot chassis for carrying goods, and a foldable metal fence 8 is arranged above the transport platform 7 to prevent goods from falling during transportation. A Bluetooth wireless connection module 10 is also arranged below the chassis, which can realize wireless connection with external devices, facilitating control and monitoring of the robot.

[0042] The specific working process of the intelligent stair-climbing delivery robot is as follows: when goods need to be transported, the staff places the goods on the transport platform 7 and fixes them with the foldable metal fence 8 to prevent them from falling.

[0043] Through the Bluetooth wireless connection module 10, the operator can use external devices to send instructions to the robot.

[0044] Start the roller electric motor 3, and the motor shaft 31 starts to rotate, driving the driving gear 4 at the end to rotate. The driving gear 4 meshes with the driven gear 5, thereby driving the roller 21 shaft of the roller 21 to rotate.

[0045] When the roller 21 rotates, it drives the rubber tracks 22 on the outer surface to move. The rubber tracks 22 have the advantages of reducing ground pressure, improving load capacity, high special terrain pass rate, low vibration, low noise, and no damage to the road surface. Compared with the traditional tire transport mode, the rubber tracks 22 have a larger ground contact area, reducing the ground contact pressure and increasing the stability and load capacity of the product. The track barbs 221 on the outer surface of the rubber tracks 22 increase the friction and grip of the tracks, greatly improving the stability of the robot and preventing sliding.

[0046] The rollers 21 of the rubber track roller assembly 2 form a parallelogram structure with the rubber track 22. This structure makes the robot more maneuverable and capable of overcoming obstacles at the front end, more suitable for working in a stair environment, and can smoothly roll on the stairs.

[0047] During the climbing process, the robot adopts a combination of large and small tires as the driving wheel to drive the small tire to move, achieving the purpose of saving labor and power resources, and maximizing the use of each grid of electricity.

[0048] The robot uses a 350w brushless motor as a power source. The position sensor of the brushless motor changes the rotor position according to the change of the rotor position, and changes the stator winding current in a certain order. Through electronic switching devices instead of traditional contact commutator and brush, electronic commutation is realized. This engine does not produce exhaust gas and noise pollution like traditional internal combustion engine, and has lower pollution to the environment, which meets the requirements of environmental protection and health. At the same time, the efficiency of the motor engine is high, which can fully utilize the electric energy, has high energy conversion rate, high torque, high speed and high power, etc., so that the starting, acceleration and running of the robot are more smooth, and the power resources can be saved. In addition, the motor engine can be precisely controlled through the intelligent control system, so that the power output of the vehicle is more stable, and the safety of transporting goods is improved.

[0049] During the forward movement of the robot, the infrared sensor 9 at the front of the chassis will detect whether there is an obstacle in front of it in real time. If an obstacle is detected, the robot will make corresponding adjustments through the intelligent control system to avoid collision.

[0050] Example 2: An intelligent climbing robot for transporting goods, which adopts a rubber track 22. As can be seen from the literature on the advantages of the rubber track 22 given by Huajing Industrial Research Institute, the rubber track 22 reduces the ground weight, improves the load capacity, has high special terrain passing rate, small vibration, low noise, and does not damage the road surface, etc. Many advantages reduce the degree of wear on the steps, and the rubber track 22 has more ground contact area than the traditional tire type transportation mode, reduces the ground pressure ratio, and thus increases the product stability and load capacity. On the basis of the traditional rubber track 22, the design of the barb is added to increase the friction and grip of the track, greatly improving the stability of the machine, preventing sliding, and thus safely and stably transporting goods to the destination.

[0051] The overall shape is changed from the traditional trapezoidal track to a parallelogram track structure. Compared with traditional stair-climbing robots, this design is more stable when climbing stairs to transport goods. A paper by Ye Changlong, Yang Kongshuo, and others from the School of Mechanical and Electrical Engineering at Shenyang Aerospace University, on the kinematic analysis of a parallelogram-shaped variable track robot, shows that robots with parallelogram tracks have strong mobility and excellent obstacle-crossing ability at the front end. Therefore, parallelogram tracks are more suitable for the working environment of stairs and are suitable for rolling on stairs. Thus, our intelligent stair-climbing goods transport robot innovatively uses parallelogram tracks based on the traditional inverted trapezoidal tracks. The design uses a combination of large and small tires. Based on the principles of bicycle motion, using the large tire as the drive wheel to move the small tire achieves a labor-saving effect. Applying this to the intelligent stair-climbing goods transport robot can save power resources, maximizing the utilization of every unit of electricity.

[0052] The machine is driven by an electric motor instead of a fuel engine. The electric motor does not produce exhaust gas and noise pollution like traditional internal combustion engines, so it pollutes the environment less than traditional engines, in line with modern people's pursuit of environmental protection and health. The efficiency of the electric motor is much higher than that of the traditional engine, which can fully utilize electric energy and has high energy conversion efficiency, so it has high energy efficiency and high torque, high speed and high power, etc. The starting, acceleration and driving of the vehicle are more smooth, which can save fuel consumption and maintenance costs for the owner. The electric motor can be precisely controlled by an intelligent control system to make the power output of the vehicle more stable and improve the safety of transporting goods. Unlike traditional motors, we use 350w brushless motors. Brushless motors use semiconductor switching devices to achieve electronic commutation, i.e. replace traditional contact commutators and brushes with electronic switching devices. The brushless motor is composed of a permanent magnet rotor, a multi-pole winding stator, a position sensor, etc. The position sensor detects the position of the rotor relative to the stator winding according to the change of the rotor position, and switches the stator winding current in a certain order, i.e. detects the position of the rotor magnetic pole relative to the stator winding, generates a position detection signal, and controls the power switching circuit by the signal conversion circuit. The winding current is switched according to a certain logic relationship. The electronic switching circuit controlled by the position sensor output provides the working voltage of the stator winding. Brushless motors have high reliability, no commutation spark, low mechanical noise, and are widely used in high-end video recorders, video recorders, electronic instruments and automated office equipment. Compared with brushed motors, brushless motors have better durability and higher efficiency. The addition and use of two 350w brushless motors better prolong the service life of the intelligent delivery robot, improve the durability, and greatly improve the work efficiency. The main internal support structure adopts a cross tripod structure on the traditional internal support structure, which can withstand greater pressure and has higher stability to increase the maximum weight of the loadable object. The fence adopts a four-sided foldable metal fence. The folded fence can reduce the space occupied and can be used as an ordinary storage rack during the period when the robot is not in use, achieving maximum utilization. The metal fence enhances the stability of the delivery and prevents the risk of goods falling off. A groove with a pattern to increase friction is added to the top of the fence, and a buckle design is added around the fence to fix the rope used to bundle the goods, again achieving the effect of securing the goods.

[0053] The automatic stair-climbing delivery robot is designed with full intelligence and automation. After placing the heavy object stably, the machine is started by connecting with the mobile phone Bluetooth. The machine sensing device starts after clicking the start button on the control page. The machine infrared panoramic detection device starts to detect the surrounding environment, which is then transmitted to the central control system. The motor power system starts to operate within the range of the detected space, so that the whole machine starts to operate.

[0054] In China, there are still many multi-storey cell, and the common problem of these cells is no elevator, narrow and simple corridor, and inconvenient for family to carry the purchased goods. The machine is suitable for this, and the moving company carries goods. If the moving company carries heavy goods such as refrigerator, washing machine and heavy cabinet, the cost of moving is expensive, and the safety of the carrier and the carried goods cannot be guaranteed. Therefore, the use of the machine is very important. In addition, the machine can be used when the shopping mall and supermarket purchase and sell large and heavy goods. The machine can realize zero labor during moving and can guarantee the safety of the carried goods. The intelligent climbing goods moving robot has broad market prospect, high economic benefit and market value

[0055] The above examples are only used to illustrate the present application and are not limited to the technical solutions described in the present application. Although the present application has been described in detail with reference to the above embodiments, the present application is not limited to the above specific embodiments. Therefore, any modification or equivalent replacement of the present application; and all technical solutions and improvements within the spirit and scope of the present application are covered by the claims of the present application.

Claims

1. A smart stair climbing delivery robot comprising a stair climbing delivery robot chassis (1), characterized in that, The bottom of the stair-climbing delivery robot chassis (1) is provided with a rubber track roller assembly (2), the top of the stair-climbing delivery robot chassis (1) is provided with a transport platform (7), the top of the transport platform (7) is provided with a folding metal fence (8), and the front of the stair-climbing delivery robot chassis (1) is provided with an infrared sensor (9).

2. The intelligent stair climbing delivery robot of claim 1, wherein, The rubber track roller assembly (2) comprises a roller (21), a rubber track (22) and a track barb (221).

3. The intelligent stair climbing delivery robot of claim 2, wherein, The outer surface of the roller (21) is provided with a rubber track (22), and the outer surface of the rubber track (22) is provided with a track barb (221).

4. The intelligent stair climbing delivery robot of claim 3, wherein, The roller (21) of the rubber track roller assembly (2) and the rubber track (22) form a parallelogram structure.

5. The intelligent stair climbing delivery robot of claim 4, wherein, The bottom of the stair-climbing delivery robot chassis (1) is provided with a roller electric motor (3), the roller electric motor (3) is connected with a motor shaft (31), the distal end of the motor shaft (31) is connected with a driving gear (4), and the driving gear (4) is engaged with a driven gear (5).

6. The intelligent stair climbing delivery robot of claim 5, wherein, The driven gear (5) is connected with the roller (21) rotation shaft of the roller (21).

7. The intelligent stair climbing delivery robot of claim 6, wherein, The two sides of the roller electric motor (3) are provided with a cross-type tripod (6), and the cross-type tripod (6) is arranged below the stair-climbing delivery robot chassis (1).

8. The intelligent stair climbing delivery robot of claim 7, wherein, The bottom of the stair-climbing delivery robot chassis (1) is provided with a Bluetooth wireless connection module (10).

9. The intelligent stair climbing delivery robot of claim 1, wherein, The stair-climbing delivery robot chassis (1) is provided with an automatic unloading mechanism (11), the automatic unloading mechanism (11) comprises an unloading hopper (111), an unloading hydraulic cylinder (112) and an unloading hydraulic telescopic rod (113), the unloading hopper (111) is connected with the unloading hydraulic telescopic rod (113), and the unloading hydraulic telescopic rod (113) is matched with the unloading hydraulic cylinder (112). 10.The intelligent stair-climbing delivery robot of claim 1, wherein, The side of the stair-climbing delivery robot chassis (1) is provided with an anti-toppling auxiliary wheel mechanism (12), the anti-toppling auxiliary wheel mechanism (12) comprises an anti-toppling auxiliary wheel (121), an auxiliary wheel V-shaped mounting rack (122), an auxiliary wheel pneumatic cylinder (123) and an auxiliary wheel pneumatic rod (124), the anti-toppling auxiliary wheel (121) is arranged on the auxiliary wheel V-shaped mounting rack (122), the auxiliary wheel V-shaped mounting rack (122) is connected with the auxiliary wheel pneumatic rod (124), the auxiliary wheel pneumatic rod (124) is connected with the auxiliary wheel pneumatic cylinder (123), and the stair-climbing delivery robot chassis (1) is provided with a power supply battery (13).

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