Corridor transport trolley

Abstract

The invention relates to the technical field of transportation equipment, and discloses a corridor transportation trolley, a wheel mechanism comprises a wheel driving assembly and a wheel assembly, the wheel driving assembly comprises a driving motor, a positioning gear and a driving gear, a connecting shaft is rotatably connected to a chassis, and a deformation connecting gear and a deformation adjusting gear are arranged on the connecting shaft; the walking gear provided with a connecting frame is rotationally connected to the connecting shaft, the crawling claw is provided with a deformation gear, the deformation gear is connected to the connecting frame, and when the wheel assembly switches the form, the deformation driving mechanism drives the driving motor to retract backwards so that the driving gear can be meshed with the deformation connecting gear; when the wheel assembly walks, the deformation driving mechanism drives the driving motor to stretch forwards, the driving gear is meshed with the walking gear, and the positioning gear is meshed with the deformation connecting gear. The wheel diameter of the wheel assembly can be rapidly adjusted, the stair climbing device is suitable for climbing steps of different heights, and seamless connection between a stair and the flat ground is achieved.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, and in particular to a stairwell transport trolley. Background Technology

[0002] With the advancement of urbanization and the intensification of population aging, the demand for material handling in multi-story buildings is increasing. In some old residential or commercial buildings (especially old communities without elevators), the corridors are narrow and the stair steps are of varying heights. Traditional manual handling methods are inefficient and labor-intensive. Existing stair climbing machines have complex structures and large volumes, and their turning flexibility in the corridors is poor. They are difficult to adapt to steps of different heights at the same time and cannot meet the passage requirements of narrow corridors. Summary of the Invention

[0003] The purpose of this invention is to provide a stairwell transport trolley that can quickly adjust the wheel diameter of the wheel assembly to adapt to climbing steps of different heights and achieve seamless connection between stairs and flat ground.

[0004] To achieve the above objectives, the present invention provides a stairwell transport trolley, comprising a chassis, a deformable drive mechanism, and four sets of wheel mechanisms respectively disposed at the four corners of the chassis. Each wheel mechanism includes a wheel drive assembly and wheel assemblies. The wheel drive assembly includes a drive motor, a positioning gear, and a drive gear. The drive gear and the positioning gear are connected to the output shaft of the drive motor. Each wheel assembly includes a connecting shaft, a deformable connecting gear, a traveling gear, a deformable adjusting gear, and multiple crawling claws. The connecting shaft is rotatably connected to the chassis. The deformable connecting gear and the deformable adjusting gear are fixed to the connecting shaft. The traveling gear is rotatably connected to the connecting shaft and has a connecting frame fixed to it. The ends of the crawling claws are provided with deformable gears that mesh with the deformable adjusting gears. Multiple deformable gears are rotatably connected to the connecting frame, and the connecting frame has multiple deformable gears that mesh with the deformable adjusting gears. Each gear corresponds to a ring electromagnet. The deformable gear has a built-in positioning block that can be magnetically connected to the ring electromagnet. The positioning block faces the ring electromagnet. The output end of the deformation drive mechanism is connected to each of the drive motors. When the wheel assembly changes form, the deformation drive mechanism drives the drive motors to retract, causing the drive gear to mesh with the deformable connecting gear. The ring electromagnet is de-energized. When the drive gear rotates forward, each crawling claw retracts. When all the crawling claws are fully retracted, the outer circumference of the wheel assembly is circular. When the drive gear rotates in the reverse direction, each crawling claw unfolds. When the wheel assembly moves, the deformation drive mechanism drives the drive motors to extend forward. The drive gear meshes with the walking gear, the positioning gear meshes with the deformable connecting gear, the ring electromagnet is energized, and the positioning block is magnetically fixed to the ring electromagnet.

[0005] As a preferred embodiment of the present invention, the crawling claw is provided with a plurality of rollers that are inclined at 45°; the rollers in the same wheel mechanism have the same inclination direction, and the rollers in two adjacent wheel mechanisms have opposite inclination directions.

[0006] As a preferred embodiment of the present invention, the deformation drive mechanism includes a deformation drive motor, an output gear, an upper rack, a lower rack, and a support plate. The deformation drive motor is mounted on the vehicle chassis. The output gear is connected to the output end of the deformation drive motor. The upper rack meshes with the upper side of the output gear, and the lower rack meshes with the lower side of the output gear. The output gear can drive the upper rack and the lower rack to reciprocate laterally. The upper rack is connected to one of the support plates, and the lower rack is connected to another support plate. The two drive motors on the left side are respectively connected to the front and rear ends of one support plate, and the two drive motors on the right side are respectively connected to the front and rear ends of another support plate.

[0007] As a preferred embodiment of the present invention, the chassis is provided with a horizontally arranged guide rod, and both support plates are provided with guide holes that slide in cooperation with the guide rod.

[0008] As a preferred embodiment of the present invention, the guide rod is provided in two sets and is respectively arranged on the front and rear sides of the vehicle chassis.

[0009] As a preferred embodiment of the present invention, each wheel assembly is provided with three crawling claws, and the traveling gear is disposed between the deformable connecting gear and the deformable adjusting gear.

[0010] As a preferred embodiment of the present invention, ultrasonic ranging sensors are provided around the vehicle chassis.

[0011] In a preferred embodiment of the present invention, the connecting shaft is rotatably connected to the vehicle chassis via a bearing seat.

[0012] Compared with the prior art, the stairwell transport trolley of this invention has the following advantages: This invention uses a deformation drive mechanism to retract each set of drive motors. The drive gear meshes with the deformable connecting gear. When the drive gear rotates forward, the deformable connecting gear drives the deformable adjusting gear to rotate synchronously. The deformable adjusting gear drives the deformable gear on the crawler claw to rotate, causing the crawler claw to retract and thus reducing the wheel diameter of the wheel assembly. Conversely, when the drive gear rotates in the reverse direction, the crawler claw unfolds, increasing the wheel diameter of the wheel assembly. When the deformation drive mechanism drives each set of drive motors to extend forward, the drive gear meshes with the traveling gear, and the positioning gear meshes with the deformable connecting gear. When the drive motor drives the traveling gear to rotate, the connecting frame rotates synchronously. The deformable gear on the crawler claw revolves around the deformable adjustment gear, causing the wheel assembly to roll forward or backward, thus moving the stair transport trolley. Since the deformable gear is locked, it will not rotate, ensuring that the unfolding angle of the crawler claw remains constant. This invention, through the cooperation of the deformable drive mechanism and the wheel drive assembly, adjusts the opening angle of the crawler claw and thus quickly adjusts the wheel diameter of the wheel assembly to adapt to climbing steps of different heights. On flat and narrow corridors, by fully retracting the crawler claw to form a circle around the outer perimeter of the wheel assembly, the center of gravity of the stair transport trolley is lowered, the stability of the transport is improved, and a seamless connection between stairs and flat ground is achieved. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0014] Figure 1 A schematic diagram of the structure of a stairwell transport trolley when its crawling claws are fully retracted, as provided by the present invention; Figure 2 A schematic diagram of the structure of a stairwell transport trolley when its crawling claws are deployed, provided by the present invention; Figure 3 A schematic diagram of the wheel mechanism provided by the present invention; In the figure, the chassis is 1; bearing housing is 11; deformation drive mechanism is 2; deformation drive motor is 21; output gear is 22; upper rack is 23; lower rack is 24; support plate is 25; guide rod is 26; wheel drive assembly is 3; drive motor is 31; positioning gear is 32; drive gear is 33; wheel assembly is 4; connecting shaft is 41; deformation connecting gear is 42; traveling gear is 43; deformation adjusting gear is 44; crawling claw is 45; roller is 451; connecting frame is 46; and deformation gear is 47. Detailed Implementation

[0015] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0016] In the description of this invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] like Figures 1 to 3As shown, a preferred embodiment of the present invention provides a stairwell transport trolley, comprising a chassis 1, a deformable drive mechanism 2, and four sets of wheel mechanisms respectively disposed at the four corners of the chassis 1. Each wheel mechanism includes a wheel drive assembly 3 and a wheel assembly 4. The wheel drive assembly 3 includes a drive motor 31, a positioning gear 32, and a drive gear 33. The drive gear 33 and the positioning gear 32 are connected to the output shaft of the drive motor 31. The wheel assembly 4 includes a connecting shaft 41, a deformable connecting gear 42, a traveling gear 43, a deformable adjusting gear 44, and multiple crawling claws 45. The connecting shaft 41 is rotatably connected to the chassis 1 via a bearing seat 11. The connecting gear 42 and the deformable adjusting gear 44 are fixedly mounted on the connecting shaft 41. The traveling gear 43 is rotatably connected to the connecting shaft 41. A connecting frame 46 is fixedly mounted on the traveling gear 43. The end of the crawling claw 45 is provided with a deformable gear 47 that meshes with the deformable adjusting gear 44. Multiple deformable gears 47 are rotatably connected to the connecting frame 46. Multiple annular electromagnets corresponding one-to-one with the deformable gears 47 are provided on the connecting frame 46. Each deformable gear 47 has a positioning block built in it that can be magnetically attracted to the annular electromagnet. The positioning block faces the annular electromagnet. When the deformable gear 47 rotates, the movement trajectory of the positioning block is aligned with the annular electromagnet. The annular electromagnets overlap, and the contact surfaces between the connecting frame 46 and the deformable gear 47 are in close contact, with both contact surfaces being smooth. The output end of the deformation drive mechanism 2 is connected to each of the drive motors 31. When the wheel assembly 4 switches forms, the deformation drive mechanism 2 drives the drive motor 31 to retract, causing the drive gear 33 to mesh with the deformable connecting gear 42. The annular electromagnet is de-energized, its magnetism disappears, and the deformable gear 47 can rotate, ensuring that the deformable gear 47 can rotate on the deformation adjustment gear 44 to adjust the opening angle of the crawler claw 45. When the drive gear 33 rotates in the forward direction... When all the crawling claws 45 are fully retracted, the outer circumference of the wheel assembly 4 is circular. When the drive gear 33 rotates in the opposite direction, each crawling claw 45 unfolds. When the wheel assembly 4 moves, the deformation drive mechanism 2 drives the drive motor 31 to extend forward. The drive gear 33 meshes with the walking gear 43, the positioning gear 32 meshes with the deformation connecting gear 42, the annular electromagnet is energized, and the annular electromagnet has magnetic force. The positioning block on the deformable gear 47 is magnetically attracted and fixed by the annular electromagnet of the connecting frame 46, so that the deformable gear 47 cannot rotate on its own. The deformable gear 47 can revolve with the deformation adjustment gear 44.

[0018] In this invention, the deformation drive mechanism 2 drives each set of drive motors 31 to retract. The drive gear 33 meshes with the deformable connecting gear 42. When the drive gear 33 rotates forward, the deformable connecting gear 42 drives the deformable adjusting gear 44 to rotate synchronously. The deformable adjusting gear 44 drives the deformable gear 47 on the crawling claw 45 to rotate, causing the crawling claw 45 to retract, thus reducing the wheel diameter of the wheel assembly 4. Conversely, when the drive gear 33 rotates in the reverse direction, the crawling claw 45 unfolds, increasing the wheel diameter of the wheel assembly 4. The deformation drive mechanism 2 also drives each set of drive motors 31 to extend forward, causing the drive gear 33 to mesh with the traveling gear 43, and the positioning gear 32 to mesh with the deformable connecting gear 42. The drive motors 31 then... When the moving gear 43 rotates, the connecting frame 46 synchronously drives the deformable gear 47 on the crawling claw 45 to revolve on the deformable adjusting gear 44, so that the wheel assembly 4 rolls forward or backward to realize the movement of the corridor transport trolley. Since the deformable gear 47 is locked, it will not rotate, ensuring that the unfolding angle of the crawling claw 45 remains constant. The present invention uses the deformation drive mechanism 2 to cooperate with the wheel drive assembly 3 to adjust the opening angle of the crawling claw 45 and thus quickly adjust the wheel diameter of the wheel assembly 4 to adapt to climbing steps of different heights. On flat and narrow corridors, by fully retracting the crawling claw 45 to form a circle on the outer periphery of the wheel assembly 4, the center of gravity of the corridor transport trolley itself is lowered, and the stability of the transport is improved.

[0019] For example, the crawling claw 45 is provided with a plurality of rollers 451 inclined at 45°; the rollers 451 in the same wheel mechanism have the same inclination direction, and the rollers 451 on two adjacent wheel mechanisms have opposite inclination directions. In this way, the wheel assembly 4 forms a Mecanum wheel structure as a whole. Each wheel assembly 4 is driven by an independent wheel drive assembly 3. The corridor transport trolley can realize all-round movement such as forward, lateral, diagonal, and 0° turning. It can adapt to the turning operation of narrow corridor platforms and solve the tricky problem that traditional transport vehicles need to repeatedly adjust their posture when making right-angle turns.

[0020] Specifically, the roller 451 is a cylindrical structure wrapped in polyurethane or rubber material, and its surface is designed to mimic the texture of a lizard's claw to increase the coefficient of friction on the wheel assembly 4 and improve the adhesion of the contact surface. Moreover, each roller 451 is able to rotate freely through an independent bearing.

[0021] For example, the deformation drive mechanism 2 includes a deformation drive motor 21, an output gear 22, an upper rack 23, a lower rack 24, and a support plate 25. The deformation drive motor 21 is mounted on the chassis 1. The output gear 22 is connected to the output end of the deformation drive motor 21. The upper rack 23 meshes with the upper side of the output gear 22, and the lower rack 24 meshes with the lower side of the output gear 22. The output gear 22 can drive the upper rack 23 and the lower rack 24 to reciprocate laterally. The upper rack 23 is connected to one of the support plates 25, and the lower rack 24 is connected to another support plate 25. The two drive motors 31 on the left are respectively connected to the front and rear ends of one support plate 25, and the two drive motors 31 on the right are respectively connected to the front and rear ends of another support plate 25. By having one deformation drive motor 21 synchronously drive the four sets of drive motors 31 to move synchronously, the shape switching actions of the four sets of wheel mechanisms are completely synchronized, avoiding the tilting of the vehicle caused by the lag of switching on one side.

[0022] For example, the chassis 1 is provided with a horizontally arranged guide rod 26. The two ends of the guide rod 26 are mounted on the chassis 1 through two guide rod seats. Both support plates 25 are provided with guide holes that slide with the guide rod 26, providing precise guidance for the lateral movement of the support plate 25, limiting the offset of the support plate 25 in the direction perpendicular to the guide rod 26, and ensuring the straightness of the extension and retraction trajectory of the drive motor 31.

[0023] Furthermore, the guide rods 26 are provided in two sets and are respectively arranged on the front and rear sides of the chassis 1, which further enhances the load-bearing capacity of the support plate 25, makes the force on the support plate 25 more uniform, and ensures the structural stability during long-term use.

[0024] In this embodiment, each wheel assembly 4 is provided with three crawling claws 45, and the traveling gear 43 is disposed between the deformable connecting gear 42 and the deformable adjusting gear 44. The wheel diameter adjustment range of the wheel assembly 4 can freely vary between 150mm and 300mm; according to the provisions of the "Residential Building Design Code" (GB50096-2011), the standard width of the corridor in urban residential buildings in China is 1.2 to 1.5 meters, the height of the steps (stairs) cannot exceed 180 mm, and the width of the steps (stairs) cannot be less than 250 mm. Under the above conditions, when the wheel assembly 4 is in the extended state, the diameter of the wheel assembly 4 must be controlled within the range of 200 to 300 mm to meet the requirements of vertically crossing steps (steps); when the wheel diameter of the wheel assembly 4 reaches 250 mm, the static load capacity of a single wheel can reach 150 kg, and the dynamic load capacity is about 80 kg, which is sufficient to meet the needs of moving household appliances; when the wheel assembly 4 is in the retracted state, the diameter is reduced to 150 to 200 mm in order to adapt to the turning operation of narrow platforms.

[0025] The chassis 1 has a wheelbase of 520mm and a track width of 350mm, allowing for flexible zero-radius turning maneuvers in stairwells with a width of 900mm or more. Specifically, the vehicle body uses a 6061-T6 aluminum alloy frame, a material with a tensile strength of 310MPa. This achieves a balance between lightweight requirements (total mass less than or equal to 35kg) and load-bearing capacity (rated load of 120kg). Its dimensions are 1000mm long, 600mm wide, and 300mm high, ensuring both lightweight performance and sufficient load-bearing capacity to accommodate over 90% of residential staircase tread heights (150-180mm) and staircase widths (not less than 1100mm) in China.

[0026] Preferably, ultrasonic ranging sensors are provided around the chassis 1 to provide real-time obstacle distance data for the vehicle, avoiding collisions and improving safety. The control system on the stairwell transport vehicle is electrically connected to the drive motor 31, the deformable drive motor 21, the ultrasonic ranging sensors, and the ring electromagnet.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A stairwell transport trolley, characterized in that, The system includes a chassis, a deformable drive mechanism, and four wheel mechanisms respectively located at the four corners of the chassis. Each wheel mechanism includes a wheel drive assembly and wheel assemblies. The wheel drive assembly includes a drive motor, a positioning gear, and a drive gear. The drive gear and the positioning gear are connected to the output shaft of the drive motor. Each wheel assembly includes a connecting shaft, a deformable connecting gear, a traveling gear, a deformable adjusting gear, and multiple crawler claws. The connecting shaft is rotatably connected to the chassis. The deformable connecting gear and the deformable adjusting gear are fixed to the connecting shaft. The traveling gear is rotatably connected to the connecting shaft and has a connecting frame fixed to it. The end of each crawler claw has a deformable gear that meshes with the deformable adjusting gear. Multiple deformable gears are rotatably connected to the connecting frame. The connecting frame is equipped with multiple annular electromagnets corresponding to each deformable gear. Each deformable gear has a positioning block that can be magnetically connected to the annular electromagnet. The positioning block faces the annular electromagnet. The output end of the deformable drive mechanism is connected to each of the drive motors. When the wheel assembly changes form, the deformable drive mechanism drives the drive motors to retract, causing the drive gear to mesh with the deformable connecting gear. The annular electromagnet is de-energized. When the drive gear rotates forward, each crawling claw retracts. When all the crawling claws are fully retracted, the outer circumference of the wheel assembly is circular. When the drive gear rotates in the reverse direction, each crawling claw unfolds. When the wheel assembly moves, the deformation drive mechanism drives the drive motor to extend forward, the drive gear meshes with the walking gear, the positioning gear meshes with the deformation connecting gear, the annular electromagnet is energized, and the positioning block is magnetically attracted and fixed to the annular electromagnet.

2. The stairwell transport trolley as described in claim 1, characterized in that, The crawling claw is provided with multiple rollers that are inclined at 45°; the rollers in the same wheel mechanism are inclined in the same direction, and the rollers in two adjacent wheel mechanisms are inclined in opposite directions.

3. The stairwell transport trolley as described in claim 1, characterized in that, The deformation drive mechanism includes a deformation drive motor, an output gear, an upper rack, a lower rack, and a support plate. The deformation drive motor is mounted on the vehicle chassis. The output gear is connected to the output end of the deformation drive motor. The upper rack meshes with the upper side of the output gear, and the lower rack meshes with the lower side of the output gear. The output gear can drive the upper rack and the lower rack to reciprocate laterally. The upper rack is connected to one of the support plates, and the lower rack is connected to another support plate. The two drive motors on the left are respectively connected to the front and rear ends of one support plate, and the two drive motors on the right are respectively connected to the front and rear ends of another support plate.

4. The stairwell transport trolley as described in claim 3, characterized in that, The chassis is provided with a horizontally arranged guide rod, and both support plates are provided with guide holes that slide with the guide rod.

5. The stairwell transport trolley as described in claim 4, characterized in that, The guide rods are provided in two sets and are respectively located on the front and rear sides of the vehicle chassis.

6. The stairwell transport trolley as described in claim 1, characterized in that, Each wheel assembly is provided with three crawling claws, and the traveling gear is disposed between the deformable connecting gear and the deformable adjusting gear.

7. The stairwell transport trolley as described in claim 1, characterized in that, The vehicle chassis is equipped with ultrasonic ranging sensors around its perimeter.

8. The stairwell transport trolley as described in claim 1, characterized in that, The connecting shaft is rotatably connected to the vehicle chassis via a bearing housing.

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