A transportation device capable of climbing stairs and a method for it to climb stairs

Abstract

The present invention discloses a transportation device capable of climbing stairs, which comprises a box body and a plurality of lifting universal driving devices arranged on the box body. The lifting universal driving devices are horizontally slidably connected to the box body. The lifting universal driving device comprises a mounting seat and a supporting weight driving wheel capable of vertically lifting and horizontally rotating. The present invention provides a transportation device capable of climbing stairs and a method for climbing stairs, which can replace manual labor to climb stairs, improve the logistics transportation efficiency, save labor costs, and improve the user experience.

Description

Technical Field

[0001] The present invention relates to a transportation device capable of climbing stairs and a method for climbing stairs thereof, belonging to the technical field of transportation and logistics. Background Art

[0002] The shopping and dining needs of modern people have greatly promoted the development of the transportation and logistics distribution industry. The degree of automation integration in the modern transportation and logistics industry is getting higher and higher, and automation has been achieved in multiple links, such as: delivery, sorting and other links. However, due to the limitation of the stairs in high-rise buildings, modern logistics often faces the "last mile" dilemma. Often, in the last link, manual stair climbing is required to deliver goods to the door or let users pick up the goods downstairs by themselves, resulting in low efficiency, high labor costs and poor user experience. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a transportation device capable of climbing stairs and a method for climbing stairs thereof, which can replace manual labor for climbing stairs, improve the efficiency of logistics transportation, save labor costs and improve the user experience.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A transportation device capable of climbing stairs, which includes a box body and a plurality of lifting universal driving devices arranged on the box body. The lifting universal driving device is horizontally slidably connected to the box body, and the lifting universal driving device includes a mounting seat and a load-bearing driving wheel capable of vertical lifting and horizontal rotation.

[0006] Further, a horizontal slide rail is provided in the box body. The lifting universal driving device includes a horizontal sliding sleeve capable of horizontally sliding by being sleeved on the horizontal slide rail. A horizontal rack parallel to the horizontal slide rail is provided on one side of the horizontal slide rail. The lifting universal driving device further includes a horizontal driving gear capable of meshing and driving with the horizontal rack. The horizontal driving gear is driven to rotate by a horizontal driving motor. Both the horizontal sliding sleeve and the horizontal driving motor are arranged on the mounting seat.

[0007] Further, a horizontal slide rail is respectively provided on both sides of the box body. Each horizontal slide rail is connected with two lifting universal driving devices and is respectively arranged on both sides of the horizontal slide rail.

[0008] Further, the load-bearing driving wheel is connected with a vertical slide rod. A vertical screw rod is provided on the mounting seat. A vertical screw sleeve is threadedly connected to the vertical screw rod. The vertical screw sleeve and the vertical slide rod are connected through a transfer seat. The vertical slide rod is rotatably connected to the transfer seat. A vertical passive gear is coaxially connected to the vertical screw rod. A vertical driving motor is provided on the mounting seat. The vertical driving motor is connected with a vertical active gear. The vertical active gear can mesh and drive with the vertical passive gear.

[0009] Further, a vertical slide rail is provided on the mounting base, and a vertical sliding sleeve capable of sliding on the vertical slide rail in a sleeved manner is provided on the adapter base.

[0010] Further, the lifting universal driving device further includes a rotating sleeve rotatably connected to the mounting base. The vertical sliding rod is inserted into the rotating sleeve and is vertically slidably connected to the rotating sleeve. The rotating sleeve is coaxially connected with a rotating driven gear. A rotating driving motor is provided on the mounting base, and the rotating driving motor is connected with a rotating driving gear. The rotating driving gear can be meshed with the rotating driven gear for transmission.

[0011] Further, a rotation limiting groove block is axially provided on the vertical sliding rod, and the rotation limiting groove block can limit the rotation between the vertical sliding rod and the rotating sleeve.

[0012] Further, the load-bearing driving wheel is driven to rotate by a hub motor, and the hub motor is arranged below the vertical sliding rod.

[0013] A method for climbing stairs of the above-mentioned transport device capable of climbing stairs, which is characterized by including the following steps carried out in sequence:

[0014] The step of detaching from the ground;

[0015] The step of repeating climbing stairs;

[0016] The step of detaching from the stairs;

[0017] After the load-bearing driving wheel undergoes the step of detaching from the ground, all the load-bearing driving wheels are detached from the ground, and the bottom end abuts against the stair surface;

[0018] When the load-bearing wheel is in the step of detaching from the stairs, all the load-bearing driving wheels are above the stair surface;

[0019] After the load-bearing driving wheel undergoes the step of detaching from the stairs, all the load-bearing driving wheels are detached from the stair surface, and the bottom end abuts against the top surface of the stairs;

[0020] At any moment, at least three load-bearing driving wheels are stressed to support the weight of the box body.

[0021] A method for climbing stairs of the above-mentioned transport device capable of climbing stairs, and the step of detaching from the ground in the method includes the following steps carried out in sequence:

[0022] A1. The box body moves until the front load-bearing driving wheel approaches the first step;

[0023] A2. The load-bearing driving wheel at the rear right side of the box body moves forward to the middle position between the two left load-bearing driving wheels;

[0024] A3. Move the outrigger drive wheel in front of the right side of the movable box so that its bottom end abuts against the first stair surface.

[0025] A4. Move the outrigger drive wheel at the rear left of the box forward until it reaches the middle position between the two outrigger drive wheels on the right side.

[0026] A5. Move the outrigger drive wheel in front of the left side of the box so that its bottom end abuts against the second - level stair surface.

[0027] A6. Move the outrigger drive wheel at the rear right to the first - level stair surface and make it be in the middle position between the two outrigger drive wheels on the left side.

[0028] A7. Move the outrigger drive wheel in front of the right side so that its bottom end abuts against the third - level stair surface.

[0029] A8. Move the outrigger drive wheel at the rear left to the second - level stair surface and make it be in the middle position between the two outrigger drive wheels on the right side.

[0030] A method for a transport device capable of climbing stairs as described above to climb stairs. The steps of repeating the stair - climbing process include the following steps in sequence:

[0031] B1. Move the outrigger drive wheel in front of the left side so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level.

[0032] B2. Move the outrigger drive wheel at the rear right so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level.

[0033] B3. Move the outrigger drive wheel in front of the right side so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level.

[0034] B4. Move the outrigger drive wheel at the rear left so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level.

[0035] B5. Move the outrigger drive wheel in front of the left side so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level.

[0036] Repeat steps B2 - B5 in sequence until the outrigger drive wheel at the front moves until its bottom end abuts against the stair surface one level below the top of the stairs, and the other two outrigger drive wheels move until their bottom ends abut against the stair surface two levels below the top of the stairs.

[0037] A method for a transport device capable of climbing stairs as described above to disengage from the stairs. The steps of this process include the following steps in sequence:

[0038] C1. Move the outrigger drive wheel in front of the other side of the outrigger drive wheel at the very front of the box so that its bottom end abuts against the top of the stairs.

[0039] C2. Move the outrigger drive wheel at the rear on the other side so that its bottom end abuts against the stair surface one level below the top surface of the stairs.

[0040] C3. Move the outrigger drive wheel at the front on the same side so that its bottom end abuts against the top surface of the stairs.

[0041] C4. Move the outrigger drive wheel at the rear on the other side so that its bottom end abuts against the top surface of the stairs.

[0042] C5. Move the outrigger drive wheel at the rear on the other side so that its bottom end abuts against the top surface of the stairs.

[0043] A method for climbing stairs of the above-mentioned transport device capable of climbing stairs. During the movement of the outrigger drive wheels, the box moves correspondingly, and the vertical line of the center of gravity of the box always passes through the closed area formed by the horizontal projections of the load-bearing outrigger drive wheels, and the bottom surface of the box is always in a horizontal state.

[0044] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0045] This technical solution is provided with multiple outrigger drive wheels driven by in-wheel motors, which simplifies the drive structure, reduces the volume and weight of the drive structure, improves the utilization efficiency of space and lift, and is more flexible and convenient to use with higher efficiency.

[0046] In the process of climbing stairs, this technical solution always has at least three wheels supporting the box in a "pin" shape, ensuring that the box can be stably and reliably supported during the climbing process of the stairs and guaranteeing the use safety.

[0047] In the process of climbing stairs, this technical solution adjusts the linear motor correspondingly to keep the bottom surface of the box always in a horizontal state, which can ensure the stability of the box during movement and is helpful for transporting goods with fluid characteristics.

[0048] In the process of climbing stairs, this technical solution adjusts the horizontal position of the box correspondingly, so that the vertical line of the center of gravity of the box is always within the load-bearing plane area of the outrigger drive wheels, ensuring that the box will not tip over due to loss of balance during the climbing process of the stairs and guaranteeing the stability and reliability of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a three-dimensional structural schematic diagram of a transport device capable of climbing stairs provided by an embodiment of the present invention;

[0050] Figure 2 It is a three-dimensional structural schematic diagram inside a transport device capable of climbing stairs provided by an embodiment of the present invention;

[0051] Figure 3It is a side view schematic diagram of the internal structure of a transport device capable of climbing stairs provided by an embodiment of the present invention;

[0052] Figure 4 It is a three-dimensional structure schematic diagram of the lifting universal drive device of a transport device capable of climbing stairs provided by an embodiment of the present invention Figure 1 ;

[0053] Figure 5 It is a three-dimensional structure schematic diagram of the lifting universal drive device of a transport device capable of climbing stairs provided by an embodiment of the present invention Figure 2 ;

[0054] Figure 6 It is a schematic diagram of gear meshing of a transport device capable of climbing stairs provided by an embodiment of the present invention.

[0055] Label description: 1 - box body, 2 - lifting universal drive device, 3 - mounting seat, 4 - weight-bearing drive wheel, 5 - horizontal slide rail, 6 - horizontal slide sleeve, 7 - horizontal rack, 8 - horizontal drive gear, 9 - horizontal drive motor, 10 - vertical slide rod, 11 - vertical screw rod, 12 - vertical screw sleeve, 13 - adapter seat, 14 - vertical driven gear, 15 - vertical drive motor, 16 - vertical driving gear, 17 - vertical slide rail, 18 - vertical slide sleeve, 19 - rotating sleeve, 20 - rotating driven gear, 21 - rotating drive motor, 22 - rotating driving gear, 23 - rotating limit groove block, 24 - hub motor. Detailed implementation manners

[0056] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0058] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] As shown in the attached drawings, a transportation device capable of climbing stairs includes a box body 1 and a plurality of lifting universal driving devices 2 provided on the box body. The lifting universal driving devices are horizontally slidably connected to the box body. The lifting universal driving device includes a mounting seat 3 and a load-bearing driving wheel 4 that can be vertically lifted and horizontally rotated.

[0060] The load-bearing driving wheel provides power drive for the entire device. It can be horizontally rotated, suitable for various working conditions, convenient for adjusting the traveling direction, and can be vertically lifted to conveniently adapt to climbing stairs and lifting the box body.

[0061] The horizontal sliding connection between the lifting universal driving device and the box body can provide the power for the horizontal sliding of the load-bearing driving wheel when the load-bearing driving wheel is suspended, or can adjust the position of the box body in cooperation with the movement of the load-bearing driving wheel when climbing stairs, ensuring the stability of the center of gravity of the entire device.

[0062] When the device works on a plane, control the universal driving device to keep the vertical distance between all load-bearing driving wheels and the box body consistent, and ensure that the distance between the load-bearing driving wheels is appropriate.

[0063] When the device needs to climb a slope, the positions and vertical heights of each load-bearing wheel can be adjusted according to the slope of the slope to ensure the horizontal stability of the box body.

[0064] When the device needs to climb stairs, utilize the fact that each load-bearing driving wheel can be independently adjusted in multiple directions, change the horizontal positions and vertical heights of each load-bearing wheel to adapt to the shape of the stairs, and support the climbing of the box body.

[0065] More specifically, in this embodiment, a horizontal slide rail 5 is provided inside the box body. The lifting universal driving device includes a horizontal sliding sleeve 6 that can be sleeved on the horizontal slide rail and horizontally slide. A horizontal rack 7 parallel to the horizontal slide rail is provided on one side of the horizontal slide rail. The lifting universal driving device further includes a horizontal driving gear 8 that can be meshed with the horizontal rack for transmission. The horizontal driving gear is driven to rotate by a horizontal driving motor 9. The horizontal sliding sleeve and the horizontal driving motor are both provided on the mounting seat.

[0066] The slide rail and the sliding sleeve can adopt existing linear modules, which are very convenient for installation and disassembly and have a relatively low cost; the gear-rack cooperation has a rapid response, is convenient for adjustment, and has a stable and reliable structure, which can meet the usage requirements of this technical solution.

[0067] More specifically, a horizontal slide rail is provided on each side of the box body, and each horizontal slide rail is connected to two lifting universal driving devices, which are respectively arranged on both sides of the horizontal slide rail.

[0068] The provision of multiple lifting universal driving devices on the same side can ensure the stable support of the box body. The use of the same slide rail for the lifting universal driving devices on the same side can ensure the parallelism of the moving trajectories of the two lifting universal driving devices on the same side, improve the utilization efficiency of components, reduce structural redundancy, improve the space utilization efficiency and integration degree, reduce the power consumption caused by the weight of the equipment itself, and improve the transportation efficiency. The arrangement of the two lifting universal driving devices on the same horizontal slide rail on both sides is conducive to the layout of each component, convenient for installation, and conducive to the force balance of the horizontal slide rail.

[0069] More specifically, the load-bearing driving wheel is connected to a vertical slide rod 10. A vertical screw rod 11 is provided on the mounting seat. A vertical screw sleeve 12 is threadedly connected to the vertical screw rod. The vertical screw sleeve is connected to the vertical slide rod through an adapter seat 13. The vertical slide rod is rotatably connected to the adapter seat. A vertical passive gear 14 is coaxially connected to the vertical screw rod. A vertical driving motor 15 is provided on the mounting seat. The vertical driving motor is connected to a vertical active gear 16. The vertical active gear can mesh with the vertical passive gear for transmission.

[0070] The screw-sleeve is a commonly used linear module in the prior art, with a compact structure, fast response, and precise adjustment, which can meet the requirement of vertically adjusting the load-bearing driving wheel in this technical solution. The screw sleeve drives the slide rod to lift and lower, so as to make the load-bearing driving wheel lift and lower to meet the displacement requirement for climbing stairs.

[0071] More specifically, a vertical slide rail 17 is provided on the mounting seat. A vertical slide sleeve 18 that can be sleeved on the vertical slide rail and slide is provided on the adapter seat.

[0072] The slide rail and slide sleeve provide a guiding function to ensure that when the adapter seat is driven by the screw rod to move, it will not rotate around the screw rod, ensuring the working stability.

[0073] In an embodiment, the lifting universal driving device further includes a rotating sleeve 19 rotatably connected to the mounting seat. The vertical slide rod is inserted into the rotating sleeve and is vertically slidably connected to the rotating sleeve. A rotating passive gear 20 is coaxially connected to the rotating sleeve. A rotating driving motor 21 is provided on the mounting seat. The rotating driving motor is connected to a rotating active gear 22. The rotating active gear can mesh with the rotating passive gear for transmission.

[0074] While the rotating sleeve is rotatably connected to the mounting seat, it can also be vertically slidably connected to the vertical slide rod. It can only have a vertical relative sliding with the vertical slide rod and cannot have relative rotation. Driving the rotating sleeve to rotate by the rotating driving motor can drive the load-bearing driving wheel to rotate and adjust the direction.

[0075] The rotation drive motor, the vertical drive motor, and the horizontal drive motor are all installed on the mounting base, making the whole structure more compact, occupying less space, being more convenient to install, and being safer and more stable to use.

[0076] More specifically, a rotation limiting groove block 23 is provided along the axial direction on the vertical sliding rod, and the rotation limiting groove block can limit the rotation between the vertical sliding rod and the rotating sleeve.

[0077] In order to limit the relative rotation between the vertical sliding rod and the rotating sleeve, a rotation limiting groove block is provided, which is similar to a flat key structure. A groove matching its shape is provided on the inner ring of the rotating sleeve for clamping the rotation limiting groove block.

[0078] Specifically, the load-bearing drive wheel is driven to rotate by a hub motor 24, and the hub motor is arranged below the vertical sliding rod;

[0079] The hub motor has a compact structure, saves a large number of transmission and braking components, reduces the volume and weight of the equipment, and is suitable for the use scenario of this technical solution.

[0080] A method for climbing stairs of a transport device capable of climbing stairs as described above, which includes the following steps carried out in sequence:

[0081] The step of detaching from the ground;

[0082] The step of repeating climbing the stairs;

[0083] The step of detaching from the stairs;

[0084] After the load-bearing drive wheel undergoes the step of detaching from the ground, all the load-bearing drive wheels are detached from the ground, and the bottom end abuts against the stair surface;

[0085] When the load-bearing drive wheel is in the step of detaching from the stairs, all the load-bearing drive wheels are above the stair surface;

[0086] After the load-bearing drive wheel undergoes the step of detaching from the stairs, all the load-bearing drive wheels are detached from the stair surface, and the bottom end abuts against the top surface of the stairs;

[0087] At any moment, at least three load-bearing drive wheels are stressed to support the weight of the box body;

[0088] The device of this technical solution has a total of four load-bearing drive wheels. To ensure the support stability, at least three load-bearing drive wheels are required to support the weight of the box body at any moment;

[0089] When it is necessary to climb the stairs, the position and height of one weight-bearing drive wheel are changed each time, and the remaining three weight-bearing drive wheels support the box in a "pin" shape. By continuously changing the position and height of the weight-bearing wheels, the shape, position, and height of the "pin" are changed, and it gradually rises and moves forward along the stairs, thus completing the process of the entire device climbing the stairs.

[0090] Among them, the above steps of detaching from the ground include the following steps carried out in sequence:

[0091] A1. The box moves until the front weight-bearing drive wheel approaches the first step of the stairs;

[0092] A2. The weight-bearing drive wheel at the rear right of the box moves forward to the middle position between the two left weight-bearing drive wheels;

[0093] A3. Move the weight-bearing drive wheel at the front right of the box so that its bottom end abuts against the first stair surface.

[0094] A4. The weight-bearing drive wheel at the rear left of the box moves forward until it moves to the middle position between the two right weight-bearing drive wheels.

[0095] A5. Move the weight-bearing drive wheel at the front left of the box so that its bottom end abuts against the second stair surface.

[0096] A6. Move the weight-bearing drive wheel at the rear right to the first stair surface and make it in the middle position between the two left weight-bearing drive wheels.

[0097] A7. Move the weight-bearing drive wheel at the front right so that its bottom end abuts against the third stair surface.

[0098] A8. Move the weight-bearing drive wheel at the rear left to the second stair surface and make it in the middle position between the two right weight-bearing drive wheels;

[0099] The weight-bearing drive wheels on both sides move alternately across the higher step in front. And before each side's weight-bearing drive wheel crosses the stairs, it is necessary to first move the other weight-bearing drive wheel on the same side to between the two weight-bearing drive wheels on the other side to ensure that when the weight-bearing drive wheel crosses the stairs, the other three weight-bearing drive wheels form a stable "pin" shape structure to support the box and ensure smooth movement;

[0100] The horizontal movement of the weight-bearing drive wheel under the load-bearing state can be driven by a hub motor, the horizontal movement of the weight-bearing drive wheel in the suspended and non-load-bearing state can be driven by a horizontal drive motor, and the vertical lifting of the weight-bearing drive wheel or the box is driven by a vertical drive motor;

[0101] When a certain weight-bearing drive wheel moves to the front stair surface, that is, when the weight-bearing drive wheel performs a step-crossing operation, the specific process is as follows:

[0102] The vertical driving motor drives the supporting wheel to rise vertically so that the bottom end thereof is not lower than the height of the target stair level to be straddled. The horizontal driving motor drives the supporting wheel to move directly above the target stair level to be straddled. The vertical driving motor drives the supporting wheel to descend vertically until the bottom end thereof abuts against the upper surface of the target stair level to be straddled.

[0103] Among them, the above steps of repeatedly climbing stairs include the following steps in sequence:

[0104] B1. Move the front left supporting wheel upwards by two stair levels and make its bottom end abut against the surface of this stair level.

[0105] B2. Move the rear right supporting wheel upwards by two stair levels and make its bottom end abut against the surface of this stair level.

[0106] B3. Move the front right supporting wheel upwards by two stair levels and make its bottom end abut against the surface of this stair level.

[0107] B4. Move the rear left supporting wheel upwards by two stair levels and make its bottom end abut against the surface of this stair level.

[0108] B5. Move the front left supporting wheel upwards by two stair levels and make its bottom end abut against the surface of this stair level.

[0109] Repeat the steps of B2 - B5 in sequence until the frontmost supporting wheel moves to a position where its bottom end abuts against the stair level one level below the top surface of the stairs, and the other two supporting wheels on the other side both move to positions where their bottom ends abut against the stair levels two levels below the top surface of the stairs.

[0110] After the previous step and then through step B1, the four supporting wheels are respectively on different stair levels.

[0111] Then, the two supporting wheels on the same side alternately support and climb. After the two supporting wheels on each side alternately climb, the supporting wheels on the other side start to alternately climb, that is, the steps of B2 - B5. The four supporting wheels all perform striding climbs, which can be regarded as a movement cycle. Repeat the action, and in each cycle, it can be ensured that there are always no less than three supporting wheels supporting the box body to ensure the stability during stair climbing.

[0112] Finally, the above steps of detaching from the stairs include the following steps in sequence:

[0113] C1. Move the supporting wheel in front of the other side of the frontmost supporting wheel of the box body so that its bottom end abuts against the top surface of the stairs.

[0114] C2. Move the outrigger drive wheel at the rear on the other side so that its bottom end abuts against the stair surface one level below the top surface of the stairs.

[0115] C3. Move the outrigger drive wheel at the front on the same side so that its bottom end abuts against the top surface of the stairs.

[0116] C4. Move the outrigger drive wheel at the rear on the other side so that its bottom end abuts against the top surface of the stairs.

[0117] C5. Move the outrigger drive wheel at the rear on the other side so that its bottom end abuts against the top surface of the stairs;

[0118] In each step, "the same side" or "the other side" is specified with reference to the outrigger drive wheel that is moved in the previous step.

[0119] The top surface of the stairs can be the plane at the highest point of a continuous section of stairs, or the connecting plane between two sections of stairs with different directions, or the connecting plane between two sections of stairs with the same direction. After all the outrigger drive wheels of the device are moved to the top surface of the stairs, the horizontal direction of the outrigger drive wheels can be adjusted by rotating the drive motor according to the actual road conditions, and then horizontal movement can be carried out or the device can climb the stairs according to the above method.

[0120] A method for a transport device capable of climbing stairs as described above to climb stairs. During the movement of the outrigger drive wheels, the box body moves correspondingly, and it is ensured that the vertical line of the center of gravity of the box body always passes through the closed area formed by the horizontal projections of the load-bearing outrigger drive wheels, and the bottom surface of the box body is always in a horizontal state;

[0121] During the movement of the outrigger drive wheels themselves, in order to ensure that the center of gravity of the box body is always within the load-bearing area formed by the load-bearing outrigger drive wheels, the horizontal drive motor can adjust the relative positions of the outrigger drive wheels and the box body in real time according to the positions of the outrigger drive wheels; the vertical drive motor can also adjust the heights of the outrigger drive wheels correspondingly according to the needs of the outrigger drive wheels to climb the stairs, ensuring that the box body is always in a horizontal position, making it more stable, convenient and reliable to use.

[0122] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A method for a stair - climbing transport device to climb stairs. The transport device includes a box body (1) and a plurality of lifting universal driving devices (2) arranged on the box body. The lifting universal driving devices are horizontally slidably connected to the box body. The lifting universal driving device includes a mounting seat (3) and a load - bearing driving wheel (4) that can vertically lift and horizontally rotate. Characterized in that: The method includes: a step of detaching from the ground; A step of repeatedly climbing stairs; a step of detaching from the stairs. Among them, the step of detaching from the ground, the specific steps include: A1. The box body moves until the front load - bearing driving wheel approaches the first - level stair. A2. The load - bearing driving wheel at the rear right of the box body moves forward to the middle position between the two left - hand load - bearing driving wheels. A3. Move the load - bearing driving wheel at the front right of the box body so that its bottom end abuts against the first - level stair surface. A4. The load - bearing driving wheel at the rear left of the box body moves forward until it moves to the middle position between the two right - hand load - bearing driving wheels. A5. Move the load - bearing driving wheel at the front left of the box body so that its bottom end abuts against the second - level stair surface. A6. Move the rear - right load - bearing driving wheel to the first - level stair surface and make it in the middle position between the two left - hand load - bearing driving wheels. A7. Move the front - right load - bearing driving wheel so that its bottom end abuts against the third - level stair surface. A8. Move the rear - left load - bearing driving wheel to the second - level stair surface and make it in the middle position between the two right - hand load - bearing driving wheels. The step of repeatedly climbing stairs, the specific steps include: B1. Move the front - left load - bearing driving wheel so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level. B2. Move the rear - right load - bearing driving wheel so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level. B3. Move the front - right load - bearing driving wheel so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level. B4. Move the rear - left load - bearing driving wheel so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level. B5. Move the front - left load - bearing driving wheel so that it moves up two levels of stairs and its bottom end abuts against the stair surface of that level. Repeat steps B2 - B5 in sequence until the front - most load - bearing driving wheel moves until its bottom end abuts against the stair surface one level below the top of the stairs, and the other two load - bearing driving wheels both move until their bottom ends abut against the stair surface two levels below the top of the stairs.

2. According to the method for a stair - climbing transport device to climb stairs as claimed in claim 1, Characterized in that: It further includes a step of detaching from the stairs, and the specific steps include: C1. Move the load - bearing driving wheel in front of the other side of the front - most load - bearing driving wheel of the box body so that its bottom end abuts against the top surface of the stairs. C2. Move the load - bearing driving wheel at the rear of the other side so that its bottom end abuts against the stair surface one level below the top of the stairs. C3. Move the load - bearing driving wheel in front of the same side so that its bottom end abuts against the top surface of the stairs. C4. Move the load - bearing driving wheel at the rear of the other side so that its bottom end abuts against the top surface of the stairs. C5. Move the load - bearing driving wheel at the rear of the other side so that its bottom end abuts against the top surface of the stairs.

3. The method for climbing stairs of a transport device capable of climbing stairs according to claim 1, characterized in that: a horizontal slide rail (5) is provided inside the box body, the lifting universal driving device includes a horizontal sliding sleeve (6) that can be sleeved on the horizontal slide rail and slide horizontally, a horizontal rack (7) parallel to the horizontal slide rail is provided on one side of the horizontal slide rail, the lifting universal driving device further includes a horizontal driving gear (8) that can be meshed and driven with the horizontal rack, the horizontal driving gear is driven to rotate by a horizontal driving motor (9), and both the horizontal sliding sleeve and the horizontal driving motor are arranged on the mounting seat.

4. The method for climbing stairs of a transport device capable of climbing stairs according to claim 1, characterized in that: a horizontal slide rail is provided on each side of the box body, each horizontal slide rail is connected with two lifting universal driving devices, and they are respectively arranged on both sides of the horizontal slide rail.

5. The method for climbing stairs of a transport device capable of climbing stairs according to claim 1, characterized in that: the load-bearing driving wheel is connected with a vertical slide rod (10), a vertical screw rod (11) is provided on the mounting seat, a vertical screw sleeve (12) is threadedly connected to the vertical screw rod, the vertical screw sleeve is connected with the vertical slide rod through an adapter seat (13), the vertical slide rod is rotatably connected with the adapter seat, a vertical driven gear (14) is coaxially connected to the vertical screw rod, a vertical driving motor (15) is provided on the mounting seat, the vertical driving motor is connected with a vertical driving gear (16), and the vertical driving gear can be meshed and driven with the vertical driven gear.

6. The method for climbing stairs of a transport device capable of climbing stairs according to claim 5, characterized in that: a vertical slide rail (17) is provided on the mounting seat, and a vertical sliding sleeve (18) that can be sleeved on the vertical slide rail and slide is provided on the adapter seat.

7. The method for climbing stairs of a transport device capable of climbing stairs according to claim 5, characterized in that: the lifting universal driving device further includes a rotating sleeve (19) rotatably connected with the mounting seat, the vertical slide rod is inserted into the rotating sleeve and is vertically slidably connected with the rotating sleeve, a rotating driven gear (20) is coaxially connected to the rotating sleeve, a rotating driving motor (21) is provided on the mounting seat, the rotating driving motor is connected with a rotating driving gear (22), and the rotating driving gear can be meshed and driven with the rotating driven gear.

8. The method for climbing stairs of a transport device capable of climbing stairs according to claim 7, characterized in that: a rotation limiting groove block (23) is provided along the axial direction on the vertical slide rod, and the rotation limiting groove block (23) can limit the rotation between the vertical slide rod and the rotating sleeve.

9. The method for climbing stairs of a transport device capable of climbing stairs according to claim 6, characterized in that: the load-bearing driving wheel is driven to rotate by a hub motor (24), and the hub motor is arranged below the vertical slide rod.

10. The method for climbing stairs of a transport device capable of climbing stairs according to claim 1, characterized in that: After the supporting and driving wheels go through the step of disengaging from the ground, all the supporting and driving wheels are disengaged from the ground, and the bottom ends abut against the stair level; At any moment, at least three supporting and driving wheels are stressed to support the weight of the box body.

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