Stable walking mechanism of crawler-type stair-climbing and handling trolley

Abstract

The invention discloses a stable walking mechanism for a caterpillar band type stair-climbing carrying trolley. A triangle is formed by the rotation centers of a driving wheel, a front driven wheel and a rear driven wheel of the stable walking mechanism, and the rotation center of a middle driven wheel is located on a connecting line of the rotation centers of the front driven wheel and the rear driven wheel. A caterpillar band is wound around the driving wheel, the front driven wheel, the middle driven wheel and the rear driven wheel. The upper end and the lower end of a middle fixing rod are in rotary fit with the driving wheel and the middle driven wheel. The two ends of an upper telescopic rod are in rotary fit with the driving wheel and the front driven wheel. The two ends of an upper fixing rod are in rotary fit with the driving wheel and the rear driven wheel. The two ends of a lower telescopic rod are in rotary fit with the front driven wheel and the middle driven wheel. The two ends of a lower fixing rod are in rotary fit with the rear driven wheel and the middle driven wheel. By the adoption of the stable walking mechanism, the height of the front driven wheel is adjusted, so that the front part and the rear part of the caterpillar band rotate oppositely and form a certain angle, the impact generated between the caterpillar band and stairs when the caterpillar band walking mechanism starts to climb stairs can be eliminated, and the stability and safety of movement of the walking mechanism for the stair-climbing carrying trolley are improved.

Description

technical field [0001] The invention belongs to the technical field of a crawler-type stair-climbing transport trolley, and in particular relates to a low-impact, high-stability crawler-type stair-climbing transport trolley traveling mechanism. Background technique [0002] Crawler-type walking mechanism is a relatively common walking mechanism for climbing stairs or over obstacles. It is widely used in the fields of climbing cars, robots and construction machinery. Compared with wheel-type and leg-type walking mechanisms, it has better off-road performance. , Climbing, climbing, climbing obstacles, crossing ditch and other advantages, has a strong adaptability to non-structural environments. However, the existing crawler-type walking mechanism is mainly integral, and there are mainly the following problems in terms of stability in the process of climbing stairs: when starting to climb the stairs, the crawler belts and the side of the stairs are prone to impact and the impac...

AI Technical Summary

Problems solved by technology

However, the existing crawler-type walking mechanism is mainly integral, and there are mainly the following problems in terms of stability in the process of climbing stairs: when starting to climb the stairs, the crawler belts are likely to collide with the side of the stairs and the impact is relatively large. The front half of the trolley is not in contact with the stairs. When the center of gravity of the trolley passes over the support point of the trolley and the edge of the stairs, the crawler belt of the front half of the trolley will also impact the ground; It will also produce a large impact, seriously affecting the stability of the climbing mechanism

Images