CN109625110B - Automatic stair climbing device - Google Patents
Automatic stair climbing device Download PDFInfo
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- CN109625110B CN109625110B CN201811364065.9A CN201811364065A CN109625110B CN 109625110 B CN109625110 B CN 109625110B CN 201811364065 A CN201811364065 A CN 201811364065A CN 109625110 B CN109625110 B CN 109625110B
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- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
Abstract
The invention discloses an automatic stair climbing device, which comprises a chassis, a carrying frame and crawler wheel assemblies arranged on two sides of the chassis, wherein each crawler wheel assembly comprises a mounting plate, a guide wheel, a middle wheel, a rear wheel and a crawler belt; the advantages are that climbing stairs is stable and flexible, and the speed is relatively fast, and the stairs can not be tipped over.
Description
Technical Field
The invention relates to equipment for carrying and climbing stairs, in particular to an automatic stair climbing device.
Background
In some factories or construction sites, when carrying a small amount of light objects, it is usually carried mainly by manpower, while for relatively heavy objects, one person carries a little effort, which requires more than two persons to carry simultaneously, which consumes a lot of manpower. In order to reduce manpower, some loading stair climbing devices capable of replacing manpower for carrying are available on the market at present, and the loading stair climbing devices can be mainly divided into a planetary wheel type device and a crawler type device, wherein the planetary wheel type device is large in size and unstable in gravity center during working; the crawler-type stair climbing device is not flexible enough in movement, slow in stair climbing, large in vibration and prone to tipping.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic stair climbing device for carrying objects, which is stable and flexible in stair climbing, relatively high in speed and free from tipping.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic stair climbing device comprises a chassis, a carrying frame and crawler wheel assemblies arranged on two sides of the chassis, wherein each crawler wheel assembly comprises a mounting plate, a guide wheel, a middle wheel, a rear wheel and a crawler belt, the front end, the middle part and the rear end of the mounting plate are respectively provided with a first wheel shaft, a second wheel shaft and a third wheel shaft which can rotate, the guide wheel is coaxially and fixedly connected with the first wheel shaft, the middle wheel is coaxially and fixedly connected with the second wheel shaft, the rear wheel is coaxially and fixedly connected with the third wheel shaft, the crawler belt is simultaneously matched with the guide wheel, the middle wheel and the rear wheel, a first motor is fixedly arranged on the mounting plate, a driving switching mechanism is arranged between the first motor and the second wheel shaft as well as between the rear wheel shaft and the third wheel shaft, and the second wheel shaft is connected with the chassis, the front end of the carrying frame is hinged with the upper end face of the chassis, the chassis is provided with a carrying frame angle adjusting mechanism, and the rear end of the carrying frame is fixedly provided with supporting legs.
Furthermore, the driving switching mechanism comprises a first cylinder, a shifting fork, a sliding pinion, a driving shaft and a second-stage speed reduction transmission mechanism for driving the rear wheel to rotate, the driving shaft is rotatably connected with the mounting plate and is parallel to the second wheel shaft, the first motor is coaxially and fixedly connected with the driving shaft through a speed reducer, a positioning key is arranged on the driving shaft, the sliding pinion is coaxially sleeved on the driving shaft and is axially and slidably matched with the positioning key, the first cylinder is fixedly arranged on the mounting plate and is parallel to the driving shaft, the shifting fork is fixedly connected with a piston rod of the first cylinder, the shifting fork is inserted on the sliding pinion, an inserting end of the shifting fork is hinged with a roller, and the roller is abutted against the sliding pinion, a first gearwheel is coaxially and fixedly arranged on the second wheel shaft, and when the shifting fork pushes the sliding pinion to be meshed with the first gearwheel, the first motor drives the intermediate wheel to rotate; when the shifting fork pushes the sliding pinion to be meshed with the secondary speed reduction transmission mechanism, the first motor drives the rear wheel to rotate.
Furthermore, the two-stage reduction transmission mechanism comprises a first transmission shaft, a second transmission shaft and a third transmission shaft which are rotatably connected with the mounting plate, the first transmission shaft, the second transmission shaft and the driving shaft are parallel, a second gearwheel and a pinion are coaxially and fixedly arranged on the first transmission shaft, the second gearwheel is used for being meshed with the sliding pinion, a third gearwheel and a first bevel gear are coaxially and fixedly arranged on the second transmission shaft, the third gearwheel is meshed with the pinion, the third transmission shaft is vertical to the second transmission shaft, a second bevel gear and a third bevel gear are coaxially and fixedly arranged on the third transmission shaft, the second bevel gear is meshed with the first bevel gear, and a fourth bevel gear is coaxially and fixedly arranged on a third wheel shaft, the third bevel gear is meshed with the fourth bevel gear.
Furthermore, damping mechanisms are respectively arranged between the guide wheel and the middle wheel and between the middle wheel and the rear wheel; can make the track of below and the closed angle laminating of stair when climbing the building, make it climb the building easily steady, when climbing the stair top moreover, can prevent to climb building device and return to the school suddenly and receive vibrations damage.
Further, damper include first supporting wheel, second supporting wheel, first connecting rod, second connecting rod and sleeve pipe, first supporting wheel with the second supporting wheel on articulated bracing piece respectively, the bracing piece with mounting panel fixed connection, the one end of first connecting rod with first supporting wheel articulated mutually, the one end of second connecting rod with the other end of first connecting rod articulated mutually, the sleeve pipe with the second supporting wheel articulated mutually, the other end axial of second connecting rod insert the sleeve pipe in, just the other end of second connecting rod with the sleeve pipe between fixed be provided with the spring.
Further, a relative sliding mechanism capable of moving along the traveling direction is arranged between the second wheel shaft and the chassis; when the ground is uneven or climbs downwards from the top stairs, the crawler wheel assemblies on the two sides of the chassis can be alternately landed by the relative sliding mechanism, so that the impact caused by gravity is relieved, the vibration is reduced, and the climbing is stable.
Furthermore, the relative sliding mechanism comprises a connecting rod, a screw rod and a clamping mechanism which is fixedly arranged on the chassis and used for fixing the screw rod, the connecting rod is rotatably connected with the second wheel shaft, a first sliding groove is formed in the side face of the chassis, the connecting rod penetrates through the first sliding groove, a nut is fixedly arranged at the end of the connecting rod, the screw rod is rotatably connected with the chassis, and the nut is in threaded connection with the screw rod.
Furthermore, the clamping mechanism comprises a second motor, a first clamping arm and a second clamping arm, the second motor is fixed on the chassis, the first clamping arm and the second clamping arm are oppositely arranged, a first sector wheel is integrally arranged at the upper end of the first clamping arm, the first sector wheel is coaxially and fixedly connected with a driving shaft of the second motor, a second sector wheel is integrally arranged at the upper end of the second clamping arm, the second sector wheel is rotatably connected with the chassis, the second sector wheel is meshed with the first sector wheel, friction blocks are respectively and fixedly arranged at the lower end of the first clamping arm and the lower end of the second clamping arm, a light shaft part is arranged on the screw rod, and when the clamping mechanism is clamped, the friction blocks are tightly attached to the light shaft part, so that the screw is fixed.
Furthermore, the angle adjusting mechanism of the object carrying frame comprises a second cylinder and a sliding block, the second cylinder is vertically fixed on the base plate, the sliding block is hinged with a piston rod of the second cylinder, a second sliding groove is formed in the lower end of the object carrying frame, and the sliding block is in sliding fit with the second sliding groove.
Compared with the prior art, the stair climbing device has the advantages that the driving switching mechanism is arranged between the first motor and the second wheel shaft as well as between the first motor and the third wheel shaft, when the stair climbing device walks on the flat ground, the first motor drives the middle wheel to rotate, the running speed of the stair climbing device is high, the first motor drives the rear wheel to rotate through the two-stage reduction transmission mechanism, the rotating speed of the rear wheel is reduced, the traction force is improved, the whole stair climbing device climbs easily and stably, and the overturning moment is reduced and the device is prevented from overturning due to the fact that the center of gravity of the device deviates to the rear shaft; the crawler belt wheel assemblies on the two sides of the chassis are driven by respective first motors, turning can be realized by controlling the rotating speeds of the crawler belt wheel assemblies on the two sides to be different, the turning mode is more flexible, and the turning radius is smaller; in addition, the chassis is provided with a loading frame angle adjusting mechanism, so that the loading frame can be in a horizontal state when climbing stairs, and the articles in the loading frame are prevented from being poured out.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic structural diagram of a driving switching mechanism according to the present invention;
FIG. 5 is a schematic structural view of a clamping mechanism of the present invention;
fig. 6 is a schematic view of the stair climbing state of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
As shown in the figures, the automatic stair climbing device comprises a chassis 1, a carrying frame 2 and crawler wheel assemblies 3 arranged on two sides of the chassis 1, wherein each crawler wheel assembly 3 comprises a mounting plate 31, a guide wheel 32, an intermediate wheel 33, a rear wheel 34 and a crawler 35, a first wheel shaft 36, a second wheel shaft 37 and a third wheel shaft 38 which can rotate are respectively arranged at the front end, the middle part and the rear end of the mounting plate 31, the guide wheel 32 is coaxially and fixedly connected with the first wheel shaft 36, the intermediate wheel 33 is coaxially and fixedly connected with the second wheel shaft 37, the rear wheel 34 is coaxially and fixedly connected with the third wheel shaft 38, the crawler 35 is simultaneously matched with the guide wheel 32, the intermediate wheel 33 and the rear wheel 34, a first motor 39 is fixedly arranged on the mounting plate 31, a driving switching mechanism is arranged between the first motor 39 and the second wheel shaft 37 as well as between the third wheel shaft 38, the driving switching mechanism comprises a first cylinder 4, a shifting fork 41, a sliding pinion 42, a driving shaft 43 and a, the driving shaft 43 is rotatably connected with the mounting plate 31 and is parallel to the second wheel shaft 37, the first motor 39 is coaxially and fixedly connected with the driving shaft 43 through a speed reducer, the driving shaft 43 is provided with a positioning key 44, a sliding pinion 42 is coaxially sleeved on the driving shaft 43 and is axially and slidably matched with the positioning key 44, the first cylinder 4 is fixedly arranged on the mounting plate 31 and is parallel to the driving shaft 43, a shifting fork 41 is fixedly connected with a piston rod of the first cylinder 4, the shifting fork 41 is inserted on the sliding pinion 42, the insertion end of the shifting fork 41 is hinged with a roller (not shown in the figure), the roller is abutted against the sliding pinion 42, the second wheel shaft 37 is coaxially and fixedly provided with a first big gear 30, the two-stage speed reduction transmission mechanism comprises a first transmission shaft 50, a second transmission shaft 51 and a third transmission shaft 52 which are rotatably connected with the mounting plate 31, and the first transmission shaft 50, a second gearwheel 53 and a pinion 54 are coaxially and fixedly arranged on the first transmission shaft 50, a third gearwheel 55 and a first bevel gear 56 are coaxially and fixedly arranged on the second transmission shaft 51, the third gearwheel 55 is meshed with the pinion 54, the third transmission shaft 52 is perpendicular to the second transmission shaft 51, a second bevel gear 57 and a third bevel gear 58 are coaxially and fixedly arranged on the third transmission shaft 52, the second bevel gear 57 is meshed with the first bevel gear 56, a fourth bevel gear 59 is coaxially and fixedly arranged on the third wheel shaft 38, the third bevel gear 58 is meshed with the fourth bevel gear 59, and when the shifting fork 41 pushes the sliding pinion 42 to be meshed with the first gearwheel 30, the first motor 39 drives the intermediate wheel 33 to rotate; when the shifting fork 41 pushes the sliding pinion 42 to be meshed with the second bull gear 53, the first motor 39 drives the rear wheel 34 to rotate through the two-stage reduction transmission mechanism;
a relative sliding mechanism which can move along the advancing direction is arranged between the second wheel shaft 37 and the chassis 1, the relative sliding mechanism comprises a connecting rod 6, a screw rod 61 and a clamping mechanism 7 which is fixedly arranged on the chassis 1 and used for fixing the screw rod 61, the connecting rod 6 is rotatably connected with the second wheel shaft 37, a first sliding chute (not shown in the figure) is arranged on the side surface of the chassis 1, the connecting rod 6 passes through the first sliding chute, a nut 62 is fixedly arranged at the end part of the connecting rod 6, the screw rod 61 is rotatably connected with the chassis 1, the nut 62 is in threaded connection with the screw rod 61, the clamping mechanism 7 comprises a second motor 71, a first clamping arm 72 and a second clamping arm 73, the second motor 71 is fixed on the chassis 1, the first clamping arm 72 and the second clamping arm 73 are oppositely arranged, a first fan-shaped wheel 74 is integrally arranged at the upper end of the first clamping arm 72, and the first fan-shaped wheel 74 is coaxially and, a second sector wheel 75 is integrally arranged at the upper end of the second clamping arm 73, the second sector wheel 75 is rotatably connected with the chassis 1, the second sector wheel 75 is meshed with the first sector wheel 74, a friction block 76 is fixedly arranged at the lower end of the first clamping arm 72 and the lower end of the second clamping arm 73 respectively, a light shaft part is arranged on the screw rod 61, and when the clamping mechanism 7 clamps the screw rod, the friction block 76 is tightly attached to the light shaft part, so that the screw rod 61 is fixed;
the front end of carrying thing frame 2 is articulated mutually with the up end on chassis 1, carries the fixed supporting legs 21 that is provided with in rear end of thing frame 2, is provided with on chassis 1 and carries thing frame angle adjustment mechanism, carries thing frame angle adjustment mechanism and includes second cylinder 8 and slider 81, and second cylinder 8 is vertical to be fixed on chassis 1, and slider 81 is articulated mutually with the piston rod of second cylinder 8, and the lower extreme of carrying thing frame 2 is provided with second spout 22, slider 81 and second spout 22 sliding fit.
In the above embodiment, a damping mechanism may be further disposed between the guide wheel 32 and the intermediate wheel 33 of the track wheel assembly 3, and between the intermediate wheel 33 and the rear wheel 34, the damping mechanism includes a first support wheel 90, a second support wheel 91, a first link 92, a second link 93, and a sleeve 94, the first support wheel 90 and the second support wheel 91 are respectively hinged with a support rod 95, the support rod 95 is fixedly connected with the mounting plate 31, one end of the first link 92 is hinged with the first support wheel 90, one end of the second link 93 is hinged with the other end of the first link 92, the sleeve 94 is hinged with the second support wheel 91, the other end of the second link 93 is axially inserted into the sleeve 94, and a spring 96 is fixedly disposed between the other end of the second link 93 and the sleeve 94.
In the above embodiment, the working process of the relative sliding mechanism in the automatic stair climbing device is as follows: firstly, the clamping mechanism 7 on one side of the chassis 1 is loosened, (i.e. the first sector wheel 74 is driven to rotate by the second motor 71, the first clamping arm 72 and the second clamping arm 73 are relatively opened by the engagement of the first sector wheel 74 and the second sector wheel 75, at this time, the lead screw 61 can freely rotate), meanwhile, the clamping mechanism 7 on the other side is clamped, then the track wheel assembly 3 on the side is controlled to rotate, the track wheel assembly 3 on the other side stops rotating, the track wheel assembly 3 on the side rotates to drive the second wheel shaft 37 to move forward, the second wheel shaft 37 drives the connecting rod 6 to move forward, as the lead screw 61 can freely rotate, the nut 62 on the connecting rod 6 can axially move along the lead screw 61, i.e. the track wheel assembly 3 on the side moves forward, while the chassis 1 and the track wheel assembly 3 on the other side remain stationary, and when the track wheel assembly 3 on the side moves to a certain position, the track wheel assembly 3 on the side is controlled, the crawler wheel assembly 3 on the other side of the chassis 1 is controlled to rotate, the screw rod 61 cannot rotate due to the clamping state of the clamping mechanism 7 on the other side, and the nut 62 and the screw rod 61 are relatively fixed (namely the connecting rod 6 drives the screw rod 61 to move together), so that the crawler wheel assembly 3 on the other side drives the chassis 1 to move forwards together, and the crawler wheel assemblies 3 on the two sides of the chassis 1 are alternately landed.
Claims (9)
1. The utility model provides an automatic building climbing device, includes the chassis, carries the thing frame and sets up the athey wheel subassembly of chassis both sides, the athey wheel subassembly include mounting panel, leading wheel, middle part wheel, rear wheel and track, the front end of mounting panel, middle part and rear end be provided with rotatable first shaft, second shaft and third shaft respectively, the leading wheel with coaxial fixed connection of first shaft, the middle wheel with coaxial fixed connection of second shaft, the rear wheel with coaxial fixed connection of third shaft, the track simultaneously with leading wheel, the middle wheel, the rear wheel cooperate, its characterized in that: the mounting plate is fixedly provided with a first motor, a driving switching mechanism is arranged between the first motor and the second wheel shaft as well as between the first motor and the third wheel shaft, the second wheel shaft is connected with the chassis, the front end of the carrying frame is hinged with the upper end face of the chassis, the chassis is provided with a carrying frame angle adjusting mechanism, and the rear end of the carrying frame is fixedly provided with a supporting leg.
2. An automatic stair climbing device according to claim 1, wherein: the driving switching mechanism comprises a first cylinder, a shifting fork, a sliding pinion, a driving shaft and a second-stage speed reduction transmission mechanism for driving the rear wheel to rotate, the driving shaft is rotatably connected with the mounting plate and is parallel to the second wheel shaft, the first motor is coaxially and fixedly connected with the driving shaft through a speed reducer, the driving shaft is provided with a positioning key, the sliding pinion is coaxially sleeved on the driving shaft and is axially and slidably matched with the positioning key, the first cylinder is fixedly arranged on the mounting plate and is parallel to the driving shaft, the shifting fork is fixedly connected with a piston rod of the first cylinder, the shifting fork is inserted on the sliding pinion, the insertion end of the shifting fork is hinged with a roller, and the roller is abutted against the sliding pinion, a first gearwheel is coaxially and fixedly arranged on the second wheel shaft, and when the shifting fork pushes the sliding pinion to be meshed with the first gearwheel, the first motor drives the intermediate wheel to rotate; when the shifting fork pushes the sliding pinion to be meshed with the secondary speed reduction transmission mechanism, the first motor drives the rear wheel to rotate.
3. An automatic stair climbing device according to claim 2, characterized in that: the two-stage reduction transmission mechanism comprises a first transmission shaft, a second transmission shaft and a third transmission shaft which are rotationally connected with the mounting plate, the first transmission shaft, the second transmission shaft and the driving shaft are parallel, a second big gear and a pinion are coaxially and fixedly arranged on the first transmission shaft, the second big gear is used for being meshed with the sliding pinion, a third big gear and a first bevel gear are coaxially and fixedly arranged on the second transmission shaft, the third big gear is meshed with the pinion, the third transmission shaft is vertical to the second transmission shaft, a second bevel gear and a third bevel gear are coaxially and fixedly arranged on the third transmission shaft, the second bevel gear is meshed with the first bevel gear, and a fourth bevel gear is coaxially and fixedly arranged on a third wheel shaft, the third bevel gear is meshed with the fourth bevel gear.
4. An automatic stair climbing device according to claim 1, wherein: and damping mechanisms are respectively arranged between the guide wheel and the middle wheel and between the middle wheel and the rear wheel.
5. An automatic stair climbing device according to claim 4, wherein: damper include first supporting wheel, second supporting wheel, first connecting rod, second connecting rod and sleeve pipe, first supporting wheel with the second supporting wheel on articulated respectively have the bracing piece, the bracing piece with mounting panel fixed connection, the one end of first connecting rod with first supporting wheel articulated mutually, the one end of second connecting rod with the other end of first connecting rod articulated mutually, the sleeve pipe with the second supporting wheel articulated mutually, the other end axial of second connecting rod insert the sleeve pipe in, just the other end of second connecting rod with the sleeve pipe between the fixed spring that is provided with.
6. An automatic stair climbing device according to claim 1, wherein: and a relative sliding mechanism which can move along the traveling direction is arranged between the second wheel shaft and the chassis.
7. An automatic stair climbing device according to claim 6, wherein: the relative sliding mechanism comprises a connecting rod, a screw rod and a clamping mechanism which is fixedly arranged on the chassis and used for fixing the screw rod, the connecting rod is rotatably connected with the second wheel shaft, a first sliding groove is formed in the side face of the chassis, the connecting rod penetrates through the first sliding groove, a nut is fixedly arranged at the end of the connecting rod, the screw rod is rotatably connected with the chassis, and the nut is in threaded connection with the screw rod.
8. An automatic stair climbing device according to claim 7, wherein: the clamping mechanism comprises a second motor, a first clamping arm and a second clamping arm, the second motor is fixed on the chassis, the first clamping arm and the second clamping arm are oppositely arranged, the upper end of the first clamping arm is integrally provided with a first sector wheel, the first sector wheel is coaxially and fixedly connected with a driving shaft of the second motor, the upper end of the second clamping arm is integrally provided with a second sector wheel, the second sector wheel is rotationally connected with the chassis and meshed with the first sector wheel, the lower end of the first clamping arm and the lower end of the second clamping arm are respectively and fixedly provided with a friction block, the screw rod is provided with a smooth shaft part, when the clamping mechanism clamps, the friction block is tightly attached to the optical axis part, so that the screw rod is fixed.
9. An automatic stair climbing device according to claim 1, wherein: the angle adjusting mechanism of the carrying frame comprises a second cylinder and a sliding block, the second cylinder is vertically fixed on the base plate, the sliding block is hinged with a piston rod of the second cylinder, a second sliding groove is formed in the lower end of the carrying frame, and the sliding block is in sliding fit with the second sliding groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811364065.9A CN109625110B (en) | 2018-11-16 | 2018-11-16 | Automatic stair climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811364065.9A CN109625110B (en) | 2018-11-16 | 2018-11-16 | Automatic stair climbing device |
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| Publication Number | Publication Date |
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| CN109625110A CN109625110A (en) | 2019-04-16 |
| CN109625110B true CN109625110B (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811364065.9A Active CN109625110B (en) | 2018-11-16 | 2018-11-16 | Automatic stair climbing device |
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| CN (1) | CN109625110B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114684285A (en) * | 2022-03-30 | 2022-07-01 | 江苏力沛电力工程技术服务有限公司 | Wind power maintenance-based equipment overhauling and transporting system capable of going up and down steps |
| CN115107896B (en) * | 2022-08-09 | 2023-07-25 | 浙江中辰城市应急服务管理有限公司 | Stair climbing robot transmission device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101131196A (en) * | 2007-08-24 | 2008-02-27 | 淄博大力矿山机械有限公司 | Speed reducing drive mechanism of pedrail mucker |
| CN203111336U (en) * | 2013-03-06 | 2013-08-07 | 刘新广 | Novel engineering vehicle |
| CN105460090A (en) * | 2015-12-16 | 2016-04-06 | 河北工业大学 | Track deformable robot mobile platform |
| CN207697862U (en) * | 2017-12-07 | 2018-08-07 | 极创机器人科技有限公司 | A kind of shift caterpillar robot chassis |
-
2018
- 2018-11-16 CN CN201811364065.9A patent/CN109625110B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101131196A (en) * | 2007-08-24 | 2008-02-27 | 淄博大力矿山机械有限公司 | Speed reducing drive mechanism of pedrail mucker |
| CN203111336U (en) * | 2013-03-06 | 2013-08-07 | 刘新广 | Novel engineering vehicle |
| CN105460090A (en) * | 2015-12-16 | 2016-04-06 | 河北工业大学 | Track deformable robot mobile platform |
| CN207697862U (en) * | 2017-12-07 | 2018-08-07 | 极创机器人科技有限公司 | A kind of shift caterpillar robot chassis |
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| CN109625110A (en) | 2019-04-16 |
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