KR20010044943A - Apparatus for going up stairs - Google Patents

Abstract

PURPOSE: A stair jump-over device is provided to secure the stability of traveling on a flat and the safety of jumping over a stair and to secure the advantages of the methods by a caterpillar and a wagon wheel. CONSTITUTION: A stair jump-over device comprises a frame equipped with a loading part on the upper part, a pair of caterpillar tracks(40a,40b) installed to both sides of the frame, a front wheel connected and supported to be rotatable together with a rotary shaft supported to the frame in the state of being rotatable freely and supporting the front of the caterpillar tracks upward by having a lower position than the caterpillar tracks at liberal conditions, a rear wheel installed to the rear of the caterpillar tracks to be vertically movable against the caterpillar tracks, and a driving part rotating the caterpillar tracks.

Description

Apparatus for going up stairs}

The present invention relates to a climbing device for climbing a stairway, and more particularly, to a stairs climbing device configured to be able to climb a stairway or move a flat surface while carrying a constant load.

A staircase must be used to move things to a relatively low floor in a building where no elevator is installed. By using the stair climbing device which can climb the stairs in this way, it will be possible to conveniently move an object having a constant load and the like upstairs without depending on the force of the person.

To date, various methods have been proposed for the stair climbing mechanism as described above. For example, a leg-based method or a wheel-based method or a crawler method using a caterpillar may be used.

The leg-based method of performing joint motion is a mechanical implementation of a walking analysis of a human or animal, and has a disadvantage in that it is economically and technically difficult because it has a complicated configuration mechanically. In addition, it is also pointed out that in order to be able to climb a stairway while supporting a large load, a support structure capable of supporting a predetermined load or more must be provided at the same time.

In the wheel-based system, the driving performance on the flat surface is excellent, but it requires a complicated mechanical configuration in order to allow each wheel to climb the stairs, and at the same time, there is a shortage of stability when climbing the stairs.

In addition, according to the simple crawler method, not only the running performance and stability of the flat land, but also has the disadvantage that it may damage the edge of the stairs. Particularly, in the simple crawler method, when the stairs are climbed, some difficulties have been raised in configuring the first stairs.

The present invention has been made to solve the above-mentioned various problems, and an object of the present invention is to provide a stair climbing mechanism capable of ensuring stable running on a flat surface and stability at the time of climbing a staircase.

The present invention is conceived so as to achieve the above object by configuring so as to secure both the advantages of the method by the caterpillar and the method by the wheel.

Figure 1a is a perspective view of the stair climbing device according to the present invention.

Figure 1b is an exemplary cross-sectional view showing the configuration of the mounting portion of the present invention.

Figure 2 is a perspective view showing the internal configuration of the climbing device according to the present invention.

3 is a plan view showing the internal configuration of the climbing device according to the present invention.

4 is an exemplary view showing a driving state on a flat surface.

Figure 5a is an exemplary view showing a running state when going up the stairs.

Figure 5b is an exemplary view showing a running state when going up the stairs.

Figure 6 is an illustration of a state moving up the stairs to the flat.

Figure 7 is a plan view showing the configuration of the rear portion the rear wheel is installed.

8 is an exemplary block diagram showing an example of driving of the rear wheels.

9 is an explanatory diagram showing a configuration for the movement of the rear wheels;

10A is an exemplary view showing a state when starting to descend the stairs.

Figure 10b is an exemplary view showing a state on the way down the stairs.

Figure 10c is an exemplary view showing a state on the way down the stairs.

Figure 10d is an exemplary view showing a state down the stairs.

Explanation of symbols on the main parts of the drawings

20 .... front wheels 21 .... axis of rotation

22, 24 .... auxiliary wheel 30 ..... frame

32 ..... rear wheel 40 ..... caterpillar

Stair climbing mechanism according to the present invention for achieving the above object, the frame provided with a loading portion on the upper surface; A pair of endless tracks provided on both sides of the frame; A front wheel connected to and supported by the front side of the caterpillar so as to rotate like a rotating shaft supported in a freely rotatable state in the frame, and having a position lower than the caterpillar in a free state to support the front of the caterpillar upward; A rear wheel mounted on the rear side of the caterpillar to be movable up and down the caterpillar; And driving means for rotating the caterpillar. And configured in this way, it is possible to travel by the front wheel and the rear wheel on a flat surface, and the lifting and lowering can be performed by the rotation of the endless track in the stairs.

According to an embodiment of the present invention, the wheel is connected to the rotating shaft of the front wheel and is installed on the rotating shaft rotating in the same direction, and further comprises an auxiliary wheel installed between the front wheel and the rear wheel. And the auxiliary wheel is also shown an embodiment consisting of a pair having a constant interval.

The auxiliary wheel is configured to be folded only in the traveling direction with respect to the rotating shaft on which the auxiliary wheel is installed, and is configured to be elastically supported in an unfolded state by the elastic member.

According to another embodiment of the present invention, the mounting portion is provided to be accessible by sliding to the rail provided on both sides of the upper part of the frame. By such a configuration, the load placed on the loading portion at the time of the ascending and descending of the stairs can be maintained in balance with the ascending mechanism.

A rack gear is installed on the rear surface of the loading unit, and the rack gear is engaged with a driving gear that is rotated by a motor, so that the rack gear is slidable by the motor.

In addition, the rear wheels used in traveling on a flat surface are configured to be movable up and down on the bottom end of the caterpillar by a hydraulic cylinder device.

In addition, the driving means for driving the crawler, the rack gear portion is installed on the inner circumferential surface of the crawler track, a drive gear to be fitted to the rack gear portion, and a drive motor for rotating the drive gear is configured An example is shown.

Next, the present invention will be described in more detail with reference to the embodiments shown in the drawings.

Figure 1a is a perspective view showing the appearance configuration of the stairway climbing mechanism according to the present invention, showing the overall configuration of the climbing device.

As shown in the figure, the ascending mechanism according to the present invention is provided with a frame 30 on which the loading part 10 for loading a stairway is installed on the upper side, and rotated on both sides of the frame 30 so as to rotate the ascending mechanism itself. It includes a pair of caterpillars 40 which can be driven. And it is provided on both outer side surfaces of the endless track 40, the front wheel 20 is configured to be rotated to the upper and lower portions of the endless track 40, and the rear end of the ride mechanism between the endless track 40 A rear wheel 32 is provided.

The caterpillar 40 is used when the ascending mechanism according to the present invention climbs the stairs, and is configured to allow the ascending mechanism itself to climb the stairs by the transmission of power. The front wheels 20 and the rear wheels 32 are used when the ride mechanism according to the present invention runs on a flat surface, and power is not substantially transmitted to the front wheels 20 and the rear wheels 32. Therefore, when driving on a flat, the user is configured to hold the handle (2) and push it to move. However, if necessary, by transmitting power to either side of the front wheel 20 or the rear wheel 30, it may be configured to be able to move by the power even when driving on the flat.

And the front wheel 20 is composed of a pair of wheels (20a, 20b) that is rotatably supported by the bracket 21 as shown, which gives the stability when running, as well as when climbing stairs Considering the edge of the stairs.

The loading part 10 for loading a load is provided so that sliding movement is possible by the pair of rail 4a, 4b provided in the upper surface on both sides of the frame 30. As shown in FIG. That is, both ends of the loading portion 10 are configured to be inserted in a slidable state into the rails 4a and 4b. As described above, the stacking unit 10 is configured to be slidable when the climbing mechanism according to the present invention moves up or down the stairs, for adjusting the center of gravity. In other words, when moving the stairs, it is possible to remove the stacking portion 10 from the frame 30 of the lift mechanism to unfold and to more stably maintain the center of gravity in the inclined state.

As shown in FIG. 1B, the slidable mounting portion 10 can be configured to be slidable by a motor Ma. The rotational power of the motor Ma is transmitted to the drive gear 6a. The drive gear 6a is engaged with the rack gear 6b provided on the bottom surface of the mounting portion 10. Therefore, when the drive gear (6a) is rotated, by the rack gear (6b), the loading portion 10 is supported by the rails (4a, 4b) and the sliding movement is possible.

In the present embodiment, the sliding movement of the loading portion 10 is configured to be made by the motor Ma, but is not limited thereto, and the loading portion 10 may also be manually operated by sliding. to be. In this way, if the loading part 10 is configured to be slid manually, the configuration of the motor Ma, the gear 6a, the rack gear 6b, and the like can be omitted, and thus, the structure will be simplified. .

Next, the present invention will be described in more detail with reference to FIGS. 2 and 3.

2 and 3 are a perspective view and a plan view, respectively, in a state in which the loading portion 10 of the climbing mechanism according to the present invention is removed. As described above, in the ride mechanism according to the present invention, power is transmitted only to the track 40. Looking at the configuration related to this, the rotational power in the drive motor (M) is transmitted to the output shaft (Ds) through the reducer (D). A driving sprocket 12 is installed at one end of the output shaft Ds, and the driving sprocket 12 is connected to the driven sprocket 14a through a chain Ca. Therefore, the rotational output of the speed reducer D is transmitted to the driven sprocket 14a via the chain Ca. And the driven sprocket 14a provided in the right side in FIG. 2 is connected with the drive gear 14b fixed to the one end of the rotating shaft 14c. Therefore, substantially the rotation of the driven sprocket 14a can rotate the drive gear 14b.

2, the drive gear 14b is engaged with the rack gear portion 42 provided on the inner circumference of the raceway 40a, and thus the drive gear 14b. By the rotation of the) will be able to rotate the track (40a). Through the power transmission system as described above, the rotational power of the drive motor (M) is transmitted to the track (40a), by the rotation of the track (40a) it is possible to move the stairs mechanism according to the present invention on the stairs do.

Next, the driving of the front wheels 20, the first auxiliary wheels 22, and the second auxiliary wheels 24 will be described with reference to FIGS. 2 to 4. As described above, the front wheel 20 is used when the riding mechanism of the present invention travels on a flat surface by a force pushed by a user. The front wheel 20 is rotatably supported on the outside of the tracks 40a and 40b by a rotation shaft 21 rotatably supported on the frame 30. The middle of the rotary shaft 21 is connected so that the rotary shafts 28 and 29 are interlocked by a pair of chains 23 and 25, respectively. That is, since the chain 23 is connected so that the rotation shaft 21 is interlocked with the rotation shaft 28, when the rotation shaft 21 rotates, the rotation shaft 28 also rotates in the same direction. In addition, since the front wheel 20 is connected to the rotation shaft 21, and the first auxiliary wheel 22 is connected to the rotation shaft 28, the front wheel 20 substantially rotates about the rotation shaft 21. In this case, the first auxiliary wheel 22 will rotate about the rotation shaft 28.

In addition, since the chain 25 is connected to the rotating shaft 21 so as to interlock with the rotating shaft 29, the rotation of the rotating shaft 21 rotates the rotating shaft 29 in the same direction. Since the rotating shaft 21 is connected to the front wheel 20 and the rotating shaft 29 is connected to the first auxiliary wheel 24, when the front wheel 20 is energized about the rotating shaft 21, The two auxiliary wheels 24 also rotate in the same direction, and the interlocking relationship between the two auxiliary wheels 24 is the same.

In this case, in order to transmit power to the rotary shaft 21 and the rotary shaft 29 to the chain, as shown in Figure 2, it is natural that each of the rotary shafts 21 and 29 should be provided with sprockets 21a and 210a Do. In addition, sprockets 21b and 28b should be installed on each of the rotary shafts 21 and 29 to transmit power to the rotary shaft 21 and the rotary shaft 28 by the chain 23, respectively.

In summary, when the rotating shaft 21 on which the front wheel 20 is installed is rotated, it is understood that the first auxiliary wheel 22 and the second auxiliary wheel 24 also rotate in the same rotational direction. have. The auxiliary wheels 22 and 24 are for smooth driving by allowing the track 40 and the front wheel 20 to selectively contact the bottom surface when the ascending mechanism according to the present invention goes up or down the stairs. The operation of the part will be described later.

9, the auxiliary wheels 22 and 24 are fixed to the rotation shafts 28 and 29, respectively, so that they can rotate together as described above. Each of the auxiliary wheels 22 and 24 is configured to be folded back at a predetermined interval with respect to the traveling direction of the ascending mechanism. In the illustrated embodiment, the rotating part 22a which supports the said auxiliary wheels 22 and 24 so that rotation is possible is connected to the support part 24a by the pin P so that rotation is possible. And the said support part 24a and the rotating part 22a are mutually connected by the spring S. As shown in FIG.

The rotating part 22a of the said auxiliary wheels 22 and 24 can rotate only a predetermined angle (for example, the angle shown by an arrow) to the rear in relation to the said support part 24a. Therefore, in the state shown in FIG. 9, the auxiliary wheels 22 and 24 are not rotatable in the counterclockwise direction and are rotatable only in the clockwise direction. The clockwise direction in which rotation is possible here means substantially the advancing direction of the riding mechanism of this invention. Therefore, when the ascending mechanism proceeds along the stairs, when the auxiliary wheels 22 and 24 are caught by the edges of the stairs, the rotating part 22a of the auxiliary wheels 22 and 24 is centered on the pin P, When the rear side of the traveling direction is folded at an angle, and the auxiliary wheels 22 and 24 are not caught by the edges of the stairs, they are unfolded in the vertical state again by the elastic restoring force of the spring S. In addition, when the auxiliary wheels 22 and 24 come down the stairs in the reverse direction to the traveling direction of the ascending mechanism, the auxiliary wheels 22 and 24 are not folded, so that the entirety of the auxiliary wheels 22 and 24 is centered around the rotation shafts 28 and 29. Is configured to rotate.

Next, with reference to Figures 4 to 6 will be described the operation state and the operation of the other components of the ride mechanism according to the present invention.

First, Fig. 4 shows a state when the riding mechanism according to the present invention uses a flat surface. Moving the flat surface in this way, as described above, the user pushes and moves the climbing mechanism according to the present invention. In the flat state, since the climbing mechanism can be easily moved even with a relatively small force, in order to reduce the waste of power, the user is configured to push and move it in this way. Of course, the load 10 to be moved is loaded with the load to be moved.

In the flat state, it is moved by the front wheel 20 which is assembled on both sides of the track 40 mentioned above, and is positioned below the track 40, and the rear wheel 32 provided in the rear end of a climbing mechanism. Done. Of course, the front wheel 20 and the rear wheel 32 are in a state in which rotational power is not transmitted from the driving motor M.

The front wheels 20 and the rear wheels 32 are provided to have a predetermined height difference so that the track 40 has a predetermined inclination, that is, the front part can maintain a state in which the front part is lifted at a predetermined interval. Also in this state, it will be appreciated that the first and second auxiliary wheels 22 and 24 are spaced apart from the ground. Therefore, the front wheel 20 and the rear wheel 32 can be moved on the flat surface.

In this state, when the user pushes the ascending mechanism and encounters the stairs, the user starts the transmission of power to the track 40a. That is, by driving the drive motor M, the output thereof is output through the output shaft Ds of the reducer D, and this output is transmitted to the drive gear 14b as described above. Since the drive gear 14b is engaged with the rack gear portion 42 on the inner surface of the raceway 40a, the rotational force is substantially transmitted to the raceway 40a so that the drive gear 14b rotates. By the orbit 40 is to climb the staircase.

When the first step is encountered, the front end of the track 40 is lifted at a certain angle, so that the track 40 can climb the first step. When the operation of climbing the stairs is started in this manner, the stairs are climbed while maintaining the state as shown in Fig. 5A. At this time, the front wheel 20 hits the edge of the stairs, which is shown in Figure 5a.

When the front wheels 20 hit the edges of the stairs, the front wheels 20 are folded counterclockwise by the reaction force. Thus, the front wheel 20 is folded, of course, the rotating shaft 21 of the front wheel 20 is folded in the counterclockwise direction as well. When the operation of climbing the stairs is further progressed, the state becomes as shown in FIG. 5B, which is a state in which the front wheel 20 hits the edge of the stairs and is completely folded.

When climbing the stairs in this way, when the front wheel 20 is folded, the rotation shaft 21 of the front wheel 20 also rotates in the counterclockwise direction, such rotation of the rotation shaft 21 in the counterclockwise direction Through the chains 23 and 25, the rotational axis 28 of the first auxiliary wheel 22 and the rotational axis 29 of the second auxiliary wheel 24 are also rotated counterclockwise by the same angle. do. Accordingly, as shown in FIG. 5B, when the front wheels 20 hit the edges of the stairs, not only the front wheels 20 but also the auxiliary wheels 22 and 24 completely enter the inside of the track 40a. By the rotation of the track 40, the climbing mechanism according to the present invention can easily climb the stairs.

However, the front wheel 20, the auxiliary wheels 22 and 24, and the rotation shafts 21, 28 and 29 described above are provided in the frame 30 in a free state. That is, for example, when the lift mechanism according to the present invention is lifted from both sides, the front wheel 20 is free to rotate in the state shown in FIG. 4 by its own weight.

Furthermore, when all the rotating shafts 21, 28, 29 supporting the front wheels 20 and the auxiliary wheels 22, 24 are respectively installed in the frame 30, the entire rotating shaft ( 21, 28, and 29 are installed with bearings interposed therebetween. Therefore, when the front wheel 20 or the like becomes free, the front wheel 20 is configured to be easily switched to the suspended state by its own weight.

Therefore, if the ascension progresses a little more in the state shown in FIG. 5B, the front wheel 20 rotates clockwise due to its own weight, and becomes free under the track 40. As shown in FIG. do. As described above, the state shown in Figs. 5A and 5B proceeds repeatedly, and the ascending mechanism according to the present invention climbs the stairs.

As the process progresses, if the stairs are completely raised, the state as shown in FIG. 6 is obtained. That is, the front portion of the track 40 is placed on a flat surface of the stepped state, so that it is spaced apart from the ground G by a predetermined interval, and the rear portion of the track 40 is still over the stairs. do. Accordingly, since the front wheel 20 is substantially suspended from the frame 30 of the elevating mechanism like the rotary shaft 21, the front wheel 20 descends downward as shown by its own weight and runs on the flat surface shown in FIG. It is almost like state.

In this state, when the rear of the track 40 is completely raised on the flat ground (G), it becomes the state shown in Figure 4 again to be able to travel on the flat. Here, the operation of the rear wheel 32 should be observed. Basically, the rear wheel 32, when the ascending mechanism according to the present invention ascends the stairs, should be lifted up and folded, and when descending the stairs to run on a flat surface again to be extended downward. After looking at the configuration related to this, it will be described again the operation of the climbing device descending the stairs.

The rear wheel 32 is configured to be raised and lowered substantially by the hydraulic cylinder device, and FIG. 7 illustrates a configuration of the rear wheel 32 in the climbing device according to the present invention in plan view.

As shown in the drawing, the rear wheels 32 used in the climbing device of the present invention are provided between the tracks at the rear end of the frame 30 and are installed to be movable above and below the tracks 40. do. That is, when the flat surface is moved, the rear wheel 32 is configured to move down the track 40 to travel substantially on the flat surface, and when moving up the stairs, moves to the top of the track 40 , Only the track 40 is configured to climb up the stairs.

Looking at the configuration of the shanghaidong of the rear wheel, as shown in Figure 7, the rear wheel 32 is provided on the bottom surface of the elevating plate (34). As the elevating plate 34 is raised or lowered, the rear wheels 32 are configured to move together. And the lifting plate 34 is substantially raised or lowered by the hydraulic drive device, as shown in the configuration example in Figure 8, the oil-containing hydraulic tank (T) by the hydraulic pump (P) , The movement of oil is controlled. And the oil controlled by the hydraulic pump (P) passes through the control valve (V), it is delivered to the hydraulic cylinder (42). The rod 44 connected to the hydraulic cylinder 42 is movable by the movement of the hydraulic pressure in the hydraulic cylinder 42.

The rod 44 may be connected to the pair of connecting shafts 44a and 44b shown in FIG. 7, or may be directly connected to the elevating plate 34. Of course, the rod 44 and the rear wheel 32 can also be directly connected.

In FIG. 7, reference numeral 46 denotes an operation pedal, which shows an example in which the hydraulic pedal is mechanically driven by stepping on the operation pedal 46. That is, when the rear wheel 32 is to be lowered to run on the ground, by stepping on the operation pedal 46, the mechanical energy is transmitted to the hydraulic pump P, and the rod of the hydraulic cylinder 42 44 is configured to be driven. In this state, when the rear wheel 32 is moved upward and the stairs 40 are to be driven by the track 40, the control valve V is electrically opened by a separate switch to operate the hydraulic cylinder 42. Configure the internal oil pressure to be released.

In this way, the configuration for raising and lowering the rear wheel 32 by using a hydraulic device, as well as many modifications are possible, as well as the configuration for such a hydraulic device is widely used in many fields, more detailed description It will be omitted.

And in the above embodiment, the rear wheel 32 is configured to move up and down by the hydraulic device, the configuration for the rear wheel of the present invention is not limited thereto. Of course, it is also possible to configure the elevating plate 34 on which the rear wheel 32 is installed to be mechanically raised and lowered. For example, the elevating plate 34 is elastically supported upward by using an elastic member such as a spring, and if necessary, by stepping on the pedal 46 to move downward to have a constant locking structure. This can be used when driving on a flat surface. In addition, of course, when the stairs climb, the locking state of the elevating plate 34 may be released to be moved upward to the upper portion of the track 40.

Next, the operation of descending the stairs after the riding mechanism according to the present invention runs on the flat land will be described. When the climb mechanism according to the present invention descends the stairs, it descends in the same direction as when climbing the stairs. In other words, it should be noted that the stairs are descended in the opposite direction to the traveling direction, and the stairs are descended in reverse while maintaining the same direction as when the stairs are climbed. And when coming down the stairs as described above the drive motor (M) will operate, simply the direction of rotation will be reversed.

FIG. 10 schematically shows the relationship between the front wheels 20 and the auxiliary wheels 22 and 24 when descending the stairs. First, in the state shown in FIG. 10A, when the stairs start to descend from the flat, the state becomes as shown in FIG. 10B. Here, when starting to descend the stairs, the hydraulic device of the rear wheel 32 as described above should be operated to lift the rear wheel 32 to the upper part and move to the upper part of the track 40.

In the process shown in FIG. 10B, the auxiliary wheel 24 is first rotated by a clockwise direction while being caught by the edge of the stairs, and thus the front wheel 20 is also rotated by a constant clockwise direction.

And when the state shown in Figure 10c, that is, a little further down the stairs, the front wheel 20 is located between the edges of the stairs, the front wheel 20 is rotated counterclockwise by its own weight It simply becomes suspended. At this time, it is natural that the auxiliary wheels 22 and 24 connected to the front wheel 20 also rotate in the same direction.

In the case of continuing to descend the stairs again, the procedure as shown in FIGS. 10A to 10C is repeated. Here, the auxiliary wheel 24 is first caught by the edge of the staircase, and rotates counterclockwise on the drawing. Therefore, the front wheel 20 also rotates counterclockwise as the auxiliary wheel 24 rotates counterclockwise. Therefore, the front wheel 20 can be prevented from being caught by the edge of the stairs as much as possible.

The auxiliary wheels 22 and 24 are molded in pairs because not all the steps have the same dimensions. That is, since the widths (L) of all the stairs are all different, the auxiliary wheels are installed in pairs so that in the narrow stairs, the auxiliary wheels 22 closer to the front wheels 20 are caught by the edges of the stairs to rotate. Configure. Accordingly, the auxiliary wheels 22 and 24 according to the present invention, when descending the stairs, are caught by the edges of the stairs before the front wheels 20 and rotated in the rearward direction. By rotating, it will be appreciated that the front wheel 20 will have a function of preventing as much as possible from being caught by the edge of the stairs.

And as shown in FIG. 9D, when all the stairs are descend | falled, the front part F in the figure of the track | orbit 40 is raised on the flat surface, and the rear part R is in the state over the last step. In this state, since the front wheel 20 is in a free state floating between the last step and the flat, it is lowered down as shown by its own weight. Therefore, when the entire track 40 is in contact with the flat, the front wheel 20 is supported on the ground, as shown in Figure 4, it is possible to travel. In this state, by operating the hydraulic device, the rear wheels 32 are pulled out downward so that they can be supported on the ground. In this way, as shown in FIG. 4, it turns out that it is in the state which can run on the flat surface using the front wheel 20 and the rear wheel 22. FIG.

According to the present invention as described above it can be seen that it has the following basic technical idea.

By properly designing the endless track 40, the front wheels 20, and the rear wheels 32, the front wheels 20 and the rear wheels 32 are driven on a flat surface. I use it.

When the stairs are raised or lowered, the front wheels 20 are prevented from being caught by the edges of the stairs by using the auxiliary wheels 22 and 24 which rotate in the same direction as the front wheels. The front wheels 20 and the auxiliary wheels 22 and 24 are all supported in a free state, and the front wheels 20 can always be lowered by their own weight.

Within the basic technical spirit of the present invention, many other modifications will be possible to a person having ordinary skill in the art, and the present invention should be interpreted by the following claims.

By using the ascending mechanism according to the present invention as described above, it is expected that the stairs can be easily climbed up or down in the state of loading. In addition, since the endless track is used at the time of ascent of the stairs, it is possible to secure a sufficient sense of stability.

Claims (9)

A frame having a loading part on an upper surface thereof; A pair of endless tracks provided on both sides of the frame; A front wheel connected to and supported by the front side of the caterpillar so as to rotate like a rotating shaft supported in a freely rotatable state in the frame, and having a position lower than the caterpillar in a free state to support the front of the caterpillar upward; A rear wheel mounted on the rear side of the caterpillar to be movable up and down the caterpillar; And It comprises a drive means for rotating the crawler; A stairway climbing mechanism that runs on the flat surface by the front wheel and the rear wheel, and moves up and down by the rotation of the caterpillar on the stairs. The stairway climbing mechanism according to claim 1, wherein the front wheel is provided with a pair at both end portions of the rotation shaft at both sides of the endless track. According to claim 1, It is connected to the rotary shaft of the front wheel is rotated in the same direction, and is installed on the other rotary shaft that is freely rotatable in the frame; Stair climbing mechanism characterized in that it further comprises an auxiliary wheel installed between the front wheel and the rear wheel. 4. The staircase climbing mechanism according to claim 3, wherein the auxiliary wheels are constituted by a pair having a predetermined interval. 5. The staircase climbing mechanism according to claim 4, wherein the auxiliary wheel is configured to be folded only in the direction of travel with respect to the rotating shaft on which the auxiliary wheel is installed, and is elastically supported in an unfolded state by the elastic member. The stairway climbing mechanism according to claim 1, wherein the loading unit is installed to be accessible by sliding on rails provided on both sides of the upper part of the frame. 7. The staircase climbing mechanism according to claim 6, wherein a rack gear is installed on the rear surface of the loading unit, and the rack gear is slidably engaged with the driving gear that rotates by the motor. The stairway climbing mechanism according to claim 1, wherein the rear wheel is movable up and down on the bottom surface of the endless track by a hydraulic cylinder device. The method of claim 1, wherein the driving means, And a rack gear unit installed on an inner circumferential surface of the endless track, a drive gear meshing with the rack gear unit, and a drive motor for rotating the drive gear.