CN108058736B - Push rod type stair climbing power-assisted trolley - Google Patents
Push rod type stair climbing power-assisted trolley Download PDFInfo
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- CN108058736B CN108058736B CN201810042593.6A CN201810042593A CN108058736B CN 108058736 B CN108058736 B CN 108058736B CN 201810042593 A CN201810042593 A CN 201810042593A CN 108058736 B CN108058736 B CN 108058736B
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- 230000009194 climbing Effects 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 46
- 239000010959 steel Substances 0.000 claims description 46
- 230000009467 reduction Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 10
- 230000005484 gravity Effects 0.000 abstract description 6
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 230000010355 oscillation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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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
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
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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
- B62B5/0036—Arrangements of motors
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention relates to the field of power-assisted carrying mechanical equipment, and provides a push rod type stair climbing power-assisted trolley which comprises a bearing device, a telescopic mechanism, a power device and a power module. The invention has the advantages of simple structure, strong practicability, convenient operation and high degree of automation, utilizes the single-chip control module to control the push rod motor to rotate positively and negatively to drive the push rod to shrink, and controls the push rod to stretch to the stroke to automatically cut off the power supply, so that the trolley keeps the vehicle body horizontal all the time in the stair climbing process, the purpose of vertically climbing stairs is achieved, the trouble of closing a switch is also saved, more importantly, the trolley is relatively stable in stair climbing, has smaller oscillation, and reduces the risk of damaging objects; the wheels of the trolley are arranged at the front, middle and rear three positions of the vehicle body, the push rod is orderly telescopic, and the compression structure at the lower end of the push rod is designed, so that the gravity center of a heavy object is kept unchanged in the stair climbing process, and the trolley is prevented from tilting.
Description
Technical Field
The invention relates to the field of power-assisted carrying mechanical equipment, in particular to a push rod type stair climbing power-assisted trolley.
Background
At present, the existing stair climbing device at home and abroad mainly comprises crawler type, wheel group type and walking type. The crawler-type stair climbing device is similar to a crawler-type armored car or a tank in principle, four wheels are arranged at the bottom and used on the ground normally, when going upstairs, the crawler-type stair climbing device prevents the ground from being folded by rubber crawlers on two sides and completes an automatic stair climbing function by means of the crawlers; the wheelsets are divided into two wheelsets, three wheelsets and four wheelsets, currently there are two wheelsets wheelchairs with automatic center of gravity adjustment, the controller adjusts the position of the gravity center according to the signals of the gyroscope, so that the balance under different states is kept; the walking type stair climbing executing device consists of a hinge rod mechanism, when going upstairs, the load is lifted, the process is repeated continuously to complete the stair climbing action after the load is moved horizontally and forwards, and the principle is similar to that of human walking.
However, the crawler type stair has the disadvantages of heavy weight, inflexible movement and inconvenient turning, and causes certain pressure to the edge of the stair when climbing stairs, thereby damaging the stair and having poor safety performance; the wheel set has lower stability, complicated gravity center adjustment and larger volume, and is not very suitable for climbing stairs, carrying and other works; the walking type has high control requirement, is complex to operate, has small amplitude during walking and is slow to act.
The stair climbing assisting carrying trolley provided by the comparison document 1 '201604929556.9' controls the running state of a push rod driving motor through a push rod driving motor switch knob according to the included angle between the stair and the ground, so that the telescopic length of the push rod is adjusted, namely, the included angle between a chassis and a bearing frame is adjusted, a crawler wheel motor switch is opened, a crawler wheel is driven to rotate, and then the crawler is driven to move. The stair climbing assisting carrying trolley is large in vibration when adopting the crawler to climb stairs, and the stair climbing assisting carrying trolley moves on the flat ground too heavy.
The stair climbing mechanism proposed in the comparison document 2 '2015129368.5' is characterized in that a motor controls a scissor type lifting mechanism to extend and move to a ground position and support and stress a front supporting leg and a rear supporting seat of the stair climbing mechanism to be separated from the ground, the motor drives the front supporting leg to move upwards by one step height, then the motor enables a mechanism connected with the front supporting leg and the rear supporting seat to move forwards until a front foot is close to a second step, an opposite platform moves to a position close to a rear foot on a parallel sliding rail, then the motor controls the scissor type lifting mechanism to retract upwards to enable the front supporting leg and the rear supporting seat to be stressed on the ground, after the above actions are completed, the motor reverses to enable the scissor type lifting mechanism and the platform to move to the front foot position along the parallel sliding rail, and then the scissor type lifting mechanism extends to the ground and stress a whole mechanism connected with the front supporting leg and the rear supporting seat to lift by one step height, so that climbing of one step is completed. The stair climbing mechanism adopts a scissor type lifting mechanism and a parallel sliding rail to climb stairs, which is too complicated.
Therefore, there is a need for an improvement in such a structure to overcome the above-mentioned drawbacks.
Disclosure of Invention
The invention aims to provide a push rod type stair climbing power-assisted trolley which can replace manpower and improve the safety performance in work.
The invention adopts the technical proposal for solving the technical problems that:
the push rod type stair climbing power-assisted trolley comprises a bearing device, a telescopic mechanism, a power device and a power module, wherein the bearing device comprises a bottom supporting plate, a storage plate and a supporting rod, the storage plate is arranged at the upper end of the bottom supporting plate, first angle steel is fastened on the left side and the right side of the bottom supporting plate through first screws, and second angle steel is fastened on the left side and the right side of the storage plate through second screws; a baffle plate which is obliquely arranged is welded on the front side of the object placing plate, one end of a rod piece is welded at the bottom supporting plate, the other end of the rod piece is welded at the lower surface of the second angle steel, and the rod piece is also welded with the first angle steel; the two support rods are welded with the bottom supporting plate and the object placing plate respectively and are positioned at the rear sides of the bottom supporting plate and the object placing plate, the support rods extend to the upper ends of the object placing plate, the tops of the two support rods are welded through connecting rods, and the tops of the support rods are also vertically welded with handles; two universal wheels are arranged at the front and rear positions of the lower surface of the bottom supporting plate, and two three-inch directional wheels are arranged at the middle position of the lower surface of the bottom supporting plate;
the telescopic mechanism comprises a bottom plate, two telescopic push rods, a movable steel plate, a support frame, springs, guide rods and two-inch directional wheels, wherein the bottoms of the push rods are welded to two sides of the upper end of the bottom plate, the support frame and the movable steel plate are angle steel, a gap is formed in the middle of the bottom plate, the support frame is fixed to the gap of the bottom plate through stud nuts, the springs and the two guide rods are welded at the support frame, the springs are positioned between the two guide rods, two first circular through holes are formed in the surface of the movable steel plate in a penetrating mode, the first circular through holes are adaptive to the guide rods, the springs are welded with the movable steel plate, and two-inch directional wheels are welded at the lower end of the movable steel plate;
the power device comprises a single chip microcomputer control module, a push rod motor, a reduction gear, a screw rod arranged on an inner tube and axial running nuts, wherein the number of the motors is two, the motors are fixed on the lower part of the storage plate through stud nuts, the output shaft end of each motor is connected with a first gear, the first gear is meshed with the reduction gear, the reduction gear is meshed with the screw rod, the axial running nuts are screwed at the screw rod, and the axial running nuts are connected with the push rod;
the middle parts of the two support rods are welded with a power fixing plate, the power module is fixed at the power fixing plate through a stud nut, and a power main switch, a push rod motor forward rotation control switch and a push rod motor reverse rotation control switch are arranged at the power module.
Further, the track is fixed on the rear side face of the first angle steel through a pin shaft, the track is welded on the side face of the supporting rod and is of an arc-shaped structure, a plurality of first circular through holes are formed in the side face of the track, the inner wall of each first circular through hole is of a thread-shaped structure, a second circular through hole is further formed in the top of the track, the first circular through holes and the second circular through holes have the same structure, and the upper ends of the tracks are fastened to the track through bolts.
The invention relates to a push rod type stair climbing power-assisted trolley, which comprises a bearing device for bearing articles, a telescopic mechanism, a power device, a power supply module and a singlechip control module, and a mechanism for realizing stair climbing through crawler movement, and is characterized in that: the function of vertically lifting the trolley body is realized by respectively driving two push rods to extend through forward rotation of two motors, the extending stroke is the height of a first-stage stair, when the extending stroke is reached, the nut feeler presses the limit switch to cut off the power supply, the motors stop rotating, at the moment, a person lightly pulls the trolley, and the front wheels translate a certain distance on the first stage, and the characteristics enable the trolley storage rack to be kept horizontal all the time in the stair climbing process, so that the purpose of vertically climbing stairs is achieved; the second prominent feature is: the telescopic mechanism is of a compressible structure, the lower end of the telescopic push rod is welded with the bottom plate, the bottom plate is connected with the support frame through a stud nut, the support frame is connected with the movable steel plate through a spring and two guide rails, under normal conditions, the spring maintains the original length, when the front wheel translates to the first step for a certain distance, the movable steel plate is extruded by the end face of the stair, and due to the fact that the spring has a certain spring coefficient, the movable steel plate is pressed into a groove formed by the bottom plate and the support frame along the direction of the guide rail nested with the spring, and the purpose of the structure is to ensure that the gravity center position of a weight of the push rod is withdrawn at the moment to be unchanged so as to prevent the trolley from toppling; three prominent features: is a P single chip microcomputer control module, and connects 2 electric push rods with a hand controller in series. At the moment, a hand controller switch for driving the motor to rotate reversely is pressed, the two push rods are driven to shrink simultaneously, the power supply is automatically disconnected after the push rods reach the stroke through the controller, the motor stops rotating, and at the moment, a person lightly pulls the trolley. The small vehicle-mounted object can climb stairs in a circulating way; the four outstanding features are that the auxiliary crawler belt structure is adopted to realize the function of quickly going downstairs, the crawler belt is regulated to a certain angle through the regulating mechanism, so that the empty vehicle can quickly go downstairs, and the time is saved.
The invention has the advantages that:
the invention has the advantages of simple structure, strong practicability, convenient operation and high degree of automation, utilizes the singlechip control module to control the forward and backward rotation of the push rod motor to drive the push rod to shrink, and controls the push rod to stretch to the stroke to automatically cut off the power supply, so that the trolley always keeps the vehicle body horizontal in the stair climbing process, the purpose of vertically climbing stairs is achieved, the trouble of closing a switch is also avoided, more importantly, the trolley is relatively stable in stair climbing, the oscillation is smaller, and the risk of damaging articles is reduced; the wheels of the trolley are arranged at the front, middle and rear positions of the trolley body, the push rod sequentially stretches and contracts, and the compression structure at the lower end of the push rod is designed, so that the gravity center of a heavy object is kept unchanged in the stair climbing process, and the trolley is prevented from tilting; the additional crawler device is adjusted to be perpendicular to the stairs by the rails in the stair climbing process, is adjusted to be at a certain angle by the rails in the stair descending process, and is meshed with the stairs, so that the function of fast descending stairs by empty vehicles is realized.
Drawings
Fig. 1 is a schematic structural view of a push rod type stair climbing power-assisted trolley provided by the invention.
Fig. 2 is a schematic structural view of a load bearing apparatus.
Fig. 3 is a schematic structural view of the telescopic mechanism.
Fig. 4 is a schematic diagram of the operation of the stair climbing device.
Fig. 5 is a second schematic diagram of the operation of the stair climbing device.
Fig. 6 is a third schematic diagram of the operation of the stair climbing device.
Fig. 7 is a schematic diagram of the operation of the stair climbing device.
Fig. 8 is a schematic view of the structure when going down stairs.
Corresponding part names are indicated by numerals and letters in the drawings:
wherein: 1-a bearing device; 2-a telescopic mechanism; 3-power means; 4-a power module; 5-caterpillar tracks; 6-track; 11-bottom pallet; 12-placing a plate; 13-supporting rods; 14-a first angle steel; 15-second angle steel; 16-bar members; 17-baffle; 18-connecting rods; 19-a handle; 21-a bottom plate; 22-push rod; 23-moving the steel plate; 24-supporting frames; 25-springs; 26-a guide rod; 31-a singlechip control module; 32-push rod motor.
Detailed Description
In order that the manner in which the above-recited features, advantages, objects and advantages of the invention are obtained, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
As shown in fig. 1 to 8, the push rod type stair climbing power-assisted trolley provided by the invention comprises a bearing device 1, a telescopic mechanism 2, a power device 3 and a power module 4, wherein the bearing device 1 comprises a bottom supporting plate 11, a storage plate 12 and a supporting rod 13, wherein the storage plate 12 is arranged at the upper end of the bottom supporting plate 11, first angle steel 14 is fastened on the left side and the right side of the bottom supporting plate 11 through first screws, and second angle steel 15 is fastened on the left side and the right side of the storage plate 12 through second screws; a baffle 17 arranged obliquely is welded on the front side of the storage plate 12, one end of a rod piece 16 is welded on the bottom supporting plate 11, the other end of the rod piece 16 is welded on the lower surface of the second angle steel 15, and the rod piece 16 is also welded with the first angle steel 14; the two support rods 13 are welded with the bottom supporting plate 11 and the object placing plate 12 respectively, the support rods 13 are positioned at the rear sides of the bottom supporting plate 11 and the object placing plate 12, the support rods 13 extend to the upper ends of the object placing plate 12, the tops of the two support rods 13 are welded through a connecting rod 18, and the tops of the support rods 13 are also vertically welded with a handle 19; two universal wheels are arranged at the front and rear positions of the lower surface of the bottom supporting plate 11, and two three-inch directional wheels are arranged at the middle position of the lower surface of the bottom supporting plate 11;
the telescopic mechanism 2 comprises a bottom plate 21, two telescopic push rods 22, a movable steel plate 23, a supporting frame 24, a spring 25, guide rods 26 and two inch directional wheels, wherein the bottoms of the push rods 22 are welded on two sides of the upper end of the bottom plate 21, the supporting frame 24 and the movable steel plate 23 are all angle steel, a gap is formed in the middle of the bottom plate 21, the supporting frame 24 is fixed at the gap of the bottom plate 21 through stud nuts, the spring 25 and the two guide rods 26 are welded at the position of the supporting frame 24, the spring 25 is positioned between the two guide rods 26, two first circular through holes are formed in the surface of the movable steel plate 23 in a penetrating mode, the first circular through holes are matched with the guide rods 26, the spring 25 is welded with the movable steel plate 23, and two inch directional wheels are welded at the lower end of the movable steel plate 23;
the power device 3 comprises a single chip microcomputer control module 31, two motors 32, a reduction gear, a screw rod arranged on an inner tube and axial running nuts, wherein the motors 32 are fixed at the lower part of the object placing plate 12 through stud nuts, a first gear is connected to the output shaft end of each motor 32 and meshed with the reduction gear, the reduction gear is connected with the screw rod in a screwed mode, and the axial running nuts are connected with the push rod 22 in a screwed mode;
the middle parts of the two support rods 13 are also welded with a power supply fixing plate, the power supply module 4 is fixed at the power supply fixing plate through a stud nut, and a power supply main switch, a push rod motor forward rotation control switch and a push rod motor reverse rotation control switch are arranged at the power supply module 4.
Further, the track 5 is fixed on the rear side surface of the first angle steel 14 through a pin shaft, the track 6 is welded on the side surface of the supporting rod 13, the track 6 is of an arc-shaped structure, a plurality of first circular through holes are formed in the side surface of the track 6, the inner wall of each first circular through hole is of a thread structure, a second circular through hole is further formed in the top of the track 5, the first circular through holes and the second circular through holes have the same structure, and the upper ends of the tracks 5 are fastened on the track 6 through bolts.
The singlechip control module can be replaced by a PLC controller.
And (3) analyzing the stair climbing and downstairs process of the trolley:
a) When climbing stairs:
the carrying trolley is pulled to the front of the stairs, at the moment, six bearing wheels arranged under a supporting plate at the bottom of the trolley, a bottom plate connected under the telescopic push rod and four two-inch directional wheels arranged under the movable steel plate are contacted with the ground; as shown in fig. 4: the two motors are rotated forward to drive the two push rods to extend respectively, the trolley body is lifted vertically, the extending stroke is the height of the first-stage stairs, the singlechip control module is used for controlling the nut feeler to press the limit switch to disconnect the power supply when the push rods extend to the set stroke, the motors stop rotating, then a person pulls the trolley lightly, the front end universal wheel moves towards the first step, and at the moment, the spring connecting the bottom plate and the moving steel plate maintains the original length; as shown in fig. 5: when the front wheel translates a certain distance on the first step, the movable steel plate is extruded by the end face of the stair, and the spring connected with the movable steel plate is extruded, so that the movable steel plate is pressed into the groove formed by the bottom plate and the support frame, and the front wheel can translate forwards for a certain distance continuously; as shown in fig. 6: the method comprises the steps of pressing a power supply main switch and controlling a push rod motor reversing switch, wherein the two motors are reversed to drive two push rods to shrink respectively, a moving steel plate is immediately ejected out of a groove to a original position after being not extruded, and a single chip microcomputer control module is used for controlling the push rod motor to stop running and lock when the push rod shrinks to reach a set stroke; as shown in fig. 7: the trolley is pulled to enable the front bearing wheel, the middle bearing wheel, the bottom plate connected with the lower ends of the push rods and the four small wheels arranged under the moving steel plate to be positioned on the first step at the same time. At the moment, the trolley body rises one step, and the stair climbing process can be completed by cycling the steps.
b) When going down stairs:
the empty vehicle does not need to go downstairs and keep the vehicle body horizontal any more, as shown in fig. 8: the crawler belt is adjusted to a certain angle to be meshed with the stairs, so that people push the trolley, the empty trolley can quickly go downstairs, and time is saved.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a push-down stair climbing helping hand dolly, includes load-bearing device (1), telescopic machanism (2), power device (3) and power module (4), its characterized in that: the bearing device (1) comprises a bottom supporting plate (11), a storage plate (12) and a supporting rod (13), wherein the storage plate (12) is arranged at the upper end of the bottom supporting plate (11), first angle steel (14) is fastened on the left side and the right side of the bottom supporting plate (11) through first screws, and second angle steel (15) is fastened on the left side and the right side of the storage plate (12) through second screws; a baffle (17) which is obliquely arranged is welded on the front side of the storage plate (12), one end of a rod piece (16) is welded at the bottom supporting plate (11), the other end of the rod piece (16) is welded at the lower surface of the second angle steel (15), and the rod piece (16) is welded with the first angle steel (14); the two support rods (13) are welded with the bottom supporting plate (11) and the object placing plate (12) respectively, the two support rods (13) are positioned at the rear sides of the bottom supporting plate (11) and the object placing plate (12), the two support rods (13) extend to the upper ends of the object placing plate (12), the tops of the two support rods (13) are welded through a connecting rod (18), and handles (19) are vertically welded at the tops of the support rods (13); two universal wheels are arranged at the front and rear positions of the lower surface of the bottom supporting plate (11), and two three-inch directional wheels are arranged at the middle position of the lower surface of the bottom supporting plate (11);
the telescopic mechanism (2) comprises a bottom plate (21), two telescopic push rods (22), a movable steel plate (23), a support frame (24), springs (25), guide rods (26) and two-inch directional wheels, wherein the bottoms of the push rods (22) are welded on two sides of the upper end of the bottom plate (21), the support frame (24) and the movable steel plate (23) are all angle steels, a gap is formed in the middle of the bottom plate (21), the support frame (24) is fixed at the gap of the bottom plate (21) through stud nuts, the springs (25) and the two guide rods (26) are welded at the support frame (24), the springs (25) are located between the two guide rods (26), two first circular through holes are formed in the surface of the movable steel plate (23) in a penetrating mode, the first circular through holes are matched with the guide rods (26), the springs (25) are welded with the movable steel plate (23), and two-inch directional wheels are welded at the lower end of the movable steel plate (23);
the power device (3) comprises a single chip microcomputer control module (31), a push rod motor (32), a reduction gear, a screw rod arranged on an inner tube and axial running nuts, wherein the number of the motors (32) is two, the motors (32) are fixed at the lower part of the object placing plate (12) through stud nuts, the output shaft end of each motor (32) is connected with a first gear which is meshed with the reduction gear, the reduction gear is screwed with the screw rod, and the axial running nuts are connected with the push rod (22) in a screwed mode;
the middle parts of the two support rods (13) are welded with a power fixing plate, the power module (4) is fixed at the power fixing plate through a stud nut, and a power main switch, a push rod motor forward rotation control switch and a push rod motor reverse rotation control switch are arranged at the power module (4).
2. A push rod stair climbing assistance cart according to claim 1, wherein: the novel track is characterized in that a track (5) is fixed to the rear side face of the first angle steel (14) through a pin shaft, a track (6) is welded to the side face of the supporting rod (13), the track (6) is of an arc-shaped structure, a plurality of first circular through holes are formed in the side face of the track (6), the inner wall of each first circular through hole is of a thread-shaped structure, a second circular through hole is further formed in the top of the track (5), the first circular through holes and the second circular through holes have the same structure, and the upper ends of the tracks (5) are fastened to the track (6) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810042593.6A CN108058736B (en) | 2018-01-17 | 2018-01-17 | Push rod type stair climbing power-assisted trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810042593.6A CN108058736B (en) | 2018-01-17 | 2018-01-17 | Push rod type stair climbing power-assisted trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108058736A CN108058736A (en) | 2018-05-22 |
| CN108058736B true CN108058736B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810042593.6A Active CN108058736B (en) | 2018-01-17 | 2018-01-17 | Push rod type stair climbing power-assisted trolley |
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| CN (1) | CN108058736B (en) |
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| CN108622156A (en) * | 2018-07-18 | 2018-10-09 | 李明华 | A kind of multi-function domestic trolley of facilitating going upstairs and going downstairs |
| CN109229225A (en) * | 2018-09-20 | 2019-01-18 | 深圳大学 | A kind of transportation robot with Pa Jie mechanism |
| CN109018906A (en) * | 2018-10-16 | 2018-12-18 | 嘉兴中岳热处理科技有限公司 | A kind of rail carry device |
| CN109927806B (en) * | 2019-03-14 | 2023-11-07 | 中南大学 | Portable stair climbing machine |
| CN110315506B (en) * | 2019-05-21 | 2023-09-22 | 黄建龙 | Crawling robot |
| CN112407009A (en) * | 2019-08-23 | 2021-02-26 | 刘闯 | Lifting vehicle body, wheel and crawler combined stair climbing vehicle |
| CN110843894B (en) * | 2019-11-22 | 2023-10-27 | 玉柴联合动力股份有限公司 | Material carrying device and stair climbing method thereof |
| CN112174052B (en) * | 2020-09-28 | 2023-02-07 | 义乌工商职业技术学院 | Stair climbing machine |
| CN113317933A (en) * | 2021-05-31 | 2021-08-31 | 西安理工大学 | Electric stair climbing transportation stretcher |
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