CN206171595U - But climbing device that wheel -track switches - Google Patents
But climbing device that wheel -track switches Download PDFInfo
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- CN206171595U CN206171595U CN201621073812.XU CN201621073812U CN206171595U CN 206171595 U CN206171595 U CN 206171595U CN 201621073812 U CN201621073812 U CN 201621073812U CN 206171595 U CN206171595 U CN 206171595U
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Abstract
The utility model discloses a but climbing device that wheel -track switches, which comprises a frame, the two sets of traveling system and traveling system auto -change over device, one of them cover is caterpillar track steppe system, another cover is action wheel traveling system, two sets of traveling system switch the walking mode through traveling system auto -change over device, the frame bilateral symmetry is equipped with caterpillar track steppe system, caterpillar track steppe system includes the track, crawler driving tumbler, the driving wheel is followed to a plurality of, wobble wheel, crawler drive system and wobble wheel jack, action wheel traveling system includes interior frame, the universal wheel, the action wheel, universal wheel jack and action wheel actuating system, the inside of frame is equipped with interior frame, the frame is connected through traveling system auto -change over device with interior frame, interior frame can be in the existing switching of walking the mode of traveling system auto -change over device's effect lower excess. The utility model discloses a two sets of traveling system and adopt wheel -track switching mechanism to carry out the chassis to switch, switch conveniently at its compact structure, possess the building of climbing, level land walking, hinder ditch function more.
Description
Technical field
The utility model belongs to Stair climbing device field, is related to one kind to climb building and running gear, and especially one kind can take turns shoe and cut
The Stair climbing device changed.
Background technology
At present, wheeled mobile device when walking, when encountering the barriers such as stair, generally requires to be climbed by special auxiliary
Building device, process is very cumbersome.Common Climbing building device structure has two kinds：Planet gear type structure and track structure.Planetary gear
The shortcoming Shi Pa buildings process of formula structure is discontinuous, intermittent, and center of gravity fluctuates with stair dipping and heaving, brings and climbs building process
The problems such as security and comfortableness；In addition, planet gear type Climbing building device complex structure, should not promote.Track type climbing-building mechanism is
Preferable Climbing building device is generally acknowledged at present, but caterpillar belt structure is applied to climbs the particular surroundings such as building or obstacle detouring more ditch, in works such as level lands
In the case of condition is preferable, it is present, and power consumption is big, noise is big, turn to inflexible shortcoming.
Utility model content
The purpose of this utility model is the deficiency for optimizing existing production technology, adapts to reality need, there is provided one kind can take turns
Carry out the Stair climbing device of switching.
In order to realize the purpose of this utility model, the technical solution adopted in the utility model is：
It is a kind of to take turns the Stair climbing device for carrying out switching, including frame, two sets of running gears and running gear switching device, wherein
It is a set of for endless track installation, it is another set of be driving wheel running gear, two sets of running gears switch through running gear switching device
Walking mode, the frame is symmetrically arranged on two with endless track installation, if endless track installation include crawler belt, crawler driving whell,
Dry driven pulley, wobble wheel, caterpillar drive system and wobble wheel jack, wherein, before, during and after frame is divided into from left to right
Three sections, leading portion is tilted upward, and crawler driving whell is arranged on the front end of frame, and several driven pulleys are arranged on the centre of frame, is swung
Wheel is arranged on the rear end of frame, and the wheel shaft of wobble wheel is connected with the wheel shaft of afterbody driven pulley, the crawler driving whell, some
Individual driven pulley and wobble wheel pass through crawler haulage；
Driving wheel running gear includes interior framework, universal wheel, driving wheel, universal wheel jack and driving wheel drivetrain
System, the inside of the frame is provided with interior framework, and universal wheel is arranged on the centre on the left of interior framework, and driving wheel is arranged in interior framework
Between position on the right side；
Frame is connected with interior framework through running gear switching device；Interior framework can be in the presence of running gear switching device
Relative to frame vertical lift, the switching of walking mode is realized；When driving wheel running gear works, into level walking mould
Formula；When endless track installation works, into climbing building pattern.
Further, the caterpillar drive system is track drive motor, and track drive motor is arranged on the inner side of frame, carries out
Output end with motor is connected with crawler driving whell.
Further, the wobble wheel jack includes bearing, the second electric cylinder, the second electric pushrod, rocking bar and spline,
In the middle of the frame, the fixing end of the second electric cylinder is rotated and is connected the bearing with bearing, the output end of the second electric cylinder and the
One end connection of two electric pushrods, the other end of push rod is connected with one end of rocking bar, the other end of rocking bar through spline and last
The wheel shaft connection of level driven pulley；
When electric cylinder the second electric pushrod of driving turns right motion, rocking bar is rotated clockwise, and rocking bar is engaged with spline, flower
Key does clockwise movement with wobble wheel around spline axis, and wobble wheel is laid down；
Otherwise when electric cylinder drives the second electric pushrod toward left movement, rocking bar is rotated counterclockwise, and wobble wheel is stowed away.
Further, the universal wheel jack includes the first electric cylinder, and the first electric cylinder is located at through electric cylinder mounting seat
On interior framework, universal wheel is connected through the rocking arm on spline and spline with one end of the first electric pushrod, the first electric pushrod it is another
One end is connected with the output end of the first electric cylinder.
Further, the active wheel drive system includes motor, decelerator and driving wheel, and motor is arranged on and subtracts
On the casing of fast device, decelerator is arranged on the first vehicle frame, and driving wheel is connected through shaft coupling with the output end of decelerator.
Further, the driven pulley has four, wherein, two driven pulleys are arranged on the front end of frame, two other setting
In the rear end of frame, row's directive wheel is provided with the centre of frame, the crawler driving whell, several driven pulleys, directive wheel and
Wobble wheel passes through crawler haulage.
Further, it is provided between driven pulley and driving wheel at first and holds out against wheel, is held out against wheel and crawler belt is further held out against.
Further, running gear switching device includes framework, electric cylinder and two sets of guiding mechanisms, and framework is arranged on interior framework
On,
Electric cylinder is fixed in the middle of framework through electric cylinder hold-down support, and two sets of guiding mechanisms are symmetricly set on the two of framework
Side, guiding mechanism includes guide holder, guide post, horizontal push, perpendicular rack and pinion axle, and the two ends of guide holder are provided with guide post,
The bottom of guide post is connected with frame, and gear shaft is arranged on the outside of framework through gear shaft mounting seat, on gear shaft from inside to outside
Second gear and first gear are sequentially provided with, perpendicular tooth bar is installed with the middle of guide holder, the rear of perpendicular tooth bar is provided with horizontal push, water
One end of horizontal sliding bar is connected with the output end of electric cylinder, and the other end of horizontal push is provided with tooth bar, the tooth bar of horizontal push and
One gear position correspondence, second gear is engaged with perpendicular tooth bar；
When horizontal push turn right push away rotate counterclockwise when, the tooth bar of horizontal push is engaged with first gear, and first gear is inverse
Hour hands are rotated and drive coaxial second gear to rotate counterclockwise, and second gear is engaged with perpendicular tooth bar, and second gear turns counterclockwise
It is dynamic to drive perpendicular tooth bar to move downward, so as to drive guide holder and guide post to move downward, make crawler belt liftoff；
Conversely, when first gear is rotated clockwise and drives coaxial second gear to rotate clockwise, second gear with it is perpendicular
Tooth bar is engaged, and second gear rotates clockwise the perpendicular tooth bar of drive and moves upwards, so that drive guide holder and guide post to move upwards,
Crawler belt is set to land.
Further, crawler belt fixed plate is provided with the outside of crawler belt, two pieces of crawler belt fixed plates form crawler rack, crawler rack
Rear and front end is respectively equipped with preceding contact roller and rear contact roller.
Further, the wheel shaft of wobble wheel is arranged in the waist-shaped hole of crawler belt fixed plate through screw.
The beneficial effects of the utility model are：
1）Using two sets of running gears and switching mechanism is carried out using wheel carry out chassis switching, its structure is novel and compact, cut
Change conveniently, possess and climb building, level walking, obstacle detouring more ditch function, adapt to various working；
2）Possess scalability, can be applicable, market prospects extensively, whole Stair climbing device as a mobile platform,
Plurality of devices can be carried thereon, such as carrying manipulator gram turns into explosive-removal robot, carrying seat gram turns into stair-climbing wheel chair, and carrying is gone out
Fiery equipment can be described as climbing building fire-fighting robot, etc.；
3）Using caterpillar belt structure, building process is climbed continuous, steady, safe；
4）Level walking pattern uses Three-wheel type structure, and walking is flexible, radius of turn is small.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is top view of the present utility model；
Fig. 3 and Fig. 4 are the structural representations that the utility model wheel carries out switching mechanism；
Fig. 5 is the partial view that wheel carries out switching device；
Fig. 6 is the structural representation of endless track installation；
Fig. 7 is the top view of Fig. 6；
Fig. 8 is the structural representation of crawler rack；
Fig. 9 is walking states schematic diagram；
Figure 10 Shi Pa buildings view.
In figure；Crawler belt 1, crawler driving whell 2, track drive motor 3, electric cylinder 4, running gear switching device 5, driving wheel
Running gear 6, rear contact roller 7, universal wheel 8, interior framework 9, frame 10, the first electric cylinder 11, framework 12, horizontal push 13, the
One gear 14, erects tooth bar 15, second gear 16, guide post 17, hold-down support 18, driven pulley 19, directive wheel 20, the second electric cylinder
21, the second electric pushrod 22, spline 23, rocking bar 24, wobble wheel 25 holds out against wheel 26, bearing 27, screw 28, crawler belt fixed plate 29,
Preceding contact roller 30, motor 31, decelerator 32, driving wheel 33, shaft coupling 34, the first electric pushrod 35.
Specific embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples：
Embodiment：Referring to Fig. 1-Figure 10.
It is a kind of to take turns the Stair climbing device for carrying out switching, including 10, two sets of running gears of frame and running gear switching device 5,
It is wherein a set of for endless track installation, it is another set of be driving wheel running gear 6, two sets of running gears are through running gear switching device
5 switching walking modes, the frame 10 is symmetrically arranged on two with endless track installation, and endless track installation drives including crawler belt 1, crawler belt
Driving wheel 2, several driven pulleys 19, wobble wheel 25, caterpillar drive system and wobble wheel jack, wherein, frame 10 is past from a left side
The right side be divided into before, during and after three sections, leading portion is tilted upward, and crawler driving whell 2 is arranged on the front end of frame 10, and several driven pulleys 19 set
Put in the centre of frame 10, wobble wheel 25 is arranged on the rear end of frame 10, wheel shaft and the afterbody driven pulley 19 of wobble wheel 25
Wheel shaft connection, the crawler driving whell 2, several driven pulleys 19 and wobble wheel 25 pass through crawler haulage；
Driving wheel running gear 6 includes interior framework 9, universal wheel 8, driving wheel 33, universal wheel jack and active wheel driving
Dynamic system, the inside of the frame 10 is provided with interior framework 9, and universal wheel 8 is arranged on the centre in the left side of interior framework 9, and driving wheel 33 sets
Put the position on the right side in the middle of interior framework 9；
Frame 10 is connected with interior framework 9 through running gear switching device 5；Interior framework 9 can be in running gear switching device 5
It is vertically moved up or down relative to frame 10 under effect, realizes the switching of walking mode；When driving wheel running gear 6 works, into flat
Ground walking mode；When endless track installation works, into climbing building pattern.
The caterpillar drive system is track drive motor 3, and track drive motor 3 is arranged on the inner side of frame 10, crawler belt
The output end of motor 3 is connected with crawler driving whell 2.
The wobble wheel jack includes bearing 27, the second electric cylinder 21, the second electric pushrod 22, rocking bar 24 and spline
23, in the middle of frame 10, the fixing end of the second electric cylinder 21 is rotated and is connected the bearing 27 with bearing 27, the second electric cylinder 21
Output end be connected with one end of the second electric pushrod 22, the other end of push rod is connected with one end of rocking bar 24, rocking bar 24 it is another
One end is connected through spline 23 with the wheel shaft of afterbody driven pulley 19；
When electric cylinder drive the second electric pushrod 22 turn right motion when, rocking bar 24 is rotated clockwise, rocking bar 24 and spline 23
It is engaged, spline 23 does clockwise movement with wobble wheel 25 around the axle center of spline 23, and wobble wheel 25 is laid down；
Otherwise when electric cylinder drives the second electric pushrod 22 toward left movement, rocking bar 24 is rotated counterclockwise, the quilt of wobble wheel 25
Pack up.
The universal wheel jack includes the first electric cylinder 11, and the first electric cylinder 11 is located at interior machine through electric cylinder mounting seat
On frame 9, universal wheel 8 is connected through the rocking arm on spline and spline with one end of the first electric pushrod 35, the first electric pushrod 35
The other end is connected with the output end of the first electric cylinder 11.
The active wheel drive system includes motor 31, decelerator 32 and driving wheel 33, and motor 31 is arranged on
On the casing of decelerator 32, decelerator 32 is arranged on the first vehicle frame 36, and driving wheel 33 is defeated with decelerator 32 through shaft coupling 34
Go out end connection.
The driven pulley 19 has four, wherein, two driven pulleys 19 are arranged on the front end of frame 10, and two other is arranged on
The rear end of frame 10, row's directive wheel 20 is provided with the centre of frame 10, the crawler driving whell 2, several driven pulleys 19, is led
Pass through crawler haulage to wheel 20 and wobble wheel 25.
It is provided between first driven pulley and driving wheel 2 and holds out against wheel 26, is held out against 26 pairs of crawler belts of wheel and further hold out against.
Running gear switching device 5 includes framework 12, electric cylinder 4 and two sets of guiding mechanisms, and framework 12 is arranged on interior framework 9
On,
Electric cylinder 4 is fixed in the middle of framework 12 through electric cylinder hold-down support 18, and two sets of guiding mechanisms are symmetricly set on framework
12 both sides, guiding mechanism includes guide holder, guide post 17, horizontal push 13, perpendicular tooth bar 15 and gear shaft, the two ends of guide holder
Guide post 17 is provided with, the bottom of guide post 17 is connected with frame 10, gear shaft is arranged on the outer of framework 12 through gear shaft mounting seat
Side, is sequentially provided with second gear 16 and first gear 14 from inside to outside on gear shaft, perpendicular tooth bar 15 is installed with the middle of guide holder, erects
The rear of tooth bar 15 is provided with horizontal push 13, and one end of horizontal push 13 is connected with the output end of electric cylinder 4, horizontal push 13
The other end is provided with tooth bar, and the tooth bar of horizontal push 13 is corresponding with the position of first gear 14, and second gear 16 is engaged with perpendicular tooth bar 15；
When horizontal push 13 turn right push away rotate counterclockwise when, the tooth bar of horizontal push 13 is engaged with first gear 14, first
Gear 14 is rotated counterclockwise and drives coaxial second gear 16 to rotate counterclockwise, and second gear 16 is engaged with perpendicular tooth bar 15, the
Two gears 16 rotate counterclockwise the perpendicular tooth bar 15 of drive and move downward, so as to drive guide holder and guide post 17 to move downward, make shoe
With liftoff；
Conversely, when first gear 14 is rotated clockwise and drives coaxial second gear 16 to rotate clockwise, second gear
16 engage with perpendicular tooth bar 15, and second gear 16 rotates clockwise the perpendicular tooth bar 15 of drive and moves upwards, so as to drive guide holder and lead
Moved upwards to bar 17, crawler belt is landed.
The outside of crawler belt 1 is provided with crawler belt fixed plate 29, and two pieces of crawler belt fixed plates 29 form crawler rack, before crawler rack
After be respectively arranged at two ends with preceding contact roller 30 and rear contact roller 7.
The wheel shaft of wobble wheel 25 is arranged in the waist-shaped hole of crawler belt fixed plate 29 through screw 28.
Wheel carries out switching device operation principle：When level walking state is needed, the first electric cylinder 11 is pulled back and puts down universal wheel
8, while pushed away before electric cylinder 4 putting down driving wheel 33, top bottom-disc assembly by taking turns shoe switching device（That is crawler belt）It is liftoff.When needs are climbed
Lou Shi, the push rod of the first electric cylinder 11 is released and packs up universal wheel, and the push rod of electric cylinder 4 is reclaimed and lifts driving wheel, top bottom-disc assembly（Carry out
Band）Land.
The method that the specific structure content of the utility model, operation principle and mechanism realize is as follows：
During level walking, the incision level walking pattern of running gear switching device 5, driving wheel running gear 6 works, now
Crawler belt is liftoff, and driving wheel and universal wheel land.
The utility model can climb standard gradient less than or equal to 15 ° and first order step surface is highly high less than crawler driving whell
The standard step of degree.When climbing building, the first electric cylinder 11 is released, and universal wheel is packed up, and Lou Mo is climbed in the switchback of running gear switching device 5
Formula, driving wheel is liftoff, and crawler driving whell obtains power, and at the beginning of building is climbed, wobble wheel 25 is slowly packed up with crawler belt bottom surface into certain
Angle, laminating ground plays a supportive role makes level walking and to climb transition between building steady, before after chassis is completely into step
Level crawler belt is packed up completely.When chassis enters afterbody step, the first electric cylinder 11 is acted on and slowly puts down universal wheel, makes bottom
The process that disk enters level land is steady.
The operation principle of running gear switching device 5：When push rod 13 is turned right to be pushed away, first gear 14 is rotated counterclockwise and driven
Coaxial second gear 16 is rotated counterclockwise, and second gear 16 is engaged with perpendicular tooth bar 15, and second gear 16 rotates counterclockwise drive
Perpendicular tooth bar 15 is moved downward, and driving wheel is laid down and lands in the presence of guide post 17（At the same time the first electric cylinder 11 is made
With universal wheel 8 is put down）, chassis enters level walking pattern.
When wheel carries out switching device to be needed for chassis switchback to climb building pattern, electric cylinder 4 withdraws push rod 13 to the left（While first
Electric cylinder 11 is acted on, and universal wheel 8 is packed up）, crawler belt is landed.
The folding and unfolding of wobble wheel 25 is similar with the operation principle of the folding and unfolding of universal wheel 8, and the folding and unfolding work of wobble wheel 25 is only introduced herein
Make principle, the second electric cylinder 21 is fixed on bearing 27, and with a rotary freedom, the second electric cylinder 21
Driving push rod 22 is turned right when moving, and rocking bar 24 is rotated clockwise.Rocking bar 24 is engaged with spline 23, spline 23 with pendulum
Driving wheel 25 does clockwise movement around the axle center of spline 23, and wobble wheel 25 is laid down.When wobble wheel 25 is packed up, and operation principle class is put down
Seemingly, the drive push rod of the second electric cylinder 21 can be such that wobble wheel 25 is rotated counterclockwise around the axle center of spline 23 toward left movement, wobble wheel 25
It is stowed away.
Four driven pulleys 19 are used to climbing the weight of support chassis during building, and directive wheel 20 is used to maintain the trend of crawler belt,
Holding out against wheel 26 prevents step from cause crawler driving whell 2 to block between crawler driving whell 2 and driven pulley withstanding on crawler belt at the beginning of climbing building
Extremely.Crawler belt is tilted when contact roller 7 prevents prime track assembly from packing up, and the function of contact roller 30 is similar to.It is above-mentioned it is each wheel be all
Recessed inward, crawler belt is stuck in groove, with certain guide effect, gear-like and crawler belt is made in the groove of crawler driving whell
Engagement.These wheels are fixed by crawler belt fixed plate 29, and the wheel shaft of wobble wheel 25 is arranged on crawler belt fixed plate 29 through screw 28
In waist-shaped hole, screw 28 withstands the wheel shaft and the elasticity of crawler belt can be adjusted.
Claims (10)
1. it is a kind of to take turns the Stair climbing device for carrying out switching, including frame (10), two sets of running gears and running gear switching device
(5), wherein it is a set of for endless track installation, it is another set of be driving wheel running gear (6), two sets of running gears are cut through running gear
Changing device (5) switches walking mode, it is characterised in that the frame (10) is symmetrically arranged on two with endless track installation, crawler belt row
Walking system includes crawler belt (1), crawler driving whell (2), several driven pulleys (19), wobble wheel (25), caterpillar drive system and pendulum
Driving wheel jack, wherein, frame (10) be divided into from left to right before, during and after three sections, leading portion is tilted upward, and crawler driving whell (2) sets
The front end in frame (10) is put, several driven pulleys (19) are arranged on the centre of frame (10), wobble wheel (25) is arranged on frame
(10) rear end, the wheel shaft of wobble wheel (25) is connected with the wheel shaft of afterbody driven pulley (19), the crawler driving whell (2),
Several driven pulleys (19) and wobble wheel (25) pass through crawler haulage；
Driving wheel running gear (6) includes interior framework (9), universal wheel (8), driving wheel (33), universal wheel jack and active
Wheel drive system, the inside of the frame (10) is provided with interior framework (9), during universal wheel (8) is arranged on the left of interior framework (9)
Between, driving wheel (33) is arranged on the position in the middle of interior framework (9) on the right side；
Frame (10) is connected with interior framework (9) through running gear switching device (5)；Interior framework (9) can switch dress in running gear
Put in the presence of (5) relative to frame (10) vertical lift, realize the switching of walking mode；When driving wheel running gear (6) work
When making, into level walking pattern；When endless track installation works, into climbing building pattern.
2. it is according to claim 1 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that the caterpillar drive system
It is track drive motor (3) that track drive motor (3) is installed in the inner side of frame (10), the output end of track drive motor (3)
It is connected with crawler driving whell (2).
3. it is according to claim 1 and 2 a kind of to take turns the Stair climbing device for carrying out switching, it is characterised in that the wobble wheel is received
Laying mechanism includes bearing (27), the second electric cylinder (21), the second electric pushrod (22), rocking bar (24) and spline (23), the branch
In the middle of frame (10), the fixing end of the second electric cylinder (21) is rotated and is connected seat (27) with bearing (27), the second electric cylinder
(21) output end is connected with the one end of the second electric pushrod (22), and the other end of push rod is connected with one end of rocking bar (24), shakes
The other end of bar (24) is connected through spline (23) with the wheel shaft of afterbody driven pulley (19)；
When electric cylinder drive the second electric pushrod (22) turn right motion when, rocking bar (24) is rotated clockwise, rocking bar (24) and spline
(23) it is engaged, spline (23) does clockwise movement with wobble wheel (25) around spline (23) axle center, and wobble wheel (25) is laid down；
Otherwise when electric cylinder drives the second electric pushrod (22) toward left movement, rocking bar (24) is rotated counterclockwise, wobble wheel (25)
It is stowed away.
4. it is according to claim 1 and 2 a kind of to take turns the Stair climbing device for carrying out switching, it is characterised in that the universal wheel is received
Laying mechanism includes the first electric cylinder (11), and the first electric cylinder (11) is located on interior framework (9) through electric cylinder mounting seat, universal wheel
(8) it is connected with one end of the first electric pushrod (35) through the rocking arm on spline and spline, the other end of the first electric pushrod (35)
Output end with the first electric cylinder (11) is connected.
5. it is according to claim 1 and 2 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that the active wheel driving
Dynamic system includes motor (31), decelerator (32) and driving wheel (33), and motor (31) is installed in decelerator (32)
On casing, decelerator (32) is on the first vehicle frame (36), and driving wheel (33) is defeated with decelerator (32) through shaft coupling (34)
Go out end connection.
6. it is according to claim 2 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that the driven pulley (19) has
Four, wherein, two driven pulleys (19) are arranged on the front end of frame (10), and two other is arranged on the rear end of frame (10),
The centre of frame (10) is provided with row's directive wheel (20), the crawler driving whell (2), several driven pulley (19), directive wheels
(20) and wobble wheel (25) pass through crawler haulage.
7. it is according to claim 6 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that first driven pulley with
It is provided between driving wheel (2) and holds out against wheel (26), is held out against wheel (26) and crawler belt is further held out against.
8. it is according to claim 1 and 2 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that running gear switch
Device (5) includes framework (12), electric cylinder (4) and two sets of guiding mechanisms, and framework (12) is arranged on interior framework (9),
Electric cylinder (4) is fixed in the middle of framework (12) through electric cylinder hold-down support (18), and two sets of guiding mechanisms are symmetricly set on frame
The both sides of frame (12), guiding mechanism includes guide holder, guide post (17), horizontal push (13), perpendicular tooth bar (15) and gear shaft, leads
Guide post (17) is provided with to the two ends of seat, the bottom of guide post (17) is connected with frame (10), and gear shaft is through gear shaft mounting seat
It is sequentially provided with second gear (16) and first gear (14) from inside to outside installed in the outside of framework (12), on gear shaft, is oriented to
Is installed with perpendicular tooth bar (15) in the middle of seat, the rear of perpendicular tooth bar (15) is provided with horizontal push (13), one end of horizontal push (13) with
The output end connection of electric cylinder (4), the other end of horizontal push (13) is provided with tooth bar, the tooth bar and the first tooth of horizontal push (13)
Wheel (14) position correspondence, second gear (16) is engaged with perpendicular tooth bar (15)；
When horizontal push (13) turn right push away rotate counterclockwise when, the tooth bar of horizontal push (13) is engaged with first gear (14),
One gear (14) is rotated counterclockwise and drives coaxial second gear (16) to rotate counterclockwise, second gear (16) and perpendicular tooth bar
(15) engage, second gear (16) rotates counterclockwise the perpendicular tooth bar (15) of drive and moves downward, so as to drive guide holder and guide post
(17) move downward, make crawler belt liftoff；
Conversely, when first gear (14) is rotated clockwise and drives coaxial second gear (16) to rotate clockwise, second gear
(16) engaged with perpendicular tooth bar (15), second gear (16) rotates clockwise the perpendicular tooth bar (15) of drive and moves upwards, so as to drive lead
Moved upwards to seat and guide post (17), crawler belt is landed.
9. it is according to claim 1 and 2 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that the outside of crawler belt (1)
Crawler belt fixed plate (29) is provided with, two pieces of crawler belt fixed plates (29) form crawler rack, and the rear and front end of crawler rack is respectively equipped with
Preceding contact roller (30) and rear contact roller (7).
10. it is according to claim 9 it is a kind of take turns carry out switching Stair climbing device, it is characterised in that the wheel of wobble wheel (25)
Axle is through screw (28) in the waist-shaped hole of crawler belt fixed plate (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621073812.XU CN206171595U (en) | 2016-09-23 | 2016-09-23 | But climbing device that wheel -track switches |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621073812.XU CN206171595U (en) | 2016-09-23 | 2016-09-23 | But climbing device that wheel -track switches |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206171595U true CN206171595U (en) | 2017-05-17 |
Family
ID=58676566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621073812.XU Withdrawn - After Issue CN206171595U (en) | 2016-09-23 | 2016-09-23 | But climbing device that wheel -track switches |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206171595U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335562A (en) * | 2016-09-23 | 2017-01-18 | 江西洪都航空工业集团有限责任公司 | Stair climbing cart with automatic switching of wheels and crawlers |
| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN108968814A (en) * | 2018-06-28 | 2018-12-11 | 廖志敏 | Floor climbing device of floor sweeping robot |
| CN109481168A (en) * | 2018-11-20 | 2019-03-19 | 合肥工业大学 | A kind of multifunction caterpillar electric stairs-climbing wheelchair |
| WO2020186670A1 (en) * | 2019-03-20 | 2020-09-24 | 中山小神童创新科技有限公司 | Easy-to-turn stair climbing machine |
| CN113262112A (en) * | 2021-05-24 | 2021-08-17 | 安徽省瑞步智能装备有限公司 | Advancing crawler and advancing wheel switching and speed changing device of electric stair-climbing walking-aid vehicle |
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2016
- 2016-09-23 CN CN201621073812.XU patent/CN206171595U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335562A (en) * | 2016-09-23 | 2017-01-18 | 江西洪都航空工业集团有限责任公司 | Stair climbing cart with automatic switching of wheels and crawlers |
| CN106335562B (en) * | 2016-09-23 | 2018-08-24 | 江西洪都航空工业集团有限责任公司 | It is a kind of to take turns the Stair climbing device for carrying out switching |
| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN108258614B (en) * | 2017-12-31 | 2020-06-16 | 江苏密斯欧智能科技有限公司 | Control method of suspension type inspection robot |
| CN108968814A (en) * | 2018-06-28 | 2018-12-11 | 廖志敏 | Floor climbing device of floor sweeping robot |
| CN109481168A (en) * | 2018-11-20 | 2019-03-19 | 合肥工业大学 | A kind of multifunction caterpillar electric stairs-climbing wheelchair |
| WO2020186670A1 (en) * | 2019-03-20 | 2020-09-24 | 中山小神童创新科技有限公司 | Easy-to-turn stair climbing machine |
| CN113262112A (en) * | 2021-05-24 | 2021-08-17 | 安徽省瑞步智能装备有限公司 | Advancing crawler and advancing wheel switching and speed changing device of electric stair-climbing walking-aid vehicle |
| CN113262112B (en) * | 2021-05-24 | 2024-02-20 | 安徽省瑞步智能装备有限公司 | Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20180824 |