Eight-foot stair-climbing robot

Abstract

The utility model provides an eight-foot stair-climbing robot which comprises a robot mounting plate, a seat assembly, a controller assembly and two mechanical movement rows, the seat assembly and the mechanical movement rows are electrically connected with the controller assembly, a gyroscope is arranged in the controller assembly, each mechanical movement row is composed of four mechanical feet, and the robot mounting plate is provided with a control module. The mechanical feet in the two mechanical movement rows synchronously move in a one-to-one correspondence mode from front to back to form movement sets, every two of the four movement sets are matched in a spaced mode to move or support, and alternate switching between a movement state and a supporting state can be achieved through every two of the four movement sets in a spaced mode. The mechanical foot comprises a thigh joint driving assembly, a thigh body, a knee driving assembly, a shank body and a sole part which are connected in sequence, and the sole part is hinged to the shank body. The stair-climbing robot has the beneficial effects that the frequency of later maintenance is reduced, and the two moving groups are always fixed on the steps in the operation process, so that the stair-climbing robot is stable and safe in the process of going up and down in a corridor.

Description

Technical Field

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

[0002] Currently, nearly half of urban residents in China still live in buildings with seven floors or less without elevators, forcing them to face the challenge of climbing stairs for daily commutes. While this may not be a significant burden for young adults, it poses a considerable inconvenience for the elderly and other vulnerable groups.

[0003] To address this issue, stair-climbing robots have emerged, capable of carrying people upstairs. However, most stair-climbing devices rely on two tracks that slide along the stair steps. These tracks are prone to wear and tear at the sharp corners of the steps, leading to poor safety and frequent maintenance. To solve this problem, some stair-climbing robots have adopted mechanical legs that mimic human walking as their motion drive. However, when these existing mechanical legs lift and alternate walking, the device experiences significant wobbling during the intervals between movements, resulting in poor stability, impacting the user experience, and even posing safety risks. This fails to meet user needs and hinders the product's competitiveness. Utility Model Content

[0004] To address the problems in the existing technology, this utility model provides an eight-legged stair-climbing robot, which solves the problems of easy wear and poor stability in existing stair-climbing robots that use tracks and mechanical legs for climbing.

[0005] This utility model discloses an eight-legged stair-climbing robot, comprising a robot mounting plate, a seat assembly, a controller assembly, and two mechanical motion rows. Both the seat assembly and the mechanical motion rows are electrically connected to the controller assembly. The controller assembly includes a gyroscope, which improves the stability of the mechanical motion rows. Each mechanical motion row consists of four mechanical legs. The mechanical legs in the two mechanical motion rows move synchronously from front to back, forming motion groups. The four motion groups work in pairs, alternating between movement and support, and this alternating movement allows for switching between movement and support states. The two mechanical motion rows are fixedly mounted on both sides of the lower end face of the robot mounting plate. The seat assembly is fixedly mounted on the upper end face of the robot mounting plate. Each mechanical leg includes a thigh joint drive assembly, a thigh body, a knee drive assembly, a lower leg body, and a foot sole, connected sequentially. The thigh joint drive assembly drives the thigh body to swing back and forth, the knee drive assembly drives the lower leg body to swing back and forth, and the foot sole is hinged to the lower leg body.

[0006] This utility model is further improved by setting the four mechanical feet in the mechanical motion row to be spaced apart front to back and staggered left to right.

[0007] The present invention is further improved in that the thigh joint drive assembly includes a lateral swing drive device, a rotation drive device, and a forward and backward swing drive device. The lateral swing drive device can drive the thigh body to swing left and right, and the rotation drive device can drive the thigh body to rotate.

[0008] This utility model is further improved by providing a robot mounting plate with multiple cameras, a depth camera, a lidar and an ultrasonic radar, which are electrically connected to the controller assembly.

[0009] The present invention is further improved in that the seat assembly includes a horizontal adjustment component and a seat body. The moving end of the horizontal adjustment component is hinged to the bottom end of the seat body, and one side of the seat body is hinged to the robot mounting plate. The horizontal adjustment component can push the seat body to swing relative to the robot mounting plate.

[0010] This utility model is further improved by providing a display screen and function buttons on the seat body, both of which are electrically connected to the controller assembly.

[0011] This utility model is further improved in that the horizontal adjustment component is a servo drive component motor and a drive linkage. The servo drive component motor is inclinedly set at the bottom of the robot mounting plate. The robot mounting plate is provided with a drive window that cooperates with the drive linkage. The drive linkage passes through the drive window and connects to the seat body.

[0012] This utility model is further improved by providing a lifting helmet assembly, a seat belt and a footrest on the main body of the seat. The lifting helmet assembly includes a helmet body and a lifting adjustment component. The helmet body can be used in conjunction with the lifting adjustment component to adapt to different people's heights and protect their heads.

[0013] This utility model is further improved by providing a safety guardrail on the outer side of the seat body, and a guardrail airbag on the safety guardrail, which can further improve the user's safety.

[0014] This utility model is further improved by making the lifting adjustment component a helmet drive device. The helmet drive device is fixedly installed on the seat body, and the moving end of the helmet drive device is connected to the helmet body. The helmet body is provided with a guide column, and the seat body is provided with a guide groove that cooperates with the guide column. The helmet body is provided with a helmet airbag.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model provides an eight-legged stair-climbing robot. Its structure can effectively solve the problems of easy wear and poor stability of existing stair-climbing robots that use tracks and mechanical legs for climbing stairs. By setting up eight mechanical legs, this solution can replace the structure that uses tracks for moving up and down stairs, simulating the movement of human leg joints, reducing the frequency of later maintenance, and ensuring that two sets of motion groups are always fixed on the steps during operation. This makes the stair-climbing robot stable and safe during the process of going up and down stairs, which can effectively improve the user's riding experience and the competitiveness of the product. Attached Figure Description

[0016] To more clearly illustrate the solutions in 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the eight-legged stair-climbing robot.

[0018] Figure 2 A schematic diagram of the eight-legged stair-climbing robot from another perspective;

[0019] Figure 3 This is a schematic diagram of the exploded structure of an eight-legged stair-climbing robot. Detailed Implementation

[0020] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish different objects, not to describe a particular order.

[0021] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0023] like Figure 1-3 As shown, this utility model discloses an eight-legged stair-climbing robot, comprising a robot mounting plate 1, a seat assembly, a controller assembly, and two mechanical motion rows 2. The seat assembly and the mechanical motion rows 2 are electrically connected to the controller assembly. The controller assembly is equipped with a gyroscope, which can improve the stability of the movement of the mechanical motion rows 2. The mechanical motion rows 2 consist of four mechanical legs 3. The two mechanical motion rows 2 are fixedly installed on both sides of the lower end face of the robot mounting plate 1, and the seat assembly is fixedly installed on the upper end face of the robot mounting plate 1. The mechanical legs 3 include a thigh joint drive assembly, a thigh body 31, a knee drive assembly 32, a lower leg body 33, and a foot sole 34 connected in sequence. The thigh joint drive assembly can drive the thigh body 31 to swing back and forth, the knee drive assembly 32 can drive the lower leg body 33 to swing back and forth, and the foot sole 34 is hinged to the lower leg body 33.

[0024] By setting up four mechanical legs 3, the structure that uses tracks for moving up and down stairs can be replaced, simulating the movement pattern of human leg joints. This controls the frequency of subsequent maintenance and avoids situations where parts of the track grooves are suspended when there are large differences in the size of adjacent steps, which can cause the stair-climbing seat to slip. Furthermore, the combination of the four mechanical legs 3 and the gyroscope can effectively improve the stability of the movement and the user's riding experience, thereby enhancing the product's competitiveness.

[0025] The mechanical legs 3 of the two mechanical motion rows 2 move synchronously from front to back to form motion groups. For example, the first mechanical leg 3 of the two mechanical motion rows 2 forms the first motion group, the second mechanical leg 3 of the two mechanical motion rows 2 forms the second motion group, the third mechanical leg 3 of the two mechanical motion rows 2 forms the third motion group, and the fourth mechanical leg 3 of the two mechanical motion rows 2 forms the fourth motion group. The eight mechanical legs 3 are divided into four motion groups in total. When going up and down stairs, the first and third motion groups simulate human walking on two legs, while the second and fourth motion groups support the robot. Then, the second and fourth motion groups are switched to simulate human walking on two feet, while the first and third motion groups support the robot, realizing the back-and-forth movement between the motion groups. This simulates the movement pattern of a person climbing stairs, while ensuring that both motion groups are always fixed on the steps during operation, so that the stair-climbing robot is stable and safe when going up and down stairs; achieving a superior stability compared to similar products on the market.

[0026] A foot drive motor is installed at the hinge of the foot component 34. The foot drive motor can drive the foot component 34 to swing back and forth, flexibly control the rotation of the foot component 34 to a certain angle, so as to adapt to different platform steps. A pressure sensor is installed at the bottom of the foot component 34. The pressure sensor can detect whether the contact surface of the foot component is greater than or equal to a preset value. When the contact surface is less than the preset value, the mechanical foot is lifted again to step on, thereby improving the stability of climbing stairs.

[0027] The four mechanical legs 3 in the mechanical motion row 2 are spaced apart front to back and staggered left to right. This front-to-back spacing and left-to-right staggering makes the force distribution of the entire device more uniform, further improving the stability of the device's movement and enhancing the user's riding experience.

[0028] Each mechanical foot moves independently and can be used on stair steps with inclines.

[0029] The thigh joint drive assembly includes a lateral swing drive device 35, a rotation drive device 36, and a forward and backward swing drive device 37. The lateral swing drive device 35 can drive the thigh body 31 to swing left and right, and the rotation drive device 36 can drive the thigh body 31 to rotate.

[0030] With the addition of the lateral swing drive device 35, the rotation drive device 36, the forward and backward swing drive device 37, and the knee drive assembly 32, the mechanical foot 3 has four degrees of freedom, which can meet more application scenarios and make the mechanical foot 3 more flexible in use.

[0031] During operation, the user always faces downwards from the steps. When going upstairs, the eight mechanical legs 3 move forward. When going downstairs and turning is required, the eight rotary drive devices 36 control the corresponding mechanical legs 3 to rotate 180 degrees, allowing the eight mechanical legs 3 to change from backward to forward movement without requiring the entire device to rotate, thus offering high flexibility. A significant advantage is its ability to navigate relatively narrow stairwells, and its multi-degree-of-freedom capability enables lateral movement when encountering obstacles while going up or down stairs.

[0032] The seat assembly includes a horizontal adjustment component 4 and a seat body 5. The moving end of the horizontal adjustment component 4 is hinged to the bottom end of the seat body 5, and one side of the seat body 5 is hinged to the robot mounting plate 1.

[0033] By setting the level adjustment component 4, the level of the seat body 5 can be adjusted in real time, pushing the seat body 5 to swing relative to the robot mounting plate 1, so that the passenger is always in a level position, improving the user's riding experience.

[0034] The seat body 5 is also equipped with a display screen 6 and function buttons 7, both of which are electrically connected to the controller assembly.

[0035] The setup of display screen 6 and function buttons 7 can improve the efficiency of users in obtaining device information and enhance the user experience of the device.

[0036] The robot mounting plate 1 is equipped with multiple cameras 101, depth cameras 102, lidar 103 and ultrasonic radar 104. The cameras 101, depth cameras 102, lidar 103 and ultrasonic radar 104 are electrically connected to the controller assembly.

[0037] With the addition of multiple cameras 101, depth cameras 102, lidar 103, and ultrasonic radar 104, along with the existing deep learning model, the machine can automatically avoid obstacles that hinder its movement, ensuring safe operation during the climbing process without the need for human intervention. At the same time, the display screen 6 allows for real-time monitoring of the surrounding road conditions to prevent emergencies.

[0038] The horizontal adjustment component 4 consists of a servo drive motor and a drive linkage. The servo drive motor is tilted and positioned at the bottom of the robot mounting plate 1. The robot mounting plate 1 has a drive window that cooperates with the drive linkage. The drive linkage passes through the drive window and connects to the seat body 5.

[0039] The seat body 5 is equipped with a lifting helmet assembly 51, a seat belt 52 and a footrest 53. The lifting helmet assembly 51 includes a helmet body 511 and a lifting adjustment component. The helmet body 511 can be used with the lifting adjustment component to adapt to different people's heights and protect their heads.

[0040] A safety guardrail 54 is provided on the outer side of the seat body 5, and a guardrail airbag 55 is provided on the safety guardrail 54. The guardrail airbag 55 can further improve the user's safety and prevent injury when the equipment tipes over.

[0041] The lifting adjustment component is a helmet drive device 512, which is fixedly mounted on the seat body 5. The moving end of the helmet drive device 512 is connected to the helmet body 511. The helmet body 511 is provided with a guide column, and the seat body 5 is provided with a guide groove that cooperates with the guide column. The helmet body 511 is provided with a helmet airbag 513.

[0042] The helmet drive unit 512 can meet the needs of users of different body types and improve the user experience.

[0043] There are 8 depth cameras 101, 4 lidar radars 102, and 12 ultrasonic radars 103.

[0044] As can be seen from the above, the beneficial effects of this utility model are: it can effectively solve the problems of easy wear and poor stability of existing stair-climbing robots that use tracks and mechanical legs to climb stairs. By adopting the structure of this solution, the setting of eight mechanical legs 3 can replace the structure of using tracks to move up and down stairs, simulate the movement mode of human leg joints, reduce the frequency of later maintenance, and ensure that the two sets of motion groups are always fixed on the steps during operation, so that the stair-climbing robot can move smoothly and safely when going up and down stairs, which can effectively improve the user's riding experience and the competitiveness of the product.

[0045] The specific embodiments described above are preferred embodiments of this utility model, and are not intended to limit the specific scope of this utility model. The scope of this utility model includes but is not limited to the specific embodiments described above. All equivalent changes made in accordance with this utility model are within the protection scope of this utility model.

Claims

1. An eight-legged stair-climbing robot, characterized in that: The system includes a robot mounting plate, a seat assembly, a controller assembly, and two mechanical motion rows. Both the seat assembly and the mechanical motion rows are electrically connected to the controller assembly. The controller assembly includes a gyroscope, which improves the stability of the mechanical motion rows. Each mechanical motion row consists of four mechanical legs. The mechanical legs in the two mechanical motion rows move synchronously from front to back, forming motion groups. The four motion groups work in pairs, alternating between movement and support, and this alternating movement allows for switching between movement and support states. The two mechanical motion rows are fixedly mounted on both sides of the lower end face of the robot mounting plate. The seat assembly is fixedly mounted on the upper end face of the robot mounting plate. Each mechanical leg includes a thigh joint drive assembly, a thigh body, a knee drive assembly, a lower leg body, and a foot sole component connected in sequence. The thigh joint drive assembly drives the thigh body to swing back and forth, the knee drive assembly drives the lower leg body to swing back and forth, and the foot sole component is hinged to the lower leg body.

2. The eight-legged stair-climbing robot according to claim 1, characterized in that: The four mechanical feet in the mechanical motion row are spaced apart front to back and staggered left to right.

3. The eight-legged stair-climbing robot according to claim 1, characterized in that: The thigh joint drive assembly includes a lateral swing drive device, a rotation drive device, and a forward and backward swing drive device. The lateral swing drive device can drive the thigh body to swing left and right, and the rotation drive device can drive the thigh body to rotate.

4. The eight-legged stair-climbing robot according to claim 1, characterized in that: The robot mounting plate is equipped with multiple cameras, a depth camera, a lidar, and an ultrasonic radar. The cameras, depth camera, lidar, and ultrasonic radar are electrically connected to the controller assembly.

5. The eight-legged stair-climbing robot according to any one of claims 1-4, characterized in that: The seat assembly includes a horizontal adjustment component and a seat body. The moving end of the horizontal adjustment component is hinged to the bottom end of the seat body, and one side of the seat body is hinged to the robot mounting plate. The horizontal adjustment component can push the seat body to swing relative to the robot mounting plate.

6. The eight-legged stair-climbing robot according to claim 5, characterized in that: The seat body is also equipped with a display screen and function buttons, both of which are electrically connected to the controller assembly.

7. The eight-legged stair-climbing robot according to claim 5, characterized in that: The horizontal adjustment component consists of a servo drive motor and a drive linkage. The servo drive motor is tilted at the bottom of the robot mounting plate. The robot mounting plate has a drive window that cooperates with the drive linkage. The drive linkage passes through the drive window and connects to the seat body.

8. The eight-legged stair-climbing robot according to claim 5, characterized in that: The seat body is equipped with a lifting helmet assembly, a seat belt and a footrest. The lifting helmet assembly includes a helmet body and a lifting adjustment component. The helmet body can be used with the lifting adjustment component to adapt to different people's heights and protect their heads.

9. The eight-legged stair-climbing robot according to claim 8, characterized in that: The outer side of the seat body is equipped with a safety guardrail, and the safety guardrail is equipped with a guardrail airbag, which can further improve the user's safety.

10. The eight-legged stair-climbing robot according to claim 8, characterized in that: The lifting adjustment component is a helmet drive device, which is fixedly mounted on the seat body. The moving end of the helmet drive device is connected to the helmet body. The helmet body is provided with a guide post, and the seat body is provided with a guide groove that cooperates with the guide post. A helmet airbag is provided inside the helmet body.

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