Novel stair-climbing carrying device

Abstract

A novel stair-climbing carrying device comprises a loading body, a crawler belt mechanism and a climbing mechanism. Articles can be placed on the loading body; the crawler belt mechanism comprises a wheel belt assembly and a driving part, the wheel belt assembly comprises a first roller and a second roller which are rotationally mounted on the loading body and a crawler belt wound and meshed with the first roller and the second roller, outer teeth are arranged on the outer side of the crawler belt, and the driving part is mounted on the loading body and is in driving connection with the first roller; the crawling mechanism comprises a swing arm, a brake motor and a translation part, a limiting groove is formed in the loading body, and a rotating hole, an avoiding cavity and a clamping groove which are sequentially communicated are formed in the axis of the second roller; a rotating rod with a clamping block is arranged on the swing arm, the rotating rod movably and rotatably penetrates through the limiting groove, the rotating hole, the avoiding cavity and the clamping groove, so that the clamping block has a first position located outside the second roller, a second position clamped with the clamping groove and a third position located in the avoiding cavity, and an output shaft of the brake motor is fixedly connected with the clamping block. And the translation part is mounted on the carrier and is in driving connection with the brake motor so as to switch the position of the clamping block.

Description

TECHNICAL FIELD

[0001] The utility model belongs to carrying equipment technical field, especially, relate to a novel climb floor carrying device. BACKGROUND

[0002] In daily life, often encounter the scene of carrying goods;People will help with a cart to carry goods, to play the role of saving physical strength, but the conventional cart can only be used on the flat ground, namely the user cannot help with the cart to carry goods from low floor to high floor.

[0003] Therefore, the market appears the corresponding climb floor carrying device, such as the utility model patent with the application number 2020219028372 proposes a crawler belt type climb floor carrying device, it is through setting up the crawler belt on the one side of the frame main body, utilizes the crawler belt outer tooth and stair step cooperation, can provide power movement when going up and down the stairs, make climb floor transport goods more labor-saving, improve the transportation efficiency.

[0004] But, in actual use process, it is found that since the whole climb floor process needs to rely on the crawler belt outer tooth and stair step cooperation to drive the frame body, this can bring greater burden to the crawler belt outer tooth, easily makes the outer tooth collapse, leads to the service life of crawler belt to reduce sharply, so very has designed a new climb floor carrying device to solve this problem. UTILITY MODEL CONTENTS

[0005] The technical problem solved

[0006] The utility model provides a novel climb floor carrying device, can reduce the possibility of crawler belt outer tooth collapse in the auxiliary climb floor process, prolongs the service life of crawler belt.

[0007] Technical scheme

[0008] In order to realize the above-mentioned purpose, the utility model provides the following technical scheme:

[0009] The novel stair climbing device comprises a loading body, a track mechanism and a climbing mechanism, the loading body is used for placing articles; the track mechanism comprises a track belt assembly and a driving part; the track belt assembly comprises first and second rollers rotatably installed on the loading body, and a track belt wound and engaged on the first and second rollers, the track belt is provided with external teeth corresponding to the stair steps on the outside; the driving part is installed on the loading body and drivingly connected with the first roller to drive the track belt to rotate; the climbing mechanism comprises a swing arm, a brake motor and a translation part, a limiting groove is formed in the side wall of the loading body, and a rotation hole, an avoiding cavity and a clamping groove are sequentially connected at the shaft center of the second roller; a rotating rod with a clamping block is arranged on the swing arm, the rotating rod is rotatably penetrated through the limiting groove, the rotation hole, the avoiding cavity and the clamping groove, and the rotating rod is movable along the penetrating direction, so that the clamping block has a first position outside the second roller, a second position clamping the clamping groove and a third position in the avoiding cavity; the output shaft of the brake motor is fixedly connected with the clamping block, and the translation part is installed on the loading body and drivingly connected with the brake motor to switch the clamping block between the first position, the second position and the third position.

[0010] When the clamping block is in the first position, the swing arm is located in the limiting groove, and the second roller cannot drive the swing arm; when the clamping block is in the second position, the swing arm is located outside the limiting groove, the brake motor is controlled to be de-energized and the output shaft thereof can rotate, so that the second roller can drive the swing arm to abut against the stair step, and the track mechanism is used in cooperation to realize climbing; when the swing arm is separated from the stair step and the clamping block is switched to the third position, the swing arm is again away from the limiting groove, and the brake motor can drive the swing arm to continue to rotate to recombine with the corresponding stair step, at this time, the clamping block can be switched to the second position to make the swing arm continue to climb in cooperation with the track mechanism.

[0011] Preferably, the loading body is internally provided with a containing cavity, a first driving cavity and a second driving cavity; the containing cavity is used for placing articles; the driving part is installed in the first driving cavity; the clamping block, the brake motor and the translation part are all located in the second driving cavity.

[0012] Preferably, a placing opening connected with the outside is formed in the side wall of the containing cavity, and a cavity door is installed at the placing opening of the loading body to open and close the containing cavity.

[0013] Preferably, the wheel belt assembly is provided with two groups and is arranged at the left and right ends of the loading body respectively, and the limiting grooves are arranged on the side walls of the left and right ends of the loading body; the driving part is provided with two and is drivingly connected with the two first rollers respectively; the swing arms are provided with two and are designed to correspond to the two limiting grooves respectively, the brake motors are provided with two, and the output shafts of the two brake motors are fixedly connected with the two swing arms respectively, and the translation part is synchronously drivingly connected with the two brake motors.

[0014] Preferably, the driving part comprises a bracket and a servo motor, the bracket is mounted in the first driving cavity, the servo motor is mounted on the bracket, and the output shaft of the servo motor penetrates the first driving cavity and is coaxially connected with the first roller.

[0015] Preferably, the stop brake assembly comprises a ratchet wheel and a pawl, the second roller shaft is provided with a rotating block extending into the second driving cavity, and the clamping groove is arranged at the rotating block; the ratchet wheel is coaxially mounted on the rotating block, the pawl is swingably mounted on the side wall of the second driving cavity and is adapted to the ratchet wheel, and a coil spring is mounted at the connection between the pawl and the side wall of the second driving cavity; when the second roller rotates forward to drive the loading body to move forward, the pawl can normally disengage from the ratchet wheel and reset under the action of the coil spring, and when the second roller reverses, the pawl clamps the ratchet wheel to limit the rotation of the second roller.

[0016] Preferably, the translation part comprises a guide rail seat, a screw, a first sliding block, a second sliding block and a stepping motor; the guide rail seat is mounted in the second driving cavity, the screw is rotatably mounted on the guide rail seat; the first sliding block is slidably mounted on the guide rail seat and is positively threadedly connected with the screw, and the first sliding block is connected with one of the brake motors; the second sliding block is slidably mounted on the guide rail seat and is negatively threadedly connected with the screw, and the second sliding block is connected with the other brake motor; the stepping motor is mounted on the guide rail seat and is drivingly connected with the screw.

[0017] Preferably, the control unit comprises a controller and a monitoring member; the monitoring member is mounted on the loading body and is used for monitoring the rotating positions of the second roller and the swing arm, so that the clamping groove and the clamping block can be accurately aligned; the controller is mounted on the loading body and is electrically connected with the driving part, the brake motor, the translation part and the monitoring member, so as to control the start-stop timing of the driving part, the brake motor and the translation part according to the signal fed back by the monitoring member, and then adjust the position of the clamping block.

[0018] Preferably, a battery is further included, which is installed in the loading body and electrically connected with the controller, and a charging port electrically connected with the controller is further arranged on the loading body.

[0019] Preferably, a handle and universal wheels are further included, the handle is installed at the top end of the loading body, the universal wheels are arranged in plurality and detachably installed at the bottom end of the loading body, and the universal wheels all protrude the outer teeth of the track.

[0020] Advantages

[0021] The novel stair-climbing carrying device provided by the utility model provides advancing power for the loading body through the track mechanism, and the track mechanism is assisted by the climbing mechanism, in the process of climbing stairs, the cooperation of the outer teeth of the track mechanism and the stair steps exerts a pushing force on the loading body in the direction of the stair inclination, and the cooperation of the swing arm of the climbing mechanism and the stair steps simultaneously exerts a pushing force on the loading body in the vertical direction and the direction of the stair inclination, the cooperation of the outer teeth and the swing arm can easily drive the loading body to climb the stairs, the working efficiency is improved, and in the process of climbing, the force required for driving the loading body is mainly provided by the swing arm, the burden of the outer teeth is reduced, the possibility of the outer teeth being damaged by the stair steps is reduced, and the service life of the track is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings are included to provide a further understanding of the utility model, and constitute a part of the specification, and are used together with the embodiments of the utility model to explain the utility model, and do not constitute a limitation on the utility model, in the drawings:

[0023] Figure 1 The overall structure schematic view of the utility model is shown;

[0024] Figure 2 The enlarged view of A in Figure 1 is shown;

[0025] Figure 3 The front view of Figure 1 is shown;

[0026] Figure 4 The A-A sectional view in Figure 3 is shown;

[0027] Figure 5 The enlarged view of B in Figure 4 is shown;

[0028] Figure 6 The use state schematic view of the utility model is shown Figure 1 ;

[0029] Figure 7 The use state schematic view of the utility model is shown Figure 6Enlarged view at C;

[0030] Figure 8 The use state of the utility model is shown Figure 2 ;

[0031] Figure 9 The front view of Figure 8 is shown;

[0032] Figure 10 The B-B sectional view in Figure 9 is shown;

[0033] Figure 11 The enlarged view at D in Figure 10 is shown;

[0034] Figure 12 The use state of the utility model is shown Figure 3 ;

[0035] Figure 13 The front view of Figure 12 is shown;

[0036] Figure 14 The C-C sectional view in Figure 13 is shown;

[0037] Figure 15 The enlarged view at E in Figure 14 is shown;

[0038] Figure 16 The partial structure of the utility model is shown Figure 1 ;

[0039] Figure 17 The partial structure of the utility model is shown Figure 2 ;

[0040] Figure 18 The partial structure of the utility model is shown Figure 3 ;

[0041] Figure 19 The partial structure of the utility model is shown Figure 4 .

[0042] In the figure: 1 carrier, 10 mounting port, 11 limiting groove, 12 containing cavity, 120 containing port, 13 first driving cavity, 130 first cover, 130k buckle, 130d stop plate, 14 second driving cavity, 140 second cover, 15 cavity door, 15m zipper, 16 charging port, 17 sleeve, 2 track mechanism, 21 wheel belt assembly, 211 first roller, 212 second roller, 2121 rotating hole, 2122 avoiding cavity, 2123 clamping groove, 2124 rotating block, 2125 first recess, 2126 second recess, 213 track, 2130 outer tooth, 22 driving part, 221 support, 222 servo motor, 3 crawling mechanism, 31 swing arm, 311 rotating rod, 3110 clamping block, 312 positioning hole, 32 brake motor, 321 motor, 322 brake, 33 translation part, 331 guide rail seat, 332 screw rod, 333 first sliding block, 334 second sliding block, 335 stepping motor, 4 stopper assembly, 41 ratchet wheel, 42 ratchet pawl, 5 control unit, 51 controller, 511 touch screen, 52 monitoring part, 521 first infrared sensor, 522 second infrared sensor, 6 battery, 7 universal wheel, 70 stud, 8 handle. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. It can be understood that the drawings are provided only for reference and illustration, and are not used to limit the present application. The connection relationship shown in the drawings is only for clear description, and does not limit the connection mode.

[0044] Reference is made to the accompanying Figure 1 - the accompanying Figure 15The utility model provides a novel stair climbing carrying device, including loading body 1, crawler mechanism 2 and climbing mechanism 3, and loading body 1 is used to place article, crawler mechanism 2 includes wheel belt assembly 21 and drive part 22, wheel belt assembly 21 includes first roller 211 and second roller 212 rotatably installed on loading body 1, and crawler belt 213 is wound and engaged to first roller 211 and second roller 212, and the outside of crawler belt 213 is equipped with the outer tooth 2130 of corresponding clamping with stair step, drive part 22 is installed on loading body 1 and is drivenly connected with first roller 211 to drive crawler belt 213 to run rotation, and climbing mechanism 3 includes swing arm 31, brake motor 32 and translation part 33, the side wall of loading body 1 is equipped with the limiting slot 11, and the axle center of second roller 212 is equipped with the rotation hole 2121, the avoidance cavity 2122 and the clamping slot 2123 that are sequentially connected, and swing arm 31 is equipped with the rotation rod 311 of card block 3110, and rotation rod 311 rotatably penetrates limiting slot 11, rotation hole 2121, avoidance cavity 2122 and clamping slot 2123, and rotation rod 311 can move along the direction of penetration to make card block 3110 have the first position of being located outside second roller 212, the second position of clamping clamping slot 2123 and the third position of being located in avoidance cavity 2122, and the output shaft of brake motor 32 is fixedly connected with card block 3110, and translation part 33 is installed on carrier and is drivenly connected with brake motor 32 to drive card block 3110 to switch between three positions.

[0045] Specifically, under normal circumstances, the motor 321 of brake motor 32 and the brake 322 are all powered off, swing arm 31 is located in limiting slot 11, and card block 3110 is at the first position, so that the second roller 212 and the swing arm 31 do not have a linkage relationship, and the second roller 212 cannot drive the swing arm 31, by starting the drive part 22 to drive the first roller 211 to rotate, in turn driving the crawler belt 213 and the second roller 212, under the action of the crawler belt 213, the loading body 1 can move on the ground to carry articles; when climbing stairs, the working process is as follows:

[0046] First, drive the second roller 212 to rotate back to position by the drive part 22, align the clamping slot 2123 with the card block 3110, then switch the card block 3110 from the first position to the second position by the translation part 33, so that the swing arm 31 is separated from the limiting slot 11 to the outside, and the linkage relationship between the second roller 212 and the swing arm 31 is ensured; then power on the brake 322 of the brake motor 32 to release the restriction on the output shaft of the motor 321, so that the output shaft of the motor 321 can rotate with the second roller 212, so that the swing arm 31 can be driven to rotate by the drive part 22 to abut against a stair step.

[0047] When the second roller 212 drives the swing arm 31 to rotate and disengage from the current stair step, the outer teeth 2130 on both sides of the track 213 are all engaged with the stair step, the driving part 22 is closed to make the carrier 1 temporarily stop at the current position, then the translation part 33 is started to drive the clamping block 3110 to move from the second position to the third position, and after the clamping block 3110 disengages from the clamping groove 2123 and enters the avoiding cavity 2122, the second roller 212 loses the linkage relationship with the swing arm 31; At this time, the motor 321 of the brake motor 32 and the brake 322 are energized at the same time, so that the swing arm 31 is driven to continue to rotate by the brake motor 32 alone, and when the swing arm 31 is aligned with the second stair step to be climbed, the power supply to the motor 321 of the brake motor 32 and the brake 322 is stopped at the same time, that is, the output shaft of the motor 321 is locked by the brake 322, so that the swing arm 31 is stopped at the current position and ensures that the clamping block 3110 is re-aligned with the clamping groove 2123, then the clamping block 3110 is driven by the translation part 33 to return from the third position to the second position, so that the clamping block 3110 disengages from the avoiding cavity 2122 and engages with the clamping groove 2123, and the brake 322 of the brake motor 32 is energized to release the restriction on the output shaft of the motor 321, so that the driving part 22 is started to drive the track 213 and the swing arm 31 to run synchronously, so that the swing arm 31 continues to interact with the second stair step to drive the carrier 1 to continue to climb the stairs.

[0048] According to the above operation mode, when the swing arm 31 disengages from the current stair step, the track 213 is stopped, and the brake motor 32 controls the swing arm 31 to run independently, and when the swing arm 31 abuts against the next stair step, the track 213 and the swing arm 31 continue to run synchronously, and by controlling the swing arm 31 to be switched between the second position and the third position, the swing arm 31 is independently rotated or rotated in cooperation with the track 213 to climb each stair step, so that the carrier 1 continuously climbs the stairs until the goods are transported to the upstairs.

[0049] In summary, by designing the track mechanism 2 to provide forward driving force for the carrier 1, and by designing the climbing mechanism 3 to assist the track mechanism 2, in the process of climbing the stairs, the cooperation of the outer teeth 2130 of the track 213 of the track mechanism 2 and the stair steps will apply a pushing force to the carrier 1 in the direction of the slope of the stairs, and the cooperation of the swing arm 31 of the climbing mechanism 3 and the stair steps will also simultaneously apply a pushing force to the carrier 1 in the vertical direction and the direction of the slope of the stairs, and under the cooperation of the outer teeth 2130 of the track 213 and the swing arm 31, the carrier 1 can be easily driven to climb the stairs, improving the work efficiency, and in the climbing process, the force required to drive the carrier is mainly provided by the swing arm 31, which can reduce the burden of the outer teeth 2130, reduce the possibility of the outer teeth 2130 being damaged by the stair steps, and prolong the service life of the track 213.

[0050] Note that the brake motor 32 is not the existing product and various, such as electromagnetic brake motor 32, dynamic brake motor 32, etc., the specific type of which is not limited in the case; for easy understanding, the electromagnetic brake motor 32 is taken as an example in the utility model, which is mainly composed of an electric motor 321 and an electromagnetic brake 322, and is controlled through an external relay (not shown in the figure). In most cases, the relay is synchronous control of the electric motor 321 and the electromagnetic brake 322, and the power supply is synchronized with the power supply and the power supply. When the power supply is turned on, the electromagnetic brake 322 is attracted, and the electric motor 321 can be normally started. When the power supply is turned off, the electromagnetic brake 322 is released, and the friction between the friction plate and the brake disc is realized to brake the electric motor 321 quickly.

[0051] But this case obviously does not meet the use scenario in the scheme, so in the scheme, the electric motor 321 and the electromagnetic brake 322 can be independently connected to the power supply, and a frequency converter (not shown in the figure) is added to control the timing of the relay signal transmission. When the electric motor 321 is powered on, the electromagnetic brake 322 is powered on at the same time, so as to avoid the electromagnetic brake 322 locking the output shaft of the electric motor 321 and affecting the normal operation of the electric motor 321. When the electric motor 321 is powered off, the electromagnetic brake 322 can be powered on or powered off according to the demand, for example, in the case, when the clamping block 3110 is in the second position, the electric motor 321 is powered off, and the electromagnetic brake 322 must be powered on to prevent the electromagnetic brake 322 from locking the output shaft of the electric motor 321 and causing the second roller 212 to drive the swing arm 31. When it is needed to switch the clamping block 3110 from the third position to the second position, the electric motor 321 is powered off, and the electromagnetic brake 322 must be powered off to lock the output shaft of the electric motor 321, so as to prevent the swing arm 31 from rotating the motor output shaft and causing the clamping block 3110 to be misaligned with the clamping groove 2123.

[0052] In the scheme, the power-on brake motor (not shown in the figure) can be used to replace the brake motor 32. The power-on brake motor includes an electric motor (not shown in the figure) and a brake (not shown in the figure) which can lock the output shaft of the electric motor when powered on and release the output shaft of the electric motor when powered off. Therefore, the starting time of the brake can be controlled by setting the corresponding program to meet the scene use in the scheme.

[0053] Since the brake motor 32 and the power-on brake motor are existing products, the technology of controlling the independent use of the electromagnetic brake 322 and the brake through the relay and the frequency converter is also used in daily life, for example, in some hoisting equipment, in order to realize smooth braking, the electromagnetic brake 322 or the brake can be powered independently, instead of being powered on or off at the same time as the electric motor 321. Therefore, the related control scheme belongs to the prior art, and the specific circuit structure is not described in detail in the scheme.

[0054] Referring to the drawingsFigure 3 and the accompanying drawings Figure 17 The outer teeth 2130 gradually expand in a direction away from the track 213, and the outer teeth 2130 are designed in a trapezoidal shape as a whole, so as to increase the engagement force between the outer teeth 2130 and the stair steps, improve the climbing ability of the track 213, and reduce the possibility of the track 213 slipping and causing the loading body 1 to slide backward.

[0055] Referring to the accompanying drawings Figure 1 The loading body 1 is internally provided with a containing cavity 12, a first driving cavity 13 and a second driving cavity 14. The containing cavity 12 is used for placing articles. The driving part 22 is installed in the first driving cavity 13. The clamping block 3110, the braking motor 32 and the translation part 33 are all located in the second driving cavity 14. The design of the containing cavity 12 facilitates the placement of articles. The design of the first driving cavity 13 and the second driving cavity 14 can avoid the related parts being exposed to the outside, which on the one hand improves the overall aesthetic appearance, and on the other hand can prevent the corresponding parts from being damaged due to collision with external objects.

[0056] Referring to the accompanying drawings Figure 1 The first driving cavity 13 and the second driving cavity 14 are both provided with installation openings 10 connected to the outside. The loading body 1 is provided with a first cover shell 130 and a second cover shell 140. The first cover shell 130 and the second cover shell 140 are respectively installed at the two installation openings 10, so as to open and close the first driving cavity 13 and the second driving cavity 14. This design facilitates the workers to assemble in advance and disassemble and maintain later. Figure 6 Figure 18 The first driving cavity 13 and the second driving cavity 14 are both provided with installation openings 10 connected to the outside. The loading body 1 is provided with a first cover shell 130 and a second cover shell 140. The first cover shell 130 and the second cover shell 140 are respectively installed at the two installation openings 10, so as to open and close the first driving cavity 13 and the second driving cavity 14. This design facilitates the workers to assemble in advance and disassemble and maintain later.

[0057] Referring to the accompanying drawings Figure 18 The first driving cavity 13 and the second driving cavity 14 are both provided with installation openings 10 connected to the outside. The loading body 1 is provided with a first cover shell 130 and a second cover shell 140. The first cover shell 130 and the second cover shell 140 are respectively installed at the two installation openings 10, so as to open and close the first driving cavity 13 and the second driving cavity 14. This design facilitates the workers to assemble in advance and disassemble and maintain later. Figure 19 The first driving cavity 13 and the second driving cavity 14 are both provided with installation openings 10 connected to the outside. The loading body 1 is provided with a first cover shell 130 and a second cover shell 140. The first cover shell 130 and the second cover shell 140 are respectively installed at the two installation openings 10, so as to open and close the first driving cavity 13 and the second driving cavity 14. This design facilitates the workers to assemble in advance and disassemble and maintain later.

[0058] Referring to the accompanying drawings Figure 1 The first driving cavity 13 and the second driving cavity 14 are both provided with installation openings 10 connected to the outside. The loading body 1 is provided with a first cover shell 130 and a second cover shell 140. The first cover shell 130 and the second cover shell 140 are respectively installed at the two installation openings 10, so as to open and close the first driving cavity 13 and the second driving cavity 14. This design facilitates the workers to assemble in advance and disassemble and maintain later. Figure 6 The first driving cavity 13 and the second driving cavity 14 are both provided with installation openings 10 connected to the outside. The loading body 1 is provided with a first cover shell 130 and a second cover shell 140. The first cover shell 130 and the second cover shell 140 are respectively installed at the two installation openings 10, so as to open and close the first driving cavity 13 and the second driving cavity 14. This design facilitates the workers to assemble in advance and disassemble and maintain later. ​

[0059] Referring to the drawings Figure 1 -Appendix Figure 2 , the cavity door 15 is provided with a zipper 15m, and the cavity door 15 is connected to the peripheral edge of the storage port 120 through the zipper 15m. Pulling the zipper 15m can drive the cavity door 15 to open and close to accommodate the cavity 12. In addition to using the zipper 15m, other structures can also be installed on the cavity door 15. Since the related installation structure is diverse and relatively conventional, this scheme does not limit it.

[0060] Referring to the drawings Figure 3 -Appendix Figure 17 , the wheel belt assembly 21 is provided with two groups and is respectively arranged at the left and right ends of the carrier 1, and the left and right end sidewalls of the carrier 1 are each provided with a limiting groove 11; the driving part 22 is provided with two and is respectively drivingly connected with the two first rollers 211; the swing arm 31 is provided with two and is designed one-to-one corresponding to the two limiting grooves 11, the brake motor 32 is provided with two, and the output shafts of the two brake motors 32 are respectively fixedly connected with the two swing arms 31. The translation part 33 is drivingly connected with the two brake motors 32 synchronously.

[0061] Specifically, the design of the two groups of wheel belt assemblies 21 can simultaneously support the left and right ends of the carrier 1, so that the carrier 1 moves more balanced and stably.

[0062] The two driving parts 22 can respectively control the rotating speeds of the two first rollers 211, so that in actual use, when the rotating speeds of the two first rollers 211 are consistent, the carrier 1 can be driven to move straight, and when the rotating speeds of the two first rollers 211 are different, the carrier 1 will turn according to the direction of the speed difference. For example, if the speed of the left first roller 211 is slower than that of the right first roller 211, the trolley will turn left. The principle of differential turning is based on the mechanical principle in physics, and is also used in existing products such as two-wheel robots and electric balance cars.

[0063] The design of the two brake motors 32 and the two swing arms 31 is mainly to adapt to the two second rollers 212, and simultaneously provide the same supporting force and climbing force to the two sides of the carrier 1, so that the carrier 1 can climb stairs more stably.

[0064] Referring to the drawings Figure 10 -Appendix Figure 17 The driving part 22 for driving the object to rotate is various, and is relatively conventional in the mechanical field, so this scheme does not limit it. In order to facilitate understanding, in this embodiment, the driving part 22 includes a bracket 221 and a servo motor 222. The bracket 221 is installed in the first driving cavity 13, the servo motor 222 is installed on the bracket 221, and the output shaft of the servo motor 222 penetrates the first driving cavity 13 and is coaxially connected with the first roller 211.

[0065] Specifically, the first roller 211 can be driven to rotate by the servo motor 222 when the servo motor 222 is powered on, and then the track 213 and the second roller 212 are driven to rotate; the first roller 211 can be locked by the servo motor 222 when the servo motor 222 is powered off, so that the first roller 211 is prevented from rotating reversely, and the loading body 1 is prevented from sliding backward when climbing stairs.

[0066] Referring to the accompanying drawings Figure 6 - the accompanying drawings Figure 15 During the climbing process, the loading body 1 needs to be placed on the stair steps when the clamping block 3110 is switched from the second position to the third position and then switched back from the third position to the second position, at this time, the weight of the whole is mostly applied to the track 213, and the first roller 211 is locked by the self-locking structure of the servo motor 222, although the track 213 can be prevented from sliding backward, but this will cause a greater burden to the servo motor 222, and long-term use will easily cause the servo motor 222 to be damaged, in order to solve this problem, the utility model also comprises a brake assembly 4, the brake assembly 4 comprises a ratchet wheel 41 and a pawl 42, the second roller 212 is provided with a rotating block 2124 extending into the second driving cavity 14 at the shaft center, and a clamping groove 2123 is arranged at the rotating block 2124; the ratchet wheel 41 is coaxially installed on the rotating block 2124, the pawl 42 is swingably installed on the side wall of the second driving cavity 14 and is matched with the ratchet wheel 41, and the clamping direction of the pawl 42 and the ratchet wheel 41 is opposite to the forward rotation direction of the second roller 212, and a coil spring is installed at the connection between the pawl 42 and the side wall of the second driving cavity 14 (not shown in the figure).

[0067] Specifically, when the first roller 211 is driven to rotate forward by the driving part 22, the second roller 212 also rotates forward under the driving of the track 213, at this time, the pawl 42 can normally disengage from the ratchet wheel 41 and continuously reset under the action of the coil spring, that is, the ratchet wheel 41 and the pawl 42 will not hinder the forward rotation of the second roller 212 to drive the loading body 1 to move forward; when the first roller 211 is driven to rotate reversely by the driving part 22, the second roller 212 also has a reverse rotation trend under the driving of the track 213, at this time, the pawl 42 will be clamped to the ratchet wheel 41 to limit the rotation of the second roller 212.

[0068] Therefore, the design of the brake assembly 4 can replace the brake structure of the servo motor 222 to stop the movement of the track 213, prevent the loading body 1 from sliding backward when climbing stairs, and reduce the burden of the servo motor 222, thereby prolonging the service life of the servo motor 222.

[0069] Referring to the accompanying drawings Figure 10 - the accompanying drawings Figure 16The translation part 33 for driving the object to move horizontally is various and is common in the mechanical field, and therefore the scheme is not limited, for the convenience of understanding, in the embodiment, the translation part 33 comprises a guide rail seat 331, a screw rod 332, a first sliding block 333, a second sliding block 334 and a stepping motor 335; the guide rail seat 331 is installed in the second driving cavity 14, the screw rod 332 is rotatably installed on the guide rail seat 331; the first sliding block 333 is slidably installed on the guide rail seat 331 and is in positive thread connection with the screw rod 332, and the first sliding block 333 is connected with one of the brake motors 32; the second sliding block 334 is slidably installed on the guide rail seat 331 and is in reverse thread connection with the screw rod 332, and the second sliding block 334 is connected with the other brake motor 32; the stepping motor 335 is installed on the guide rail seat 331 and is in driving connection with the screw rod 332.

[0070] Specifically, in use, the stepping motor 335 is started to drive the screw rod 332 to rotate, since the first sliding block 333 and the second sliding block 334 are in positive and reverse thread connection with the screw rod 332 respectively, therefore the screw rod 332 can drive the first sliding block 333 and the second sliding block 334 to synchronously approach or synchronously move away from each other, so as to drive the clamping blocks 3110 on the two swing arms 31 to synchronously enter or avoid the clamping grooves 2123 or the avoiding cavities 2122 on the two second rollers 212, so that the two clamping blocks 3110 can synchronously switch positions.

[0071] It should be noted that, in addition to the above structure, the translation part 33 can also directly adopt an electric cylinder (not shown in the figure), and the brake motor 32 is fixedly connected to the extension shaft of the electric cylinder, so as to switch the position of the clamping block 3110; when the translation part 33 adopts the electric cylinder, if the brake motor 32 is provided with two, the electric cylinder also needs to be provided with two to correspond.

[0072] Referring to the accompanying Figure 1 and the accompanying Figure 18 In order to more accurately control the operation timing of the crawler mechanism 2 and the crawling mechanism 3, the utility model also comprises a control unit 5, the control unit 5 comprises a controller 51 and a monitoring member 52; the monitoring member 52 is installed on the carrier 1 and is used for monitoring the rotating positions of the second roller 212 and the swing arm 31, so that the clamping groove 2123 and the clamping block 3110 can be accurately aligned; the controller 51 is installed on the carrier 1 and is in electrical connection with the driving part 22, the brake motor 32, the translation part 33 and the monitoring member 52, so as to control the start-stop timing of the driving part 22, the brake motor 32 and the translation part 33 according to the signal fed back by the monitoring member 52, and then adjust the position of the clamping block 3110.

[0073] Specifically, when climbing stairs is needed, first, whether the second roller 212 is rotated to the position is monitored. If the second roller 212 is not rotated to the position, the card slot 2123 is misaligned with the card block 3110, the monitoring member 52 will feed back the signal to the controller 51, so that the controller 51 sends the running instruction to the driving part 22, so that the driving part 22 continues to run to drive the second roller 212 to rotate; until the second roller 212 is rotated to the position, the card slot 2123 is accurately aligned with the card block 3110, the monitoring member 52 will feed back the signal to the controller 51, so that the controller 51 sends the closing instruction and the running instruction to the driving part 22 and the translation part 33 respectively, so that the second roller 212 stops rotating, and the translation part 33 drives the brake motor 32 to approach the second roller 212, so that the card block 3110 is switched from the first position to the second position, so that the driving part 22 can synchronously drive the track 213 and the swing arm 31.

[0074] When the second roller 212 drives the swing arm 31 to disengage from the current stair step, the driving part 22 stops running, the translation part 33 drives the brake motor 32 to continue to approach the second roller 212, until the card block 3110 is switched from the second position to the third position, the brake motor 32 is energized and started to drive the swing arm 31 to rotate, at this time the monitoring member 52 will monitor whether the swing arm 31 is rotated to the position, if the swing arm 31 is rotated to the position, the monitoring member will feed back the signal to the controller 51, so that the controller 51 controls the brake motor 32 to be de-energized, so that the swing arm 31 is parked in the current position and aligned with the second stair step to be climbed, and the card block 3110 is aligned with the card slot 2123 again; at the same time, the controller 51 controls the translation part 33 to drive the brake motor 32 to move away from the second roller 212, until the card block 3110 is switched from the third position to the second position, the controller 51 controls the brake 322 of the brake motor 32 to be energized, so that the swing arm 31 can continue to rotate following the second roller.

[0075] According to the preset program in the controller 51, the above process is repeated, so that the card block 3110 can be accurately aligned with the card slot 2123 during parking and running, ensuring that the card block 3110 can be smoothly switched, and ensuring that the swing arm 31 can stably cooperate with the track 213 to climb each stair step step by step.

[0076] Referring to the drawings Figure 4 -attached Figure 15The monitoring member 52 is various, and the utility model does not limit this, for the convenience of understanding, the monitoring member 52 includes the first infrared sensor 521 installed on the side of the second roller 212 and the second infrared sensor 522 installed on the side of the swing arm 31 in the embodiment; the second roller 212 is provided with at least the first recess hole 2125 and the second recess hole 2126, the first recess hole 2125 and the second recess hole 2126 are located on the same straight line and can be aligned with the first infrared sensor 521 one by one along with the rotation of the second roller 212; the swing arm 31 is provided with the positioning hole 312, and the positioning hole 312 can be aligned with the second infrared sensor 522 along with the rotation of the swing arm 31.

[0077] Specifically, before use, the second roller 212 is driven to rotate by the driving part 22 until the first infrared sensor 521 is aligned with the first recess hole 2125 or the second recess hole 2126, the second roller 212 is in the initial position, the swing arm 31 is located in the limiting groove 11 and is in the horizontal state, and the clamping block 3110 is in the first position and is aligned with the clamping groove 2123; after the clamping block 3110 is switched to the second position by starting the translation part 33, the second roller 212 is driven to rotate by 180 degrees by starting the driving part 22, so that the swing arm 31 is parallel to abut against the first stair step.

[0078] When in use, assuming that the first infrared sensor 521 is aligned with the first recess hole 2125, the second roller 212 is continuously driven to rotate, so that the swing arm 31 climbs the first stair step and drives the carrier 1 to move to the second stair, after the second roller 212 rotates by 180 degrees again, the swing arm 31 is separated from the first stair step, at this time, the first infrared sensor 521 is aligned with the second recess hole 2126, the first infrared sensor 521 sends a signal to the controller 51, so that the driving part 22 is closed by the controller 51, so that the track 213 is parked, at the same time, the controller 51 also starts the translation part 33 to switch the clamping block 3110 to the third position, and then the swing arm 31 is driven to rotate by 180 degrees by starting the brake motor 32, so that the swing arm 31 is aligned with the second stair step, at this time, if the second infrared sensor 522 is not aligned with the positioning hole 312, it represents that the swing arm 31 is not rotated in place, then the swing arm 31 is continuously fine-tuned to rotate by the brake motor 32, until the second infrared sensor 522 is aligned with the positioning hole 312, so that the clamping block 3110 in the avoiding cavity 2122 is aligned with the clamping groove 2123, the second infrared sensor 522 sends a signal to the controller 51, so that the clamping block 3110 is returned to the second position by the controller 51 starting the translation part 33, and the second roller 212 is continuously driven to rotate by the controller 51 starting the driving part 32.

[0079] Therefore, the first infrared sensor 521 is used in cooperation with the first recess hole 2125 and the second recess hole 2126, and the second infrared sensor 522 is used in cooperation with the positioning hole 312, so that the card block 3110 can be aligned with the card slot 2123 before the switching position, and the problem that the card block 3110 cannot enter the card slot 2123 is avoided.

[0080] Referring to the accompanying drawings Figure 5 and the accompanying drawings Figure 11 , the card block 3110 has a certain movement allowance after being clamped in the card slot 2123, and this design is mainly to facilitate the card block 3110 to be easily inserted into the card slot 2123, thereby eliminating the error generated when the brake motor 32 and the driving part 22 are running.

[0081] Further, the card slot 2123 is square in cross section, the card block 3110 is also square in cross section, and the cross-sectional area of the card block 3110 is smaller than that of the card slot 2123; this design can on the one hand guarantee that the card block 3110 has a certain movement allowance after being clamped in the card slot 2123, and on the other hand enable the card block 3110 to be clamped in the card slot 2123 from multiple directions, thereby improving the convenience of use.

[0082] Referring to the accompanying drawings Figure 1 , the controller 51 has a touch screen 511 and / or a button to facilitate the user to operate the controller 51 to start and stop the crawler mechanism 2 and the crawling mechanism 3; the controller 51 can also be internally provided with a signal receiving module, so that the user can start and stop the crawler mechanism 2 and the crawling mechanism 3 through a remote control device such as a mobile phone or a remote controller which has a signal sending module; since the related technology is relatively conventional, the specific circuit structure and working principle thereof will not be described in detail in the utility model.

[0083] Referring to the accompanying drawings Figure 4 - the accompanying drawings Figure 12 , as for the power supply problem of the crawler mechanism 2, the crawling mechanism 3 and the control unit 5, an external battery can be installed on the carrier 1 or a battery can be directly installed inside the carrier 1, in order to improve the convenience, the utility model also includes a storage battery 6, which is installed inside the carrier 1 and electrically connected with the controller 51, and the carrier 1 is also provided with a charging port 16 which is electrically connected with the controller 51.

[0084] Specifically, in use, the storage battery 6 can supply power to each component through the controller 51, and when the storage battery 6 is out of power, the storage battery 6 can be charged through the charging port 16 by connecting the external power supply.

[0085] Referring to the accompanying drawings Figure 18 - the accompanying drawings Figure 19 , the utility model also includes universal wheels 7 and a handle 8, the handle 8 is installed at the top end of the carrier 1, the universal wheels 7 are provided with a plurality of and are detachably installed at the bottom end of the carrier 1, and the plurality of universal wheels 7 all protrude out of the outer teeth 2130 of the crawler 213.

[0086] Specifically, when used on the ground, the loading body 1 can be pulled by the handle 8 so that the loading body 1 stands up; and since the universal wheels 7 are installed at the bottom end of the loading body 1, the structure of a type of luggage case can be formed, so that the user can still normally drag the loading body 1 to carry the articles when the battery 6 is out of power; in addition, when the universal wheels 7 are more than three, a supporting surface is formed, so that the loading body can be placed vertically, thereby improving the convenience of use.

[0087] Further, the installation mode of the universal wheels 7 is various, which is not limited in the utility model, for the convenience of understanding, in the embodiment, the universal wheels 7 are provided with studs 70, the bottom end of the loading body 1 is provided with sleeves 17, the studs 70 are threadedly connected with the sleeves 17, so as to facilitate the disassembly and assembly of the universal wheels 7.

[0088] It should be further noted that although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application.

Claims

1. A novel stair climbing carrier device comprising a load body for placing an article, characterized in that, Also include: Crawler mechanism, the crawler mechanism includes swing arm, brake motor and translation part, the side wall of the carrier is provided with a limiting slot, the second roller shaft center is provided with a turn hole, an avoidance cavity and a clamping groove which are connected in sequence; The swing arm is provided with a rotating rod with a clamping block, the rotating rod can rotate through the limiting slot, the turn hole, the avoidance cavity and the clamping groove, and the rotating rod can be moved along the penetration direction, so that the clamping block has a first position outside the second roller, a second position clamped in the clamping groove and a third position in the avoidance cavity; The output shaft of the brake motor is fixedly connected with the clamping block, and the translation part is installed on the carrier and is drivingly connected with the brake motor to drive the clamping block to switch between the first position, the second position and the third position; Wherein, when the clamping block is in the first position, the swing arm is located in the limiting slot, and the second roller cannot drive the swing arm; When the clamping block is in the second position, the swing arm is located outside the limiting slot, the brake motor is controlled to be de-energized and its output shaft can rotate, so that the second roller can drive the swing arm to abut against the stair step, and the crawler mechanism is used in cooperation, so that climbing can be realized; When the swing arm is separated from the stair step and the clamping block is switched to the third position, the swing arm is again away from the limiting slot, and the brake motor can drive the swing arm to continue to rotate and recombine with the corresponding stair step, at this time, the clamping block can be switched to the second position, so that the swing arm cooperates with the crawler mechanism to continue to climb. The carrier is internally provided with a containing cavity, a first drive cavity and a second drive cavity; The containing cavity is used for placing articles; The drive part is installed in the first drive cavity; The clamping block, the brake motor and the translation part are located in the second drive cavity.

2. A new type of stair climbing carrier device according to claim 1, characterized in that, The side wall of the containing cavity is provided with a placing opening connected to the outside world, and the carrier is provided with a cavity door at the placing opening for opening and closing the containing cavity.

3. A novel stair climbing carrier device as claimed in claim 2, wherein, The wheel belt assembly is provided with two groups and is respectively arranged at the left and right ends of the carrier, and the limiting slots are arranged on the side walls of the left and right ends of the carrier; The drive part is provided with two and is drivingly connected with two first rollers respectively; The swing arm is provided with two and corresponds to two limiting slots respectively, the brake motor is provided with two, and the output shafts of the two brake motors are fixedly connected with the clamping blocks of the two swing arms respectively, and the translation part is synchronously drivingly connected with the two brake motors.

4. The novel stair climbing carrier device according to claim 2, characterized in that, The drive part includes a bracket and a servo motor, the bracket is installed in the first drive cavity, the servo motor is installed on the bracket, and the output shaft of the servo motor penetrates the first drive cavity and is coaxially connected with the first roller.

5. A novel stair climbing carrier device as claimed in claim 4, wherein, ​ 6. A novel stair climbing carrier device as claimed in claim 5, wherein, The stopper assembly comprises a ratchet wheel and a pawl, the second roller shaft is provided with a rotating block extending into the second driving cavity, and the clamping groove is arranged at the rotating block; the ratchet wheel is coaxially installed on the rotating block, the pawl is swingably installed on the side wall of the second driving cavity and matched with the ratchet wheel, and the connection between the pawl and the side wall of the second driving cavity is provided with a coil spring; when the second roller rotates forward to drive the carrier to advance, the pawl can normally disengage from the ratchet wheel and reset under the action of the coil spring, and when the second roller reverses, the pawl clamps the ratchet wheel to limit the rotation of the second roller.

7. The novel stair climbing carrier device according to claim 4, wherein, The translation part comprises a guide rail seat, a screw rod, a first sliding block, a second sliding block and a stepping motor; the guide rail seat is installed in the second driving cavity, and the screw rod is rotatably installed on the guide rail seat; the first sliding block is slidably installed on the guide rail seat and positively threadedly connected with the screw rod, and the first sliding block is connected with one of the brake motors; the second sliding block is slidably installed on the guide rail seat and reversely threadedly connected with the screw rod, and the second sliding block is connected with the other brake motor; and the stepping motor is installed on the guide rail seat and drivingly connected with the screw rod.

8. A new type of stair climbing carrier device according to claim 1, characterized in that, The control unit comprises a controller and a monitoring member; the monitoring member is installed on the carrier and used for monitoring the rotating positions of the second roller and the swing arm, so that the clamping groove and the clamping block can be accurately aligned; The controller is installed on the carrier and electrically connected with the driving part, the brake motor, the translation part and the monitoring member, so as to control the start-stop time of the driving part, the brake motor and the translation part according to the signal fed back by the monitoring member, and then adjust the position of the clamping block.

9. A novel stair climbing carrier device as claimed in claim 8, wherein, The accumulator is installed in the carrier and electrically connected with the controller, and the carrier is further provided with a charging port electrically connected with the controller.

10. The new stair climbing carrier device according to claim 1, characterized in that, The handle is installed at the top end of the carrier, and the universal wheels are provided in plurality and detachably installed at the bottom end of the carrier, and the universal wheels all protrude the outer teeth of the track.

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