CN110641538B - Electric load stair climbing machine - Google Patents
Electric load stair climbing machine Download PDFInfo
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- CN110641538B CN110641538B CN201910773487.XA CN201910773487A CN110641538B CN 110641538 B CN110641538 B CN 110641538B CN 201910773487 A CN201910773487 A CN 201910773487A CN 110641538 B CN110641538 B CN 110641538B
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- rack
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- horseshoe
- eccentric hole
- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention provides an electric load stair climbing machine for carrying heavy objects, which mainly comprises a loading device, a driving device, a stair climbing device, a stair descending device, a locking device, a first limiting device, a second limiting device, a rack, a transmission shaft and a push handle, wherein the loading device is arranged on the rack; wherein the loading device comprises a loading box and a spring rod; the driving device comprises a motor and a battery jar; the stair climbing device comprises a pair of incomplete gears, a gear with an eccentric hole, a connecting rod and a horseshoe-shaped rod; the stair descending device comprises a spring rod, a universal joint and wheels; the locking device comprises a ratchet wheel and a pawl; the first limiting device comprises a spring and a stop block; the second limiting device comprises a stop block; the loading device, the driving device, the stair climbing device, the stair descending device, the locking device, the first limiting device, the second limiting device, the transmission shaft and the push handle are all connected to the rack.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a gait-imitating, stair-stepping and flat-ground dual-purpose electric load stair climbing machine.
Background
At present, a plurality of multi-storey buildings still exist in cities, and because of low floors, elevators are not installed in the buildings, which directly causes inconvenience in carrying heavy objects. Therefore, it is necessary to design a stair climbing machine capable of carrying heavy objects.
The existing stair climbing machine in the market at present has a plurality of defects. Most of the stair climbers on the market are light-load stair climbers, and cannot bear large loads. And the stair climbing machine on the market is very inconvenient to use and unsafe to use when going down stairs. And meanwhile, the stair climbers cannot move smoothly on the flat ground.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a stair climbing machine which has strong loading capacity, is safe and reliable and has dual functions of stairs and flat ground.
The technical scheme adopted by the invention is as follows:
an electrically-powered load stair climbing machine comprising: loading attachment, drive arrangement, climb stair device, locking means, first stop device, second stop device, frame, transmission shaft, push away the handle.
The loading device consists of a loading box and a spring rod;
the driving device consists of a motor and a battery jar;
the stair climbing device consists of a pair of incomplete gears, a gear with an eccentric hole, a connecting rod and a horseshoe-shaped rod;
the stair descending device consists of a spring rod, a universal joint and wheels;
the locking device consists of a pawl and a ratchet wheel;
the first limiting device consists of a spring and a stop block;
the second limiting device consists of a stop block.
Furthermore, loading attachment comprises a year thing case and four spring arms, carries thing case swing joint frame, and the one end swing joint of four spring arms is all around carrying the thing case, and the other one end swing joint of four spring arms is in the frame, and during the frame motion, the position of carrying the thing case is unchangeable all the time, and the spring arm has the cushioning effect, has reduced rocking of carrying the thing case.
Furthermore, the spring rod is composed of a support rod, a sleeve and a spring.
Furthermore, the driving device consists of a motor and a storage battery, the motor is fixedly connected with the rack, the power output end of the motor is connected with the bevel gears of the pair of incomplete gears, and the storage battery is fixedly connected with the rack.
Further, a pair of incomplete gears consists of a strut and two incomplete gears. The rod is positioned between the two incomplete gears, the axis of the rod is coincided with the axes of the two incomplete gears, and one half of the incomplete gears are toothed and the other half of the incomplete gears are toothless. The toothed part and the toothless part of the two incomplete gears are just staggered, two bevel gears are arranged on the rod, one bevel gear is driven by the motor, and the other bevel gear drives the transmission shaft. The gear with the eccentric hole on one side of the rack is meshed with the toothed parts of the pair of incomplete gears, and the gear with the eccentric hole on the other side of the rack is not meshed with the toothless parts of the pair of incomplete gears, so that the two gears with the eccentric holes on two sides of the rack cannot rotate simultaneously, and the gears with the eccentric holes on the left side and the right side of the rack do intermittent motion. Because the eccentric hole gear directly drives the horseshoe-shaped rod to move, the horseshoe-shaped rod also does intermittent movement, and the purpose of the intermittent movement of the horseshoe-shaped rod is to ensure that the rack moves stably.
Furthermore, the stair climbing device consists of a pair of incomplete gears, a gear with an eccentric hole, a connecting rod and a horseshoe-shaped rod. The pair of incomplete gears are movably connected with the frame, bevel gears of the pair of incomplete gears are connected with a power output end of the motor, and the pair of incomplete gears are directly driven by the motor. Take eccentric orfice gear swing joint frame, the area eccentric orfice gear of frame one side and the partial meshing that has of a pair of incomplete gear, the area eccentric orfice gear of frame other one side does not have the meshing with the toothless part of a pair of incomplete gear, makes two areas eccentric orfice gears of frame both sides can not rotate simultaneously like this, and the purpose lets take eccentric orfice gear to do intermittent motion, and the intermittent motion is also done to the shape of a hoof pole promptly. One end of the connecting rod is movably connected with the rack, the other end of the connecting rod is movably connected with one end of the horseshoe-shaped rod, and the connecting rod can restrain the movement of the horseshoe-shaped rod, so that the horseshoe-shaped rod can climb. The other end of the horseshoe-shaped rod is movably connected with an eccentric hole of an eccentric hole gear, and the eccentric hole gear directly drives the horseshoe-shaped rod to move. Because a pair of incomplete gears directly drives the eccentric hole gear to move intermittently, the eccentric hole gear also drives the horseshoe-shaped rod to move intermittently.
Furthermore, the positions of the eccentric hole gears on the left side and the right side of the rack are just opposite, namely the eccentric holes of the eccentric hole gears on the left side and the right side of the rack are different by 180 degrees, the horseshoe-shaped rods are movably connected with the eccentric holes of the eccentric hole gears, and the horseshoe-shaped rods on the left side and the right side of the rack are alternatively moved because the eccentric hole positions of the eccentric hole gears on the left side and the right side of the rack are different by 180 degrees.
Furthermore, the horseshoe-shaped rod is divided into a ground landing state and a ground leaving state; when the left horseshoe-shaped rod in front of the machine frame is grounded, the left horseshoe-shaped rod and the right horseshoe-shaped rod in front of the machine frame move alternately, so that the right horseshoe-shaped rod in front of the machine frame is lifted off. A pair of incomplete gears in front of the frame drives the transmission shaft to rotate, and the transmission shaft drives a pair of incomplete gears in back of the frame to rotate. The position of the right side gear with the eccentric hole at the back of the frame is completely the same as the position of the left side gear with the eccentric hole at the front of the frame, and the horseshoe-shaped rod at the right side at the back of the frame lands. The horseshoe-shaped rod at the rear of the machine frame also does alternate motion, and the left horseshoe-shaped rod at the rear of the machine frame leaves the ground after intermittent motion. The horseshoe-shaped rods in front of and behind the machine frame move alternately and repeatedly, like a diagonal walking method of a horse, namely, the left front foot and the right rear foot move completely the same, and the right front foot and the left rear foot move completely the same, so that the two motions are alternately circulated. The horseshoe-shaped rod makes intermittent motion, so that the rack can move stably.
Furthermore, the stair descending device is movably connected with the frame by one end of the spring rod, the other end of the spring rod is movably connected with the universal joint, and the universal joint is movably connected with the wheels.
Further, a wheel consists of a central wheel disc and eight identical wheel rims. Four top corners of the central wheel disc are respectively provided with two small holes. Two ends of the wheel rim are respectively provided with a small hole, and four top corners of the wheel center wheel disc are respectively connected with the small holes of the eight wheel rims through hinges. When the wheel is in a stair descending state, the wheel rims are folded towards the central wheel disc and tightly attached to the central wheel disc, the two small holes of the adjacent wheel rims are aligned, the pins are inserted into the aligned two small holes, the wheel forms a stable structure, and the wheel can be used for moving down stairs. When the wheel is in a flat ground rolling state, the pin between the adjacent wheel rims is taken out, the eight wheel rims are encircled into a circle, the two small holes of the adjacent wheel rims are aligned, the pin is inserted into the two aligned holes, the wheel forms a stable circle, the wheel can roll on the flat ground at the moment, and the purpose is to enable the rack to move stably on the flat ground.
Further, the locking device is composed of a ratchet and a pawl. The locking device comprises a stair climbing locking device, a stair descending locking device and a push handle locking device. The stair climbing locking device consists of a pawl and a ratchet wheel. The axis of the ratchet wheel coincides with the axis of the gear with the eccentric hole, and the ratchet wheel is fixedly connected with the gear with the eccentric hole, so that the ratchet wheel and the gear (8) with the eccentric hole form a rigid body which can rotate synchronously. The pawl is movably connected with the frame. When the gear with the eccentric hole rotates, the ratchet wheel rotates along with the gear with the eccentric hole in a single direction. When the gear with the eccentric hole is not meshed with the pair of incomplete gears, the horseshoe-shaped rod is acted by ground supporting force, the gear with the eccentric hole tends to rotate reversely, the ratchet wheel also tends to rotate reversely, and at the moment, the ratchet wheel is clamped by the pawl, namely, the horseshoe-shaped rod is also clamped by the pawl, so that the rack is prevented from sliding downwards. The ratchet wheel of the locking device for going downstairs is fixedly connected with the support rod of the spring rod, and the ratchet wheel and the spring rod form a rigid body which can synchronously rotate. The pawl is movably connected with the frame, and the pawl enables the spring rod to have unidirectional rotation capacity. When the stair descending device is in a stair descending state or a flat ground movement state, the spring rod is subjected to ground supporting force, so that the spring rod has a tendency of restoring the original position, namely the position of the stair descending device when the stair descending device is not put down from the rack. At the moment, the pawl blocks the ratchet wheel, namely the pawl blocks the stair descending device, and the stair descending device is prevented from recovering the original position. When the stair descending device is not needed to be used, the pawl is separated from the ratchet wheel, and then the stair descending device is folded. The ratchet wheel of the push handle locking device is fixedly connected with the push handle to form a rigid body which can synchronously rotate. When the push handle needs to be used, the stop block of the second limiting device is placed vertically, the push handle is put down and finally parallel to the ground, at the moment, the ratchet wheel is clamped by the pawl, and the push handle cannot return to the original position under the action of external force. When the push handle is not needed, the pawl is separated from the ratchet wheel, and the push handle can return to the original position under the action of external force.
Furthermore, first stop device comprises spring and dog, and the spring is located the guide way of frame, and the one end of dog fixed connection spring, dog are also in the guide way of frame, and first stop device has flexible function this moment. When the stair descending device is not used, the stair descending device is tightly attached to the rack and locked by the first limiting device. When the device for going downstairs is used, the device for going downstairs can be directly pulled open, the stop dog of the first limiting device is extruded by the device for going downstairs, the spring begins to shrink, the stop dog is extruded by the device for going downstairs, finally, the first limiting device is in an unlocked state, and the device for going downstairs is released. The same principle applies when the downstairs are retracted.
Furthermore, the second limiting device is composed of a stop block, and the stop block is movably connected with the rack. When the push handle is not put down, the stop block is in a horizontal state, and the stop block stops the push handle to prevent the push handle from falling. When the push handle is folded, the stop block is adjusted to be in a vertical state, then the push handle is folded, namely the push handle is tightly attached to the rack, then the stop block is adjusted to be in a horizontal state, and the stop block blocks the push handle to prevent the push handle from falling.
Furthermore, the loading device, the driving device, the stair climbing device, the stair descending device, the locking device, the first limiting device, the second limiting device, the rack, the transmission shaft and the push handle are all connected to the rack.
Furthermore, the electric load stair climbing machine not only can conveniently realize the movement of going upstairs and downstairs, but also can realize the movement on the flat ground.
The invention has the beneficial effects that: the invention utilizes a pair of incomplete gears to realize intermittent motion. The purpose of making the eccentric holes of the gears with eccentric holes on the left and the right sides of the frame have 180-degree difference is to make the horseshoe-shaped rods on the left and the right sides of the frame do alternate motion. The direction of the gear with the eccentric hole on the left side in front of the rack is the same as the direction of the gear with the eccentric hole on the right side in back of the rack, and the direction of the gear with the eccentric hole on the right side in front of the rack is the same as the direction of the gear with the eccentric hole on the left side in back of the rack, so that when the stair climbing device climbs stairs, the movement of the horseshoe-shaped rod is the same as the diagonal stepping method of horse slow walking, namely the movement of the left front foot and the right back foot is completely the same, and the movement of the right front foot and the left back foot is completely the same, and the steps are alternately circulated. The invention has four horseshoe-shaped rods and one motor, so that the invention has strong load capacity. Under the emergency situation, the motor stops operating, the rack has the tendency of sliding downwards at the moment, and the locking device goes upstairs to lock the rack immediately.
When going downstairs, the downstairs device is put down from the rack, and the wheels are adjusted to be in a downstairs state. When the wheels are in contact with the surface of the stairs, the rims roll substantially on the plane of the stairs, with the aim of making the carriage move smoothly. When a rim passes through just one step, a top corner of the wheel's center disk just rests on the surface of the next step, and the motion of the rim rolling on the step surface is repeated. This design makes the frame very smooth when going down stairs.
When the ground moves, the stair descending device is put down from the rack, the wheels are adjusted to be in a state of rolling on the ground, and the wheels just form a complete circle at the moment, so that the rack can stably move on the ground.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a schematic view of the stair climbing state of the present invention
FIG. 3 is a schematic view of the present invention in a descending stair state
FIG. 4 is a schematic view of the present invention showing the movement of the ground
FIG. 5 is a schematic view of the structure of the present invention for changing between the wheel down stairs state and the flat ground rolling state
FIG. 6 is a schematic view of a pair of incomplete gears according to the present invention
FIG. 7 is a schematic view of the full-section structure of the spring rod of the present invention
FIG. 8 is a schematic view of the spring rod structure of the present invention
FIG. 9 is a schematic view of a full-section structure of the first limiting device of the present invention
FIG. 10 is a schematic view of the structure of the push handle of the present invention
In the figure: 1. the device comprises a frame, 2 wheels, 3 universal joints, 4 spring rods, 5 first limiting devices, 6 second stop blocks, 7 locking devices, 8 gears with eccentric holes, 9U-shaped rods, 10 motors, 11 connecting rods, 12 a pair of incomplete gears, 13 storage batteries, 14 transmission shafts, 15 carrying boxes and 16 pushing handles.
Detailed Description
The invention is described in detail below with reference to the figures and the specific examples.
Referring to fig. 1 to 10, the present invention is an electric load stair climbing machine, including: loading attachment, drive arrangement, climb stair device, locking means, first stop device, second stop device, push handle.
The loading device consists of a loading box 15 and a spring rod 4;
the driving device consists of a motor 10 and a battery 13;
the stair climbing device consists of a pair of incomplete gears 12, a gear 8 with an eccentric hole, a connecting rod 11 and a horseshoe-shaped rod 9;
the stair descending device consists of a spring rod 4, a universal joint 3 and wheels 2;
the locking device consists of a stair climbing locking device 7-1, a stair descending locking device 7-2 and a push handle locking device 7-3;
the locking device consists of a pawl 7-1-1 and a ratchet 7-1-2;
the first limiting device consists of a second spring 5-1 and a first stop block 5-2;
the second limiting device consists of a second stop block 6;
preferably, the electric load stair climbing machine can be powered by a mobile power supply; except for the standard component, various machined parts preferably adopt aluminum alloy as raw materials, the aluminum alloy has the characteristics of light weight, high mechanical property and easiness in processing, and the electric load can climb stairs to reduce energy consumption and move quickly so as to improve the efficiency of climbing the stairs.
Further, referring to fig. 2 and 6, the pair of incomplete gears 12 is composed of a supporting rod and two incomplete gears, the axis of the rod coincides with the axes of the two incomplete gears, and both ends of the rod are fixedly connected with the two incomplete gears, respectively. The power output end of the motor 10 is connected with the bevel gears of the pair of incomplete gears 12, the motor 10 directly drives the pair of incomplete gears 12 to rotate, and the pair of incomplete gears 12 directly drives the eccentric hole gear 8 to rotate, so that the eccentric hole gear 8 intermittently moves. One end of the connecting rod 11 is movably connected with the frame 1, the other end of the connecting rod 11 is movably connected with one end of the horseshoe-shaped rod 9, and the other end of the horseshoe-shaped rod 9 is movably connected with an eccentric hole of the eccentric hole gear 8. The connecting rod 11 plays a role in limiting the movement of the horseshoe-shaped rod 9, and the gear 8 with the eccentric hole moves intermittently to directly drive the horseshoe-shaped rod 9 to move intermittently. Because the eccentric hole gears 8 on the left and right sides of the frame 1 are opposite in direction, the horseshoe-shaped rods 9 on the left and right sides of the frame 1 move alternately.
Further, the position of the left side eccentric hole gear 8 in front of the rack 1 is completely the same as the position of the right side eccentric hole gear 8 in back of the rack 1, and the position of the right side eccentric hole gear 8 in front of the rack 1 is completely the same as the position of the left side eccentric hole gear 8 in back of the rack 1. Thus, the motion states of the left front first horseshoe-shaped rod 9-1 and the right rear horseshoe-shaped rod 9-4 are completely the same, and the motion states of the right front second horseshoe-shaped rod 9-2 and the left rear third horseshoe-shaped rod 9-3 are completely the same
Namely, when the first horseshoe-shaped rod 9-1 at the front left side of the rack 1 is grounded, the fourth horseshoe-shaped rod 9-4 at the rear right side of the rack 1 is also grounded. At the moment, the second horseshoe-shaped rod 9-2 at the front right side of the rack 1 is lifted off, and the third horseshoe-shaped rod 9-3 at the rear left side of the rack 1 is also lifted off. Therefore, the left side and the right side of the frame 1 are simultaneously provided with one horseshoe-shaped rod 9 which is grounded, and the front part and the rear part of the frame 1 are simultaneously provided with one horseshoe-shaped rod 9 which is grounded and intermittently moved, so that the frame 1 can stably move and cannot topple over.
Further, referring to fig. 3 and 5, in fig. 5, firstly, a stair descending state is shown, secondly, an intermediate conversion process is shown, and thirdly, a flat ground rolling state is shown, wherein the stair descending state of the electric load is that the stair descending device is put down, and the wheels 2 are converted into the stair descending state. The push handle 16 at the rear of the rack 1 is opened, and the rack 1 can be pushed by the push handle 16 when going down stairs. When a section of the wheel rim 2-2 finishes walking a step, the next vertex angle of the central wheel disc 2-1 of the wheel 2 is just supported on the surface of the next step, so that the wheel 2 can stably move when reaching the next step from one step to the next step. The wheel drawn in dotted lines in fig. 3 represents the movement state of the wheel at the next moment.
Further, referring to fig. 5, the wheel 2 is composed of a center wheel disc 2-1, a rim 2-2, and a pin 2-3. Four top corners of the central wheel disc 2-1 are respectively provided with two small holes. The rim 2-2 has a small hole at each end. The first small hole 2-1-1 at the top corner of the wheel center wheel disc 2-1 is connected with the second small hole 2-2-1 of the wheel rim 2-2 through a hinge, and the third small hole 2-1-2 at the top corner of the wheel center wheel disc 2-1 is connected with the fourth small hole 2-2-4 of the wheel rim 2-2 through a hinge. When the wheel is in a stair descending state, the wheel rim 2-2 is folded towards the central wheel disc 2-1 and is tightly attached, the fifth small hole 2-2-2 is aligned with the sixth small hole 2-2-3, the pin 2-3 is inserted into the fifth small hole 2-2-2 and the sixth small hole 2-2-3, the rest wheel rims 2-2 are connected with the central wheel disc 2-1 in the same mode, and the wheel 2 forms a stable structure. When the wheel 2 is in a flat rolling state, the eight wheel rims 2-2 are encircled into a circle, the fifth small hole 2-2-2 is aligned with the sixth small hole 2-2-3, the pin 2-3 is inserted into the fifth small hole 2-2-2 and the sixth small hole 2-2-3, the other wheel rims 2-2 are operated in the same way, the wheel 2 finally forms a stable circle, and the rack 1 can stably move on flat ground.
Further, referring to fig. 4 and 5, the flat ground moving state is that the downstairs device is lowered, the wheels 2 are changed into a flat ground rolling state, and the push handle 16 is lowered for pushing the frame 1.
Further, referring to fig. 7 and 8, designated at r in fig. 8 is a ratchet fixedly connected with a spring rod, and the spring rod 4 is composed of a support rod 4-1, a sleeve 4-2 and a first spring 4-3. One end of the support rod 4-1 is positioned in the guide groove of the sleeve 4-2, and the first spring 4-3 is also positioned in the guide groove of the sleeve 4-2. The spring rod 4 has a buffering function, and can reduce the shaking of the carrying box 15.
Further, referring to fig. 1 and 4, the locking devices 7-1, 7-2 and 7-3 are composed of a pawl 7-1-1 and a ratchet wheel 7-1-2.
Further, referring to fig. 1 and 2, the stair climbing locking device 7-1 has two functions: firstly, when the gear 8 with the eccentric hole is not meshed with the pair of incomplete gears 12, the horseshoe-shaped rod 9 is under the action of ground supporting force, the horseshoe-shaped rod 9 can drive the gear 8 with the eccentric hole to rotate in the opposite direction, and at the moment, the ratchet wheel 7-1-2 is automatically locked immediately, so that the gear 8 with the eccentric hole is prevented from rotating in the opposite direction, and the frame 1 is prevented from sliding downwards. When the motor 10 stops working suddenly, the rack 1 tends to slide downwards, the horseshoe-shaped rod 9 is acted by ground supporting force, the horseshoe-shaped rod 9 can drive the gear 8 with the eccentric hole to rotate in the opposite direction, the ratchet wheel 7-1-1 is locked automatically immediately at the moment, the gear 8 with the eccentric hole is prevented from rotating in the opposite direction, and therefore the rack 1 is prevented from sliding downwards, and the safety of the invention is improved.
Further, referring to fig. 1, 3 and 4, when the present invention is in the down stairs state or the flat ground movement state, the spring rod 4 is acted by the external force of the ground, and tends to return to the original position, i.e. the position when the down stairs device is not laid down, the locking device 7-2 for the down stairs locks the spring rod 4, preventing the down stairs device from returning to the original position. When the device for going downstairs is not in use, the pawl 7-1-1 is opened, and the device for going downstairs returns to the original position.
Further, referring to fig. 1 and 3, the push handle locking device 7-3 automatically locks the push handle 16 when the push handle 16 is in a horizontal state, so as to prevent the push handle 16 from returning to the original position, i.e., the position when the push handle 16 is not lowered, under the action of an external force. When the push lever 16 is not used, the pawl 7-1-1 is opened and the push lever 16 returns to the home position.
Further, referring to fig. 1 and 9, the first limiting device is composed of a second spring 5-1 and a first stopper 5-2. When the device for going downstairs is not used, the device for going downstairs is tightly attached to the rack 1 and locked by the first limiting device. When the stair descending device is used, the stair descending device can be directly pulled open, the first stop dog 5-2 of the first limiting device is extruded by the stair descending device, the second spring 5-1 begins to contract, finally the first stop dog 5-2 is extruded by the stair descending device, the first limiting device is in an unlocked state, and the stair descending device is released.
Further, referring to fig. 10, in fig. 10, a ratchet fixedly connected to the rotation shaft of the push lever is denoted by a symbol.
Further, referring to fig. 1, the second limiting device is composed of a second stopper 6. The second stopper 6 is movably connected with the frame 1, when the push handle 16 is not used, the push handle 16 is tightly attached to the frame 1, and then the second stopper 6 of the second limiting device is horizontally placed to block the push handle 16 to prevent the push handle from naturally sliding. When the push handle 16 is used, the second stopper 6 of the second stopper is placed upright, and the push handle 16 is lowered.
Furthermore, the loading device, the driving device, the stair climbing device, the stair descending device, the locking device, the first limiting device, the second limiting device, the transmission shaft and the push handle are all connected to the rack.
Furthermore, the electric load stair climbing machine not only can conveniently realize the movement of going upstairs and downstairs, but also can realize the movement on a flat ground.
Specifically, the stair climbing device is designed for carrying heavy objects to a floor, wherein the stair climbing device realizes the stair climbing function by utilizing alternate motion and intermittent motion, and has the characteristics of easiness in realization and low power consumption. The wheel is designed to be dual-purpose for going down stairs and leveling ground, and the invention has simple structure, wide application and convenient use.
Climbing stairs:
the first step is as follows: horse-shoe-shaped rod on front of machine frame for going upstairs
The frame 1 is just opposite to the ladder, the front horseshoe-shaped rod is close to the first ladder, the power switch is turned on, and the motor 10 starts to work. When the first horseshoe-shaped rod 9-1 at the left side in front of the rack 1 is in a ground-off state, the first horseshoe-shaped rod 9-1 at the left side in front of the rack 1 makes climbing movement, and the first horseshoe-shaped rod 9-1 at the left side in front of the rack 1 just steps on a first step. The movement of the U-shaped rods 9 is intermittent movement and alternate movement, after a period of intermission, the second U-shaped rod 9-2 at the right side in front of the rack 1 also makes climbing movement, and the second U-shaped rod 9-2 at the right side in front of the rack 1 just steps on the second step under the support of the first U-shaped rod 9-1 at the left side in front of the rack 1 and the fourth U-shaped rod 9-4 at the right side in back.
The second step is that: horse-shoe-shaped rod on rear of machine frame for going upstairs
After a plurality of steps are arranged on the horseshoe-shaped rod in front of the frame 1, the horseshoe-shaped rod behind the frame 1 is close to the first step. When the third horseshoe-shaped rod 9-3 at the left side of the rear of the rack 1 is in a ground-off state, the third horseshoe-shaped rod 9-3 at the left side of the rear of the rack 1 makes climbing movement, and the third horseshoe-shaped rod 9-3 at the left side of the rear of the rack 1 just steps on the first step. The movement of the U-shaped rods is intermittent movement and alternate movement, after a period of intermission, the fourth U-shaped rod 9-4 at the right side of the back of the rack 1 also makes climbing movement, and the fourth U-shaped rod 9-4 at the right side of the back of the rack 1 just steps on the second step under the support of the second U-shaped rod 9-2 at the right side of the front of the rack 1 and the third U-shaped rod 9-3 at the left side of the back.
The third step: the frame moving on stairs
The U-shaped rods 9 in the front and the rear of the rack 1 move alternately, the motion state of the first U-shaped rod 9-1 in the front left side of the rack 1 is just the same as the motion state of the fourth U-shaped rod 9-4 in the rear right side of the rack 1, the motion state of the second U-shaped rod 9-2 in the front right side of the rack 1 is just the same as the motion state of the third U-shaped rod 9-3 in the rear left side of the rack 1, and the aim is to enable the left and the right sides of the rack 1 to be respectively provided with one U-shaped rod 9 to be supported on a step surface, and meanwhile, the front and the rear of the rack 1 are also respectively provided with one U-shaped rod 9 to be supported on the step surface all the time, so that the rack 1 cannot topple. Meanwhile, the climbing movement of the horseshoe-shaped rod 9 is intermittent movement, the movement of the rack 1 is stable all the time, and the safety is improved.
The process of going down stairs:
the frame 1 is opposite to the stairs, the stair descending device and the push handle 16 behind the frame 1 are put down, the wheels 2 are changed into a stair descending state, and then the frame 1 is pushed down the stairs through the push handle 16.
The process of moving on the flat ground:
the stair descending device and the push handle 16 are put down, the wheels 2 are changed into a flat ground rolling state, and then the rack 1 is pushed on the flat ground through the push handle 16.
Claims (9)
1. An electric load stair climbing machine is characterized by comprising a loading device, a driving device, a stair climbing device, a stair descending device, a locking device, a first limiting device, a second limiting device, a rack, a transmission shaft and a push handle;
the loading device consists of a loading box (15) and a spring rod (4);
the driving device consists of a motor (10) and a battery (13);
the stair climbing device consists of a pair of incomplete gears (12), a gear (8) with an eccentric hole, a connecting rod (11) and a horseshoe-shaped rod (9);
the stair descending device consists of a spring rod (4), a universal joint (3) and wheels (2);
the wheel consists of a central wheel disc (2-1), a wheel rim (2-2) and a pin (2-3);
the spring rod consists of a support rod (4-1), a sleeve (4-2) and a first spring (4-3);
the locking device consists of a stair climbing locking device (7-1), a stair descending locking device (7-2) and a push handle locking device (7-3);
the locking devices have the same structure and are composed of pawls (7-1-1) and ratchet wheels (7-1-2);
the first limiting device consists of a second spring (5-1) and a first stop block (5-2);
the second limiting device consists of a second stop block (6);
the stair climbing device is characterized in that the stair climbing device is formed by movably connecting a pair of incomplete gears (12) with a rack (1) and is provided with an eccentric hole gear (8) and a movably connected rack (1), a toothed part of the incomplete gears (12) is meshed with the eccentric hole gear (8), one end of a connecting rod (11) is movably connected with the rack (1), the other end of the connecting rod (11) is movably connected with one end of a horseshoe-shaped rod (9), and the other end of the horseshoe-shaped rod (9) is movably connected with an eccentric hole of the eccentric hole gear (8).
2. The electric load stair climbing machine according to claim 1, wherein the loading device has a loading box (15) movably connected to the frame (1), one end of the spring rod (4) is movably connected to the loading box (15), and the other end of the spring rod (4) is movably connected to the frame (1); when the rack (1) moves, the position of the loading box (15) is always unchanged, and the spring rod (4) has a buffering effect and can reduce the shaking of the loading box (15).
3. An electric load stair climber as claimed in claim 1, wherein said pair of partial gears (12) is composed of two partial gears and a strut; half of the incomplete gear is provided with teeth, and the other half of the incomplete gear is not provided with teeth; the rod is positioned between the two incomplete gears, and the axis of the rod is coincident with the axis of the incomplete gear; two ends of the rod are respectively and fixedly connected with the two incomplete gears; the toothed part of one incomplete gear is exactly aligned with the non-toothed part of the other incomplete gear, the rod is provided with two bevel gears, one bevel gear is driven by a motor (10), and the other bevel gear drives a transmission shaft (14); the gear (8) with the eccentric hole at one side of the rack (1) is meshed with the toothed parts of the pair of incomplete gears (12), and the gear (8) with the eccentric hole at the other side of the rack (1) is not meshed with the toothless parts of the pair of incomplete gears (12), so that the gears (8) with the eccentric holes at two sides of the rack (1) cannot rotate simultaneously to form stable intermittent motion; under the drive of the pair of incomplete gears (12), when the eccentric hole gear (8) on the left side of the rack (1) rotates, the eccentric hole gear (8) on the right side of the rack (1) is not driven by the pair of incomplete gears (12), when the eccentric hole gear (8) on the right side of the rack (1) rotates, the eccentric hole gear (8) on the left side of the rack (1) is not driven by the pair of incomplete gears (12), and the eccentric hole gears (8) on the left side and the right side of the rack (1) move intermittently; a transmission shaft (14) drives a pair of incomplete gears (12) at the rear of the rack (1), and the installation modes of the pair of incomplete gears (12) at the rear of the rack (1), a connecting rod (11), a gear (8) with an eccentric hole and a horseshoe-shaped rod (9) are completely similar to the installation mode of the parts at the front of the rack (1); however, the position of the gear (8) with the eccentric hole on the left side behind the rack (1) is different from the position of the gear (8) with the eccentric hole on the left side in front of the rack (1), the positions of the gear (8) with the eccentric hole on the left side in front of the rack (1) and the position of the gear (8) with the eccentric hole on the left side behind the rack (1) are different by 180 degrees all the time, meanwhile, the position of the gear (8) with the eccentric hole on the right side behind the rack (1) is also different from the position of the gear (8) with the eccentric hole on the left side behind the rack (1) by exactly 180 degrees, namely, the position of the gear (8) with the eccentric hole on the right side behind the rack (1) is completely the same as the position of the gear (8) with the eccentric hole on the left side in front of the rack (1).
4. The electric load stair climbing machine according to claim 3, wherein one end of the horseshoe-shaped rod (9) is movably connected with the connecting rod (11), and the other end of the horseshoe-shaped rod (9) is movably connected with an eccentric hole of the eccentric hole gear (8); the horseshoe-shaped rod (9) moves along with the gear (8) with the eccentric hole, and the horseshoe-shaped rod (9) climbs; the positions of the gears (8) with the eccentric holes on the left side and the right side of the rack (1) are just opposite, namely the eccentric holes of the gears (8) with the eccentric holes on the left side and the right side of the rack (1) have a 180-degree difference, and the horseshoe-shaped rod (9) is movably connected with the eccentric holes of the gears (8) with the eccentric holes; because the difference of the eccentric holes of the gears (8) with the eccentric holes on the left and the right sides of the rack (1) is 180 degrees, the horseshoe-shaped rods (9) on the left and the right sides of the rack (1) move alternately; because the gears (8) with eccentric holes on the left and right sides of the frame (1) do intermittent motion, the horseshoe-shaped rods (9) on the left and right sides of the frame (1) also do intermittent motion at the same time.
5. The electric load stair-climbing machine according to claim 1, wherein the horseshoe-shaped rod (9) is divided into a ground-landing state and a ground-leaving state; when the first horseshoe-shaped rod (9-1) at the left front side of the rack (1) lands, the second horseshoe-shaped rod (9-2) at the right front side of the rack (1) is lifted off because the horseshoe-shaped rods (9) at the left and right sides of the rack (1) move alternately; the bevel gears of a pair of incomplete gears (12) in front of the rack (1) drive the transmission shaft (14) to rotate, the transmission shaft (14) drives a pair of incomplete gears (12) in back of the rack (1), and because the position of the right side gear (8) with the eccentric hole in back of the rack (1) is completely the same as the position of the left side gear (8) with the eccentric hole in front of the rack (1), a fourth horseshoe-shaped rod (9-4) in back of the right side of the rack (1) is grounded; the horseshoe-shaped rod (9) at the rear of the rack (1) also does alternate motion, and the third horseshoe-shaped rod (9-3) at the left side at the rear of the rack (1) lifts off; the horseshoe-shaped rods (9) in the front and the rear of the frame (1) move alternately and circulate repeatedly, like a diagonal walking method of a horse, namely, the left front foot and the right rear foot move completely the same, the right front foot and the left rear foot move completely the same, and the operations are circulated alternately; the horseshoe-shaped rod (9) makes intermittent movement, so that the machine frame (1) moves stably.
6. An electric load stair climbing machine according to claim 1, wherein the stair climbing locking device (7-1) is composed of a pawl (7-1-1) and a ratchet wheel (7-1-2); the axis of the ratchet wheel (7-1-2) is superposed with the axis of the gear (8) with the eccentric hole, and the ratchet wheel (7-1-2) is fixedly connected with the gear (8) with the eccentric hole, so that the ratchet wheel (7-1-2) and the gear (8) with the eccentric hole form a rigid body which can synchronously rotate; the pawl (7-1-1) is movably connected with the rack (1); when the gear (8) with the eccentric hole rotates, the ratchet wheel (7-1-2) rotates along with the gear (8) with the eccentric hole in a unidirectional way; when the gear (8) with the eccentric hole on one side of the rack (1) is not meshed with the pair of incomplete gears (12), the horseshoe-shaped rod (9) is acted by ground supporting force, the gear (8) with the eccentric hole has a tendency of reverse rotation, the ratchet wheel (7-1-2) also has a tendency of reverse rotation, and the ratchet wheel (7-1-1) is clamped on the ratchet wheel (7-1-2), namely the horseshoe-shaped rod (9) is also clamped on the ratchet wheel (7-1-1), so that the rack (1) is prevented from sliding downwards.
7. The electric load stair climbing machine according to claim 1, wherein the stair descending device is movably connected with the frame (1) by one end of the spring rod (4), the other end of the spring rod (4) is movably connected with the universal joint (3), and the universal joint (3) is movably connected with the wheel (2).
8. An electric load stair-climbing machine according to claim 1 or claim 7, characterized in that the wheels (2) are movably connected to the universal joint (3) by a central wheel disc (2-1); two holes are respectively arranged at four top corners of the central wheel disc (2-1); both ends of the wheel rim (2-2) are respectively provided with a small hole; a first small hole (2-1-1) at the top corner of the wheel center wheel disc (2-1) is connected with a second small hole (2-2-1) of the wheel rim (2-2) through a hinge, and a third small hole (2-1-2) at the top corner of the wheel center wheel disc (2-1) is connected with a fourth small hole (2-2-4) of the wheel rim (2-2) through a hinge; when the wheel is in a stair descending state, the eight wheel rims (2-2) are folded towards the central wheel disc (2-1) and are tightly attached, the fifth small hole (2-2-2) is aligned with the sixth small hole (2-2-3), the pin (2-3) is inserted into the fifth small hole (2-2-2) and the sixth small hole (2-2-3), the rest wheel rims (2-2) are connected with the central wheel disc (2-1) in the same mode, and the wheel (2) forms a stable structure; when the wheel (2) is in a flat rolling state, eight wheel rims (2-2) are encircled into a circle, the fifth small hole (2-2-2) is aligned with the sixth small hole (2-2-3), the pin (2-3) is inserted into the fifth small hole (2-2-2) and the sixth small hole (2-2-3), the other wheel rims (2-2) operate in the same way, the wheel (2) is finally formed into a stable circle, and the rack (1) can move smoothly on flat ground.
9. The electric load stair climbing machine according to claim 1, wherein the loading device, the driving device, the stair climbing device, the stair descending device, the locking device, the first limiting device, the second limiting device, the transmission shaft and the push handle are all connected to the frame (1); the electric load stair climbing is characterized by not only being used for going upstairs and downstairs, but also being capable of moving on flat ground.
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| CN201910773487.XA CN110641538B (en) | 2019-08-21 | 2019-08-21 | Electric load stair climbing machine |
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| CN201910773487.XA CN110641538B (en) | 2019-08-21 | 2019-08-21 | Electric load stair climbing machine |
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| CN110641538B true CN110641538B (en) | 2021-07-30 |
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| CN111130016B (en) * | 2020-02-19 | 2021-05-25 | 刘任穷 | High-voltage electric power tower climbing robot |
| CN112389560B (en) * | 2020-12-10 | 2022-10-28 | 杭州柯雷沃科技有限公司 | Fixed goods mechanism of stair climbing robot with lubricating function |
| CN113232741B (en) * | 2021-03-04 | 2022-07-05 | 东北大学 | Walking type stair climbing device |
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| JPS62205863A (en) * | 1986-03-07 | 1987-09-10 | Meidensha Electric Mfg Co Ltd | Running device |
| JP5604993B2 (en) * | 2010-06-02 | 2014-10-15 | 日本精工株式会社 | Mobile device |
| CN106428167B (en) * | 2016-11-25 | 2018-09-25 | 苏玉涛 | Locomotive and shifting vehicle device |
| CN207523746U (en) * | 2017-11-14 | 2018-06-22 | 南阳市建设工程质量监督检验站 | It is a kind of can speeling stairway construction site small handcart |
| CN209757316U (en) * | 2019-02-28 | 2019-12-10 | 深圳大学 | stair climbing robot |
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