Stair climbing robot

Abstract

The utility model discloses a stair-climbing robot, and relates to the technical field of robots. The device comprises a rack, a front supporting assembly and a rear supporting assembly, the front supporting assembly is located on the front side of the bottom of the rack so as to support the front side of the rack. The front supporting assembly comprises a first wheel set, a second wheel set arranged on the rear side of the first wheel set, a first lifting module used for adjusting the height of the first wheel set, and a second lifting module used for adjusting the height of the second wheel set. The rear supporting assembly is located on the rear side of the bottom of the rack so as to support the rear side of the rack. The rear supporting assembly comprises a third wheel set, a fourth wheel set arranged on the rear side of the third wheel set, a third lifting module used for adjusting the height of the third wheel set, and a fourth lifting module used for adjusting the height of the fourth wheel set. According to the technical scheme, the stair climbing device has the advantages of high stair climbing stability and smooth movement.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a stair-climbing robot. Background Technology

[0002] With the continuous advancement of science and technology, the robotics industry is experiencing rapid development. More and more robots are appearing in people's daily lives, becoming an indispensable part of modern life. Stairs are a common obstacle in daily life, and robots with stair-climbing capabilities have wide applications. Stair-climbing robots, as intelligent devices capable of freely navigating buildings, have received widespread attention and research. These robots can be used in emergency rescue, home assistance, industrial transportation, and other scenarios, greatly improving work efficiency and reducing human labor burden. However, current stair-climbing robots are not yet stable enough during stair climbing, exhibiting significant lag and difficulty. Their stability and smoothness need improvement and urgently require refinement. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by providing a stair-climbing robot with advantages such as high stair-climbing stability and smooth movement.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: a stair-climbing robot, characterized in that it includes: a frame, a front support assembly, and a rear support assembly;

[0005] The front support assembly is located at the front of the bottom of the frame to support the front of the frame; the front support assembly includes: a first wheel set, a second wheel set disposed behind the first wheel set, a first lifting module for adjusting the height of the first wheel set, and a second lifting module for adjusting the height of the second wheel set;

[0006] The rear support assembly is located at the rear of the bottom of the frame to support the rear of the frame; the rear support assembly includes: a third wheel group, a fourth wheel group disposed behind the third wheel group, a third lifting module for adjusting the height of the third wheel group, and a fourth lifting module for adjusting the height of the fourth wheel group;

[0007] The distance between the first and second wheel sets is half a step width; the distance between the third and fourth wheel sets is half a step width.

[0008] The present invention further includes a lidar, which is located on the front side of the frame and is used to detect road condition information on the front side of the frame. The road condition information includes: step height and step width.

[0009] The present invention is further provided that the first lifting module, the second lifting module, the third lifting module and the fourth lifting module are all multi-level telescopic modules.

[0010] The present invention further includes a diffuse reflection switch or a pressure switch on the first wheel assembly to detect contact between the first wheel assembly and the step surface or the ground.

[0011] The present invention further includes a drive structure in both the first wheel set and the second wheel set.

[0012] The present invention further includes a drive structure in both the third and fourth wheel sets.

[0013] The present invention further includes a front support assembly, which is used to adjust the distance between the first wheel set and the second wheel set;

[0014] The rear support assembly also includes a rear spacing adjustment module for adjusting the distance between the third wheel group and the fourth wheel group.

[0015] In a further embodiment of this invention, a magnetic switch is provided at the position where the first lifting module needs to drive the first wheel assembly to rise or fall in height corresponding to the first step.

[0016] The present invention further includes a guide assembly between the first wheel set and the frame to guide the lifting and lowering of the first wheel set;

[0017] The guide assembly includes: two guide rods disposed on the first wheel set and on both sides of the first lifting module, and two guide holes disposed on the frame and corresponding to the guide rods.

[0018] The present invention further includes a support spacing adjustment module between the front support assembly and the rear support assembly, which is used to adjust the distance between the front support assembly and the rear support assembly.

[0019] After adopting the above technical solution, the beneficial effects of this utility model are as follows:

[0020] 1. In this utility model, any wheel set of the front support component can be paired with any wheel set of the rear support component to achieve stable support for the frame. The other wheel set of the front support component and the other wheel set of the rear support component can be raised and adjusted to smoothly land on the next step during the climbing process, thereby achieving smooth and continuous climbing of the stair climbing robot, avoiding jamming, and improving the user experience of the stair climbing robot.

[0021] 2. When one of the wheel sets of the front support is suspended in the air, the lifting module corresponding to the other wheel sets raises the frame to increase its horizontal movement distance relative to the step width coefficient. Similarly, when the other wheel set of the front support is suspended in the air, the lifting module corresponding to the other wheel sets raises the frame to increase its horizontal movement distance relative to the step width coefficient. This allows the frame to climb the stairs at a uniform vertical speed, making the stair climbing process smoother, more fluid, and more stable. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of this utility model;

[0024] Figure 2 This is a structural schematic diagram from another perspective of the present invention;

[0025] Figure 3 This is a structural schematic diagram from another perspective of the present invention;

[0026] Figure 4 This is an exploded view of the structure of this utility model.

[0027] Explanation of reference numerals in the attached drawings: 100, frame 100; 200, front support assembly 200; 300, rear support assembly 300; 210, first wheel group 210; 220, second wheel group 220; 310, third wheel group 310; 320, fourth wheel group 320; 230, first lifting module 230; 240, second lifting module 240; 330, third lifting module 330; 340, fourth lifting module 340; 400, drive structure 400; 510, guide rod 510; 520, guide hole 520. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive element, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

[0030] This embodiment relates to a stair-climbing robot, such as Figure 1-4 As shown, it includes: a frame 100, a front support assembly 200, and a rear support assembly 300;

[0031] The front support assembly 200 is located at the front bottom of the frame 100 to support the front side of the frame 100. The front support assembly 200 includes: a first wheel set 210, a second wheel set 220 located behind the first wheel set 210, a first lifting module 230 for adjusting the height of the first wheel set 210, and a second lifting module 240 for adjusting the height of the second wheel set 220, so that the first wheel set 210 and the second wheel set 220 can alternately support the front side of the frame 100. The rear support assembly 300 is located at the rear bottom of the frame 100 to support the rear side of the frame 100. The rear support assembly 300 includes: a third wheel set 310, a fourth wheel set 320 located behind the third wheel set 310, a third lifting module 330 for adjusting the height of the third wheel set 310, and a fourth lifting module 340 for adjusting the height of the fourth wheel set 320, so that the third wheel set 310 and the fourth wheel set 320 can alternately support the rear side of the frame 100.

[0032] Because each of the four wheel sets of the stair-climbing robot is equipped with a lifting module, the height of the wheel set can be independently controlled. During the stair-climbing process, any wheel set of the front support component 200, in combination with any wheel set of the rear support component 300, can provide stable support for the frame 100, ensuring the stability of the stair-climbing robot during the climbing process. This allows the other wheel set of the front support component 200 and the other wheel set of the rear support component 300 to be raised and adjusted in height, so that they can smoothly land on the next step during the climbing process. This ensures that the stair-climbing robot climbs the stairs smoothly and continuously, avoids jamming, and improves the user experience of the stair-climbing robot. Furthermore, during the process of moving forward while suspended in the air, one of the wheel sets of the front support member uses the corresponding lifting modules of the other wheel sets to raise the frame 100 to a height relative to the step width coefficient, thus increasing its horizontal movement distance. Similarly, during the process of moving forward while suspended in the air, the other wheel set of the front support member also uses the corresponding lifting modules of the other wheel sets to raise the frame 100 to a height relative to the step width coefficient, thus increasing its horizontal movement distance. This allows the frame 100 to climb the stairs at a uniform vertical speed, making the stair-climbing process smoother, more fluid, and more stable.

[0033] In this embodiment, the stair-climbing robot also includes a LiDAR sensor, which is located on the front of the frame 100. The LiDAR sensor detects road conditions in front of the frame 100, including but not limited to: step height, step width, and distance to the next step. The stair-climbing robot can adjust the movement of each wheel group based on this road condition information, allowing it to adapt to different staircases and achieve good climbing performance. Of course, in other embodiments, a LiDAR sensor can also be located on the rear of the frame 100 to detect road conditions in front of the frame 100, enabling the stair-climbing robot to move backward up or down stairs, thus broadening its applicability.

[0034] As a preferred embodiment, the first lifting module 230, the second lifting module 240, the third lifting module 330, and the fourth lifting module 340 are all multi-stage telescopic modules. Multi-stage telescopic modules offer advantages such as long stroke, high precision, and compact size, allowing the climbing robot to retract to a shorter length during the climbing process. This results in a lower overall height of the frame 100, a lower center of gravity for the climbing robot, and greater stability during the climbing process. In this embodiment, the first wheel assembly 210 is equipped with a diffuse reflection switch or a pressure switch to detect contact between the first wheel assembly 210 and the step surface or ground, ensuring that the first wheel assembly 210 provides support and guaranteeing the stability and safety of the climbing robot.

[0035] In this embodiment, both the first wheel group 210 and the second wheel group 220 include a drive structure 400. During the stair-climbing robot's ascent, the front support component 200 always has a wheel group step surface or ground surface. Any wheel group of the front support component 200 can drive the stair-climbing robot forward or backward to achieve a stable stair-climbing effect. Of course, in other embodiments, the third wheel group 310 and the fourth wheel group 320 can also be provided with drive structures 400, driving the stair-climbing robot forward or backward through the rear support module. Alternatively, each wheel group in the stair-climbing robot can be provided with a drive structure 400 to achieve a good driving effect.

[0036] In this embodiment, the front support component 200 further includes a front spacing adjustment module for adjusting the distance between the first wheel group 210 and the second wheel group 220; the rear support component 300 further includes a rear spacing adjustment module for adjusting the distance between the third wheel group 310 and the fourth wheel group 320. The stair-climbing robot can adapt to different staircases by adjusting the distance between the first wheel group 210 and the second wheel group 220, and the distance between the third wheel group 310 and the fourth wheel group 320, thereby achieving a smoother and more stable stair-climbing process and improving the user experience of the stair-climbing robot. As a preferred embodiment, both the front spacing adjustment module and the rear spacing adjustment module are electrically connected to the LiDAR. The front spacing adjustment module and the rear spacing adjustment module can automatically adjust according to the road condition information obtained by the LiDAR to adapt to the staircase to be climbed and achieve a good stair-climbing effect.

[0037] In this embodiment, a magnetic switch is installed at the position where the first lifting module 230 needs to drive the first wheel set 210 to rise or fall on the first step. This detects that the first lifting module 230 has driven the first wheel set 210 to rise or fall in place, thereby preventing the first wheel set 210 from malfunctioning and hitting the front side of the step, causing damage to the first wheel set 210 and preventing the stair-climbing robot from falling. This ensures that the stair-climbing robot can complete the stair-climbing process stably and safely. As a preferred solution, magnetic switches are also installed in the lifting modules corresponding to other wheel sets to check the rise or fall of other wheel sets, achieving a good stair-climbing effect.

[0038] As a preferred embodiment, a guide component is also included between the first wheel assembly 210 and the frame 100 to guide the lifting and lowering of the first wheel assembly 210, making the lifting and lowering process of the first lifting module 230 driving the first wheel assembly 210 more stable. Specifically, in this embodiment, the guide component includes two guide rods 510 disposed on the first wheel assembly 210 and on both sides of the first lifting module 230, and two guide holes 520 disposed on the frame 100 corresponding to the guide rods 510. The guide rods 510 and the guide holes 520 cooperate to guide the first wheel assembly 210. The two guide rods 510 are respectively located on both sides of the first lifting module 230 to ensure the balance and stability of its guidance, thereby improving the overall stability of the stair-climbing robot. Preferably, guide components are also provided between the second wheel assembly 220, the third wheel assembly 310, the fourth wheel assembly 320 and the frame 100.

[0039] In this embodiment, the distance between the front support component 200 and the rear support component 300 of the stair-climbing robot is an integer multiple of half a step width; the distance between the first wheel group 210 and the second wheel group 220 is equal to the distance between the third wheel group 310 and the fourth wheel group 320. During stair climbing, the timing of the change of support wheel group of the front support component 200 is synchronized with the timing of the change of support wheel group of the rear support component 300, so that the height of the front and rear sides of the frame 100 can be raised or lowered synchronously, and the relative height between the front and rear sides remains unchanged, so that the frame 100 remains stable during stair climbing, improving passenger comfort or cargo stability; the stair climbing process is more coordinated and smooth. Specifically. When the distance between the current support component 200 and the rear support component 300 is an odd multiple of half the width of a step, the first wheel group 210 and the third wheel group 310 rise synchronously, and the second wheel group 220 and the fourth wheel group 320 rise synchronously; when the distance between the current support component 200 and the rear support component 300 is an even multiple of half the width of a step, the first wheel group 210 and the fourth wheel group 320 rise synchronously, and the second wheel group 220 and the third wheel group 310 rise synchronously; thus achieving a good stair-climbing effect.

[0040] In this embodiment, a support spacing adjustment module is also provided between the front support component 200 and the rear support component 300 to adjust the distance between them. The stair-climbing robot can adapt to different staircases by adjusting the distance between the front support component 200 and the rear support component 300, thereby achieving a smoother and more stable stair-climbing process and improving the user experience. As a preferred embodiment, the support spacing adjustment module is electrically connected to a LiDAR sensor. The front support spacing adjustment module can automatically adjust according to the road condition information acquired by the LiDAR sensor to adapt to the staircase to be climbed, achieving a good stair-climbing effect.

[0041] The above is only used to illustrate the technical solution of this utility model and not to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A stair-climbing robot, characterized in that, include: A frame (100), a front support assembly (200), and a rear support assembly (300); The front support assembly (200) is located at the bottom front side of the frame (100) to support the front side of the frame (100); the front support assembly (200) includes: a first wheel set (210), a second wheel set (220) disposed behind the first wheel set (210), a first lifting module (230) for adjusting the height of the first wheel set (210), and a second lifting module (240) for adjusting the height of the second wheel set (220); The rear support assembly (300) is located at the bottom rear side of the frame (100) to support the rear side of the frame (100); the rear support assembly (300) includes: a third wheel group (310), a fourth wheel group (320) disposed at the rear side of the third wheel group (310), a third lifting module (330) for adjusting the height of the third wheel group (310), and a fourth lifting module (340) for adjusting the height of the fourth wheel group (320).

2. The stair-climbing robot according to claim 1, characterized in that, It also includes a lidar, which is installed on the front side of the frame (100) and is used to detect road condition information on the front side of the frame (100). The road condition information includes: step height and step width.

3. The stair-climbing robot according to claim 1, characterized in that, The first lifting module (230), the second lifting module (240), the third lifting module (330), and the fourth lifting module (340) are all multi-level telescopic modules.

4. The stair-climbing robot according to claim 1, characterized in that, The first wheel assembly (210) is equipped with a diffuse reflection switch or a pressure switch to detect when the first wheel assembly (210) contacts the step surface or the ground.

5. The stair-climbing robot according to claim 1, characterized in that, Both the first wheel set (210) and the second wheel set (220) include a drive structure (400).

6. The stair-climbing robot according to claim 1 or 5, characterized in that, Both the third wheel group (310) and the fourth wheel group (320) include a drive structure (400).

7. The stair-climbing robot according to claim 1, characterized in that, A magnetic switch is provided at the position where the first lifting module (230) needs to drive the first wheel set (210) to lift the height corresponding to the first step.

8. The stair-climbing robot according to claim 1, characterized in that, The first wheel assembly (210) and the frame (100) further include a guide assembly for guiding the lifting and lowering of the first wheel assembly (210); The guide assembly includes: two guide rods (510) disposed on the first wheel set (210) and on both sides of the first lifting module (230), and two guide holes (520) disposed on the frame (100) and corresponding to the guide rods (510).

Images