CN105774875A - Stair climbing auxiliary cargo transportation device - Google Patents

Stair climbing auxiliary cargo transportation device Download PDF

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Publication number
CN105774875A
CN105774875A CN201610293369.5A CN201610293369A CN105774875A CN 105774875 A CN105774875 A CN 105774875A CN 201610293369 A CN201610293369 A CN 201610293369A CN 105774875 A CN105774875 A CN 105774875A
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CN
China
Prior art keywords
transmission shaft
climbing
gear
auxiliary cargo
climbing stairs
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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.)
Pending
Application number
CN201610293369.5A
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Chinese (zh)
Inventor
李崇
王康
邵阳
张寻政
高阳天
王立志
秦峰
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Shandong University
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Shandong University
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Publication date
Application filed by Shandong University filed Critical Shandong University
Priority to CN201610293369.5A priority Critical patent/CN105774875A/en
Publication of CN105774875A publication Critical patent/CN105774875A/en
Pending legal-status Critical Current

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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
    • B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
    • 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
    • B62B5/003—Combustion engines
    • 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
    • B62B5/0066—Transmission of movement
    • 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
    • B62B5/0096—Identification of the cart or merchandise, e.g. by barcodes or radio frequency identification [RFID]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明公开了爬楼辅助运货装置，包括传动轴，在传动轴的两端分别设有爬楼行走机构，爬楼行走机构包括三角形支架，在三角型支架的三个端部各设有一个可自转的滚动轮，三角形支架随传动轴一同旋转；扶手，为一个框体，框体的底部与传动轴固定，传动轴在框体底部内可旋转；载物机构，设于传动轴的下方或上方，动力机构，固定在扶手上并通过传动机构与传动轴连接，整体的结构简单，结构较为紧凑，配合三角形的爬楼行走机构，能实现载货上楼，运行平稳快速；两部分三角形的爬楼行走机构的设置，避免了4个轮子结构设置的复杂性，同时，又可以保证运行时的平稳。

The invention discloses a stair-climbing auxiliary cargo transport device, which comprises a transmission shaft. The two ends of the transmission shaft are respectively provided with a stair-climbing walking mechanism. The stair-climbing traveling mechanism includes a triangular support, and a Self-rotating rolling wheel, the triangular bracket rotates together with the transmission shaft; the armrest is a frame, the bottom of the frame is fixed to the transmission shaft, and the transmission shaft is rotatable in the bottom of the frame; the loading mechanism is located under the transmission shaft Or above, the power mechanism is fixed on the handrail and connected to the transmission shaft through the transmission mechanism. The overall structure is simple and compact. With the triangular climbing mechanism, it can carry goods upstairs and run smoothly and quickly; the two parts are triangular The setting of the stair-climbing walking mechanism avoids the complexity of the four-wheel structure setting, and at the same time, it can ensure the stability during operation.

Description

Climb building auxiliary goods transporting device
Technical field
The invention belongs to power assisting device, specifically one climbs building auxiliary goods transporting device.
Background technology
At present, existing stairs-mover is mainly through increasing wheel diameter or adopting the mode of triangle train to realize climbing building function, but the existing usual structure of these equipment is complex, need to adopt at least four wheel to carry out climbing building, floor space is big, be not suitable for stair climbing in little space, be more not suitable for auxiliary loading in restricted clearance；In addition, for express delivery delivery, the floor courier having elevator is transported goods by elevator, and to there is no the floor of elevator, then needing the carrying that courier works hard, in today that net purchase is become increasingly prosperous, the article of a lot of weights also can be bought by the mode of shopping online, so both add the burden of courier, and goods is easily caused damage by handling process；Further, existing courier is after transporting goods, it is necessary to calls in turn or sends note, in addition, also having some couriers is the saving time, ride electromobile while calling, extremely dangerous, particularly in cold winter, outdoor is called colder, it is unfavorable for the healthy of courier, accordingly, it would be desirable to the building auxiliary goods transporting device of climbing that centralized express mail is transported carries out further research design.
Summary of the invention
For the problems referred to above, in order to solve the deficiencies in the prior art, the present invention provides a kind of compact conformation, can the disposable transport goods more than 50kg, common daily resident living demand can not only be met, express delivery work also can be met the demand of most of express delivery transmitting-receiving station, reduce transport point greatly and take time, improve efficiency, thus greatly reducing cost；And it is avoided that courier inputs in turn in outdoor and dialing numbers, save the time.
Climb building auxiliary goods transporting device, including:
Power transmission shaft, climbs building walking mechanism being respectively arranged at two ends with of power transmission shaft, climbs building walking mechanism and includes triangular supports, be respectively provided with in three ends of triangular form support one can the scroll wheel of rotation, triangular supports rotates together with power transmission shaft；
Handrail, is a framework, and the bottom of framework and power transmission shaft are fixed, power transmission shaft bottom framework in rotatable；Or fix a transmission shaft shell at the middle part of power transmission shaft, transmission shaft shell and power transmission shaft are fixed by bearing, and handrail is fixed on outside transmission shaft shell；
Loading mechanism, is located at the below or above of power transmission shaft,
Actuating unit, is fixed on handrail and is connected with power transmission shaft by drive mechanism.
By the goods transporting device of the present invention, it is possible to achieve the transport to Different Weight goods, when lighter in weight, both can realize either directly through handrail pulling；Increase along with weight, it is possible to actuating unit, drive mechanism assisted movement under, alleviate the quantity of motion of bearer, and coordinate the scroll wheel that triangle manner arranges, easily climb building.
Further, between described actuating unit and described drive mechanism, it is provided with the gear of selector, so according to the weight of contained goods, different gears can be selected.
Further, described gear includes worm gear and the worm screw matched, and worm gear is placed on the outside of described power transmission shaft and is rotated by worm screw.
Further, described selector includes shift fork and at least four gear, two the first gears are located on described worm screw, another two the second gear is located on power input shaft, first gear and the second gear are engageable, second gear is provided with the spline that can move along worm screw face on worm screw, and shift fork realizes spline and the combination of the first gear for driving spline to move, and then is transmitted power to worm screw by power input shaft.
Further, for the ease of smooth gearshift, between two adjacent the second gears, it is provided with lock unit.
Further, described actuating unit is two cylinder, and the crankshaft end of electromotor is fixed with flywheel, and flywheel is connected on described power input shaft by clutch.
Further, described drive mechanism is located in housing.
Further, in order to ensure safety, it is possible to arrange brake on power transmission shaft.
Further, being provided with controller, code reader and messaging controller, code reader and messaging controller and be connected with controller respectively on described handrail, controller is PLC.
Further, described handrail is additionally provided with display device, display device is connected with controller to show the information that code reader scans, the Message Entry System of controller and express company or sender can pass through wireless network can realize remote information transmission, and Message Entry System is mainly the inquiry to relevant informations such as express delivery addressee's odd numbers；Further, it is also possible to arrange the program called, after inquiring addressee's phone, controller controls to call to notify addressee, it is possible to arrange microphone on handrail, and controller controls microphone and plays sound notification addressee.
Or, described device also includes watch, watch can realize bar code scanning, watch and mobile phone pairing, bar code data application program it is provided with in mobile phone, data-application or by 4G communication network is inquired about phone number corresponding to bar code by data-application to remote server and realizes auto dialing according to bar code, the telephone number of the addressee that typing express delivery odd numbers is corresponding in remote server or data-application, such courier can pass through bluetooth earphone and namely realize call, help courier liberation both hands, or when speeling stairway, auxiliary device speeling stairway on the other hand, another side can realize call, the very convenient courier of help simultaneously saves delivery period, input number after need not transporting goods again in turn and dial.
Further, described loading mechanism is support board, or loading frame, and the bottom of handrail is connected beyond power transmission shaft and by bearing pin with support board, the position-limit mechanism being connected with handrail it is provided with at handrail bottom part down, to ensure that support board rotates to set angle energy stop motion, it is achieved the storage to support board, it is ensured that when this goods transporting device is idle, take up room little, conveniently taking, position-limit mechanism can be fixing plate fixing on bearing pin, is turned to the upset of the stopping after set angle for support board.
The invention has the beneficial effects as follows:
(1) overall simple in construction, structure is comparatively compact, and what coordinate triangle climbs building walking mechanism, can realize loading upstairs, operates steadily quickly.
(2) setting climbing building walking mechanism of two parts triangle, it is to avoid the complexity that 4 wheel structures are arranged, meanwhile, steady when can ensure that again operation.
(3) by arranging controller and code reader on goods transporting device, it is achieved to quickly the transferring of odd numbers on quick despatch, the easy-to-look-up addressee to express delivery, and be quickly sent to addressee by messaging controller, it is not necessary to courier manually sends note one by one.
(4) by arranging the watch of scannable barcode, and match with mobile phone, it is possible to achieve inquire about phone number corresponding to odd numbers and can realize automatically dialing, the both hands of liberation courier, save the time for courier.
Accompanying drawing explanation
Fig. 1 is the installation diagram that the present invention is overall.
Fig. 2 is the schematic diagram of part-structure of the present invention.
Fig. 3 is the schematic diagram of transmission system.
The schematic diagram of Tu4Shi Pa building walking mechanism.
Fig. 5 is the schematic diagram of brake in the present invention.
Wherein, 1 triangular supports, 2 power input shafts, 3 worm screw housings, 4 support boards, 5 brakes, 6 connect axle, 7 clutches, 8 shift forks, 9 flywheels, 10 electromotors, 11 gearbox bodys, 12 handrails, 13 stulls, 14 turbine bodies, 15 worm screw 16 worm gears.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment, the invention will be further described:
Climb building auxiliary goods transporting device, as it is shown in figure 1, include:
Power transmission shaft, building walking mechanism is climbed being respectively arranged at two ends with of power transmission shaft, climb building walking mechanism and include triangular supports 1, being respectively provided with one in three ends of triangular form support 1 can the scroll wheel of rotation, scroll wheel is fixed with triangular supports 1 by connecting axle 6, triangular supports 1 rotates together with power transmission shaft, as shown in Figure 4；
Handrail 12, is a framework, is provided with multiple support stull 13 in the middle part of framework, and the bottom of framework and power transmission shaft are fixed, power transmission shaft bottom framework in rotatable；Or being placed in a transmission shaft shell at the middle part of power transmission shaft, transmission shaft shell and power transmission shaft are fixed by bearing, and handrail 12 is fixed on outside transmission shaft shell；In addition, power transmission shaft is provided with brake 5, adopts electromagnetic brake, electromagnetic brake is placed on power transmission shaft, as shown in Figure 5, such brake is prior art, is not explained, and can adopt rich space board, electromagnetic brake is connected with controller equally, controller is connected with the button being located on handrail 12, and after pressing the button, controller controls electromagnetic brake and brakes.
Loading mechanism, is located at the below or above of power transmission shaft,
Actuating unit, is fixed on handrail and is connected with power transmission shaft by drive mechanism.
By the goods transporting device of the present invention, it is possible to achieve the transport to Different Weight goods, when lighter in weight, both can realize either directly through handrail pulling；Increase along with weight, it is possible to actuating unit, drive mechanism assisted movement under, alleviate the quantity of motion of bearer, and coordinate the scroll wheel that triangle manner arranges, easily climb building.
Between described actuating unit and described drive mechanism, it is provided with the gear of selector, so according to the weight of contained goods, different gears can be selected.
Described gear includes worm gear 16 and the worm screw 15 matched, and worm gear 16 is placed on the outside of described power transmission shaft and is rotated by worm screw 15.
Described selector includes shift fork 8 and at least four gear, as shown in Figures 2 and 3, two the first gears are located on described worm screw 15, another two the second gear is located on power input shaft 2, first gear and the second gear are engageable, second gear is provided with the spline that can move along worm screw 15 surface on worm screw 15, shift fork realizes spline and the combination of the first gear for driving spline to move, and then transmitted power to worm screw 15 by power input shaft 2, for the ease of smooth gearshift, between two adjacent the second gears, it is provided with lock unit.
Described actuating unit is that small-sized or medium-sized two cylinder gasoline engines are as electromotor, start and close and better control, the crankshaft end of electromotor 10 is fixed with flywheel 9, flywheel 9 is connected on described power input shaft by clutch, described drive mechanism is located in housing, specifically having the worm screw housing 3 of turbine body 14, cladding worm screw 15, turbine body 14 is fixing with transmission shaft shell to be connected, and above clutch, variator can also be bought in being made by manufacturers or users.
Worm gear 16 is fixed on power transmission shaft, makes power transmission shaft rotate together along with worm gear.Worm gear 16 matches with worm screw 15, worm screw 15 drive worm gear 16 to rotate, thus driving power transmission shaft to rotate.The other end that worm screw 15 is anodontia is connected with selector.Selector is made up of two gears, interior external splines, shift fork.During beginning, two the first gears dally on worm screw 15, and namely pinion rotation can not drive worm screw 15 to rotate, and spline is fixed on worm screw 15, and worm screw 15 is followed spline and rotates, but spline can move left and right on worm screw 15, and shift fork 8 and interior external splines are for two gear central authorities.During gearshift, shift fork, toward a lateral movement, drives spline to equidirectional motion simultaneously, makes spline and first gear combine, and pinion rotation drives spline to rotate, and spline drives worm screw 15 to rotate.When initial position replied by shift fork 8, spline and the first gear is driven to separate, so that power cannot be passed to worm screw by the first gear.
Fixing two the second gears at power input shaft 2, so as to the bent axle following electromotor rotates together, utilize the two the second gear, two gears for gear coordinate, and transfer power on gear.Before electromotor 10 with power input shaft 2, install a friction type clutch device additional.Engine flywheel 9 is the driving link of clutch, and the clutch plate with friction plate borrows free-sliding spline to be connected with driven shaft (i.e. the driving shaft of variator) with driven hub.Clutch plate is then pressed on flywheel end face by holddown spring.Namely motor torque passes on clutch plate by the rubbing action between flywheel 9 and clutch plate contact surface, more thus in driven shaft and power train, a series of parts pass to driving wheel.The thrust of holddown spring is more big, then the torque that clutch can transmit is also more big, utilizes clutch and selector to realize gearshift function, it is achieved thereby that the assist function of stairs-mover ensure that kinetic force better adapts to climb building demand.
Being provided with controller, code reader and messaging controller, code reader and messaging controller on described handrail 12 to be connected with controller respectively, controller is PLC.
Described handrail 12 is additionally provided with display device, display device is connected with controller to show the information that code reader scans, the Message Entry System of controller and express company or sender can pass through wireless network can realize remote information transmission, and Message Entry System is mainly the inquiry to relevant informations such as express delivery addressee's odd numbers；Further, it is also possible to arrange the program called, after inquiring addressee's phone, controller controls to call to notify addressee, it is possible to arrange microphone on handrail, and controller controls microphone and plays sound notification addressee.
Or, described goods transporting device also includes the watch being worn on courier's hand, watch can realize bar code scanning, watch and mobile phone pairing, bar code data application program it is provided with in mobile phone, data-application or by 4G communication network is inquired about phone number corresponding to bar code by data-application to remote server and realizes auto dialing according to bar code, the telephone number of the addressee that typing express delivery odd numbers is corresponding in remote server or data-application, such courier can pass through bluetooth earphone and namely realize call, help courier liberation both hands, or when speeling stairway, auxiliary device speeling stairway on the other hand, another side can realize call, the very convenient courier of help simultaneously saves delivery period, input number after need not transporting goods again in turn and dial.
Described loading mechanism is support board 4, or loading frame, the bottom of handrail is connected beyond power transmission shaft and by bearing pin with support board, is provided with the position-limit mechanism being connected with handrail at handrail bottom part down, to ensure that support board 4 rotates to set angle energy stop motion, realize the storage to support board, ensure, when this goods transporting device is idle, to take up room little, conveniently take, position-limit mechanism can be fixing plate fixing on bearing pin, is turned to the upset of the stopping after set angle for support board.
The foregoing is only presently preferred embodiments of the present invention; be not whole embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention; any amendment of being made, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Except technical characteristic described in description, all the other technical characteristics are those skilled in the art's known technology, and in order to highlight the innovative characteristics of the present invention, above-mentioned technical characteristic does not repeat them here.

Claims (10)

1.爬楼辅助运货装置，其特征在于，包括：1. The auxiliary cargo transport device for climbing stairs, characterized in that it includes: 传动轴，在传动轴的两端分别设有爬楼行走机构，爬楼行走机构包括三角形支架，在三角型支架的三个端部各设有一个可自转的滚动轮，三角形支架随传动轴一同旋转；The transmission shaft is equipped with a stair-climbing walking mechanism at both ends of the transmission shaft. The stair-climbing walking mechanism includes a triangular bracket, and a rolling wheel that can rotate on its own is provided at each of the three ends of the triangular bracket. The triangular bracket is together with the transmission shaft. rotate; 扶手，为一个框体，框体的底部与传动轴固定，传动轴在框体底部内可旋转；The armrest is a frame, the bottom of the frame is fixed to the transmission shaft, and the transmission shaft is rotatable in the bottom of the frame; 载物机构，设于传动轴的下方或上方，Loading mechanism, located below or above the transmission shaft, 动力机构，固定在扶手上并通过传动机构与传动轴连接。The power mechanism is fixed on the armrest and connected with the transmission shaft through the transmission mechanism. 2.如权利要求1所述的爬楼辅助运货装置，其特征在于，在所述动力机构与所述传动机构之间设有带换挡器的变速机构。2. The auxiliary cargo delivery device for climbing stairs according to claim 1, characterized in that, a transmission mechanism with a shifter is provided between the power mechanism and the transmission mechanism. 3.如权利要求2所述的爬楼辅助运货装置，其特征在于，所述变速机构包括相配合的蜗轮和蜗杆，蜗轮套于所述传动轴的外侧由蜗杆带动旋转。3 . The auxiliary cargo delivery device for climbing stairs according to claim 2 , wherein the transmission mechanism includes a matched worm gear and a worm, and the worm gear is sleeved on the outside of the transmission shaft and driven to rotate by the worm. 4 . 4.如权利要求3所述的爬楼辅助运货装置，其特征在于，所述换挡器包括拨叉和至少四个齿轮，两个第一齿轮设于所述的蜗杆上，另两个第二齿轮设于动力输入轴上，第一齿轮与第二齿轮可啮合，第二齿轮在蜗杆上设有可沿着蜗杆表面移动的花键，拨叉用于带动花键移动。4. The auxiliary cargo delivery device for climbing stairs as claimed in claim 3, wherein the shifter comprises a shift fork and at least four gears, two first gears are arranged on the worm, and the other two The second gear is arranged on the power input shaft, the first gear can mesh with the second gear, the second gear is provided with a spline on the worm that can move along the surface of the worm, and the shift fork is used to drive the spline to move. 5.如权利要求4所述的爬楼辅助运货装置，其特征在于，所述动力机构为两缸发动机，发动机的曲轴端部固定有飞轮，飞轮通过离合器连接到所述的动力输入轴上。5. The auxiliary cargo delivery device for climbing stairs as claimed in claim 4, wherein the power mechanism is a two-cylinder engine, the end of the crankshaft of the engine is fixed with a flywheel, and the flywheel is connected to the power input shaft by a clutch . 6.如权利要求4所述的爬楼辅助运货装置，其特征在于，相邻的两个第二齿轮之间设有同步器。6. The auxiliary cargo delivery device for climbing stairs according to claim 4, wherein a synchronizer is provided between two adjacent second gears. 7.如权利要求1所述的爬楼辅助运货装置，其特征在于，在传动轴上设置刹车器。7. The auxiliary cargo delivery device for climbing stairs as claimed in claim 1, characterized in that a brake is set on the drive shaft. 8.如权利要求1所述的爬楼辅助运货装置，其特征在于，在所述的扶手上设有控制器、扫码器和短信控制器，扫码器和短信控制器分别与控制器连接。8. The auxiliary cargo delivery device for climbing stairs as claimed in claim 1, wherein said handrail is provided with a controller, a code sweeper and a short message controller, and the code sweeper and the short message controller are connected with the controller respectively. connect. 9.如权利要求1所述的爬楼辅助运货装置，其特征在于，还包括腕表，腕表可实现条形码扫描，腕表与手机配对，手机内设有条形码数据应用程序，数据应用程序根据条形码向服务器或通过数据应用程序查询条形码对应的手机号码并实现自动拨号。9. The auxiliary cargo transportation device for climbing stairs as claimed in claim 1, further comprising a wrist watch, which can realize barcode scanning, the wristwatch is paired with a mobile phone, and the mobile phone is equipped with a barcode data application program, and the data application program According to the barcode, query the mobile phone number corresponding to the barcode from the server or through the data application program and realize automatic dialing. 10.如权利要求1所述的爬楼辅助运货装置，其特征在于，所述载物机构为载物板，或者载物框，扶手的底部超出传动轴并通过销轴与载物板连接，在扶手底部下方设有与扶手连接的限位机构。10. The auxiliary cargo delivery device for climbing stairs according to claim 1, wherein the loading mechanism is a loading board or a loading frame, and the bottom of the handrail exceeds the transmission shaft and is connected with the loading board through a pin , a limiting mechanism connected with the armrest is arranged under the bottom of the armrest.
CN201610293369.5A 2016-05-05 2016-05-05 Stair climbing auxiliary cargo transportation device Pending CN105774875A (en)

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CN205207551U (en) * 2015-12-11 2016-05-04 重庆华世丹机械制造有限公司 Vertical assembled gearbox
CN205615563U (en) * 2016-05-05 2016-10-05 山东大学 Climb supplementary friehgt device of building

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Publication number Priority date Publication date Assignee Title
JP2010125307A (en) * 2008-11-28 2010-06-10 Yoshio Komatsu Wheel-type power assisted stair lifting vehicle
CN101866441A (en) * 2009-04-20 2010-10-20 胡甜 Device for automatically sending express delivery notice
CN202641747U (en) * 2012-07-09 2013-01-02 董宜铭 Motor-driven electrical power assisted stair climbing cart
CN204161431U (en) * 2014-09-29 2015-02-18 广东电网公司江门供电局 A kind of Multifunctional carrying device
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109515539A (en) * 2018-10-11 2019-03-26 安徽工程大学 Climb building loading equipment and its control method
CN109515539B (en) * 2018-10-11 2024-02-27 安徽工程大学 Stair climbing cargo equipment and control method thereof

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Application publication date: 20160720