94 results about "Climbing stairs" patented technology

The invention discloses a wheel-foot robot capable of crossing obstacles through joint combination wheels, and relates to the technical field of wheel-foot robots, the wheel-foot robot comprises a robot main body, driving shafts are rotatably mounted on the side walls of the two ends of the robot main body, outer arms are rotatably mounted at the ends, away from the robot main body, of the driving shafts, and driving arms are rotatably mounted at the bottom ends of the outer arms; the side wall of the driving arm is rotatably provided with a driving wheel, the bottom of the robot main body is fixedly provided with a control module, the bottom of the front end of the robot main body is provided with an obstacle crossing device, and through the arrangement of the obstacle crossing device, after the obstacle crossing wheels touch steps, the triangular arrangement of an obstacle crossing disc enables the obstacle crossing disc to rotate on the outer wall of the inner arm; therefore, the robot body can climb the stairs smoothly when facing the obstacles on the steps, the high flexibility and adaptability of the robot are shown, and the strong coping capacity of the robot in the complex environment is reflected.

The intelligent fire rescue robot capable of climbing the stairs comprises a tracked robot body, the tracked robot body comprises a body driving wheel, a shell and a bottom plate, a driving mechanism of the tracked robot body is installed on the rear portion of the robot, and two swing mechanisms are symmetrically installed on the front portion of the robot. A steering engine of each swinging mechanism is mounted below the adjacent bottom plate; each swinging mechanism comprises a steering engine, a swinging driving shaft, a swinging plate, a swinging driven wheel, a swinging crawler belt and a core-missing wheel; one end of the swinging driving shaft is connected with a driving steering engine shaft at the output end of the steering engine through a coupler, and the other end of the swinging driving shaft sequentially penetrates through a connecting plate connected with the bottom plate and the center-missing wheel and is connected with the swinging plate through a flange coupler; the upper space of the bottom plate is divided into two parts, one part is used for installing the stretching platform, and the other part is used for installing the detection execution module and the water storage tank. The system has better adaptability to complex terrains, and can realize the integration of discovery, fire extinguishment and search and rescue.

The invention discloses a lifting type cleaning robot capable of climbing steps and a climbing method of the lifting type cleaning robot. The lifting type cleaning robot comprises a robot body, a walking mechanism, a climbing telescopic mechanism, a cleaning mechanism and a sensor module. The robot can clean the flat ground, can climb stairs in a lifting mode to clean up and down floors, and can sweep narrow spaces such as the bed bottom through the compact structure, so that comprehensive cleaning is achieved; manual intervention is not needed, the time and energy of a user are saved, and the cleaning efficiency is improved; by means of a sensor and a control strategy, a user can control starting, stopping, sweeping modes and the like of the robot, the robot can also conduct autonomous adjustment, and intelligent cleaning is achieved. Compared with a traditional sweeping robot and a traditional dust collector which are used separately, the storage space can be saved, and the occupied space of cleaning equipment is reduced.

The invention discloses a stair climbing robot and an operation and control method. The four or more mechanical legs are connected with the machine body, extend downwards and are used for standing or climbing stairs; the one or more manipulators extend out of the upper surface or the side surface or the front surface of the machine body and are used for grabbing handrails or handrails; the bearing mechanism is arranged on the machine body; the detection mechanism is arranged on the machine body or the mechanical legs or the manipulators; the computer control device and the man-machine interaction device are arranged in the system; the sensor and the storage battery are arranged in the system; the mechanical legs and the manipulator are driven and controlled by the computer control device, the machine body or the hip joint or the mechanical legs or the shoulder joint or the mechanical arm or a motor in the shell, a transmission mechanism and a sensor; the control system enables the step stepping action of the mechanical legs to be matched with the approaching or grasping or releasing action of the manipulator to the handrail or the handrail, so that the robot can safely and stably carry people to go up and down stairs.

A system and method for facilitating the traversing of stairs by a wheeled robot enable a wheeled robot to ascend and descend stairs. The system includes a support frame, a first movement module, and a second movement module. The support frame enables the operation of the first movement module and the second movement module. The first movement module and the second movement module enable the quick and efficient movement on flat surfaces. The first movement module and the second movement module also enable the traversing of stairs without compromising the effectiveness of movement on flat surfaces. The first movement module and the second movement module each includes a drive mechanism, an inner wheeled leg, and an outer wheeled leg. The drive mechanism enables the independent, unhindered, and continuous rotation of the corresponding wheeled legs and wheels without the implementation of wiring, electronics, or rotary connectors within the wheeled legs.

The utility model relates to the technical field of indoor decoration, in particular to a wall leveling structure for hotel decoration, which comprises a supporting shell, a movable inner rod is slidably connected in the supporting shell, a third adjusting assembly is arranged on the upper side in the supporting shell, a bearing shell is arranged on the front side of the movable inner rod, and a second adjusting assembly is arranged on the bearing shell. A second adjusting assembly is arranged in the bearing shell, a first adjusting assembly is arranged on the upper side of the interior of the movable inner rod, a joint shell is arranged on the front side of the bearing shell, and a flat scraping plate is arranged on the front side of the joint shell. According to the device, the supporting shell, the movable inner rod, the first adjusting assembly, the second adjusting assembly, the third adjusting assembly, a flat scraping plate, a joint shell, a fixing rod, an elastic buckle, a limiting plate, a marking pen and an irradiation camera are arranged in a matched mode, a worker does not need to climb up and down stairs to manually mark and flatten a wall surface, the whole device can be semi-automatically controlled and operated, use is convenient, and the working efficiency is improved. And the labor intensity of workers is well reduced.

The present invention relates to a deformable crawler robot, comprising a chassis module and a pulley module, wherein the pulley modules are respectively mounted on both sides of the chassis module, the chassis module comprises a battery and an electric control box, and is used to control the operation of the crawler robot and provide energy; the pulley module comprises a fixed plate, two drive motor reducer integrated machines, two drive pulleys, a telescopic swing arm mechanism and a crawler; the fixed plate is connected to the chassis module; the two drive motor reducer integrated machines are symmetrically mounted on both ends of the fixed plate, and the drive motor reducer integrated machine is connected to the drive pulley; the lower end of the telescopic swing arm mechanism is hinged in the middle of the two drive pulleys, and can rotate freely around the hinge point, and the upper end is connected to the swing arm pulley through the motor reducer integrated machine; the crawler is wound around the two drive pulleys and the swing arm pulley. The present invention improves the ability to cross obstacles and climb stairs, can strengthen the strength of the deformation mechanism, improve reliability, and strengthen the overall waterproof and dustproof ability of the robot.

Embodiments of the disclosure provide a robot cleaner for cleaning a stair. The robot cleaner includes a main body configured to rotate around a first shaft. The robot cleaner further includes at least one leg each configured to rotate around a second shaft. The robot cleaner also includes at least one connector each configured to connect each leg to the main body. Each connector comprises a first end attached to the first shaft and a second end attached to the second shaft. The robot cleaner is configured to climb the stair by first lifting the main body onto a tread of the stair through rotations of the main body and the at least one connector and then lifting the at least one leg onto the tread through rotations of the at least one connector and the at least one leg.

The utility model discloses a climbing structure of a ladder climbing robot, which belongs to the field of robots and comprises a robot body, a first crawler belt is mounted outside the robot body, a support rod is fixedly connected to one side of the robot body, and the outside of the support rod is in transmission connection with the first crawler belt. According to the scheme, when a worker starts the device to climb stairs, an electric cylinder can be started to enable the output end of the electric cylinder to extend, after the output end of the electric cylinder extends, a bent rod can drive a rack to move above a gear, and due to the fact that the gear is meshed with the rack, the rack can be driven to move to the position above the gear; when the rack moves above the gear, the gear, namely the mounting rod, is driven to rotate, in the process, the second crawler belt rotates by a certain angle, then one side of the second crawler belt makes contact with the stair surface of the stair, and through contact between the second crawler belt and the stair, the device can climb the stair; and therefore, the application range of the robot body is widened.

The utility model relates to the field of shopping carts, and discloses a folding shopping cart capable of climbing stairs, which comprises a front plate, two clamping grooves II are formed in the front plate, two bumps I are fixedly connected to the top of the front plate, two grooves I are formed in the bottom of the front plate, and side plates I are rotatably connected to two sides of the front plate. A second side plate is rotatably connected to one side of the first side plate, two first clamping grooves are formed in the second side plate, a bottom plate is rotatably connected to the bottom of the front plate, a side rear plate is rotatably connected to one side of the second side plate, a clamping block is rotatably connected to the interior of the side rear plate, and two second protruding blocks are fixedly connected to the top of the rear plate. Two second grooves are formed in the bottom of the rear plate, and a stair climbing assembly is arranged in the rear plate. According to the foldable shopping cart, the bottom plate, the front plate, the side plates, the rotary clamping blocks, the rear plate and other structures are matched with one another, so that the shopping cart is convenient to fold and store, space is effectively saved through simple operation steps, and carrying and storage are facilitated.

The utility model discloses a passive exoskeleton robot for health and emergency rescue escape of old people, which is detachable and comprises two protective arms, a robot body and a robot body. The back shell comprises two back supporting rods, a supporting column and two reinforcing plates, the two back supporting rods are detachably arranged on the two protective arms in the vertical direction, the supporting column is located between the two back supporting rods, and the two reinforcing plates are arranged at the upper ends and the lower ends of the two back supporting rods in the horizontal direction; the waist and back support comprises a back protection pad, a safety air bag and an equipment fixing device, the safety air bag is arranged between the back protection pad and the two back supporting rods, the equipment fixing device comprises two straps pulled to the lower portion of the equipment fixing device through the back shell, and a heat insulation part is arranged in the safety air bag; and each leg guard is provided with a heat absorption part and a hook. The passive exoskeleton device is convenient for old people to wear, has advanced functions of climbing stairs, escaping from fire disasters and the like, provides a comfortable passive exoskeleton device for the old people, and has a wide market prospect.

The present invention discloses an automatic concrete vibrating device, which includes a frame body, an orifice cross beam, a steel wire rope, a vibrating cross beam, an image acquisition unit, a pulley block and a vibrating rod; the pulley block and the steel wire rope are both arranged on the frame body, the steel wire rope is slidably connected with the pulley block, and the orifice cross beam and the vibrating cross beam are sequentially arranged on the steel wire rope from top to bottom; the orifice cross beam is connected to the port of the concrete dug pile; the vibrating rod and the image acquisition unit are arranged on the vibrating cross beam. The device disclosed by the present invention can achieve automatic vibration, replacing manual vibration, avoiding potential safety hazards of manual work, shortening the vibration time, improving the vibration efficiency, and solving the problems in the prior art that construction workers need to climb up and down the stairs in the mixing pool, which consumes a great deal of physical strength of the workers, takes a long time, and has low construction efficiency.

The application provides an underground pipe gallery tool vehicle, which comprises a driving vehicle, a carrying vehicle, a pair of track assemblies, a fire-fighting assembly and a control module; the driving vehicle and the carrying vehicle are tractionally connected, the carrying vehicle is used for transferring tools, the two track assemblies are respectively arranged on the two sides of the driving vehicle and are used for climbing stairs; the fire-fighting assembly is arranged on the driving vehicle, the fire-fighting assembly can spray fire extinguishing materials; the control module is signal-connected with the driving vehicle and the track assemblies respectively, and the control module can control the driving vehicle and the track assemblies to travel. The tool vehicle can quickly patrol and inspect the underground cable trench, can make the inspection personnel quickly reach a maintenance point under the condition of carrying multiple maintenance tools, reduces the labor intensity of the inspection, and improves the work efficiency of the inspection. In addition, when the inspection personnel encounters an emergency, the vehicle-mounted fire-fighting equipment and other devices are relied on for emergency rescue, so that the work safety of the inspection personnel is improved.

The invention discloses an intelligent tracking and transporting device for packaged drinks, belongs to the technical field of robots, and aims to solve the problems that an existing device is only suitable for a flat road surface, is difficult to climb stairs, and is prone to toppling over due to the fact that the gravity center is deviated when the existing device runs on a slope. A driving mechanism is arranged at the bottom end of the whole machine vehicle, a fixing plate is fixedly connected into the whole machine vehicle, two driving motors are symmetrically and fixedly installed on the fixing plate, the output ends of the two driving motors are fixedly connected with first bevel gears, and two rotating shafts are symmetrically arranged at the bottom end of the fixing plate. According to the intelligent tracking transportation device for the packaged drinks, it can be ensured that the gravity center of the device is always kept in a relatively stable state through a pendulum bob structure, the situation that the gravity center shifts due to changes of the inclination angle and the height is avoided, meanwhile, barreled water can be fixed, shaking is prevented in the transportation process, and the transportation safety of the barreled water is improved.

The utility model discloses a convenient-to-climb sightseeing tower for photovoltaic station building, and relates to the technical field of sightseeing towers, the convenient-to-climb sightseeing tower comprises a supporting rod, a climbing stair is installed on the outer side of the supporting rod, the climbing stair is installed on the outer side of the supporting rod in a winding mode, and a pedestrian separation assembly is installed in the climbing stair. The pedestrian separation assembly is used for separating ascending people from descending people, the pedestrian separation assembly comprises a separation plate, an upper channel, a lower channel, a first blocking assembly and a second blocking assembly, and the separation plate is installed in the middle of the climbing stair and divides the inner space of the climbing stair into the upper channel and the lower channel. The inner space of the climbing stair is divided into two parts by the partition plate in the pedestrian partition assembly, so that an ascending pedestrian climbs to the top through the upper channel, a descending pedestrian descends to the bottom from the interior of the sightseeing room through the lower channel, and the situation that the climbing stair is blocked due to the fact that the ascending pedestrian and the descending pedestrian meet is avoided.

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

Hubless wheels allowing shaft-based movement according to an embodiment of the present invention have an improved mechanical structure of the wheel and thus can easily climb stairs or obstacles. The hubless wheels allowing shaft-based movement according to an embodiment of the present invention enable elderly people, children, disabled persons, and the like to climb obstacles having stepped regions such as curbs and stairs without assistance, and thus has the effect of reducing inconvenience in everyday life. The hubless wheels allowing shaft-based movement according to an embodiment of the present invention can be applied to transportation means of any field, such as wheelchairs, baby carriages, carts, and robots, and thus can be widely used and provide everyday convenience.

The stepping tread type chassis assembly comprises a vehicle frame, two crawler walking units, a first power mechanism, a pedal driving mechanism, a wheel type walking unit, a lifting adjusting device and an electric control system, the two crawler walking units are symmetrically arranged on the left side and the right side of the vehicle frame, and the lifting adjusting device is arranged at the front end of the vehicle frame. The crawler walking unit comprises a crawler beam, a front chain wheel, a rear chain wheel, a crawler assembly and a plurality of pedal assemblies. The power mechanism drives the front chain wheel and the rear chain wheel to rotate synchronously. The pedal assemblies are arranged in the track assembly at equal intervals, and each pedal assembly comprises a pedal and a double-torsion spring. The pedal driving mechanism controls the pedals below the track beams to be unfolded, and the double torsion springs enable the rest of the pedals to be closed. The number of the wheel type walking units is two, and the two wheel type walking units are symmetrically arranged front and back. By constructing a plurality of continuous planar supporting systems, the supporting stability and safety are improved, the requirement for large loads is met, and the working efficiency is high.

The utility model relates to the technical field of electric power construction ladders, in particular to an adjustable electric power construction climbing ladder which comprises a supporting assembly, the supporting assembly is composed of a bottom plate, a left first longitudinal beam and a right first longitudinal beam, the left first longitudinal beam and the right first longitudinal beam are fixedly installed on the bottom plate, the first longitudinal beams are vertically arranged, and second longitudinal beams are connected into the first longitudinal beams in a sliding mode. Third longitudinal beams are slidably connected into the second longitudinal beams, end plates are fixedly installed between top rod bodies of the two first longitudinal beams, the two second longitudinal beams and the two third longitudinal beams, air cylinders are fixedly installed on the two lower end plates, and U-shaped frames are fixedly installed at the tail ends of telescopic shafts of the air cylinders; the U-shaped frame is fixedly installed on the adjacent upper end plate, a bearing box is arranged on one side of the two third longitudinal beams, an insulating layer is arranged on the inner wall of the bearing box, and a plurality of ladder stand rods are fixedly installed between the two first longitudinal beams. Height adjustment operation can be carried out, the structure is firm and stable, and tools are convenient to convey.

The multipurpose trolley for tunnel construction comprises a bottom plate and walking trundles driving the bottom plate to move, a door-shaped support, an upper platform and an upper platform lifting platform are sequentially arranged on the bottom plate from bottom to top, and a plurality of platform plates are connected to the two sides of the door-shaped support and the two sides of the upper platform through platform brackets. Climbing stairs are arranged on one side of the door-shaped support and one side of the upper platform, and the upper platform lifting platform is connected to the top of the upper platform through a plurality of upper platform lifting columns. The bottom plate is provided with a portal oil pressure station and a portal control electric cabinet which are used for controlling the portal support, and the upper platform is provided with an upper platform oil pressure station and an upper platform control cabinet which are used for controlling the upper platform lifting platform. The vehicle-mounted lifting device is flexible, flexible, rapid, efficient and flexible to disassemble and assemble, and meanwhile, the vehicle-mounted lifting device can conveniently cross over vehicles to pass.

The invention discloses a convenient-to-operate multifunctional walking aid for old people, and belongs to the field of rehabilitation instruments, the convenient-to-operate multifunctional walking aid for old people comprises a frame body, the outer surface of the frame body is movably sleeved with a plurality of supporting legs, a plurality of positioning holes are formed in the supporting legs, and a plurality of limiting assemblies for limiting the supporting legs are connected to the interior of the frame body; the limiting assembly comprises two limiting pieces and adjusting assemblies, wherein the two limiting pieces are movably connected to the interior of the frame body, one ends of the limiting pieces are inserted into the adjacent positioning holes, the adjusting assemblies are movably connected to the interior of the frame body to conduct radial movement and drive the two limiting pieces to conduct axial movement, and the exterior of the frame body is connected with a plurality of traction parts used for pulling the adjusting assemblies to move correspondingly. According to the stair climbing device, the adjusting mode is more convenient, height adjustment can be achieved without relying on a heavy motor and a battery, a patient can easily lift and put down the stair climbing device in the stair climbing process, the burden of the upper limbs of the patient in the stair climbing process is relieved, and meanwhile the stair climbing device can better cope with different use scenes.

The utility model discloses an adjustable external overhanging type climbing stair for building construction. The adjustable external overhanging type climbing stair comprises a main beam supporting frame (3), a cuboid-shaped main frame body (2) and an adjustable stair (1), wherein the main beam supporting frame (3) is fixed on a rear anchor embedded part (30) and a front anchor embedded part (31) of a current-layer stair; the cuboid-shaped main frame body (2) is fixed on the main beam supporting frame; the main beam supporting frame is composed of a set of supporting beams (29) arranged in parallel, the other end of a lower supporting rod (25) arranged on the main beam supporting frame is fixed to the lower stair, and the other end of a cable-stayed steel wire rope (32) arranged on the main beam supporting frame is fixed to an embedded part clamping ring of the upper stair. The device can be quickly built among floors, moved to a corresponding construction position according to construction requirements, guarantees safety of constructors, is convenient to mount and dismount, and is particularly suitable for solving the problem that the constructors cannot go up and down the channel due to the fact that the upper-layer construction is not completed during high-rise construction during floor construction of building engineering.

The utility model provides a multifunctional baby carriage, which is applied to the technical field of baby carriages and is characterized by comprising a carriage frame, a baby cabin fixedly arranged on the carriage frame and shoulder straps fixed on the carriage frame, a front combined wheel is rotationally arranged in the middle of the front end of the frame; the front combined wheel comprises a rotating shaft which is rotationally arranged on the frame; the two mounting plates are fixedly connected to the rotating shaft respectively; front wheel frames are arranged on the two mounting plates; at least three front wheels are rotationally connected to the front wheel frame, a rear leg frame is hinged to the rear end of the frame, and at least two rear wheels are rotationally arranged on the rear leg frame; a first gear and a second gear are arranged on the frame; the electric vehicle has the technical effects that the electric vehicle can run on bumpy road surfaces; the road barrier can also be used for a narrow channel, namely the road barrier can be passed; therefore, the multi-functional electric wheelchair has the characteristic of multi-functional use.

The invention belongs to the technical field of blind person assistance, and provides a blind person navigation assisting device which comprises a shell, a first rotating shaft is rotationally installed in the shell, the two ends of the first rotating shaft extend out of the two sides of the shell and are provided with wheels, and one side wall of the shell is open; the rotating power source is fixedly arranged in the shell, and an output shaft of the rotating power source is in power connection with the first rotating shaft; the stair climbing assembly comprises sliding blocks, a second rotating shaft is rotationally installed between the two sliding blocks, a rotating frame is fixedly arranged on the peripheral outer wall of the second rotating shaft, and when the sliding blocks slide into the shell, the second rotating shaft is in power connection with an output shaft of the rotating power source; and the navigation equipment mounting rack is fixedly arranged on the top surface of the shell. The navigation equipment is installed on the shell, a user makes contact with the shell and moves forwards, the shell transmits vibration of the road condition to a user receiving hand in real time, the road condition is better detected in combination with the navigation equipment, and the safety sense of the user is higher; the rotating frame has a step climbing function and is suitable for different road conditions.

The utility model relates to a plastic extruder which comprises an extruder body, the top of the extruder body is communicated with an inclined feeding pipeline, one end, far away from the extruder body, of the feeding pipeline is in butt joint with a discharging box, and the side face of the discharging box is provided with a discharging opening communicated with a feeding opening of the feeding pipeline. The bottom in the discharging box is of an inclined structure in butt joint with a feeding port of the feeding pipeline, a door body is arranged at the discharging port, a door opening mechanism used for opening the door body is arranged on the discharging box, and a lifting mechanism used for driving the discharging box to ascend and descend is arranged on the ground. A worker does not need to carry raw materials and climb to a high position through a crawling ladder for feeding, physical exhaustion of the worker is reduced, the working intensity of the worker is reduced, and the risk that the worker climbs stairs and is hurt is avoided.

The invention belongs to the technical field of robots, and discloses a claw-type wheel leg mechanism and a robot, the claw-type wheel leg mechanism comprises a wheel, a wheel shaft on the wheel is fixedly connected with a driving gear, two sides of the driving gear are in engaged connection with first driven gears, and the other sides of the first driven gears are in engaged connection with second driven gears; the two rocking bars are arranged in parallel in the vertical plane, and one end of each rocking bar is fixedly connected with the second driven gear; the connecting rod is located between the two rockers, and the two ends of the connecting rod are rotationally connected with the other ends of the two rockers; the two hook claws are symmetrically arranged in a vertical plane, and the lower ends of the two hook claws are fixedly connected with the two ends of the connecting rod respectively. The wheels and the hook claws move synchronously, and the hook claws cannot make contact with the ground all the time and do climbing motion towards the upper front portion. The robot adopting the claw type wheel leg mechanism has high terrain adaptability and can cross steps and climb stairs.

The utility model relates to the technical field of hydraulic galleries, and particularly discloses an anti-tilting device for a four-footed inspection robot in a hydraulic gallery ladder environment, which comprises an inclined plate mounted on the top surface of a body of the four-footed inspection robot, and a supporting mechanism in transmission connection with the inclined plate and used for supporting the four-footed inspection robot when the four-footed inspection robot tilts backwards; the supporting mechanism comprises a sliding device installed on the inclined plate in a sliding mode, a supporting piece hinged to the sliding device, and an anti-collision supporting assembly installed on the side, close to the supporting piece, of the inclined plate and hinged to the supporting piece. And the sliding direction of the sliding device is set along the advancing direction of the four-footed inspection robot. The four-foot inspection robot can solve the problem that the four-foot inspection robot is prone to toppling and falling in the inspection process due to the fact that the stability is poor when the four-foot inspection robot climbs steps.

The utility model provides a carrying device which is used for carrying a cleaning robot and comprises a body. The bearing assembly is arranged on the main body and used for bearing the cleaning robot; the displacement assembly is arranged on the main body and drives the main body to walk; the carrying device bears the cleaning robot through the bearing assembly and drives the cleaning robot to move through the displacement assembly, and the carrying device and the cleaning robot are of a split structure; the carrying device is provided with a suction port; the cleaning robot comprises a dust collection opening; under the condition that the carrying device carries the cleaning robot, the suction port is configured to be in butt joint with the dust suction port. The carrying device can use a dust collection system of the cleaning main machine to clean the surfaces of obstacles such as stair steps while climbing the obstacles such as stairs, the cleaning main machine does not need the carrying device during cleaning, the cost is low, and the carrying device is simple and easy to use.

The present invention discloses a composite crawler delivery vehicle, including a vehicle body and a shelf, wherein a driving mechanism is arranged on the vehicle body, and the driving mechanism is composed of a composite crawler, and the composite crawler is composed of three pairs of six crawlers, and the three pairs of six crawlers are respectively connected to three vehicle bodies, wherein the first vehicle body and the second vehicle body are rigidly connected, the shelf is connected to the first vehicle body and the second vehicle body, the second vehicle body and the third vehicle body are hinged, and a limit baffle is arranged above the hinge point of the second vehicle body and the third vehicle body, one end of the limit baffle is connected to the second vehicle body, and the other end extends to the top of the third vehicle body, and the limit baffle is flush with the second vehicle body. The composite crawler solves the problem of interference between the drive and the crawler, and can also increase the ground contact area and length of the vehicle body crawler, improve the ability of the crawler to climb stairs, and at the same time increase the actual length of the vehicle body, ensuring that the center of gravity is within a controllable range when the vehicle body is tilted.

This invention discloses a method for controlling the movement of a humanoid robot climbing stairs, comprising: acquiring environmental perception data in front of the robot and robot body state information; constructing a local terrain representation and performing a treadability assessment to obtain a treadable area; segmenting the support plane based on the treadable area and constructing a structured safety support surface; generating a torso reference trajectory, foot landing point, and foot swing trajectory based on the structured safety support surface; constructing constraints on the treadable domain of the support foot and obstacle avoidance constraints on the swinging foot, and introducing nonlinear model predictive control; further combining whole-body control and joint hybrid control to output execution commands, thereby realizing continuous and stable stair climbing movement of the humanoid robot in a stair environment, improving foot landing safety, swinging obstacle avoidance ability, and movement stability.