Crawler tooth type stair climbing machine
By using the crawler-type design and conversion mechanism in the stair climber to adjust the inclination angle of the crawler-type crawlers solve the problem that the crawler-type crawlers cannot fully contact the stairs, achieving higher load capacity and lower maintenance costs.
Patent Information
- Application Number
- CN202510326200.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2025-06-13
AI Technical Summary
The existing crawler-type stair climbers cannot make sufficient contact with the stairs, resulting in low load capacity and wear and tear between the crawlers and the stairs, increasing maintenance costs.
The sliding gear climbing machine is adopted to change the moving trajectory of the sliding gear through the conversion mechanism and adjust its inclination angle relative to the sliding panel, so as to achieve full contact with the top surface of the stair step and avoid wear.
It improves load capacity, avoids wear of tracks and stairs, reduces maintenance costs, and adapts to the needs of different usage environments.
Smart Images
Figure CN120135307A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of stair-climbing machines, and in particular to a toothed-track stair-climbing machine. Background Art
[0002] With the acceleration of the urbanization process and the popularization of high-rise buildings, the demand for equipment capable of efficient handling in stairwells is increasing day by day. Traditional handling methods such as manual handling or simple mechanical handling have problems such as high labor intensity, low efficiency, and many safety hazards, and it is difficult to meet the needs of modern society. The tracks on existing tracked stair-climbing machines cannot make full contact with the stairs. This insufficient contact results in a small frictional force between the tracks and the stairs, affecting the stability and safety of the stair-climbing machine during the stair-climbing process, leading to a low load-carrying capacity, and also causing wear between the tracks and the stairs, increasing the maintenance cost. Summary of the Invention
[0003] In view of the problem that the existing tracked stair-climbing machine cannot make full contact with the stairs, resulting in a low load-carrying capacity and also causing wear between the tracks and the stairs, the present invention provides a toothed-track stair-climbing machine.
[0004] To solve the above technical problems, the present invention adopts the following technical solutions:
[0005] A toothed-track stair-climbing machine includes a frame and a traveling mechanism provided on the frame. The traveling mechanism includes a track plate, track teeth, a chain, a gear, a traveling motor, and a conversion mechanism. The gear is rotatably provided in the track plate and meshes with the chain. The traveling motor is fixed on the track plate and connected to the gear. The traveling motor is used to drive the gear to drive the chain to move. The track plate is provided with a first chute, a second chute, and a third chute. One side of the track teeth is connected to the chain, and the other side is adapted to move along the first chute, the second chute, and the third chute through a pulley. The conversion mechanism is provided on the track plate and is used to switch the communication state between the third chute and the first chute and the second chute, so as to change the inclination angle of the track teeth relative to the track plate.
[0006] Further, the traveling mechanisms are symmetrically arranged on the left and right sides of the frame.
[0007] Further, the track plate includes a first track plate, a second track plate, and a support plate. The support plate is arranged between the first track plate and the second track plate, and the first track plate is fixedly connected to the frame.
[0008] Furthermore, the gear includes a driving wheel and a driven wheel, the driving wheel is arranged at the rear end of the support plate, the driven wheel is arranged at the front end of the support plate, the driving wheel is connected to the travel motor, and the chain is arranged on the edge of the support plate and moves along the edge of the support plate.
[0009] Furthermore, the first track plate and the second track plate have the first slide groove, the second slide groove and the third slide groove on one side adjacent to the support plate, the third slide groove is located on the upper part of the first track plate and the second track plate, the front end port of the third slide groove is respectively connected to the first slide groove and the second slide groove, the rear end port of the third slide groove is respectively connected to the first slide groove and the second slide groove, and the first slide groove is located on the outer side of the second slide groove.
[0010] Furthermore, a movable groove is opened at the front end position of the third slide groove on the first track plate, and the conversion mechanism includes a telescopic cylinder, a guide block and a guide rail. The guide rail is fixedly connected to the inner side of the first track plate, and the telescopic cylinder and the guide block are located between the guide rail and the first track plate. The guide block is adapted to be arranged in the movable groove and connected to the telescopic cylinder. The guide block moves up and down along the guide rail and the movable groove under the drive of the telescopic cylinder.
[0011] Furthermore, the top surface of the guide block is matched with the third slide groove, and the lower side has an arc groove matched with the second slide groove.
[0012] Furthermore, the grouser includes a top plate and a connecting plate, the two connecting plates are symmetrically arranged on the left and right sides of the bottom of the top plate, a buffer pad is fixed on the top of the top plate, and the spacing between the two connecting plates is adapted to the chain.
[0013] Furthermore, the connecting plate is triangular in shape, the top plate is fixed to the top rear side of the connecting plate, the front side of the connecting plate extends out of the top plate and has a connecting hole, and the pulley is rotatably arranged on the bottom outer side of the connecting plate.
[0014] Furthermore, a lifting mechanism is respectively provided on the front and rear sides of the frame, and the lifting mechanism includes a lifting motor, a support arm and a roller. The lifting motor is fixedly connected to the crossbeam of the frame, and a rotating shaft is transmission-connected on each side of the lifting motor. The end of the rotating shaft is rotatably connected to the first crawler plate through a bearing, and the support arm is respectively fixed on the rotating shaft located on the left and right sides of the lifting motor, and the roller is arranged at the outer end of the support arm.
[0015] The beneficial effects of the present invention are as follows: By changing the movement trajectory of the tread teeth through the conversion mechanism, the present invention realizes the adjustment of the angle, can fully contact the top surface of the staircase steps, avoids wear between the staircase steps, and further improves the load-bearing capacity. The present invention can adapt to different usage environments by utilizing the angle change of the tread teeth, and the staff can make the movement more flexible through the lifting mechanism, greatly expanding the application range. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 The structural principle schematic diagram of an embodiment of the present invention is shown.
[0017] Figure 2 Shown as Figure 1 the top view.
[0018] Figure 3 is Figure 1 a partial structural schematic diagram of the traveling mechanism in [reference], showing the structure of the support plate.
[0019] Figure 4 is Figure 3 a partial structural schematic diagram of [reference], showing the structure of the first tread plate and the guide block.
[0020] Figure 5 Shown as Figure 4 the front view.
[0021] Figure 6 Shown as Figure 4 a side view.
[0022] Figure 7 The structural schematic diagram of the tread teeth is shown.
[0023] Figure 8 Shown is the connection relationship between the tread teeth and the first tread plate in the planar walking mode.
[0024] Figure 9 Shown is the connection relationship between the tread teeth and the first tread plate in the stair-climbing walking mode.
[0025] Figure 10 Shown is the movement schematic diagram of the present invention from flat ground to the staircase. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0026] The present invention discloses a tread-tooth type stair-climbing machine, and the following makes a specific description of an embodiment of the present invention with reference to the accompanying drawings.
[0027] Combined with Figure 1 and Figure 2As shown, the toothed stair-climbing machine includes a frame 1, a traveling mechanism, and a lifting mechanism. The traveling mechanisms are symmetrically arranged on the left and right sides at the bottom of the frame 1. The traveling mechanism includes a tread plate, toothed lugs 5, a chain 4, gears, a traveling motor 10, and a conversion mechanism 11. The tread plate includes a first tread plate 3, a second tread plate 2, and a support plate 12. The support plate 12 is arranged between the first tread plate 3 and the second tread plate 2. In combination with Figure 3 , Figure 4 and Figure 5 shown, the first tread plate 3 is adjacent to the frame 1 and fixedly connected to the cross beam of the frame 1. On one side of the first tread plate 3 adjacent to the support plate 12, a first chute 16, a second chute 17, and a third chute 15 are provided. On one side of the second tread plate 2 adjacent to the support plate 12, a first chute 16, a second chute 17, and a third chute 15 are provided. And the first chute 16 on the first tread plate 3 corresponds to the first chute 16 on the second tread plate 2, the second chute 17 on the first tread plate 3 corresponds to the second chute 17 on the second tread plate 2. The third chute 15 on the first tread plate 3 corresponds to the third chute 15 on the second tread plate 2. The third chute 15 is located at the upper part of the first tread plate 3 and the second tread plate 2. The first chute 16 and the second chute 17 are both arc-shaped and located on the lower side of the third chute 15. The front ports of the third chute 15 are respectively communicated with the first chute 16 and the second chute 17, and the rear ports are also respectively communicated with the first chute 16 and the second chute 17. The first chute 16 is located outside the second chute 17. At the position of the front port of the third chute 15 on the first tread plate 3, a moving groove is provided. The conversion mechanism 11 includes a telescopic cylinder 19 and a guide block 18. The telescopic cylinder 19 is fixed inside the first tread plate 3. The guide block 18 is adaptively arranged in the moving groove and connected to the telescopic cylinder 19. The guide block 18 moves up and down along the moving groove driven by the telescopic cylinder 19.
[0028] As Figure 6As shown, the conversion mechanism 11 includes a telescopic cylinder 19, a guide block 18, a protective plate, and a guide rail 20. The protective plate is fixedly connected to the inner side of the first tread plate 3 through a plurality of connecting columns. The guide rail 20, the telescopic cylinder 19, and the guide block 18 are located within the interval between the protective plate and the first tread plate 3. The guide rail 20 is fixedly connected to the protective plate. The telescopic cylinder 19 is fixed to the inner side of the first tread plate 3. The guide block 18 is adaptively arranged in the moving groove and is adaptively connected to the guide rail 20. The top surface of the guide block 18 is flat and can be adapted to the third chute 15. The lower side of the guide block 18 has an arc-shaped groove that can be adapted to the second chute 17. The inner side wall of the guide block 18 extends towards the frame 1 to be connected to the telescopic cylinder 19. The guide block 18 moves up and down along the guide rail 20 and the moving groove driven by the telescopic cylinder 19. The gear includes a driving wheel 13 and a driven wheel 14. The driving wheel 13 is arranged at the rear end of the support plate 12, and the driven wheel 14 is arranged at the front end of the support plate 12. The traveling motor 10 is fixed to the inner side wall of the first tread plate 3 and is connected to the driving wheel 13 to drive the driving wheel 13 to rotate. The chain 4 is annular and is arranged on the driving wheel 13, the driven wheel 14, and the support plate 12 and is adaptively meshed with the driving wheel 13 and the driven wheel 14. Driven by the driving wheel 13, the chain 4 moves along the edge of the support plate 12.
[0029] As Figure 7 shown, the tread teeth 5 include a top plate 501 and a pair of connecting plates 502. The two connecting plates 502 are symmetrically arranged on the left and right sides of the bottom of the top plate 501. A buffer pad 504 is fixed to the top of the top plate 501. The distance between the two connecting plates 502 is adapted to the chain 4. In this embodiment, the buffer pad 504 is made of rubber material. The connecting plate 502 is triangular, and the top plate 501 is fixed to the rear side of the top of the connecting plate 502. The front side of the connecting plate 502 extends forward outside the top plate 501. Connecting holes are provided on the front ends of the two connecting plates 502, and the connecting holes are rotatably connected to the chain 4 through pins. A pulley 503 is rotatably connected to the outer side of the bottom of the connecting plate 502. The pulley 503 is adapted to the first chute 16, the second chute 17, and the third chute 15 and can move along the first chute 16, the second chute 17, and the third chute 15.
[0030] The lifting mechanism is arranged on the front and rear sides of the frame 1. The lifting mechanism includes a lifting motor 6, a support arm 8, and a roller 9. The lifting motor 6 is fixedly connected to the cross beam of the frame 1. The left and right sides of the lifting motor 6 are each drivingly connected to a rotating shaft 7. The ends of the two rotating shafts 7 are rotatably connected to the first tread plate 3 through bearings. The lifting motor 6 drives the two rotating shafts 7 to rotate synchronously. A support arm 8 is fixedly connected to each of the two rotating shafts 7. The roller 9 is arranged on the lower side of the outer end of the support arm 8. A pair of rollers 9 located at the rear side of the frame 1 are universal wheels.
[0031] Combined with Figure 8 、 Figure 9 and Figure 10As shown in the figure, the present invention has a flat walking mode and a stair climbing walking mode, which can be switched under the action of the conversion mechanism 11. When in the flat walking mode, the telescopic cylinder 19 drives the guide block 18 to move to the upper part of the moving groove. At this time, the third chute 15 is communicated with the second chute 17 through the arc groove of the guide block 18. The traveling motor 10 drives the driving wheel 13 to drive the chain 4 to rotate, and the chain 4 drives the tread teeth 5 to move along the edges of the first tread plate 3, the second tread plate 2 and the support plate 12. The pulley 503 located on the connecting plate 502 moves forward along the third chute 15, then enters the second chute 17 through the arc groove of the guide block 18, and moves along the second chute 17. At this time, the tread teeth 5 move to the bottom of the traveling mechanism, and the buffer pad 504 on the top plate 501 of the tread teeth 5 is approximately parallel to the ground. When the tread teeth 5 type stair climbing machine moves to the steps, the lifting motor 6 located on the front side of the frame 1 drives the support arm 8 and the roller 9 to lift and rest on the steps, and then the support arm 8 and the roller 9 press down. Under the reaction force of the steps, the front side of the traveling mechanism tilts up, so that the traveling mechanism moves onto the steps. Subsequently, the lifting mechanism resets the support arm 8 and the roller 9 to avoid affecting the movement.
[0032] When in the stair climbing walking mode, the telescopic cylinder 19 drives the guide block 18 to move to the lower part of the moving groove. At this time, the third is communicated with the first chute 16 through the top surface of the guide block 18. The traveling motor 10 drives the driving wheel 13 to drive the chain 4 to rotate, and the chain 4 drives the tread teeth 5 to move along the edges of the first tread plate 3, the second tread plate 2 and the support plate 12. The pulley 503 located on the connecting plate 502 moves forward along the third chute 15, then enters the first chute 16 through the arc groove of the guide block 18, and moves along the first chute 16. At this time, when the tread teeth 5 move to the bottom of the traveling mechanism, they are inclined, and the buffer pads 504 on the top plates 501 of the respective tread teeth 5 can be approximately parallel to the top surfaces of the respective steps.
[0033] When encountering complex ground, the lifting mechanisms located on the front side of the frame 1 and the lifting mechanisms located on the rear side of the frame 1 operate simultaneously, controlling the support arm 8 and the pulley 503 to press down simultaneously, lifting the whole frame 1 and the traveling mechanism, and only contacting the ground by the pulley 503. At this time, the staff can push the frame 1 to move, and the roller 9 located on the rear side of the frame 1 is a universal wheel, which is convenient for turning and makes the movement of the frame 1 more flexible.
[0034] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essence of the present invention should also fall within the protection scope of the present invention.
Claims
1. A grouser-type stair climbing machine, characterized in that: The invention comprises a frame (1) and a travel mechanism arranged on the frame (1), wherein the travel mechanism comprises a track plate, a track tooth (5), a chain (4), a gear, a travel motor (10) and a conversion mechanism (11), wherein the gear is rotatably arranged in the track plate and is matched and meshed with the chain (4); the travel motor (10) is fixed on the track plate and connected to the gear, and the travel motor (10) is used to drive the gear to drive the chain (4) to move; a first slide groove (16 ), a second slide groove (17) and a third slide groove (15), one side of the grouser (5) is connected to the chain (4), and the other side is adapted to move along the first slide groove (16), the second slide groove (17) and the third slide groove (15) through a pulley (503); the conversion mechanism (11) is arranged on the track plate, and is used to switch the connection state of the third slide groove (15) with the first slide groove (16) and the second slide groove (17), so as to change the inclination angle of the grouser (5) relative to the track plate.
2. A grouser-type stair climbing machine according to claim 1, characterized in that: The travel mechanism is symmetrically arranged on the left and right sides of the frame (1).
3. The grouser-type stair climbing machine according to claim 1, characterized in that: The track plate comprises a first track plate (3), a second track plate (2) and a support plate (12); the support plate (12) is arranged between the first track plate (3) and the second track plate (2); and the first track plate (3) is fixedly connected to the frame (1).
4. A grouser-type stair climbing machine according to claim 3, characterized in that: The gear comprises a driving wheel (13) and a driven wheel (14); the driving wheel (13) is arranged at the rear end of the support plate (12); the driven wheel (14) is arranged at the front end of the support plate (12); the driving wheel (13) is connected to the travel motor (10); the chain (4) is arranged on the edge of the support plate (12) and moves along the edge of the support plate (12).
5. The grouser-type stair climbing machine according to claim 3, characterized in that: The first track plate (3) and the second track plate (2) have the first slide groove (16), the second slide groove (17) and the third slide groove (15) on one side adjacent to the support plate (12); the third slide groove (15) is located on the upper part of the first track plate (3) and the second track plate (2); the front end of the third slide groove (15) is connected to the first slide groove (16) and the second slide groove (17) respectively; the rear end of the third slide groove (15) is connected to the first slide groove (16) and the second slide groove (17) respectively; the first slide groove (16) is located on the outer side of the second slide groove (17).
6. The grouser-type stair climbing machine according to claim 5, characterized in that: A movable groove is provided at the front end position of the third slide groove (15) on the first track plate (3); the conversion mechanism (11) comprises a telescopic cylinder (19), a guide block (18) and a guide rail (20); the guide rail (20) is fixedly connected to the inner side of the first track plate (3); the telescopic cylinder (19) and the guide block (18) are located between the guide rail (20) and the first track plate (3); the guide block (18) is adapted to be arranged in the movable groove and is connected to the telescopic cylinder (19); the guide block (18) moves up and down along the guide rail (20) and the movable groove under the drive of the telescopic cylinder (19).
7. The grouser-type stair climbing machine according to claim 6, characterized in that: The top surface of the guide block (18) is matched with the third slide groove (15), and the lower side has an arc groove matched with the second slide groove (17).
8. The grouser-type stair climbing machine according to claim 5, characterized in that: The grouser (5) comprises a top plate (501) and a connecting plate (502), wherein the two connecting plates (502) are symmetrically arranged on the left and right sides of the bottom of the top plate (501), a buffer pad (504) is fixed on the top of the top plate (501), and the spacing between the two connecting plates (502) is adapted to the chain (4).
9. The grouser-type stair climbing machine according to claim 8, characterized in that: The connecting plate (502) is triangular in shape, the top plate (501) is fixed to the top rear side of the connecting plate (502), the front side of the connecting plate (502) extends out of the top plate (501) and has a connecting hole, and the pulley (503) is rotatably arranged on the bottom outer side of the connecting plate (502).
10. The grouser-type stair climbing machine according to claim 3, characterized in that: A lifting mechanism is provided on each of the front and rear sides of the frame (1), and the lifting mechanism comprises a lifting motor (6), a support arm (8) and a roller (9). The lifting motor (6) is fixedly connected to the crossbeam of the frame (1), and each of the two sides of the lifting motor (6) is transmission-connected with a rotating shaft (7), and the end of the rotating shaft (7) is rotationally connected to the first crawler plate (3) through a bearing. The support arm (8) is respectively fixed on the rotating shaft (7) located on the left and right sides of the lifting motor (6), and the roller (9) is arranged at the outer end of the support arm (8).