CN109205211A

CN109205211A - Handling device

Info

Publication number: CN109205211A
Application number: CN201811168135.3A
Authority: CN
Inventors: 绔ユ旦; 童浩
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-10-08
Filing date: 2018-10-08
Publication date: 2019-01-15

Abstract

The invention discloses handling devices, including monolithic case, left driving device is equipped in the monolithic case, right driving device, shock absorbing apparatus, wheel apparatus and crawler attachment, the left driving device is located at the driving shell between the monolithic case or so inner wall, power cavity is equipped on rear side of the driving shell, deflecting chamber is equipped on front side of the power cavity, the deflecting chamber front left side is equipped with power and transmits chamber, power reception chamber is equipped on the right side of the power transmitting chamber, it is equipped on the right side of the power reception chamber and retreats driving chamber, the installation that is rotatably assorted in the shell retreated between driving chamber and the deflecting chamber retreats drive shaft, the front end face for retreating drive shaft, which is fixedly mounted, retreats driving wheel, the back end surface for retreating drive shaft, which is fixedly mounted to retreat, receives wheel, turn in the shell retreated between driving chamber and the power reception chamber It is dynamic to be coupled retrogressing transmission axle.

Description

Handling device

Technical field

The present invention relates to materials handling technical fields, specially handling device.

Background technique

Current most of handling device is difficult to cross over when in face of complicated landform, can be in distress in face of narrow location With the defect of steering, solution can not be provided substantially when facing stair, it is therefore desirable to be provided a kind of special in face of complicated landform It is not stair, the handling device of good transportation function can be still provided.

Summary of the invention

The purpose of the present invention is to provide handling devices, for overcoming drawbacks described above in the prior art.

The handling device of embodiment according to the present invention, including monolithic case, the monolithic case is interior to be equipped with left driving dress It sets, right driving device, shock absorbing apparatus, wheel apparatus and crawler attachment, the left driving device are located at described monolithic case or so Driving shell between inner wall, the driving shell rear side is interior to be equipped with power cavity, and deflecting chamber is equipped on front side of the power cavity, described Deflecting chamber front left side is equipped with power and transmits chamber, is equipped with power reception chamber on the right side of the power transmitting chamber, the power reception chamber is right Side, which is equipped with, retreats driving chamber, and the installation that is rotatably assorted in the shell retreated between driving chamber and the deflecting chamber retreats driving Axis, the front end face for retreating drive shaft, which is fixedly mounted, retreats driving wheel, the fixed peace of the back end surface for retreating drive shaft Dress, which retreats, receives wheel, and the installation that is rotatably assorted in the shell retreated between driving chamber and the power reception chamber retreats transmitting Axis, the right end face for retreating transmission axle, which is fixedly mounted, receives driving wheel, the reception driving wheel and the retrogressing driving wheel Transmitting driving wheel is fixedly mounted in engagement, the left end face for retreating transmission axle, and the power reception chamber and the power transmit It is rotatably assorted in shell between chamber and power transmission shaft is installed, power reception is fixedly mounted in the right end face of the power transmission shaft Wheel, the power reception wheel are engaged with the transmitting driving wheel, and power output is fixedly mounted in the power transmission shaft left end face Power output shaft is fixedly mounted in the left end face of wheel, the power output wheel, between the power reception chamber and the deflecting chamber Shell in be rotatably assorted forward drive axis be installed, advance output wheel, institute is fixedly mounted in the front end face of the forward drive axis Advance output wheel to be stated to engage with the power reception wheel, the back end surface of the forward drive axis, which is fixedly mounted to advance, receives wheel, Conversion motor is fixedly mounted in the right end face of the power cavity, the left end face of the output shaft of the conversion motor to the left is fixed Turn threads axis is connected, axially left extension is rotatably assorted the turn threads with the power cavity inner left wall wall, the power The intracavitary power conversion block that is slidably installed, the power conversion block is interior to be equipped with the end face at left and right sides of the power conversion block Turn threads chamber, the turn threads chamber and the turn threads axle thread cooperate, the front inner wall of the power conversion block Interior fixed installation drives power motor, and driving power wheel is fixedly mounted in the forward output shaft front end face of driving power motor, The driving power wheel can receive wheel with the advance and the retrogressing receives wheel and engages, and the left driving device is installed on drive It is centrosymmetric on rear side of dynamic shell with the right driving device.

Further technical solution, the wheel apparatus include the right wheel pedestal in the monolithic case, the right wheel Pedestal and revolver pedestal bilateral symmetry, be rotatably assorted installation lifting axis between the right wheel pedestal and the revolver pedestal, described It is lifted axial end and lifting wheel is fixedly mounted, be rotatably assorted between the right wheel pedestal and the right wheel pedestal and preceding guide shaft is installed, institute Front jocket wheel is fixedly mounted in guide shaft before stating, and is rotatably assorted between the right wheel pedestal and the revolver pedestal and installs back-guiding rod, described Be rotatably assorted guide wheel after installing on back-guiding rod, and outer guide plate is fixedly mounted in the back-guiding rod end face, and the left and right outer guide plate is opposite Side, which is rotatably assorted, installs outer guide wheel, and the outer guide wheel opposite side in left and right, which is rotatably assorted, installs inner guide plate, and left and right is described interior It is fixedly mounted on the back-guiding rod on the left of guide plate, identical four of four intervals of installation that are rotatably assorted in the right wheel pedestal are moved Power axis, be rotatably assorted between the right wheel pedestal the identical right driving shaft in four intervals of installation, rotates between the revolver pedestal It is coupled that four intervals are identical, the right driving shaft right end face between the right wheel pedestal is fixedly mounted outside right active It takes turns, the right active lubrication groove of the right driving shaft left end face fixed installation between the right wheel pedestal, between the revolver pedestal The left driving shaft right end face left active foreign steamer, the left driving shaft left-hand end between the revolver pedestal is fixedly mounted Face is fixedly mounted left active lubrication groove, and the right active lubrication groove left end face is fixedly mounted right power transmission shaft, outside the left active It takes turns right end face and left power transmission shaft is fixedly mounted, the right wheel chassis left side is equipped with the right cavity of cavity of an opening to the left, institute It states and is equipped with right straight-bar in right cavity, be rotatably assorted between the right straight-bar and the right power transmission shaft, the revolver pedestal is right Side is equipped with the left cavity of cavity of an opening to the right, and left straight-bar is equipped in the left cavity, and the left straight-bar and the left power pass It passs and is rotatably assorted between axis, the power output shaft is rotatably assorted with right straight-bar, and the power output shaft is matched with the rotation of left straight-bar It closes.

Further technical solution, the shock absorbing apparatus include after being rotatably assorted and being mounted between the inner guide plate of left and right Shock-absorbing inputs end, and the rear shock-absorbing input end is rotatably assorted with the back-guiding rod, after left and right is described outside shock-absorbing input end Shock-absorbing input lever after side is fixedly mounted, shock-absorbing connection end after shock-absorbing input lever front end is fixedly mounted after left and right is described, left and right institute It states rear shock-absorbing connection end and is hingedly coupled rear shock-absorbing conversion head and shock-absorbing output rod, the rear shock-absorbing output rod hinge cooperation Tray rear port is connected, tray, the rear shock-absorbing conversion head front end face are fixedly mounted above the tray rear port Shock-absorbing selector bar after fixed installation, shock-absorbing conversion circle after the rear shock-absorbing selector bar front end face is fixedly mounted, the rear shock-absorbing The shock-absorbing that is slidably installed at selector bar changeover bobbin, the interior shock-absorbing that is equipped with of the shock-absorbing changeover bobbin convert chamber, the rear shock-absorbing conversion It is slidably matched between circle and shock-absorbing conversion cavity wall, the intracavitary front shock-proof device conversion circle that is slidably installed of the shock-absorbing conversion, Installation shock-proof spring is fixedly mounted between the front shock-proof device conversion circle and the rear shock-absorbing conversion circle, before the front shock-proof device converts circle Side end face secure fit installs front shock-proof device selector bar, and the front shock-proof device selector bar is slidably matched with the shock-absorbing changeover bobbin, left and right Front shock-proof device conversion head is fixedly mounted in the opposite front side of the front shock-proof device selector bar, before the front shock-proof device conversion head is hingedly coupled Shock-absorbing output rod, the front shock-proof device selector bar are hingedly coupled front shock-proof device connection end and front shock-proof device input lever, keep away before described It shakes and front shock-proof device input end is fixedly mounted on front side of input lever, front shock-proof device input end is rotatably assorted with the preceding guide shaft, institute It states tray bottom end face and tray front port is fixedly mounted, the tray front port is hingedly matched with the front shock-proof device output rod It closes, the lifting axis central rotational is lifted end before being coupled, head top part end face is lifted before described, lifting bar is fixedly mounted It is lifted bar, lifting cylinder is fixedly mounted in the lifting bar lifting bar top end surface, and the lifting cylinder head end face is fixedly mounted After be lifted end, it is described after lifting end hingedly cooperate with the tray front port.

Further technical solution, the crawler attachment include the crawler belt for being mounted on the right wheel chassis outer side, the shoe Band is made of the identical crawler belt mutual cooperation of 24 sections, is equipped with single-unit crawler belt shell in the crawler belt, outside the single-unit crawler belt It is equipped with universal plate chamber in shell, control plate chamber is equipped on front side of the universal plate chamber, control is fixedly mounted between described control plate chamber or so inner wall Plate axis, the control plate axis, which is rotatably assorted, installs control plate, and strong magnets, the control plate is fixedly mounted on rear side of the control plate Electromagnet is fixedly mounted in inner wall on rear side of chamber, and omnipotent board shaft, the universal plate is fixedly mounted between described universal plate chamber or so inner wall The intracavitary universal plate that is slidably installed, the universal plate is interior to be equipped with brake chamber, and connection, which is equipped with, in the braking cavity wall brakes limit Position chamber, the braking limit chamber are slidably installed brake block, are fixedly mounted between the braking limit chamber bottom wall and brake block Limit spring is fixedly mounted in the omnipotent board shaft in tripping spring.

The beneficial effects of the present invention are: the configuration of the present invention is simple, easy to operate, when use, start conversion motor band Turn changes thread spindle, pushes power conversion block to operating position, drives power wheel at this time and reception of advancing is taken turns or retreated and receives Wheel engagement, advancing to receive to take turns drives advance output wheel, advance output wheel and power transmission shaft engagement rotation by forward drive axis, It retreats to receive to take turns to drive by retrogressing drive shaft and retreats driving wheel, retrogressing driving wheel is engaged with driving wheel is received, reception driving wheel It drives and retreats transmission axle, retreat transmission axle and drive transmitting driving wheel, drive power reception wheel to reversely rotate by transmitting driving wheel It may be implemented to fall back, the rotation of power reception wheel will drive power transmission shaft, drive power output wheel by power transmission shaft, move The rotation of power output wheel drives power output shaft circular-rotation, drives interlocking bar by the movement of power output shaft, passes through interlocking bar The rotation of four driving wheels is driven to realize movement, since left and right drives respectively independent and is equipped with the shelves that move forward and backward, so as to Realize such as advances, retrogressings, turning, spot turn, spin, drift about a variety of operations, if encounter shake collision etc., shock-absorbing bullet The axis of spring two sides passes through shock-absorbing input lever, rear shock-absorbing output rod, front shock-proof device input lever, front shock-proof device output after being hingedly cooperatively connected Bar, guide shaft before rear shock-absorbing input lever connection back-guiding rod, front shock-proof device input lever connect, so that chassis impact is absorbed, rear shock-absorbing output The hinged tray rear port of bar, the hinged tray front port of front shock-proof device output rod, tray rear port and tray front port are solid Surely tray is connected, to reduce the shaking of tray, realizes that firm effect can pass through if facing short barrier It is lifted cylinder driving lifting bar and is lifted bar, make to be lifted axis lifting, to have a degree of cross-country power, electricity when stair activity Magnet starting pushes strong magnets by repulsion to open control plate and discharge universal plate, and universal plate is pushed away by limit spring Dynamic and brake block limitation may remain in the position of vertical crawler belt plane, pushes and will reset if universal plate encounters the back side, and ten thousand It pushes and will at most be pushed away because of the setting and brake block, the limitation for braking limit chamber of single-unit crawler belt shell if energy plate encounters front It will be carried out to 45 degree of angles since stair mean level face and vertical plane are almost equal by this special crawler belt Gentle stair climbing function, it might even be possible to advance on stair or fall back, the configuration of the present invention is simple is easy to operate, passes through shoe The special tectonic of universal plate and universal plate in band can operate on stairway step, and left and right sides crawler belt is respectively by different Power mechanism control, can be advanced by the adjustment of respective power output, retreat, turn, spot turn, spin, drift about Deng operation, preposition lifting wheel and shock absorbing apparatus can allow device still to guarantee good carrying function in broken terrain Can, invention is novel, and market prospects are good, are worthy to be popularized.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the invention；

Fig. 2 is the schematic cross-sectional view in the direction A in Fig. 1；

Fig. 3 is the schematic cross-sectional view in the direction B in Fig. 1；

Fig. 4 is the enlarged diagram in Fig. 1 at C；

Fig. 5 is the enlarged diagram in Fig. 2 at D.

Specific embodiment

Below with reference to Fig. 1-5, the present invention is described in detail.

Referring to Fig.1-5, the handling device of embodiment according to the present invention, including monolithic case 100, the monolithic case Left driving device, right driving device, shock absorbing apparatus, wheel apparatus and crawler attachment are equipped in 100, the left driving device is located at Driving shell 152 between 100 or so the inner wall of monolithic case, 152 rear side of driving shell is interior to be equipped with power cavity 154, Deflecting chamber 159 is equipped on front side of the power cavity 154,159 front left side of deflecting chamber is equipped with power and transmits chamber 164, the power It transmits and is equipped with power reception chamber 168 on the right side of chamber 164, be equipped on the right side of the power reception chamber 168 and retreat driving chamber 172, after described It moves back the installation that is rotatably assorted in the shell between driving chamber 172 and the deflecting chamber 159 and retreats drive shaft 175, the retrogressing driving The front end face of axis 175, which is fixedly mounted, retreats driving wheel 174, and the back end surface for retreating drive shaft 175, which is fixedly mounted, to be retreated Wheel 176 is received, the installation that is rotatably assorted in the shell retreated between driving chamber 172 and the power reception chamber 168, which retreats, to be passed Pass axis 171, the right end face for retreating transmission axle 171, which is fixedly mounted, receives driving wheel 173, the receptions driving wheel 173 and The retrogressing driving wheel 174 engages, and transmitting driving wheel 169 is fixedly mounted in the left end face for retreating transmission axle 171, described dynamic It is rotatably assorted in shell between power receiving cavity 168 and power transmitting chamber 164 and power transmission shaft 167 is installed, the power Power reception wheel 170, the power reception wheel 170 and the transmitting driving wheel 169 is fixedly mounted in the right end face of transmission axle 167 Power output wheel 162, the left-hand end of the power output wheel 162 is fixedly mounted in engagement, 167 left end face of power transmission shaft Power output shaft 163 is fixedly mounted in face, is rotatably assorted in the shell between the power reception chamber 168 and the deflecting chamber 159 Forward drive axis 161 is installed, advance output wheel 178 is fixedly mounted in the front end face of the forward drive axis 161, and the advance is defeated Wheel 178 is engaged with the power reception wheel 170 out, and the back end surface of the forward drive axis 161, which is fixedly mounted to advance, receives wheel 160, the right end face of the power cavity 154 is interior to be fixedly mounted conversion motor 153, the output shaft of the conversion motor 153 to the left Left end face be fixedly connected with turn threads axis 155, the turn threads axis 155 extends and 154 left side of power cavity to the left Inner wall wall is rotatably assorted, and be slidably installed power conversion block 156 in the power cavity 154, sets in the power conversion block 156 Have a turn threads chamber 180 through 156 left and right sides end face of power conversion block, the turn threads chamber 180 with described turn It changes thread spindle 155 to be threadedly engaged, driving power motor 157 is fixedly mounted in the front inner wall of the power conversion block 156, it is described Drive the forward output shaft front end face of power motor 157 that driving power wheel 158 is fixedly mounted, the driving power wheel 158 can be with The advance receives wheel 160 and the retrogressing receives 176 engagement of wheel, after the left driving device is installed on driving shell 152 Side is centrosymmetric with the right driving device.

Valuably or illustratively, the wheel apparatus includes the right wheel pedestal 181 in the monolithic case 100, institute 182 bilateral symmetry of right wheel pedestal 181 and revolver pedestal is stated, rotates and matches between the right wheel pedestal 181 and the revolver pedestal 182 Installation lifting axis 101 is closed, lifting wheel 102, the right wheel pedestal 181 and the right wheel is fixedly mounted in 101 end face of lifting axis Be rotatably assorted guide shaft 104 before installing between pedestal 182, and front jocket wheel 105, the right wheel pedestal is fixedly mounted in the preceding guide shaft 104 It is rotatably assorted between 181 and the revolver pedestal 182 and back-guiding rod 110 is installed, led after the installation that is rotatably assorted on the back-guiding rod 110 Outer guide plate 111 is fixedly mounted in wheel 109,110 end face of back-guiding rod, and the outer guide plate 111 opposite side in left and right is rotatably assorted Outer guide wheel 112 is installed, the outer guide wheel 112 opposite side in left and right, which is rotatably assorted, installs inner guide plate 113, the left and right inner guide plate 113 left sides are fixedly mounted on the back-guiding rod 110, and four intervals of installation that are rotatably assorted in the right wheel pedestal 181 are identical Four line shafts 107, be rotatably assorted between the right wheel pedestal 181 the identical right driving shaft 107 in four intervals of installation, the left side Be rotatably assorted four intervals identical 191 of installation between wheel pedestal 182, the right driving shaft between the right wheel pedestal 181 Right active foreign steamer 106, right 107 left end face of driving shaft between the right wheel pedestal 181 is fixedly mounted in 107 right end faces Right active lubrication groove 122 is fixedly mounted, left 191 right end face of driving shaft between the revolver pedestal 182 is fixedly mounted left Left active lubrication groove is fixedly mounted in active foreign steamer 194, left 191 left end face of driving shaft between the revolver pedestal 182 193, right power transmission shaft 119, left 194 right-hand end of active foreign steamer is fixedly mounted in right 122 left end face of active lubrication groove Left power transmission shaft 198 is fixedly mounted in face, and the right cavity 223 of cavity of an opening to the left, institute are equipped on the left of the right wheel pedestal 181 It states in right cavity 223 and is equipped with right straight-bar 120, be rotatably assorted between the right straight-bar 120 and the right power transmission shaft 119, institute It states and is equipped with the left cavity 222 of cavity of an opening to the right on the right side of revolver pedestal 182, be equipped with left straight-bar 199 in the left cavity 222, Be rotatably assorted between the left straight-bar 199 and the left power transmission shaft 198, the power output shaft 163 with 120 turns of right straight-bar Dynamic cooperation, the power output shaft 163 are rotatably assorted with left straight-bar 199, to be driven by the rotation of power output shaft 163 left Straight-bar 199 and right straight-bar 120, to drive the rotation of four power wheels in left and right.

Valuably or illustratively, the shock absorbing apparatus includes being rotatably assorted to be mounted between the inner guide plate 113 of left and right Rear shock-absorbing input end 114, it is described after shock-absorbing input end 114 be rotatably assorted with the back-guiding rod 110, kept away after left and right is described Shock-absorbing input lever 123 after being fixedly mounted on the outside of shake input end 114,123 front end of shock-absorbing input lever is fixedly mounted after left and right is described Shock-absorbing connection end 125 afterwards, shock-absorbing connection end 125 is hingedly coupled rear shock-absorbing conversion head 103 and shock-absorbing after left and right is described Output rod 124, the rear 124 hinge mating connection tray rear port 126 of shock-absorbing output rod, the tray rear port 126 Tray 127 is fixedly mounted in top, and shock-absorbing selector bar 128 after rear 103 front end face of shock-absorbing conversion head is fixedly mounted is described Shock-absorbing conversion encloses 130 after 128 front end face of shock-absorbing selector bar is fixedly mounted afterwards, is slidably matched at the rear shock-absorbing selector bar 128 Shock-absorbing changeover bobbin 129 is installed, shock-absorbing is equipped in the shock-absorbing changeover bobbin 129 and converts chamber 195, it is described after shock-absorbing conversion circle 130 with It is slidably matched between shock-absorbing conversion 195 inner wall of chamber, be slidably installed front shock-proof device conversion circle in the shock-absorbing conversion chamber 195 201, installation shock-proof spring 131 is fixedly mounted between the front shock-proof device conversion circle 201 and the rear shock-absorbing conversion circle 130, it is described Front shock-proof device conversion circle 201 front end face secure fits install front shock-proof device selector bar 202, the front shock-proof device selector bar 202 with it is described Shock-absorbing changeover bobbin 129 is slidably matched, and front shock-proof device conversion head is fixedly mounted in the front shock-proof device selector bar 202 opposite front side in left and right 206, the front shock-proof device conversion head 206 is hingedly coupled front shock-proof device output rod 205, and the front shock-proof device selector bar 202 is hingedly matched Installation front shock-proof device connection end 203 and front shock-proof device input lever 204 are closed, is kept away before being fixedly mounted on front side of the front shock-proof device input lever 204 Shake input end 115, front shock-proof device input end 115 are rotatably assorted with the preceding guide shaft 104,127 bottom of tray Tray front port 132, the tray front port 132 and the hingedly cooperation of front shock-proof device output rod 205 is fixedly mounted in end face, 101 central rotational of lifting axis is lifted end 136 before being coupled, be lifted 136 top end surface of end before described and be fixedly mounted It is lifted bar and is lifted bar 135, lifting cylinder 134, the lifting cylinder is fixedly mounted in lifting bar lifting 135 top end surface of bar 134 top end surfaces are lifted end 133 after being fixedly mounted, be lifted end 133 after described and hingedly match with the tray front port 132 It closes, to pass through the stretching absorbance vibration energy of shock-proof spring 131, reduces amplitude and reach shock-absorbing effect, while being lifted cylinder 134 It can be used to lift front-wheel and preferably cope with barrier.

Valuably or illustratively, the crawler attachment includes the crawler belt 137 for being mounted on 181 outside of right wheel pedestal, The crawler belt 137 is made of the identical crawler belt mutual cooperation of 24 sections, is equipped with single-unit crawler belt shell 138 in the crawler belt 137, It is equipped with universal plate chamber 139 in the single-unit crawler belt shell 138, control plate chamber 142, the control are equipped on front side of the universal plate chamber 139 Control plate axis 145 is fixedly mounted between 142 or so inner wall of plate chamber, the control plate axis 145, which is rotatably assorted, installs control plate 141, Strong magnets 143 are fixedly mounted on rear side of the control plate 141, electromagnet 144 is fixedly mounted in the 142 rear side inner wall of control plate chamber, Omnipotent board shaft 147 is fixedly mounted between 139 or so the inner wall of universal plate chamber, is slidably installed in the universal plate chamber 139 Universal plate 140, the universal plate 140 is interior to be equipped with brake chamber 148, and connection, which is equipped with, in 148 inner wall of brake chamber brakes limit chamber 150, the braking limit chamber 150 is slidably installed brake block 149,150 bottom wall of braking limit chamber and brake block 149 it Between tripping spring 188 is fixedly mounted, limit spring 146 is fixedly mounted in the omnipotent board shaft 147, thus by electromagnet 144 Control plate 141 is opened in effect with strong magnets 143, universal plate 140 is discharged by the strength of limit spring 146, according to omnipotent Universal plate 140 is limited in 90 degree vertically by the setting of 139 inner wall of plate chamber and the effect of tripping spring 188 and brake block 149 Between 135 degree of deflection, anti-skidding and supporting role is played when going downstairs, it is below in face of certain altitude Barrier can also play good effect.

When use, starting conversion motor 153 drives turn threads axis 155, pushes power conversion block 156 to working position It sets, driving power wheel 158 takes turns 160 or retreat reception wheel 176 and engages with reception of advancing at this time, before advance reception wheel 160 passes through Advance output wheel 178, advance output wheel 178 and 167 engagement rotation of power transmission shaft are driven into drive shaft 161, retreats and receives wheel 176 drive retrogressing driving wheel 174 by retreating drive shaft 175, retreat driving wheel 174 and engage with driving wheel 173 is received, receive and drive Driving wheel 173, which drives, retreats transmission axle 171, retreats transmission axle 171 and drives transmitting driving wheel 169, is driven by transmitting driving wheel 169 The reverse rotation of power reception wheel 170 may be implemented to fall back, and the rotation of power reception wheel 170 will drive power transmission shaft 167, pass through Power transmission shaft 167 drives power output wheel 162, and the rotation of power output wheel 162 drives 163 circular-rotation of power output shaft, leads to The movement for crossing power output shaft 163 drives interlocking bar 120, drives the rotation of four driving wheels to realize movement by interlocking bar 120, Since left and right drives respectively independent and is equipped with the shelves that move forward and backward, so as to realize for example advance, retreat, turning, original place are fallen Head, a variety of operations such as spin, drift about collide etc. if encountering vibration, and the axis of 131 two sides of shock-proof spring, which passes through, to be hingedly cooperatively connected Shock-absorbing input lever 123, rear shock-absorbing output rod 124, front shock-proof device input lever 204, front shock-proof device output rod 205 afterwards, rear shock-absorbing input lever 123 connection back-guiding rods 110, front shock-proof device input lever 204 connect preceding guide shaft 104, to absorb chassis impact, rear shock-absorbing output rod 124 hinged tray rear ports 126, the hinged tray front port 132 of front shock-proof device output rod 205, tray rear port 126 and set Object disk front port 132 is fixedly connected with tray 127, to reduce the shaking of tray 127, firm effect is realized, if faced Short barrier can be lifted bar 135 by the lifting driving lifting bar of cylinder 134, be lifted lifting axis 101, to have A degree of cross-country power, electromagnet 144 starts when stair activity, pushes strong magnets 143 to open control by repulsion Plate 141 discharges universal plate 140, and universal plate 140 can be kept by the promotion of limit spring 146 and the limitation of brake block 149 In the position of vertical crawler belt plane, pushes and will reset if universal plate 140 encounters the back side, if universal plate 140 encounters positive promotion 45 will be at most pushed to because of the limitation of the setting of single-unit crawler belt shell 138 and brake block 149, braking limit chamber 150 It spends angle and gentle climb will be carried out by this special crawler belt since stair mean level face and vertical plane are almost equal Stair function, it might even be possible to advance on stair or fall back.

Those skilled in the art can define, can in the case of not departing from overall spirit of the invention and design To make the various modifications for above embodiments, fall within the scope of protection of the present invention, protection scheme of the invention It is subject to claims appended hereto.

Claims

1. the handling device of embodiment according to the present invention, it is characterised in that: including monolithic case, be equipped in the monolithic case Left driving device, right driving device, shock absorbing apparatus, wheel apparatus and crawler attachment, the left driving device are located at the entirety Driving shell between shell or so inner wall, the driving shell rear side is interior to be equipped with power cavity, is equipped with change on front side of the power cavity To chamber, the deflecting chamber front left side is equipped with power and transmits chamber, is equipped with power reception chamber, the power on the right side of the power transmitting chamber It is equipped on the right side of receiving cavity and retreats driving chamber, be rotatably assorted after installation in the shell retreated between driving chamber and the deflecting chamber Drive shaft is moved back, the front end face for retreating drive shaft, which is fixedly mounted, retreats driving wheel, the back end surface for retreating drive shaft It is fixedly mounted to retreat and receives wheel, the installation that is rotatably assorted in the shell retreated between driving chamber and the power reception chamber retreats Transmission axle, the right end face for retreating transmission axle, which is fixedly mounted, receives driving wheel, and the reception driving wheel and the retrogressing are driven Transmitting driving wheel, the power reception chamber and the power is fixedly mounted in driving wheel engagement, the left end face for retreating transmission axle It is rotatably assorted in shell between transmitting chamber and power transmission shaft is installed, power is fixedly mounted in the right end face of the power transmission shaft Wheel is received, the power reception wheel is engaged with the transmitting driving wheel, and power is fixedly mounted in the power transmission shaft left end face Power output shaft, the power reception chamber and the deflecting chamber is fixedly mounted in the left end face of output wheel, the power output wheel Between shell in be rotatably assorted forward drive axis be installed, output of advancing is fixedly mounted in the front end face of the forward drive axis Wheel, the advance output wheel are engaged with the power reception wheel, and the back end surface of the forward drive axis is fixedly mounted to advance and connect Wheel is received, conversion motor, the left-hand end of the output shaft of the conversion motor to the left is fixedly mounted in the right end face of the power cavity Face is fixedly connected with turn threads axis, and axially left extension is rotatably assorted the turn threads with the power cavity inner left wall wall, institute The power conversion block that is slidably installed in power cavity is stated, is equipped in the power conversion block through described power conversion block or so two The turn threads chamber of side end face, the turn threads chamber and the turn threads axle thread cooperate, before the power conversion block Driving power motor is fixedly mounted in the inner wall of side, it is dynamic that driving is fixedly mounted in the forward output shaft front end face of driving power motor Wheels, the driving power wheel can receive wheel with the advance and the retrogressing receives wheel and engages, the left driving device peace It is centrosymmetric loaded on driving shell rear side with the right driving device.

2. handling device according to claim 1, it is characterised in that: the wheel apparatus includes being located at the monolithic case Interior right wheel pedestal, the right wheel pedestal and revolver pedestal bilateral symmetry, turn between the right wheel pedestal and the revolver pedestal Dynamic to be coupled lifting axis, lifting wheel is fixedly mounted in the lifting axial end, between the right wheel pedestal and the right wheel pedestal It is rotatably assorted and preceding guide shaft is installed, front jocket wheel is fixedly mounted in the preceding guide shaft, turns between the right wheel pedestal and the revolver pedestal Dynamic to be coupled back-guiding rod, outer guide plate is fixedly mounted in guide wheel after the installation that is rotatably assorted on the back-guiding rod, the back-guiding rod end face, The outer guide plate opposite side in left and right, which is rotatably assorted, installs outer guide wheel, and the outer guide wheel opposite side in left and right is rotatably assorted peace Inner guide plate is filled, is fixedly mounted on the back-guiding rod on the left of the inner guide plate of left and right, be rotatably assorted installation in the right wheel pedestal Four are spaced identical four line shafts, and be rotatably assorted the identical right driving shaft in four intervals of installation between the right wheel pedestal, Four intervals of installation that are rotatably assorted between the revolver pedestal are identical, the right driving shaft right side between the right wheel pedestal Right active foreign steamer is fixedly mounted in end face, and the right driving shaft left end face between the right wheel pedestal is fixedly mounted in right active It takes turns, the left active foreign steamer of the left driving shaft right end face fixed installation between the revolver pedestal, between the revolver pedestal The left driving shaft left end face left active lubrication groove is fixedly mounted, right power is fixedly mounted in the right active lubrication groove left end face Left power transmission shaft is fixedly mounted in transmission axle, the left active foreign steamer right end face, and the right wheel chassis left side is equipped with an opening The right cavity of cavity to the left, the right cavity is interior to be equipped with right straight-bar, rotates between the right straight-bar and the right power transmission shaft Cooperation, the revolver base right side are equipped with the left cavity of cavity of an opening to the right, are equipped with left straight-bar, the left side in the left cavity It is rotatably assorted between straight-bar and the left power transmission shaft, the power output shaft is rotatably assorted with right straight-bar, and the power is defeated Shaft is rotatably assorted with left straight-bar.

3. handling device according to claim 1, it is characterised in that: the shock absorbing apparatus includes being rotatably assorted to be mounted on Rear shock-absorbing between the inner guide plate of left and right inputs end, and the rear shock-absorbing input end is rotatably assorted with the back-guiding rod, left Shock-absorbing input lever after being fixedly mounted on the outside of the right rear shock-absorbing input end, shock-absorbing input lever front end fixed installation after left and right is described Shock-absorbing connection end afterwards, shock-absorbing connection end is hingedly coupled rear shock-absorbing conversion head and shock-absorbing output rod, institute after left and right is described Rear shock-absorbing output rod hinge mating connection tray rear port is stated, tray, institute is fixedly mounted above the tray rear port Shock-absorbing selector bar after rear shock-absorbing conversion head front end face is fixedly mounted is stated, after the rear shock-absorbing selector bar front end face is fixedly mounted Shock-absorbing conversion is enclosed, and be slidably installed shock-absorbing changeover bobbin at the rear shock-absorbing selector bar, is equipped with shock-absorbing in the shock-absorbing changeover bobbin Chamber is converted, is slidably matched between shock-absorbing conversion circle and shock-absorbing conversion cavity wall after described, the shock-absorbing converts intracavitary sliding It is coupled front shock-proof device conversion circle, installation shock-absorbing bullet is fixedly mounted between the front shock-proof device conversion circle and the rear shock-absorbing conversion circle Spring, the front shock-proof device conversion circle front end face secure fit install front shock-proof device selector bar, and the front shock-proof device selector bar is kept away with described Shake changeover bobbin is slidably matched, and front shock-proof device conversion head is fixedly mounted in the front shock-proof device selector bar opposite front side in left and right, keeps away before described Shake conversion head is hingedly coupled front shock-proof device output rod, the front shock-proof device selector bar be hingedly coupled front shock-proof device connection end and Front shock-proof device is fixedly mounted on front side of the front shock-proof device input lever and inputs end for front shock-proof device input lever, the front shock-proof device input end with The preceding guide shaft is rotatably assorted, and the tray bottom end face is fixedly mounted tray front port, the tray front port with The front shock-proof device output rod hingedly cooperates, and the lifting axis central rotational is lifted end before being coupled, and is lifted end before described Top end surface is fixedly mounted lifting bar and is lifted bar, and lifting cylinder, the lift is fixedly mounted in the lifting bar lifting bar top end surface It rises and is lifted end after cylinder head end face is fixedly mounted, be lifted end after described and hingedly cooperate with the tray front port.

4. handling device according to claim 1, it is characterised in that: the crawler attachment includes being mounted on the right wheel The crawler belt of chassis outer side, the crawler belt are made of the identical crawler belt mutual cooperation of 24 sections, single-unit are equipped in the crawler belt and is carried out Band shell, the single-unit crawler belt shell is interior to be equipped with universal plate chamber, and control plate chamber, the control plate chamber are equipped on front side of the universal plate chamber Control plate axis is fixedly mounted between the inner wall of left and right, the control plate axis, which is rotatably assorted, installs control plate, solid on rear side of the control plate Dingan County fills strong magnets, and electromagnet is fixedly mounted in inner wall on rear side of the control plate chamber, fixes between described universal plate chamber or so inner wall Installation universal board shaft, the intracavitary universal plate that is slidably installed of the universal plate, the universal plate is interior to be equipped with brake chamber, the braking Connection is equipped with braking limit chamber in cavity wall, and the braking limit chamber is slidably installed brake block, the braking limit chamber bottom Tripping spring is fixedly mounted between wall and brake block, limit spring is fixedly mounted in the omnipotent board shaft.