Heavy-load wheel-track combined stair climbing robot

Abstract

The utility model relates to heavy load wheel and track combination stair -climbing robot in the field of object carrying robot technology, and particularly relates to heavy load wheel and track combination stair -climbing robot. Heavy load wheel and track combination stair -climbing robot includes chassis, swing arm, wheel foot, track assembly, first driving device, second driving device, third driving device and environmental perception unit, and track assembly sets up below the chassis, and one end of swing arm sets up rotationally on the chassis, and the other end sets up wheel foot, and first driving device sets up on the chassis, and is connected with swing arm, and second driving device sets up on swing arm, and is connected with wheel foot, and third driving device sets up on the chassis, and is connected with track assembly, and environmental perception unit sets up on the chassis. The utility model has the advantages that: wheel foot is set up on swing arm, makes swing arm have the function of striding over the step, has the ability of driving on the flat ground, reduces the overall structure volume of robot, not only simple structure, and increases the load capacity of robot.

Description

Technical Field

[0001] This utility model relates to the field of cargo-carrying robot technology, specifically to a heavy-duty wheeled and tracked stair-climbing robot. Background Technology

[0002] In existing technologies, cargo robots use wheels to walk on flat ground and main tracks to climb stairs. Tracks are also installed on the swing arms for traversing steps. This configuration results in each component having a single function, leading to a complex structure, large size, and excessive weight, making it only suitable for light-load scenarios. Utility Model Content

[0003] The purpose of this invention is to provide a heavy-duty wheeled and tracked stair-climbing robot that can solve the above-mentioned technical problems.

[0004] The heavy-duty wheeled and tracked stair-climbing robot provided by this utility model includes a chassis, a swing arm, wheels and feet, a track assembly, a first drive device, a second drive device, a third drive device, and an environmental perception unit. The track assembly is located below the chassis, one end of the swing arm is rotatably mounted on the chassis, and the other end is provided with the wheel foot; The first drive device is mounted on the chassis and connected to the swing arm; The second drive device is mounted on the swing arm and connected to the wheel foot; The third drive unit is mounted on the chassis and connected to the track assembly; The environmental sensing unit is mounted on the chassis.

[0005] The first driving device includes a first power device and a first transmission device; The first power unit is fixedly mounted on the chassis, one end of the first transmission device is connected to the output end of the first power unit, and the other end of the first transmission device is connected to the rotation shaft of the swing arm. The swing arm is fixedly connected to the rotating shaft.

[0006] In an optional embodiment, the first transmission device includes a first driving pulley, a first driven pulley, and a first transmission belt; The first driving wheel is fixedly connected to the output end of the first power device, the first driven wheel is fixedly connected to the rotating shaft, and the first transmission belt connects the first driving wheel and the first driven wheel; Both the first driving pulley and the first driven pulley are provided with driving teeth, and the inner side of the first transmission belt is provided with transmission teeth, which mesh with the driving teeth.

[0007] In an optional embodiment, the second drive device includes a second power device and a second transmission device; The second power device and the wheel foot are both fixedly installed on the side of the swing arm near the chassis. A transmission groove is provided on the side of the swing arm away from the chassis, and the second transmission device is installed in the transmission groove. One end of the second transmission device is connected to the second power device, and the other end of the second transmission device is connected to the wheel foot.

[0008] In an optional embodiment, the second transmission device includes a second driving pulley, a second driven pulley, and a second transmission belt; The second driving wheel is fixedly connected to the output end of the second power device, the second driven wheel is fixedly connected to the rolling shaft of the wheel foot, and the second transmission belt connects the second driving wheel and the second driven wheel; Both the second driving pulley and the second driven pulley are provided with driving teeth, and the inner side of the second transmission belt is provided with transmission teeth, which mesh with the driving teeth.

[0009] In an optional embodiment, the third drive device includes a third power device and a third transmission device; The third power unit is fixedly mounted on the chassis, one end of the third transmission device is connected to the output end of the third power unit, and the other end of the third transmission device is connected to the drive wheel of the track assembly.

[0010] In an optional implementation, the third transmission device is a chain drive.

[0011] In an optional implementation, the environmental sensing unit includes a laser ranging radar, a camera, and a data processor; Both the laser ranging radar and the camera are connected to the data processor via signal transmission.

[0012] In an optional implementation, there are two environmental sensing units, which are respectively located at the front and rear ends of the chassis.

[0013] In an optional embodiment, a battery compartment is provided on the chassis, and a power battery is provided in the battery compartment. The power battery is electrically connected to the first drive device, the second drive device, and the third drive device.

[0014] The beneficial effects of this utility model embodiment are: By mounting the wheels on the swing arm, the swing arm can both traverse steps and travel on flat ground, reducing the overall structural volume of the robot. This not only simplifies the structure but also increases the robot's load capacity. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A front view of the heavy-duty wheeled and tracked stair-climbing robot provided in an embodiment of this utility model; Figure 2 for Figure 1 AA section view; Figure 3 for Figure 1 BB section view; Figure 4 A three-dimensional structural diagram of a heavy-duty wheeled and tracked stair-climbing robot provided for an embodiment of this utility model.

[0017] Icons: 1-Chassis; 2-Battery compartment; 3-Swing arm; 4-Wheel foot; 5-First power unit; 6-Second power unit; 7-Third power unit; 8-Environmental sensing unit; 9-Track assembly; 10-First driven wheel; 11-First transmission belt; 12-First drive wheel; 13-Second drive wheel; 14-Second transmission belt; 15-Second driven wheel; 16-Drive sprocket. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0023] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] The following is combined Figures 1-4 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0025] This utility model provides a heavy-duty wheeled and tracked stair-climbing robot, which includes a chassis 1, a swing arm 3, wheel legs 4, a track assembly 9, a first drive device, a second drive device, a third drive device, and an environmental sensing unit 8. The track assembly 9 is disposed below the chassis 1. One end of the swing arm 3 is rotatably mounted on the chassis 1, and the other end is provided with the wheel leg 4. The first drive device is disposed on the chassis 1 and connected to the swing arm 3. The second drive device is disposed on the swing arm 3 and connected to the wheel leg 4. The third drive device is disposed on the chassis 1 and connected to the track assembly 9. The environmental sensing unit 8 is disposed on the chassis 1.

[0026] In this embodiment, the heavy-duty wheeled and tracked stair-climbing robot mainly consists of a chassis 1, a swing arm 3, wheels 4, a track assembly 9, a first drive device, a second drive device, a third drive device, and an environmental sensing unit 8. The track assembly 9 is mounted below the chassis 1 to support the robot's weight and provide power when climbing stairs. One end of the swing arm 3 is rotatably connected to the chassis 1, and the other end is fixed to the wheels 4. The position of the wheels 4 can be adjusted by rotating the swing arm 3, allowing them to contact the ground when moving on flat ground and to be raised or lowered when climbing stairs. The first drive device is mounted on the chassis 1 and connected to the swing arm 3, driving the rotation of the swing arm 3. The second drive device is located on the swing arm 3 and connected to the wheels 4, responsible for driving the rolling of the wheels 4. The third drive device is mounted on the chassis 1 and connected to the track assembly 9, providing power for the movement of the tracks.

[0027] Specifically, in this embodiment, the motion state of the heavy-duty wheeled track combined with stair-climbing robot can be divided into the following situations: When moving on flat ground, the first drive device drives the swing arm 3 to rotate, so that the wheel foot 4 contacts the ground. At this time, the second drive device starts to work, driving the wheel foot 4 to roll, propelling the robot forward or backward.

[0028] When a stationary turn is required, the wheel feet 4 on both sides of the chassis 1 move in different directions under the drive of the second drive device to achieve differential steering.

[0029] Before ascending or descending the stairs, the environmental perception unit 8 identifies the stairs and determines their location and the distance between the robot and the heavy-duty wheeled climbing robot. It then stops when the distance to the step is greater than the diameter of the wheel 4, entering the stair-climbing preparation stage. At this point, the first drive device starts driving the swing arm 3 to lift the wheel 4 until the tracks contact the ground, while the second drive device stops. After the tracks contact the ground, the stair-climbing stage begins. Driven by the third drive device, the front track of the track assembly 9 contacts the step, pushing the entire track assembly 9 upwards until it fully contacts the stairs, then moves upwards along the stairs. Upon reaching the top of the stairs, the environmental perception unit 8 again identifies the position of the top end of the stairs, entering the step-crossing stage. The first drive device calculates the appropriate rotation angle based on the ground distance detected by the environmental perception unit 8 and the structural dimensions of the wheel 4, rotating and lowering the wheel 4 at the robot's head. As the robot moves upwards along the stairs, the angle between the wheel 4 and the ground is adjusted in real time. Once the end of the chassis 1's tracks reaches the top of the stairs, the third drive device stops, and the first drive device retracts the wheel 4 until the tracks on the chassis 1 fully contact the ground. The third drive unit continues to rotate, driving the robot forward to a position more than the diameter of one wheel 4 away from the top of the stairs. Then, all the first drive units activate, lowering the wheels 4 so that the four wheels 4 support the entire robot, allowing it to enter the flat ground driving mode.

[0030] In a preferred embodiment, the first driving device includes a first power device 5 and a first transmission device; the first power device 5 is fixedly mounted on the chassis 1, one end of the first transmission device is connected to the output end of the first power device 5, and the other end of the first transmission device is connected to the rotation shaft of the swing arm 3; the swing arm 3 is fixedly connected to the rotation shaft.

[0031] In this embodiment, the first driving device consists of a first power unit 5 and a first transmission device. The first power unit 5 is fixedly mounted on the chassis 1. One end of the first transmission device is connected to the output end of the first power unit 5, and the other end is connected to the rotation shaft of the swing arm 3, thereby transmitting power to the swing arm 3 to achieve rotation of the swing arm 3. The swing arm 3 is fixedly connected to the rotation shaft to ensure the stability of power transmission.

[0032] Specifically, in this embodiment, the first power unit 5 can be a motor, and its output rotational motion is transmitted to the rotation shaft of the swing arm 3 through the first transmission device. When it is necessary to adjust the angle of the swing arm 3, the first power unit 5 is activated, driving the first transmission device to work, thereby causing the swing arm 3 to rotate around the rotation shaft set on the chassis 1, realizing the change of the position of the wheel feet 4. For example, when the robot transitions from flat ground to stairs, the first power unit 5 drives the swing arm 3 to lift the wheel feet 4, creating conditions for the tracks to contact the ground; conversely, when the robot returns from stairs to flat ground, the first power unit 5 drives the swing arm 3 to lower the wheel feet 4, allowing the wheel feet 4 to re-contact the ground, supporting the robot and facilitating its movement on flat ground.

[0033] It is understood that in this embodiment, the first power device 5 is an electric motor, but it can also be other power devices, such as cylinders, hydraulic cylinders, etc., as long as they can provide the swinging power to the swing arm 3.

[0034] In a preferred embodiment, the first transmission device includes a first driving wheel 12, a first driven wheel 10, and a first transmission belt 11; the first driving wheel 12 is fixedly connected to the output end of the first power device 5, the first driven wheel 10 is fixedly connected to the rotating shaft, and the first transmission belt 11 connects the first driving wheel 12 and the first driven wheel 10; both the first driving wheel 12 and the first driven wheel 10 are provided with driving teeth, and the inner side of the first transmission belt 11 is provided with transmission teeth, which mesh with the driving teeth.

[0035] In this embodiment, the first transmission device includes a first driving wheel 12, a first driven wheel 10, and a first transmission belt 11. The first driving wheel 12 is fixedly connected to the output end of the first power device 5, the first driven wheel 10 is fixedly connected to the rotation shaft of the swing arm 3, and the first transmission belt 11 connects the first driving wheel 12 and the first driven wheel 10. Both the first driving wheel 12 and the first driven wheel 10 are provided with driving teeth, and the inner side of the first transmission belt 11 is provided with transmission teeth. The transmission teeth mesh with the driving teeth, thereby achieving stable power transmission.

[0036] Specifically, in this embodiment, when the first power device 5 is working, its output end drives the first driving wheel 12 to rotate. Through the meshing of the first transmission belt 11 with the driving teeth and transmission teeth, the rotational motion is transmitted to the first driven wheel 10, thereby driving the rotation shaft of the swing arm 3 to rotate, realizing the swing of the swing arm 3. This belt drive method has the advantages of simple structure, smooth transmission, and low noise, and can effectively ensure the precise rotation control of the swing arm 3.

[0037] It is understood that in this embodiment, the first transmission device is a belt drive structure, but it is not limited to belt drive. It can also use chain drive or other transmission methods with similar functions, as long as it can ensure that the power is accurately transmitted to the swing arm 3 and meet the accuracy and stability requirements of the swing arm 3 rotation.

[0038] In a preferred embodiment, the second driving device includes a second power device 6 and a second transmission device; the second power device 6 and the wheel foot 4 are both fixedly disposed on the side of the swing arm 3 near the chassis 1, and a transmission groove is provided on the side of the swing arm 3 away from the chassis 1, and the second transmission device is disposed in the transmission groove; one end of the second transmission device is connected to the second power device 6, and the other end of the second transmission device is connected to the wheel foot 4.

[0039] In this embodiment, the second driving device consists of a second power unit 6 and a second transmission device. The second power unit 6 and the wheel 4 are both fixedly mounted on the side of the swing arm 3 near the chassis 1, while a transmission groove is provided on the side of the swing arm 3 away from the chassis 1, and the second transmission device is installed in the transmission groove. One end of the second transmission device is connected to the second power unit 6, and the other end is connected to the rolling shaft of the wheel 4, thereby transmitting the power of the second power unit 6 to the wheel 4 and driving the wheel 4 to roll.

[0040] In this embodiment, the second power device 6 is an electric motor.

[0041] When the robot moves on flat ground, the second power unit 6 is activated, transmitting power to the rolling shafts of the wheels 4 via the second transmission device, causing the wheels 4 to roll on the ground and propel the robot forward or backward. During the process of going up or down stairs, when the wheels 4 are in the lowered position (such as during the transition from the top of the stairs to flat ground), the second power unit 6 also drives the wheels 4 to roll, assisting the robot in its movement.

[0042] It is understandable that the second transmission device can adopt other forms of transmission structure, such as worm gear transmission, rack and pinion transmission, as long as it can effectively transmit the power of the second power device 6 to the rolling shaft of the wheel foot 4 to realize the rolling function of the wheel foot 4.

[0043] In a preferred embodiment, the second transmission device includes a second driving wheel 13, a second driven wheel, and a second transmission belt 14; the second driving wheel 13 is fixedly connected to the output end of the second power device 6, the second driven wheel is fixedly connected to the rolling shaft of the wheel foot 4, and the second transmission belt 14 connects the second driving wheel 13 and the second driven wheel; both the second driving wheel 13 and the second driven wheel are provided with driving teeth, and the inner side of the second transmission belt 14 is provided with transmission teeth, which mesh with the driving teeth.

[0044] In this embodiment, the second transmission device includes a second driving pulley 13, a second driven pulley, and a second transmission belt 14. The second driving pulley 13 is fixedly connected to the output end of the second power device 6, the second driven pulley is fixedly connected to the rolling shaft of the wheel base 4, and the second transmission belt 14 connects the second driving pulley 13 and the second driven pulley. Similar to Embodiment 3, drive teeth are provided on the second driving pulley 13 and the second driven pulley, and transmission teeth are provided on the inner side of the second transmission belt 14. The two mesh with each other to achieve smooth power transmission.

[0045] When the second power unit 6 is working, its output end drives the second driving wheel 13 to rotate. Through the meshing of the second transmission belt and the drive teeth and transmission teeth, the rotational motion is transmitted to the second driven wheel, which in turn drives the rolling shaft of the wheel foot 4 to rotate, causing the wheel foot 4 to roll on the ground. This belt drive method also has the advantages of simple structure, smooth transmission, and easy maintenance, and can effectively ensure the precise rolling control of the wheel foot 4.

[0046] It is understandable that, in addition to belt drive, other transmission methods can be used, such as chain drive, synchronous belt drive, etc., as long as the precise transmission between the second driving pulley 13 and the second driven pulley can be satisfied, and the smoothness and precision of the rolling of the wheel foot 4 can be guaranteed.

[0047] In a preferred embodiment, the third drive device includes a third power unit 7 and a third transmission device; the third power unit 7 is fixedly mounted on the chassis 1, one end of the third transmission device is connected to the output end of the third power unit 7, and the other end of the third transmission device is connected to the drive wheel of the track assembly 9.

[0048] In this embodiment, the third drive device consists of a third power device 7 and a third transmission device. The third power device 7 is fixedly installed on the chassis 1. The third transmission device includes a drive sprocket, a transmission chain and a driven sprocket. The drive sprocket is fixedly connected to the third power device 7, the driven sprocket is connected to the track assembly 9, and the transmission chain connects the drive sprocket and the driven sprocket.

[0049] In this embodiment, the third power device 7 is an electric motor.

[0050] In this way, the power of the third power unit 7 can be transmitted to the drive wheel of the track assembly 9, driving the track to move.

[0051] Chain drives have advantages such as high transmission efficiency, strong load-bearing capacity, and the ability to transmit power over long distances, making them suitable for the power transmission needs between the track assembly 9 and the third power unit 7 in this robot. When the third power unit 7 is working, the rotational motion at its output end is transmitted to the drive wheel of the track assembly 9 through the chain, driving the track to move and enabling the robot to walk stably on different terrains (especially stairs).

[0052] It is understandable that, in addition to chain drive, other transmission methods with similar advantages can be used, such as large-diameter gear combination transmission in gear drive, as long as they can stably and efficiently transmit power between the third power unit 7 and the drive wheel of the track assembly 9.

[0053] When the robot needs to go up or down stairs, the third power unit 7 is activated, transmitting power to the drive wheels of the track assembly 9 via the third transmission device. This drives the tracks to move on the steps, propelling the robot up or down the stairs. For example, during the ascent, under the action of the third drive device, the front track first contacts the step, then drives the entire track assembly 9 to tilt upwards, closely engaging with the stair steps, and gradually climbing upwards.

[0054] In a preferred embodiment, the environmental sensing unit 8 includes a laser ranging radar, a camera, and a data processor; both the laser ranging radar and the camera are signal-connected to the data processor.

[0055] In this embodiment, the environmental perception unit 8 includes a laser ranging radar, a camera, and a data processor, wherein both the laser ranging radar and the camera are signal-connected to the data processor. The laser ranging radar is used to measure the distance between the robot and surrounding objects (such as stairs, obstacles, etc.) in real time, while the camera is used to capture images of the surrounding environment and acquire visual information about the scene. The data processor processes the data collected by the laser ranging radar and the camera, analyzes environmental features, and identifies key information such as the position, angle, and step height of the stairs, providing a basis for decision-making for the robot's motion control.

[0056] During robot movement, such as before going up or down stairs, the camera in the environmental perception unit 8 identifies the approximate location and shape of the stairs, while the laser ranging radar precisely measures the distance between the robot and the stairs, as well as parameters such as the height and depth of each step. Based on this information, the data processor calculates the optimal path and posture adjustment strategy for the robot to go up and down the stairs, issues corresponding control commands, and coordinates the movements of each drive device, swing arm 3, wheel legs 4, and track assembly 9 to ensure that the robot can smoothly and safely complete the task of going up and down the stairs.

[0057] It is understandable that the sensors in the environmental perception unit 8 can be other types of ranging sensors (such as ultrasonic ranging sensors) and image sensors (such as infrared cameras), as long as they can acquire distance and image information of the robot's surrounding environment and meet the data processor's requirements for data accuracy and update frequency. At the same time, the data processor can also use different types of processors or controllers, such as microcontrollers, DSPs (digital signal processors), etc., as long as they can effectively process sensor data and accurately generate motion control commands.

[0058] In a preferred embodiment, there are two environmental sensing units 8, which are respectively disposed at the front and rear ends of the chassis 1.

[0059] In this embodiment, two environmental sensing units 8 are provided on the chassis 1, respectively installed at the front and rear ends of the chassis 1. Each environmental sensing unit 8 includes a laser ranging radar, a camera, and a data processor, and the environmental sensing units 8 at the front and rear ends can communicate with each other and work together.

[0060] This layout of front and rear dual environmental perception units 8 enables the robot to perceive its surroundings from all angles. In the forward direction, the front environmental perception unit 8 can identify stairs or obstacles ahead in advance and perform accurate distance measurement and image acquisition; while the rear environmental perception unit 8 can monitor the rear environment when the robot moves backward or goes up or down stairs to prevent the robot from colliding with objects behind it. At the same time, when going down stairs, the rear environmental perception unit 8 can also help monitor the status of the stairs, providing more comprehensive environmental information support for the robot's stable movement.

[0061] Understandably, the number of environmental sensing units 8 can be further adjusted according to actual needs, such as installing environmental sensing units 8 around all four sides of the chassis 1 to achieve 360° all-around environmental monitoring. However, this may increase the complexity and cost of the system, so a trade-off needs to be struck between environmental sensing capabilities and cost.

[0062] In a preferred embodiment, a battery compartment 2 is provided on the chassis 1, and a power battery is provided in the battery compartment 2. The power battery is electrically connected to the first drive device, the second drive device and the third drive device.

[0063] In this embodiment, a battery compartment 2 is provided on the chassis 1, and a power battery is installed inside the battery compartment 2. The power battery is electrically connected to the first drive device, the second drive device, and the third drive device through wires, providing power to these drive devices and ensuring that the various moving parts of the robot can work normally.

[0064] The capacity and performance of the power battery need to be selected based on the robot's load capacity and working time requirements. During robot operation, the power battery supplies power to the first drive unit, enabling it to rotate the swing arm 3; to the second drive unit, driving the wheels 4; and to the third drive unit, driving the movement of the track assembly 9. Through a well-designed battery compartment 2 and a properly configured power battery, the robot can operate continuously and stably for extended periods, meeting the demands of complex tasks such as heavy-duty stair climbing.

[0065] It is understandable that other energy supply methods, such as fuel cells, could be considered besides using power batteries. However, power batteries are currently more mature and widely used in the field of robotics, and have advantages such as small size, relatively high energy density, and ease of integration. Therefore, they are used as the main energy supply solution in this robot. At the same time, the structure and layout of battery compartment 2 can be optimized according to actual needs, such as adding battery cooling devices and adopting a modular battery design for easy replacement, to improve the robot's performance and maintenance convenience.

[0066] As can be seen from the above, this robot is designed with full consideration of the needs of climbing and descending stairs under heavy loads. By reasonably configuring the chassis 1, swing arm 3, wheel legs 4, track assembly 9, as well as various drive devices and environmental perception units 8, it has achieved stable operation in complex stairwell environments.

[0067] When moving on flat ground, the robot uses the swing arm motor (first drive device) to lower the legs 4, at which point the walking wheels in the leg 4 structure support the ground. The leg motor (second drive device) operates, driving the legs 4 to roll, thereby enabling the robot to move on flat ground and climb slopes. When turning in place is required, the legs 4 on both sides of the chassis 1 move in different directions under the drive of the leg motor, forming a differential speed, thus achieving turning in place.

[0068] The heavy-duty wheeled and tracked stair-climbing robot provided by this utility model has the following stair-climbing process: 1. Staircase Preparation Phase: The robot identifies the presence of the stairs using a camera (part of the environmental perception unit 8), and the system issues a preparation command. A lidar (another part of the environmental perception unit 8) assists in ranging to determine the location of the stairs. The robot adjusts its direction to face the stairs and stops moving forward when the distance to the step is greater than the diameter of one tire. The swing arm motor (first drive device) actuates, lifting the wheel legs 4 until the tracks contact the ground; at this point, the wheel leg motors are de-energized.

[0069] 2. Climbing stairs stage: The front track of the track chassis 1 first contacts the step under the drive of the track motor (third drive device), causing the entire track chassis 1 to tilt upward and make full contact with the stairs, and then move upward along the stairs. This is the power transmission effect achieved by the structure of the third drive device.

[0070] 3. Stair Climbing and Step Crossing Stage: Upon reaching the top of the stairs, the robot uses LiDAR and a camera to identify the position of the top end of the stairs. Based on the LiDAR data, the system rotates and lowers the head wheel 4 via the swing arm motor (first drive device). The rotation angle is calculated and adjusted in real time according to the changes in ground distance detected by the LiDAR as the robot moves upwards along the stairs. When the end of the chassis 1 track reaches the top of the stairs, the track motor stops, and the swing arm motor retracts the wheel 4 until the chassis 1 track contacts the ground. The track motor continues to rotate, driving the robot forward to the designated position and stopping. Then, all swing arm motors activate, lowering the wheel 4, and the four wheels 4 support the entire robot, completing the transition from the stairs to flat ground.

[0071] The heavy-duty wheeled and tracked stair-climbing robot provided by this utility model has the following stair-descending process: 1. Descending Stairs Preparation Phase: Similar to the ascending stairs preparation phase, the robot identifies the stairs using a camera, and the system issues a command. With the assistance of lidar ranging, the robot adjusts its direction to face the stairs. When the distance to the step is greater than the diameter of one tire, it stops moving forward. The swing arm motor then lifts the four wheels until the tracks contact the ground, at which point the wheel motors are de-energized.

[0072] 2. Descending Stairs and Crossing Steps: The robot moves towards the stairs under the action of the tracks. When the rear LiDAR detects that the length of the steps the robot has crossed is equal to the step spacing, the track motors stop moving, and the head swing arm motor moves to lower the head wheel 4. Under the action of the head wheel 4, the robot begins to tilt. When the robot's angle matches the inclination angle of the stairs, the swing arm motor stops moving, and the track motors move again to drive the robot forward. At this time, the front of the robot sinks, and the LiDAR detects the ground distance in real time and calculates the robot's angle accordingly. At the same time, the angle of the head wheel 4 swing arm 3 is adjusted in real time based on the calculation results to ensure that the robot's angle is consistent with the stair angle. When the tracks occupy three steps, the head wheel 4 is raised to the top, and driven by the track motors, the tracks move the robot down the stairs.

[0073] 3. Descending Stairs Phase: After crossing the steps, the robot moves down the stairs driven by its tracks, with the tracks fully in contact with the steps. When the robot reaches the bottom of the steps, the rear track of chassis 1 contacts the ground. During continuous movement, the head and rear tracks of chassis 1 support the vehicle body until the tracks are fully in contact with the ground. The robot continues to move forward. When the distance between the head track and the step exceeds the diameter of one tire, the swing arm motor lowers the wheel legs 4 until the arms of the wheel legs 4 are perpendicular to the ground. The vehicle body is then fully supported by the wheel legs 4, completing the stair-descending action.

[0074] Throughout the entire process of going up and down stairs, the laser ranging radar and camera in the environmental perception unit 8 continuously provide data to the data processor. Based on this data, the data processor adjusts the robot's motion posture and the working status of each component in real time to ensure the robot's stable operation in complex environments. Meanwhile, each drive device precisely drives the corresponding component according to control commands to realize the robot's various motion functions. At the same time, the power battery provides stable power support to all drive devices and the environmental perception unit 8, ensuring the robot's continuous operation.

[0075] The beneficial effects of this utility model embodiment are: By mounting the wheel 4 on the swing arm 3, the swing arm 3 can both cross steps and travel on flat ground, reducing the overall structural volume of the robot. This not only simplifies the structure but also increases the robot's load capacity.

[0076] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A heavy-duty wheeled and tracked stair-climbing robot, characterized in that, It includes a chassis, swing arm, wheels, track assembly, first drive unit, second drive unit, third drive unit, and environmental perception unit; The track assembly is located below the chassis, one end of the swing arm is rotatably mounted on the chassis, and the other end is provided with the wheel foot; The first drive device is mounted on the chassis and connected to the swing arm; The second drive device is mounted on the swing arm and connected to the wheel foot; The third drive unit is mounted on the chassis and connected to the track assembly; The environmental sensing unit is mounted on the chassis.

2. The heavy-duty wheeled and tracked stair-climbing robot according to claim 1, characterized in that, The first driving device includes a first power device and a first transmission device; The first power unit is fixedly mounted on the chassis, one end of the first transmission device is connected to the output end of the first power unit, and the other end of the first transmission device is connected to the rotation shaft of the swing arm. The swing arm is fixedly connected to the rotating shaft.

3. The heavy-duty wheeled and tracked stair-climbing robot according to claim 2, characterized in that, The first transmission device includes a first driving pulley, a first driven pulley, and a first transmission belt; The first driving wheel is fixedly connected to the output end of the first power device, the first driven wheel is fixedly connected to the rotating shaft, and the first transmission belt connects the first driving wheel and the first driven wheel; Both the first driving pulley and the first driven pulley are provided with driving teeth, and the inner side of the first transmission belt is provided with transmission teeth, which mesh with the driving teeth.

4. The heavy-duty wheeled and tracked stair-climbing robot according to claim 1, characterized in that, The second drive device includes a second power device and a second transmission device; The second power device and the wheel foot are both fixedly installed on the side of the swing arm near the chassis. A transmission groove is provided on the side of the swing arm away from the chassis, and the second transmission device is installed in the transmission groove. One end of the second transmission device is connected to the second power device, and the other end of the second transmission device is connected to the wheel foot.

5. The heavy-duty wheeled and tracked stair-climbing robot according to claim 4, characterized in that, The second transmission device includes a second driving pulley, a second driven pulley, and a second transmission belt; The second driving wheel is fixedly connected to the output end of the second power device, the second driven wheel is fixedly connected to the rolling shaft of the wheel foot, and the second transmission belt connects the second driving wheel and the second driven wheel; Both the second driving pulley and the second driven pulley are provided with driving teeth, and the inner side of the second transmission belt is provided with transmission teeth, which mesh with the driving teeth.

6. The heavy-duty wheeled and tracked stair-climbing robot according to claim 1, characterized in that, The third drive device includes a third power device and a third transmission device; The third power unit is fixedly mounted on the chassis, one end of the third transmission device is connected to the output end of the third power unit, and the other end of the third transmission device is connected to the drive wheel of the track assembly.

7. The heavy-duty wheeled and tracked stair-climbing robot according to claim 6, characterized in that, The third transmission device is a chain drive.

8. The heavy-duty wheeled and tracked stair-climbing robot according to claim 1, characterized in that, The environmental sensing unit includes a laser ranging radar, a camera, and a data processor; Both the laser ranging radar and the camera are connected to the data processor via signal transmission.

9. The heavy-duty wheeled and tracked stair-climbing robot according to claim 8, characterized in that, There are two environmental sensing units, which are respectively located at the front and rear ends of the chassis.

10. The heavy-duty wheeled and tracked stair-climbing robot according to claim 1, characterized in that, The chassis is provided with a battery compartment, and a power battery is provided in the battery compartment. The power battery is electrically connected to the first drive device, the second drive device and the third drive device.

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