CN104527822B - Crawling ladder traveling device - Google Patents
Crawling ladder traveling device Download PDFInfo
- Publication number
- CN104527822B CN104527822B CN201410798778.1A CN201410798778A CN104527822B CN 104527822 B CN104527822 B CN 104527822B CN 201410798778 A CN201410798778 A CN 201410798778A CN 104527822 B CN104527822 B CN 104527822B
- Authority
- CN
- China
- Prior art keywords
- car body
- steel wire
- vehicle body
- gravity center
- lifting column
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- 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
Abstract
The invention discloses a crawling ladder traveling device. The crawling ladder traveling device comprises a first vehicle body, a second vehicle body and a lifting system which is used for connecting the first vehicle body with the second vehicle body and ascends and descends relatively vertically. The lifting system comprises a sleeve and a lifting column arranged in the sleeve in a sleeved mode, the sleeve is installed in the middle of the first vehicle body, the lifting column is installed at one end of the second vehicle body, and the first vehicle body is further provided with gravity center adjustment devices which move leftwards and rightwards. Each gravity center adjustment device comprises a motor, a steel wire stay cord and a gravity center adjustment block, the motor, the steel wire stay cord and the gravity center adjustment block of each gravity center adjustment device are connected in series, the surface of the first vehicle body is provided with sliding chutes allowing the gravity center adjustment blocks to slide, the cross section of each sliding chute is trapezoidal, and trapezoidal protrusions arranged in the sliding chutes are arranged at the bottoms of the gravity center adjustment blocks. The vehicle bodies move relatively, so that equipment is transported and moved on steps without a slope; the gravity center adjustment devices are arranged, so that the vehicle bodies are not prone to turnover.
Description
Technical field
The present invention relates to a kind of cat ladder running gear.
Background technology
At the construction field (site) during equipment conveying, if construction space is limited, then cannot lay slope transport channel, construction runs into huge difficult problem, and prior art there is no method and realizes the amphibious accessible transport in terraced land of equipment.
Still there is relatively multi-ladder in such as the public places such as hospital, bank, park, market, subway station, a lot of place, bring huge trouble, existing cat ladder equipment to have crawler type, wheels formula to the transport of various equipment.There is flat difficulty in walking problem in crawler type, wheels formula is poor to the suitability of step, it is impossible to meet comfortableness requirement.During the work of existing cat ladder equipment, equipment has problems generally in heeling condition, stationarity, comfortableness.
Summary of the invention
For the development trend of above-mentioned existing electric motor car, the present invention provides a kind of cat ladder running gear, by car body self relative motion, it is achieved equipment is without moving on the step on slope or transporting.
To achieve these goals, the technical solution used in the present invention is: a kind of cat ladder running gear, first car body, second car body and connecting for the first car body and the second car body and the jacking system of Relative vertical lifting, described jacking system includes sleeve and is placed on the lifting column of sleeve inner, sleeve is installed on the middle part of the first car body, lifting column is installed on the end of the second car body, the gravity adjusting device being also equipped with moving left and right of the first car body, described gravity adjusting device includes the motor being serially connected, steel wire tow line and center of gravity regulating block, first car body surface has the sliding tray that can slide for center of gravity regulating block, the cross section of described sliding tray is trapezoidal, there is bottom center of gravity regulating block the trapezoidal projection being placed in chute.
Described sleeve inner has an elevator, described lifting column has a chute that relatively can slide along elevator, the top of described lifting column have fixed pulley and by steel wire rope connect bottom coiler, steel wire rope be also fixed for the two ends up and down of elevator elevator upper and lower relative slip.
Described elevator be the chute in T-shaped, described lifting column be the T-shaped groove adapted with slide block.
Described gravity adjusting device has two sets, is installed in parallel in the both sides of the first car body.
The first described car body and the second car body are respectively provided with running gear.
The present invention plays and provides the benefit that: by car body self relative motion, the equipment that realizes is mobile without transport on the step on slope, the lifting slider of the first car body and the crane of the second car body are flexibly connected, coiler is placed in the second car body crane lower end, pulley is placed in the second car body crane upper end, coiler steel wire rope is walked around pulley and is connected with elevator formation Guan Bi, its elevating function realizes the first car body and the second car body vertical direction relative motion, gravity adjusting device is installed on the surface of the first car body, position by center-of-gravity regulating regulating block, the center of gravity of whole car body can be adjusted, prevent car body from falling because of crank.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the structural representation of the first car body.
Fig. 4 is the structural representation of the second dolly.
Fig. 5 is the cooperation figure of center of gravity regulating block and the first car body.
Fig. 6 is the schematic diagram that coiler rope connects.
Fig. 7 is the top view of sleeve.
Fig. 8 is the sectional view (the B-B sectional view of Fig. 4) of lifting column.
Fig. 9 is running status the first schematic diagram of the present invention.
Figure 10 is running status the second schematic diagram of the present invention.
Figure 11 is running status the 3rd schematic diagram of the present invention.
Figure 12 is running status the 4th schematic diagram of the present invention.
Figure 13 is running status the 5th schematic diagram of the present invention.
Figure 14 is running status the 6th schematic diagram of the present invention.
In figure: 1, the first car body, the 2, second car body, 3, center of gravity regulating block, 4, motor, 5, coiler, 6, elevator, 7, sleeve, 8, chute, 9, lifting column, 10, running gear, 11, pulley, 12, steel wire tow line, 13, sliding tray, 15, fixed pulley, 16, steel wire rope.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
nullAs shown in Fig. 1 to Fig. 4，Including the first car body 1、Second car body 2 and for the first car body 1 and the second car body 2 connects and Relative vertical lifting jacking system，Described jacking system includes sleeve 7 and is placed on the lifting column 9 within sleeve 7，Sleeve 7 is installed on the middle part of the first car body 1，The height of the first car body 1 is greater than the height of the second car body，The surface so making the first car body 1 can cover part or all the second car body 2，The surface of the first car body is provided with gravity adjusting device，Including being fixed on the motor 4 of the first car body 1 end and pulley 11 and steel wire tow line 12 and center of gravity regulating block 3，By motor and pulley and the cooperation of steel wire tow line，The center of gravity regulating block being connected with steel wire tow line can horizontally slip，Play the effect of center of gravity regulation，Such as Fig. 5，The surface of the first car body has sliding tray 13，The cross section of described sliding tray is trapezoidal，There is bottom center of gravity regulating block the trapezoidal projection being placed in chute，Center of gravity regulating block 3 can be slided and owing to sliding tray 13 is for trapezoidal along sliding tray 13，There is bottom center of gravity regulating block the trapezoidal projection being placed in chute，Make center of gravity regulating block 3 will not deflect away from chute，Stability Analysis of Structures，Through hole is also left in the inside of the first car body，To pass for steel wire tow line，Make to be integrally formed the loop of a steel wire tow line；
In order to play more preferable balanced action, the surface of the first car body is provided with two set gravity adjusting devices, is installed in parallel in the both sides of the first car body, and by two different gravity adjusting devices of regulation, center of gravity can more easily adjust.
Sleeve 7 is integrally fixed on the first car body 1, and lifting column 9 is installed on the end of the second car body 2.
As shown in Figure 7, described sleeve 7 is internal has an elevator 6, it is internal that elevator 6 is also integrally fixed at sleeve 7, described lifting column 9 has one can be along elevator 6 chute 8 to sliding mutually, the top of described lifting column 9 have fixed pulley 15 and by steel wire rope 16 connect bottom coiler 5, steel wire rope 16 is also fixing with the two ends up and down of elevator 6 enables to that elevator about 6 is relative with steel wire rope 16 to slide.As shown in Fig. 6 and Fig. 8, steel wire rope 16 is arranged in chute 8 and in another groove of lifting column 9, coiler pulley hoisting mechanism, steel wire rope 16 and elevator 6 form a closed-loop path, and such steel wire rope 16 can drive the relative motion of elevator about 6.
Described elevator 6 be the chute 8 in T-shaped, described lifting column 9 be the T-shaped groove adapted with elevator 6.In the chute 8 that T-shaped elevator 6 is built in lifting column, its upper and lower two ends are connected with the steel wire rope 16 in the chute 8 in lifting column 9, and elevator 6 is merely able to slide relative with lifting column about 9, do not produce the displacement of left and right, structure stable connection；Owing to steel wire rope 16 is connected with elevator 6 in chute 8, utilize steel wire rope 16 when driving elevator 6, also will not produce the deviation of left and right displacement, the problem that more will not produce the inclination of steel wire rope.
First car body 1 and the second car body 2 are respectively provided with running gear 10, and running gear can be to have tire or the crawler belt of power.
nullEquipment work process: the cat ladder schematic diagram as shown in Fig. 9 to Figure 14，The present invention runs into ladder，Coiler 5 drives steel wire rope 16 to move up and down，Steel wire rope 16 drives elevator 6 to move upward along the chute 8 of lifting column 9，Sleeve 7 fixed thereto and the first car body 1 upward sliding the most therewith，First car body 1 is risen to the ground level of step，Second car 2 is travelled forward by running gear 10 subsequently，The running gear 10 of the first car body 1 is landed，In order to keep the center of car body to balance，Utilize motor，With steel wire tow line, center of gravity regulating block 3 is moved to the first car body direction，I.e. move forward，Make the center of gravity of car load on the first car body，Coiler 5 is again driven to drive steel wire rope 16 to rotate，Now，Elevator 6 is motionless，Steel wire rope 16 slides with lifting column 9 is relative with elevator 6，It is connected owing to lifting column 9 is fixing with the second car body 2，Second car body 2 moves upward，When the level height of the second car body 2 flushes with the first car body 1，The running gear 10 driving the first car body 1 travels forward，Owing to center of gravity regulating block 3 now is above the first car body 1，Now the center of gravity of the first car body 1 is much higher than the center of gravity of the second car body 2，The second car body 2 is made not have situation about falling of overturning when sliding and rising，And then achieve the purpose crossing over ladder of whole car body.
Claims (4)
1. a cat ladder running gear, it is characterized in that, including the first car body, second car body and connecting for the first car body and the second car body and the jacking system of Relative vertical lifting, described jacking system includes sleeve and is placed on the lifting column of sleeve inner, sleeve is installed on the middle part of the first car body, lifting column is installed on the end of the second car body, the gravity adjusting device being also equipped with moving left and right of the first car body, described gravity adjusting device includes the motor being serially connected, steel wire tow line and center of gravity regulating block, first car body surface has the sliding tray that can slide for center of gravity regulating block, the cross section of described sliding tray is trapezoidal, there is bottom center of gravity regulating block the trapezoidal projection being placed in sliding tray.
A kind of cat ladder running gear the most according to claim 1, it is characterized in that, described sleeve inner has an elevator, described lifting column has a chute that relatively can slide along elevator, the top of described lifting column have fixed pulley and by steel wire rope connect bottom coiler, steel wire rope be also fixed for the two ends up and down of elevator elevator upper and lower relative slip.
A kind of cat ladder running gear the most according to claim 1, it is characterised in that described gravity adjusting device has two sets, is installed in parallel in the both sides of the first car body.
A kind of cat ladder running gear the most according to claim 2, it is characterised in that the first described car body and the second car body are respectively provided with running gear.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610293201.4A CN105857421B (en) | 2014-12-22 | 2014-12-22 | Accessible transport vehicle |
| CN201610293625.0A CN105882778A (en) | 2014-12-22 | 2014-12-22 | Rescue obstacle-crossing walking vehicle |
| CN201410798778.1A CN104527822B (en) | 2014-12-22 | 2014-12-22 | Crawling ladder traveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410798778.1A CN104527822B (en) | 2014-12-22 | 2014-12-22 | Crawling ladder traveling device |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610293201.4A Division CN105857421B (en) | 2014-12-22 | 2014-12-22 | Accessible transport vehicle |
| CN201610293625.0A Division CN105882778A (en) | 2014-12-22 | 2014-12-22 | Rescue obstacle-crossing walking vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104527822A CN104527822A (en) | 2015-04-22 |
| CN104527822B true CN104527822B (en) | 2017-01-11 |
Family
ID=52843533
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410798778.1A Active CN104527822B (en) | 2014-12-22 | 2014-12-22 | Crawling ladder traveling device |
| CN201610293625.0A Pending CN105882778A (en) | 2014-12-22 | 2014-12-22 | Rescue obstacle-crossing walking vehicle |
| CN201610293201.4A Active CN105857421B (en) | 2014-12-22 | 2014-12-22 | Accessible transport vehicle |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610293625.0A Pending CN105882778A (en) | 2014-12-22 | 2014-12-22 | Rescue obstacle-crossing walking vehicle |
| CN201610293201.4A Active CN105857421B (en) | 2014-12-22 | 2014-12-22 | Accessible transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN104527822B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248719A (en) * | 2016-12-29 | 2018-07-06 | 北京凌云智能科技有限公司 | Vehicle balance system |
| CN107264669A (en) * | 2017-06-26 | 2017-10-20 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring moving trolley |
| CN107757750A (en) * | 2017-10-26 | 2018-03-06 | 青岛大学 | Obstacle-detouring method and its implementation based on adjustment position of centre of gravity |
| CN109050700A (en) * | 2018-07-13 | 2018-12-21 | 东南大学 | A kind of lift stair climbing robot |
| CN110182273B (en) * | 2019-06-12 | 2020-07-24 | 浙江阿林斯普能源科技有限公司 | Wall-climbing robot system with obstacle-crossing function and using method thereof |
| CN113560259B (en) * | 2021-07-30 | 2022-07-05 | 西安广核阀门科技有限公司 | Device and method for cleaning interior of valve |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07267094A (en) * | 1994-03-31 | 1995-10-17 | Life Technol Kenkyusho | Carriage for step |
| US7152882B2 (en) * | 2002-03-28 | 2006-12-26 | Sanyo Electric Co., Ltd. | Mobile carriage |
| JP2007153521A (en) * | 2005-12-05 | 2007-06-21 | Kyushu Institute Of Technology | Stairs lifting device |
| CN101032982A (en) * | 2007-01-15 | 2007-09-12 | 江南大学 | Automatic carrying machine working on stairs |
| WO2009069144A2 (en) * | 2007-09-06 | 2009-06-04 | Rafique Riyaz | Methods and systems for ascending and descending stairs |
| CN101470085B (en) * | 2007-12-29 | 2012-08-15 | 同方威视技术股份有限公司 | Scanning vehicle and its control method |
| CN101954936A (en) * | 2009-11-10 | 2011-01-26 | 薛明 | Power-driven stair device capable of vertically lifting and horizontally displacing |
| CN102730097A (en) * | 2011-04-14 | 2012-10-17 | 牛晓蓉 | Multipurpose stair step-climbing motor vehicle |
| CN202264834U (en) * | 2011-10-24 | 2012-06-06 | 常熟理工学院 | Obstacle-surmounting rescue vehicle |
| CN202703746U (en) * | 2012-08-17 | 2013-01-30 | 中联重科股份有限公司 | Axle mounting trolley |
| CN203158114U (en) * | 2013-04-10 | 2013-08-28 | 沈涛 | Intelligent obstacle crossing robot based on Bluetooth control |
| CN203391892U (en) * | 2013-07-26 | 2014-01-15 | 四川大学 | Peristaltic intelligent stair climbing device |
-
2014
- 2014-12-22 CN CN201410798778.1A patent/CN104527822B/en active Active
- 2014-12-22 CN CN201610293625.0A patent/CN105882778A/en active Pending
- 2014-12-22 CN CN201610293201.4A patent/CN105857421B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104527822A (en) | 2015-04-22 |
| CN105857421A (en) | 2016-08-17 |
| CN105882778A (en) | 2016-08-24 |
| CN105857421B (en) | 2017-12-08 |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20161101 Address after: 7, building 7088-44, 1558 Jiangnan Road, 315000 hi tech Zone, Zhejiang, Ningbo Applicant after: Ningbo COBON Huacheng Technology Transfer Services Ltd. Address before: 221100, No. 1, youth East Road, canal road, Xuzhou, Jiangsu, Pizhou Applicant before: Sun Xin |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20190926 Address after: 221300 Tiefu Town Industrial Park No. 7, Pizhou City, Xuzhou City, Jiangsu Province Patentee after: Pizhou Zhenglong Construction Co., Ltd. Address before: 7, building 7088-44, 1558 Jiangnan Road, 315000 hi tech Zone, Zhejiang, Ningbo Patentee before: Ningbo COBON Huacheng Technology Transfer Services Ltd. |
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| TR01 | Transfer of patent right |