CN-224225179-U - Eight-foot stair climbing robot

CN224225179UCN 224225179 UCN224225179 UCN 224225179UCN-224225179-U

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, wherein the seat assembly and the mechanical movement rows are electrically connected with the controller assembly, a gyroscope is arranged in the controller assembly, the mechanical movement rows are composed of four mechanical feet, the mechanical feet in the two mechanical movement rows synchronously move from front to back one by one to form movement groups, the four movement groups are matched with each other at intervals to move or support, the two mechanical feet are matched with each other at intervals to realize the alternate switching of a movement state and a supporting state, the mechanical feet comprise thigh joint driving assemblies, thigh main bodies, knee driving assemblies, shank main bodies and foot bottoms which are sequentially connected, and the foot bottoms are hinged with the shank main bodies. The stair climbing robot has the beneficial effects that the later maintenance frequency is reduced, and the two groups of movement groups are always ensured to be fixed on the steps in the running process, so that the stair climbing robot is stable and safe in the corridor up-down process.

Inventors

YANG XINWU
LIU JUN
WEN HONGXIA

Assignees

深圳市羽师科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250521

Claims (10)

1. The eight-foot stair climbing robot is characterized by comprising a robot mounting plate, a seat assembly, a controller assembly and two mechanical movement rows, wherein the seat assembly and the mechanical movement rows are electrically connected with the controller assembly, a gyroscope is arranged in the controller assembly, the gyroscope can improve the stability of movement of the mechanical movement rows, the mechanical movement rows are composed of four mechanical feet, the mechanical feet in the two mechanical movement rows form movement groups through front-to-back one-to-one synchronous movement, the four movement groups are matched with each other at intervals to move or support, the two mechanical movement rows are fixedly arranged on two sides of the lower end face of the robot mounting plate, the seat assembly is fixedly arranged on the upper end face of the robot mounting plate, the mechanical feet comprise thigh joint driving assemblies, thigh main bodies, knee driving assemblies, shank main bodies and foot sole driving members which are sequentially connected, the thigh joint driving assemblies can drive the thigh main bodies to swing back and forth, the knee driving assemblies can drive the shank main bodies to swing back and forth, and the foot sole driving members can hinge.
2. The eight-foot stair climbing robot according to claim 1, wherein four mechanical feet in the mechanical motion row are spaced front to back and are arranged in a left-right staggered manner.
3. The eight-foot stair climbing robot according to claim 1, wherein the thigh joint driving unit includes a yaw driving device capable of driving the thigh body to swing left and right, a rotation driving device capable of driving the thigh body to rotate, and a front-rear yaw driving device.
4. The eight-foot stair climbing robot according to claim 1, wherein the robot mounting plate is provided with a plurality of cameras, depth cameras, lidars and ultrasonic radars, and the cameras, depth cameras, lidars and ultrasonic radars are electrically connected with the controller assembly.
5. The eight-foot stair climbing robot according to any one of claims 1-4, wherein the seat assembly comprises a horizontal adjustment assembly and a seat body, a movement end of the horizontal adjustment assembly is hinged to a bottom end of the seat body, one side of the seat body is hinged to the robot mounting plate, and the horizontal adjustment assembly can push the seat body to swing relative to the robot mounting plate.
6. The eight-foot stair climbing robot according to claim 5, wherein a display screen and function keys are further arranged on the seat body, and the display screen and the function keys are electrically connected with the controller assembly.
7. The eight-foot stair climbing robot according to claim 5, wherein the horizontal adjusting component comprises a servo driving component motor and a driving connecting rod, the servo driving component motor is obliquely arranged at the bottom of the robot mounting plate, a driving window matched with the driving connecting rod is arranged on the robot mounting plate, and the driving connecting rod penetrates through the driving window and is connected with the seat main body.
8. The eight-foot stair climbing robot according to claim 5, wherein the seat body is provided with a lifting helmet assembly, a safety belt and a foot support, the lifting helmet assembly comprises a helmet body and a lifting adjusting piece, and the helmet body can be matched with the lifting adjusting piece to adapt to heights of different people to protect the head.
9. The eight-foot stair climbing robot according to claim 8, wherein a safety barrier is arranged on the outer side of the seat main body, and a barrier airbag is arranged on the safety barrier, and the use safety of a user can be further improved by the barrier airbag.
10. The eight-foot stair climbing robot according to claim 8, wherein the lifting adjusting piece is a helmet driving device, the helmet driving device is fixedly arranged on the seat main body, the moving end of the helmet driving device is connected with the helmet main body, a guide post is arranged on the helmet main body, a guide groove matched with the guide post is arranged on the seat main body, and a helmet safety airbag is arranged in the helmet main body.

Description

Eight-foot stair climbing robot Technical Field The utility model relates to the technical field of stair climbing robots, in particular to an eight-foot stair climbing robot. Background At present, nearly half urban residents in China still stay in buildings without elevators below 7 floors, and daily travel is firstly faced with the problem of climbing stairs. For young and strong, the burden is not great, and for the old or special crowd, great inconvenience is brought. In order to solve the problem, a stair climbing machine appears, people can go upstairs, most stair climbing equipment adopts two tracks to slide and run on stair steps, the tracks are easy to wear at the sharp corners of the steps, the safety is poor, the later maintenance frequency is high, in order to solve the problem, part of stair climbing robots adopt mechanical feet simulating human body gesture walking as a motion driving device, but when the traditional mechanical feet lift up and walk alternately, the equipment motion jolting amplitude is large in the alternate walking interval, the stability is poor, the use experience of passengers is influenced, even the safety problem appears, the use requirement of users cannot be met, and the product competitiveness is not improved. Disclosure of utility model In order to solve the problems in the prior art, the utility model provides the eight-foot stair climbing robot, which solves the problems that the stair climbing robot in the prior art adopts a crawler belt and a mechanical foot to perform stair climbing work, and has easy abrasion and poor stability. The utility model relates to an eight-foot stair climbing robot which comprises a robot mounting plate, a seat assembly, a controller assembly and two mechanical movement rows, wherein the seat assembly and the mechanical movement rows are electrically connected with the controller assembly, a gyroscope is arranged in the controller assembly, the gyroscope can improve the movement stability of the mechanical movement rows, the mechanical movement rows are composed of four mechanical feet, the mechanical feet in the two mechanical movement rows synchronously move from front to back to form movement groups, the four movement groups move or support in a matched mode at intervals, the two mechanical movement rows can realize the alternate switching of a movement state and a supporting state, the two mechanical movement rows are fixedly arranged on two sides of the lower end face of the robot mounting plate, the seat assembly is fixedly arranged on the upper end face of the robot mounting plate, the mechanical feet comprise thigh joint driving assemblies, thigh main bodies, knee driving assemblies, shank main bodies and foot parts, the thigh joint driving assemblies can drive the thigh main bodies to swing back and forth, the knee driving assemblies can drive the shank main bodies to swing back and forth, and the foot parts are hinged with the shank main bodies. The utility model is further improved, and four mechanical feet in the mechanical motion row are arranged at intervals in front-back and staggered left and right. The utility model further improves, the thigh joint driving assembly comprises a side swing driving device, a rotary driving device and a front swing driving device, wherein the side swing driving device can drive the thigh main body to swing left and right, and the rotary driving device can drive the thigh main body to rotate. According to the utility model, a plurality of cameras, depth cameras, laser radars and ultrasonic radars are arranged on the robot mounting plate, and the cameras, the depth cameras, the laser radars and the ultrasonic radars are electrically connected with the controller assembly. According to the utility model, the seat assembly comprises a horizontal adjusting assembly and a seat main body, wherein the moving end of the horizontal adjusting assembly is hinged with the bottom end of the seat main body, one side of the seat main body is hinged with the robot mounting plate, and the horizontal adjusting assembly can push the seat main body to swing relative to the robot mounting plate. According to the utility model, the seat main body is further provided with the display screen and the function keys, and the display screen and the function keys are electrically connected with the controller component. According to the utility model, the horizontal adjusting component is a servo driving component motor and a driving connecting rod, the servo driving component motor is obliquely arranged at the bottom of the robot mounting plate, a driving window matched with the driving connecting rod is arranged on the robot mounting plate, and the driving connecting rod penetrates through the driving window and is connected with the seat main body. According to the utility model, the lifting helmet assembly, the safety belt and the foot support are arranged on the seat main body, the lifting helmet assembly comp