Stair climbing robot with planetary gear train

The invention belongs to the field of mechanical-electrical integration, particularly relates to a stair climbing robot with a planetary gear train, and mainly solves the problems that a conventional stair climbing robot is low in transmission efficiency, difficult to deform, slow in movement, poor in structural stability and the like. The stair climbing robot with the planetary gear train comprises a transmission system, a changeover system and an executive system, wherein the transmission system comprises a left transmission group and a right transmission group, and the left transmission group and the right transmission group are in parallel and are symmetrically mounted by using a longitudinal center line as a symmetric center; the changeover system comprises four changeover groups, wherein the four changeover groups are separately arranged in four directions of a bottom plate, and each of the changeover groups consists of a sun gear shaft, a long sleeve, a shaft coupling, an electromagnetic clutch and a bearing; the executive system consists of four gear group systems, wherein each of the gear group systems comprises an inner triangle plate, an outer triangle plate, three planetary gear shafts, six planetary gear shaft sleeves, three planetary gear blades, a sun gear and a blade bearing.