CN108100005A - One kind is bionical to climb building stepping transport vehicle and its operating method - Google Patents

One kind is bionical to climb building stepping transport vehicle and its operating method Download PDF

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Publication number
CN108100005A
CN108100005A CN201611054582.7A CN201611054582A CN108100005A CN 108100005 A CN108100005 A CN 108100005A CN 201611054582 A CN201611054582 A CN 201611054582A CN 108100005 A CN108100005 A CN 108100005A
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CN
China
Prior art keywords
transport vehicle
telescopic legs
building
bionical
power
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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
CN201611054582.7A
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Chinese (zh)
Inventor
高荣
黄静
李刚俊
钱庆杰
刘健伟
陈志军
陈刚
罗天华
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Chengdu Technological University CDTU
Chengdu Univeristy of Technology
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Chengdu Technological University CDTU
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Application filed by Chengdu Technological University CDTU filed Critical Chengdu Technological University CDTU
Priority to CN201611054582.7A priority Critical patent/CN108100005A/en
Publication of CN108100005A publication Critical patent/CN108100005A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62BHAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00Accessories or details specially adapted for hand carts
    • B62B5/0026Propulsion aids
    • B62B5/0033Electric motors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62BHAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00Accessories or details specially adapted for hand carts
    • B62B5/0026Propulsion aids
    • B62B5/0066Transmission of movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62BHAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00Accessories or details specially adapted for hand carts
    • B62B5/02Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B62B5/023Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs using an upwards pushing device

Abstract

The present invention relates to transporter technical fields,Building stepping transport vehicle and its operating method are climbed more particularly to one kind is bionical,The bionical Climbing building device for climbing building stepping transport vehicle and including vehicle frame and being arranged at left and right sides of vehicle frame of the present invention,The Climbing building device includes telescopic legs,The telescopic legs are connected with power set,And under the action of power set centered on tie point reciprocally swinging,So that the telescopic outrigger being arranged at left and right sides of vehicle frame swing successively,During swing,The formation of transport vehicle is supported,The transport vehicle on vehicle frame by setting two telescopic legs,Make telescopic legs stair activity as the both feet of people,It solves the problems, such as preferably adapt to stair using present in planetary gear climbing machine or track type climbing-building machine in the prior art,The transport vehicle is simple in structure,It can be applied on the stair of various sizes and gradient,Labor intensity is reduced for carrying personnel,Save a large amount of manpowers.

Description

One kind is bionical to climb building stepping transport vehicle and its operating method
Technical field
The present invention relates to transporter technical fields, and particularly one kind is bionical climbs building stepping transport vehicle and its operating method.
Background technology
In recent years, Electronic Commerce in China achieves huge development, and more and more people select the mode of net purchase to purchase Buy the daily necessitiess such as furniture appliance, since the volume and weight of furniture appliance is larger, courier when carrying these objects, than Harder, particularly in the case of no elevator or elevator faults, courier needs speeling stairway, lead to not conveniently, Quickly these objects are delivered goods to the customers.
Planetary gear climbing machine and track type climbing-building are mainly used when in the prior art, for carrying the larger object of weight Machine, the primary structure of planetary gear climbing machine are that multiple planetary gears are arranged on the rotating turret with driving axis connection, and rotating turret rotates When, multiple planetary gears contact in turn with ground, so as to complete process upstairs.Whether planetary gear climbing machine or crawler type are used Climbing machine, all there are the shortcomings that self structure decision.
Planetary gear climbing machine:Since its star-wheel wheelspan and depth are fixed, and stairway step height and width dimensions differ, Dislocation slipping phenomenon is susceptible in crawling process, there are security risks;
Track type climbing-building machine:When crawler belt often leaves a upper step or proceeds to next step, it is susceptible to due to deviation of gravity center Front and rear tilt, and be not suitable in the environment use that step is too smooth and gradient is more than 30 degree, meanwhile, track wear is larger, the later stage Maintenance cost is high, and can increase damage to stairway step using high quality crawler belt, climbing machine level walking resistance during crawler belt Larger, corner turns dumb.
The content of the invention
It is an object of the invention to:It climbs building equipment for what is used in the prior art and cannot preferably adapt to stairway step ruler The problem of very little, provide it is a kind of it is bionical climb building stepping transport vehicle and its operating method, which passes through in vehicle Two telescopic legs on frame are set, makes telescopic legs stair activity as the both feet of people, solves and adopt in the prior art The problem of cannot preferably adapting to stair with planetary gear climbing machine or track type climbing-building machine, the transport vehicle is simple in structure, can be applied to On the stair of various sizes and gradient, labor intensity is reduced for carrying personnel, saves a large amount of manpowers.
To achieve these goals, the present invention provides following technical schemes:
One kind is bionical to climb building stepping transport vehicle, including vehicle frame and the Climbing building device being arranged at left and right sides of vehicle frame, the climbing machine Structure includes telescopic legs, and the telescopic legs are connected with power set, and under the action of power set using tie point as Center reciprocally swinging so that the telescopic outrigger swing successively being arranged at left and right sides of vehicle frame, during swing, to the shape of transport vehicle Into support.
The action in building is climbed according to bionics imitation human body both feet, telescopic legs at left and right sides of vehicle frame are set, make to stretch Contracting supporting leg reciprocally swinging under the action of power set, when going upstairs, when the telescopic legs of certain one side are on swing is marched toward During one step step, the telescopic legs of opposite side, which form transport vehicle, to be supported, and the telescopic legs for marching toward previous step step are taken turns again It changes to form transport vehicle and support, the telescopic legs of opposite side is made to march toward again more previous step step, are so cycled, realize transport vehicle Climb building function, when going downstairs, principle and go upstairs it is identical:When the telescopic legs of certain one side are marched toward next step platform in swing During rank, the telescopic legs of opposite side form transport vehicle and support, march toward the telescopic legs of next step step again rotation to fortune Defeated vehicle forms support, and the telescopic legs of opposite side is made to march toward again more next step step, are so cycled, realize transport vehicle downstairs Terraced purpose.
This bionical building stepping transport vehicle of climbing uses stepping support concept, and transport vehicle is made to realize the purpose of stair activity, due to Which employs telescopic legs, telescopic legs can adjust its length according to the specific size of step, effectively adapt to different Step dimension and stair gradient, improve the use adaptability of transport vehicle, and possible application is solved existing in the stair of various occasions Have in technology using planetary gear climbing machine or present in track type climbing-building machine the problem of cannot preferably adapting to stair size, the fortune Defeated bassinet structure is simple, can be applied on the stair of various sizes and gradient, and labor intensity is reduced for carrying personnel, saves big Measure manpower.
Preferably, the power set include power source and speed reducer connected to it, the power set with it is scalable Power transmission is provided between supporting leg, which includes the crank being connected with speed reducer output shaft, the song Handle is connected to telescopic legs simultaneously.
By setting the power transmission including crank, power set have speed reducer to be connected with crank, pass through Speed reducer exports power, crank is driven to move in a circle, crank is connected to telescopic legs simultaneously, so that crank handle turns Telescopic legs do ellipse circular path movement, after telescopic legs swing the upper plane contact with step, according to the second of newton Law, the reaction force that telescopic legs are contacted with stair can be acted on the vehicle frame being connected with telescopic legs, at this time in people It can realize that integral body is smoothly crossed in staircase under the support power effect of body level, running repeatedly, which can be realized, climbs building Purpose.
Preferably, the speed reducer is worm-gear speed reducer, and the power transmission, which further includes to drive, to be stretched The connection ring that contracting supporting leg rotates, the connection ring are strip rectangular slab, which is connected with crank, and the other end offers For fixing the fixing groove of telescopic legs.
Crank and connection ring are set simultaneously, can easily realize telescopic legs reciprocally swinging centered on tie point, is used Worm-gear speed reducer, output can drive the torque that transport vehicle is run, while by the control of governor, it can be as needed Building speed is climbed in adjusting.By the way that crank is combined connection with connection ring, so as to further transfer power in connection ring.Use item Shape rectangular slab does connection ring, and splits its one end is parallel, opens up fixing groove, makes fixing groove axis direction perpendicular to plate face, can Telescopic legs are mounted in the fixing groove of connection ring and pass through clamping screw, telescopic legs are being locked at connection ring just On true position, ensure that power is further effectively passed to telescopic legs, the telescopic legs for being arranged in vehicle frame both sides is driven Backswing is moved, and completes the support to transport vehicle and upper and lower step in turn.
Preferably, the telescopic legs include hollow support pipe and the cone pin being fixed on vehicle frame, the cone pin It stretches into hollow support pipe, when telescopic legs move, which does relatively reciprocating motion in hollow support pipe, makes scalable The length of supporting leg realizes automatic adjustment.It is the form comprising hollow support pipe and cone pin by the structure setting of telescopic legs, Cone pin one end is fixed on vehicle frame, and the other end can back and forth stretch in hollow support pipe, automatic so as to fulfill telescopic legs Adjust the function of its length.
Preferably, the Climbing building device further includes the stress axis being fixed on vehicle frame, and the end of the telescopic legs connects It is connected on stress axis, and using the stress axis as axle center, swings back and forth in the same plane, and the plane that telescopic outrigger is swung is vertical In the axis of stress axis.
Preferably, the connection ring is fixedly connected with hollow support pipe, and the tapered end thereof of the cone pin stretches to hollow In support tube, the other end offers the rotating hole passed through for stress axis, and the stress axis passes through the rotating hole and scalable branch Leg is flexibly connected, and makes telescopic legs crankmotion under the drive of connection ring.Hollow support pipe is mounted on connection ring In fixing groove and pass through clamping screw hollow support pipe is locked on the correct position of connection ring, ensure that power is further effective It is transferred to hollow support pipe.Hollow support pipe one end and taper connection, the other end are contacted with ground, when hollow support pipe and ground During contact, according to Newton's second law, stair can be by reaction force acts on hollow support pipe, and cone pin is in hollow support pipe Interior reciprocal telescopic movement is transferred force on the stress axis with taper pin connection by contact, and changes into shearing force and exist On stress axis, stress axis is fixed on body support.Under the twisting resistance effect that body support is converted in shearing force, and by hollow Under the support of support tube, self gravitation transport vehicle is overcome to be completed in staircase across action, it is reciprocal cross-domain so as to fulfill climbing building, It is identical with principle upstairs downstairs.
Preferably, the power set are arranged between the Climbing building device of the left and right sides, and the Climbing building device of both sides is with power Centered on device, power set both sides are symmetrically arranged in, and share the power set.Take this structure, the climbing machine of both sides Structure using same power set, can effectively reduce the own wt of transport vehicle, so as to increase its loading capacity, also, slow down For machine simultaneously into the Climbing building device of both sides during crank passing power, frequency is identical, effectively keeps Climbing building device movement in both sides synchronous Property, make more to stablize during transport vehicle stair activity.
Preferably, the end set of the telescopic legs is useful for alleviating the steamboat of the upper and lower stair vibrations of transport vehicle, can Telescopic outrigger move when, the steamboat is contacted with ground, the bionical left and right ends for climbing building stepping transport vehicle be additionally provided with for The bull wheel that level land rolls.The steamboat of rubber material is mounted in hollow support pipe contact stair one end, and it is reciprocal to alleviate transport vehicle The vibrations during building are climbed, after steamboat contacts stair, are used cooperatively with stress axis and the cone pin being fixed on vehicle body, according to The second law of newton, rubber steamboat, which contacts reaction force with stair, can act on the transport vehicle being attached thereto simultaneously on stress axis It can be lifted, can realize that integral body is smoothly crossed in staircase under the pulling force effect of human body level at this time, repeatedly Running can realize the purpose for climbing building, set bull wheel, and transport vehicle is allow to be run in level land high-speed smooth.
Preferably, bionical building stepping transport vehicle of climbing is additionally provided with the handlebar transported for manual control, the handlebar Place is provided with to control the switch of dynamical system.Switch at handlebar is set, speed adjusting, side can be carried out using switch Convenient to operate, switch are mounted on handle, and convenient in emergency circumstances emergency stop is handled, and has further ensured that the peace of building process is climbed in loading Entirely.
Accordingly, the present invention also provides a kind of bionical operating method for climbing building stepping transport vehicle, comprise the following steps:
A, by it is bionical climb building stepping transport vehicle it is horizontal positioned or erect place, and by the cargo for treating carrying be correspondingly placed at vehicle frame or On bracket;
B, handlebar is buttressed, and starts power set by being arranged on the switch at handlebar;
C, transport vehicle is grasped by handlebar, transport vehicle is made to keep balance, is arranged in the telescopic legs of vehicle frame both sides in power Start to swing under the driving of device, and transport vehicle is formed and is supported;
D, the angle of inclination in the front-back direction of transport vehicle is adjusted by handlebar, the telescopic legs for making transport vehicle both sides are smooth It marches toward previous stage rank, avoids the occurrence of and step on empty or interference;
E, the telescopic legs of transport vehicle both sides imitate the action that human body both feet climb building, by automatically adjusting its extended length, take turns Stream carries out reciprocally swinging, and building function is climbed in realization;
F, after completing upstairs or downstairs, power set are closed by switch at handlebar, it is big on transport vehicle by being arranged in Wheel carries out transport vehicle, it is made to walk in flat rolls on the floor.
It is bionical climb building stepping transport vehicle it is horizontal positioned when, the bull wheel and handle of transport vehicle contact respectively with ground, to transport Vehicle forms support, and cargo is positioned on vehicle frame, while bracket blocks to cargo, avoids goods movement, slides, bionical to climb When stepping transport vehicle in building erects placement, the bull wheel and bracket of transport vehicle contact respectively with ground, and transport vehicle is formed and is supported, by goods Object is positioned on bracket, while vehicle frame blocks to cargo, is avoided goods movement, is slid, after placing cargo, buttresses handlebar Hand, auxiliary completes balance of the transport vehicle in transportational process, and starts power set by being arranged on the switch at handlebar, makes Power set driving Climbing building device carries out climbing building, can although the telescopic legs of transport vehicle can automatically adjust its extended length The length of telescopic outrigger adjusts transport vehicle at inclination angle in the front-back direction there is always extreme length and shortest length by handlebar Degree, makes two telescopic legs that can be contacted with step surface, when going upstairs, when the telescopic legs of certain one side are marched toward in swing During previous step step, the telescopic legs of opposite side, which form transport vehicle, to be supported, and marches toward the telescopic legs of previous step step again Rotation forms transport vehicle and supports, and the telescopic legs of opposite side is made to march toward again more previous step step, so cycles, and realizes transport Che Pa buildings function, when going downstairs, when the telescopic legs of certain one side are when next step step is marched toward in swing, opposite side can Telescopic outrigger forms transport vehicle and supports, and marching toward the telescopic legs of next step step, rotation forms transport vehicle and supports again, makes The telescopic legs of opposite side are marched toward more next step step again, are so cycled, and realize the purpose of going downstairs of transport vehicle, so as to effectively Avoid the problem that because transport vehicle angle of inclination in the front-back direction not pair due to occur stepping on empty or interference.
Compared with prior art, beneficial effects of the present invention:
1st, the action in building is climbed according to bionics imitation human body both feet, using stepping support concept, arrangement can stretch at transport vehicle both ends Contracting supporting leg, telescopic legs can adjust its length according to the specific size of step, effectively adapt to different step dimensions and building Terraced gradient improves the use adaptability of transport vehicle, can be applicable to the stair of various occasions, solves in the prior art using row Present in star-wheel climbing machine or track type climbing-building machine the problem of cannot preferably adapting to stair, the transport vehicle is simple in structure, can answer On the stair for using various sizes and gradient, labor intensity is reduced for carrying personnel, saves a large amount of manpowers;
2nd, by setting the power transmission including crank and connection ring, while power set set speed reducer, pass through Speed reducer exports power, and power is made effectively to be transferred on telescopic legs, so that crank handle turns connection ring and scalable Supporting leg does ellipse circular path movement, realizes steady, effective transmission of power, ensures that transport vehicle is smoothly crossed in staircase, instead Multiple running can realize the purpose for climbing building, set crank and connection ring, can easily realize telescopic legs using tie point in Heart reciprocally swinging, using worm-gear speed reducer, output can drive the torque of transport vehicle, while by the control of governor, It can adjust as needed and climb building speed;
3rd, it is the form comprising hollow support pipe and cone pin by the structure setting of telescopic legs, cone pin can be in hollow branch Stay tube stretches back and forth, and the function of its length is automatically adjusted so as to fulfill telescopic legs;
4th, the steamboat of rubber material is mounted in hollow support pipe contact stair one end, transport vehicle is alleviated and back and forth climbs during building Vibrations, set bull wheel allow transport vehicle level land high-speed smooth run, realize transport vehicle in the applicable effect of various occasions Fruit.
Description of the drawings
Fig. 1 is the bionical structure diagram for climbing building stepping transport vehicle of the present invention.
Fig. 2 is the sectional view of the E-E lines along Fig. 1.
Fig. 3 is the partial enlarged view at A in Fig. 1.
Fig. 4 is the sectional view of the line C-C along Fig. 3.
It is marked in figure:1- power sources, 2- cranks, the first clamping screws of 3-, 4- speed reducers, 5- hollow support pipes, 6- tapers Pin, the second clamping screws of 7-, 8- connection rings, 9- rolling bearings, 10- stress axis, 11- vehicle frames, 12- steamboats, 13- bull wheels, 14- vehicles Handle, 15- brackets.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood Following embodiment is only limitted to for the scope of the above-mentioned theme of the present invention, it is all that this is belonged to based on the technology that present invention is realized The scope of invention.
Embodiment
As Figure 1-Figure 4, it is bionical to climb building stepping transport vehicle, including vehicle frame 11 and it is arranged in climbing for 11 left and right sides of vehicle frame Building mechanism, the Climbing building device include telescopic legs, and the telescopic legs are connected with power set, and in power set Under effect centered on tie point reciprocally swinging so that the telescopic outrigger swing successively being arranged at left and right sides of vehicle frame, pendulum When dynamic, the formation of transport vehicle is supported.
The dimensions of vehicle frame is:Length × width × height=440mm × 440mm × 1500mm is provided with to put on the vehicle frame The bracket 15 of placing articles.
The action in building is climbed according to bionics imitation human body both feet, telescopic legs at left and right sides of vehicle frame are set, make to stretch Contracting supporting leg reciprocally swinging under the action of power set, when going upstairs, when the telescopic legs of certain one side are on swing is marched toward During one step step, the telescopic legs of opposite side, which form transport vehicle, to be supported, and the telescopic legs for marching toward previous step step are taken turns again It changes to form transport vehicle and support, the telescopic legs of opposite side is made to march toward again more previous step step, are so cycled, realize transport vehicle Climb building function, when going downstairs, principle and go upstairs it is identical:When the telescopic legs of certain one side are marched toward next step platform in swing During rank, the telescopic legs of opposite side form transport vehicle and support, march toward the telescopic legs of next step step again rotation to fortune Defeated vehicle forms support, and the telescopic legs of opposite side is made to march toward again more next step step, are so cycled, realize transport vehicle downstairs Terraced purpose.
This bionical building stepping transport vehicle of climbing uses stepping support concept, and transport vehicle is made to realize the purpose of stair activity, due to Which employs telescopic legs, telescopic legs can adjust its length according to the specific size of step, effectively adapt to different Step dimension and stair gradient, improve the use adaptability of transport vehicle, and possible application is solved existing in the stair of various occasions Have in technology using planetary gear climbing machine or present in track type climbing-building machine the problem of cannot preferably adapting to stair size, the fortune Defeated bassinet structure is simple, can be applied on the stair of various sizes and gradient, and labor intensity is reduced for carrying personnel, saves big Measure manpower.
Power set include power source 1 and speed reducer connected to it 4, and the power set are provided with telescopic legs Power transmission, the power transmission include the crank 2 that axis connection is exported with speed reducer 4, and output shaft before crank 2 with making It is locked with the first clamping screw 3, the torque of output shaft is reliably passed into crank 2, crank 2 is connected to scalable branch simultaneously Leg, in the present embodiment, power source 1 uses 24V lithium battery 250W motors, and the speed ratio of speed reducer is 60:1,24V batteries, 250W motors and 60:The weight that can carry 65KG, upper and lower 600 grades or so steps are used in the case of 1 speed reducer.
By setting the power transmission including crank, power set have speed reducer to be connected with crank, pass through Speed reducer exports power, crank is driven to move in a circle, crank is connected to telescopic legs simultaneously, so that crank handle turns Telescopic legs do ellipse circular path movement, after telescopic legs swing the upper plane contact with step, according to the second of newton Law, the reaction force that telescopic legs are contacted with stair can be acted on the vehicle frame being connected with telescopic legs, at this time in people It can realize that integral body is smoothly crossed in staircase under the support power effect of body level, running repeatedly, which can be realized, climbs building Purpose.
Speed reducer 4 is worm-gear speed reducer, and power transmission further includes the company that telescopic legs is driven to rotate Ring 8 is connect, the connection ring 8 is strip rectangular slab, and connection is combined using rolling bearing 9 between 8 one end of connection ring and crank 2, The other end of connection ring 8 offers to fix the fixing groove of telescopic legs.
Crank and connection ring are set simultaneously, can easily realize telescopic legs reciprocally swinging centered on tie point, is used Worm-gear speed reducer, output can drive the torque that transport vehicle is run, while by the control of governor, it can be as needed Building speed is climbed in adjusting.By the way that crank is combined connection with connection ring, so as to further transfer power in connection ring.Use item Shape rectangular slab does connection ring, and splits its one end is parallel, opens up fixing groove, makes fixing groove axis direction perpendicular to plate face, can Telescopic legs are mounted in the fixing groove of connection ring and pass through clamping screw, telescopic legs are being locked at connection ring just On true position, ensure that power is further effectively passed to telescopic legs, the telescopic legs for being arranged in vehicle frame both sides is driven Backswing is moved, and completes the support to transport vehicle and upper and lower step in turn.
Telescopic legs include hollow support pipe 5 and the cone pin 6 being fixed on vehicle frame 11, and the cone pin 6 stretches into sky In heart support tube 5, when telescopic legs move, which does relatively reciprocating motion in hollow support pipe 5, makes scalable branch The length of leg realizes automatic adjustment, is the form comprising hollow support pipe and cone pin by the structure setting of telescopic legs, bores Shape pin one end is fixed on vehicle frame, and the other end can back and forth stretch in hollow support pipe, be adjusted automatically so as to fulfill telescopic legs Save the function of its length.
Climbing building device further includes the stress axis 10 being fixed on vehicle frame 11, and the end of telescopic legs is connected to stress axis 10 On, and be axle center with the stress axis 10, it swings back and forth in the same plane, and the plane that telescopic outrigger is swung is perpendicular to stress axis 10 axis.
Connection ring 8 is fixedly connected with hollow support pipe 5, and the tapered end thereof of cone pin 6 is stretched in hollow support pipe 5, separately One end offers the rotating hole passed through for stress axis 10, and the stress axis 10 connects through the rotating hole and telescopic legs activity It connects, makes telescopic legs crankmotion under the drive of connection ring 8, hollow support pipe 5 is mounted on the fixing groove of connection ring 8 It is interior and pass through the second clamping screw 7 and be locked at hollow support pipe 5 on the correct position of connection ring 8, ensure that power further has Effect is transferred to hollow support pipe 5, and hollow support pipe 5 is inserted into for cone pin 6, and the other end is contacted with ground, when hollow support pipe 5 When being contacted with ground, according to Newton's second law, stair can be by reaction force acts on hollow support pipe 5, and cone pin 6 is in sky Reciprocal telescopic movement in heart support tube 5 is transferred force on the stress axis 10 being connected with cone pin 6 by contact, and changed into On stress axis 10, stress axis 10 is fixed on vehicle frame 11 shearing force.Under the twisting resistance effect that vehicle frame is converted in shearing force, And under the support by hollow support pipe 5, self gravitation transport vehicle is overcome to be completed in staircase across action, it is reciprocal it is cross-domain from And realize and climb building, it is identical with principle upstairs downstairs.
Power set be arranged in the left and right sides Climbing building device between, the Climbing building device of both sides centered on power set, Power set both sides are symmetrically arranged in, and share the power set, take this structure, the Climbing building device of both sides is using same Power set can effectively reduce the own wt of transport vehicle, and so as to increase its loading capacity, also, speed reducer is simultaneously to both sides Climbing building device in crank passing power when, frequency is identical, effectively keep both sides Climbing building device motion synchronicity, make on transport vehicle More stablize when going downstairs.
The end set of telescopic legs is useful for alleviating the steamboat 12 of the upper and lower stair vibrations of transport vehicle, telescopic legs During movement, steamboat 12 is contacted with ground, and the bionical left and right ends for climbing building stepping transport vehicle are additionally provided with what is rolled on level land Bull wheel 13, steamboat 12 use 3.5 cun of rubber wheels, and the steamboat 12 of rubber material is mounted in the contact stair of hollow support pipe 5 one end, It alleviates transport vehicle and back and forth climbs vibrations during building, after steamboat 12 contacts stair, with the stress axis 10 being fixed on vehicle body It is used cooperatively with cone pin 6, according to the second law of newton, rubber steamboat, which contacts reaction force with stair, can act on stress axis The upper transport vehicle being attached thereto simultaneously can be lifted, and can realize integral body in building under the pulling force effect of human body level at this time It is smoothly crossed between ladder, running repeatedly can realize the purpose for climbing building, set bull wheel, allow transport vehicle flat at a high speed on level land Steady operation.
Bionical building stepping transport vehicle of climbing is additionally provided with handlebar 14 for manual control transport, at the position of handlebar 14 It is provided with to control the switch of dynamical system, switch is set at handlebar 14, switch can be utilized to carry out speed adjusting, it is square Convenient to operate, switch are mounted on handle, and convenient in emergency circumstances emergency stop is handled, and has further ensured that the peace of building process is climbed in loading Entirely.
Practical operation is bionical climb building stepping transport vehicle when, according to operations described below method implement carry out, comprise the following steps:
A, it is bionical building stepping transport vehicle of climbing is horizontal positioned or erect and place, and the cargo for treating carrying is correspondingly placed at vehicle frame 11 Or on bracket 15;
B, handlebar 14 is buttressed, and starts power set by being arranged on the switch at handlebar 14;
C, transport vehicle is grasped by handlebar 14, transport vehicle is made to keep balance, be arranged in the telescopic legs of vehicle frame both sides dynamic Start to swing under the driving of power apparatus, and transport vehicle is formed and is supported;
D, the angle of inclination in the front-back direction of transport vehicle is adjusted by handlebar 14, the telescopic legs for making transport vehicle both sides are suitable Profit is marched toward previous stage rank, is avoided the occurrence of and is stepped on empty or interference;
E, the telescopic legs of transport vehicle both sides imitate the action that human body both feet climb building, by automatically adjusting its extended length, take turns Stream carries out reciprocally swinging, and building function is climbed in realization;
F, after completing upstairs or downstairs, power set are closed by switch at handlebar 14, by being arranged on transport vehicle Bull wheel 13 carries out transport vehicle, it is made to walk in flat rolls on the floor.
It is bionical climb building stepping transport vehicle it is horizontal positioned when, the bull wheel and handle of transport vehicle contact respectively with ground, to transport Vehicle forms support, and cargo is positioned on vehicle frame, while bracket blocks to cargo, avoids goods movement, slides, bionical to climb When stepping transport vehicle in building erects placement, the bull wheel and bracket of transport vehicle contact respectively with ground, and transport vehicle is formed and is supported, by goods Object is positioned on bracket, while vehicle frame blocks to cargo, is avoided goods movement, is slid, after placing cargo, buttresses handlebar Hand, auxiliary completes balance of the transport vehicle in transportational process, and starts power set by being arranged on the switch at handlebar, makes Power set driving Climbing building device carries out climbing building, can although the telescopic legs of transport vehicle can automatically adjust its extended length The length of telescopic outrigger adjusts transport vehicle at inclination angle in the front-back direction there is always extreme length and shortest length by handlebar Degree, makes two telescopic legs that can be contacted with step surface, when going upstairs, when the telescopic legs of certain one side are marched toward in swing During previous step step, the telescopic legs of opposite side, which form transport vehicle, to be supported, and marches toward the telescopic legs of previous step step again Rotation forms transport vehicle and supports, and the telescopic legs of opposite side is made to march toward again more previous step step, so cycles, and realizes transport Che Pa buildings function, when going downstairs, when the telescopic legs of certain one side are when next step step is marched toward in swing, opposite side can Telescopic outrigger forms transport vehicle and supports, and marching toward the telescopic legs of next step step, rotation forms transport vehicle and supports again, makes The telescopic legs of opposite side are marched toward more next step step again, are so cycled, and realize the purpose of going downstairs of transport vehicle, so as to effectively Avoid the problem that because transport vehicle angle of inclination in the front-back direction not pair due to occur stepping on empty or interference.
The present embodiment climbs the action in building according to bionics imitation human body both feet, using stepping support concept, in transport vehicle two End arrangement telescopic legs, telescopic legs can adjust its length according to the specific size of step, effectively adapt to different platforms Rank size and stair gradient improve the use adaptability of transport vehicle, can be applicable to the stair of various occasions, solve existing skill In art using planetary gear climbing machine or present in track type climbing-building machine the problem of cannot preferably adapting to stair, the transport bassinet structure Simply, it can be applied on the stair of various sizes and gradient, reduce labor intensity for carrying personnel, save a large amount of manpowers.

Claims (10)

1. one kind is bionical to climb building stepping transport vehicle, which is characterized in that including vehicle frame and the climbing machine being arranged at left and right sides of vehicle frame Structure, the Climbing building device include telescopic legs, and the telescopic legs are connected with power set, and in the effect of power set Under centered on tie point reciprocally swinging so that the telescopic outrigger swing successively being arranged at left and right sides of vehicle frame, during swing, The formation of transport vehicle is supported.
2. bionical building stepping transport vehicle is climbed according to claim 1, which is characterized in that the power set include power source With speed reducer connected to it, power transmission is provided between the power set and telescopic legs, which transfers Device includes the crank being connected with speed reducer output shaft, and the crank is connected to telescopic legs simultaneously.
3. bionical building stepping transport vehicle is climbed according to claim 2, which is characterized in that the speed reducer subtracts for worm and gear Fast machine, the power transmission further include the connection ring that telescopic legs is driven to rotate, and the connection ring is strip square Shape plate, the connection ring one end are connected with crank, and the other end offers to fix the fixing groove of telescopic legs.
4. bionical building stepping transport vehicle is climbed according to claim 3, which is characterized in that the telescopic legs include hollow Support tube and the cone pin being fixed on vehicle frame, the cone pin are stretched into hollow support pipe, when telescopic legs move, the cone Shape pin does relatively reciprocating motion in hollow support pipe, and the length of telescopic legs is made to realize automatic adjustment.
5. bionical building stepping transport vehicle is climbed according to claim 4, which is characterized in that the Climbing building device further includes fixation In the stress axis on vehicle frame, the end of the telescopic legs is connected on stress axis, and using the stress axis as axle center, same It swings back and forth in plane, and the plane of telescopic outrigger swing is perpendicular to the axis of stress axis.
6. bionical building stepping transport vehicle is climbed according to claim 5, which is characterized in that the connection ring and hollow support pipe It is fixedly connected, the tapered end thereof of the cone pin is stretched in hollow support pipe, and the other end offers what is passed through for stress axis Rotating hole, the stress axis are flexibly connected through the rotating hole with telescopic legs, make drive of the telescopic legs in connection ring Lower crankmotion.
7. bionical according to one of claim 1-6 climbs building stepping transport vehicle, which is characterized in that the power set arrangement Between the Climbing building device of the left and right sides, the Climbing building device of both sides is symmetrically arranged in power set two centered on power set Side, and share the power set.
8. bionical according to one of claim 1-6 climbs building stepping transport vehicle, which is characterized in that the telescopic legs End set is useful for alleviating the steamboat of the upper and lower stair vibrations of transport vehicle, and when telescopic legs move, the steamboat connects with ground It touches, the bionical left and right ends for climbing building stepping transport vehicle are additionally provided with the bull wheel for being rolled on level land.
9. bionical building stepping transport vehicle is climbed according to claim 8, which is characterized in that bionical building stepping transport vehicle of climbing also is set The handlebar for manual control transport is equipped with, is provided with to control the switch of dynamical system at the handlebar.
10. a kind of bionical operating method for climbing building stepping transport vehicle, which is characterized in that bionical as claimed in claim 9 to climb building The operating method of stepping transport vehicle, comprises the following steps:
A, by it is bionical climb building stepping transport vehicle it is horizontal positioned or erect place, and by the cargo for treating carrying be correspondingly placed at vehicle frame or On bracket;
B, handlebar is buttressed, and starts power set by being arranged on the switch at handlebar;
C, transport vehicle is grasped by handlebar, transport vehicle is made to keep balance, is arranged in the telescopic legs of vehicle frame both sides in power Start to swing under the driving of device, and transport vehicle is formed and is supported;
D, the angle of inclination in the front-back direction of transport vehicle is adjusted by handlebar, the telescopic legs for making transport vehicle both sides are smooth It marches toward previous stage rank, avoids the occurrence of and step on empty or interference;
E, the telescopic legs of transport vehicle both sides imitate the action that human body both feet climb building, by automatically adjusting its extended length, take turns Stream carries out reciprocally swinging, and building function is climbed in realization;
F, after completing upstairs or downstairs, power set are closed by switch at handlebar, it is big on transport vehicle by being arranged in Wheel carries out transport vehicle, it is made to walk in flat rolls on the floor.
CN201611054582.7A 2016-11-25 2016-11-25 One kind is bionical to climb building stepping transport vehicle and its operating method Pending CN108100005A (en)

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Application Number Priority Date Filing Date Title
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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070071743A (en) * 2005-12-30 2007-07-04 정옥희 Transfering apparatus by a stairyway
CN101085621A (en) * 2007-06-27 2007-12-12 浙江大学 Portable semi-automatic stairs climbing dolly
CN102602437A (en) * 2012-04-18 2012-07-25 徐宏伟 Electric cargo-carrying stair climbing vehicle
US20130154207A1 (en) * 2011-12-20 2013-06-20 Douglas G. Sabin Apparatus, System and Method for a Load-Bearing Cart
US20150210305A1 (en) * 2014-01-30 2015-07-30 Craig J. Scholin Safety hand cart
CN105539627A (en) * 2015-12-25 2016-05-04 谭春升 Travel tool
CN105620538A (en) * 2015-12-21 2016-06-01 张美莲 Stair climbing machine
CN105752140A (en) * 2016-04-22 2016-07-13 江南大学 Foldable stair-climbing assisting trolley

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070071743A (en) * 2005-12-30 2007-07-04 정옥희 Transfering apparatus by a stairyway
CN101085621A (en) * 2007-06-27 2007-12-12 浙江大学 Portable semi-automatic stairs climbing dolly
US20130154207A1 (en) * 2011-12-20 2013-06-20 Douglas G. Sabin Apparatus, System and Method for a Load-Bearing Cart
CN102602437A (en) * 2012-04-18 2012-07-25 徐宏伟 Electric cargo-carrying stair climbing vehicle
US20150210305A1 (en) * 2014-01-30 2015-07-30 Craig J. Scholin Safety hand cart
CN105620538A (en) * 2015-12-21 2016-06-01 张美莲 Stair climbing machine
CN105539627A (en) * 2015-12-25 2016-05-04 谭春升 Travel tool
CN105752140A (en) * 2016-04-22 2016-07-13 江南大学 Foldable stair-climbing assisting trolley

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