CN209051497U - Climb building loading equipment - Google Patents

Abstract

The utility model discloses a stair-climbing cargo-carrying equipment, comprising a vehicle body and a traveling mechanism arranged on the vehicle body. The traveling mechanism comprises a plurality of crawler traveling wheels, the crawler traveling wheels are arranged on opposite sides of the vehicle body, and the crawler traveling wheels It includes a crawler track, a rotatably arranged swivel bracket, a rotatable drive wheel arranged on the swivel bracket and engaged with the crawler track, and a first motor for providing a driving force for rotating the swivel bracket, and a plurality of drive wheels are provided. The stair-climbing and cargo-carrying equipment of the utility model adopts a crawler-type walking mechanism, which has good adaptability and good driving stability. Through the control of the crawler-type wheels, the stairs can be stably climbed when carrying goods, which reduces the need for people to carry goods by themselves. The inconvenience of going up and down the stairs. The utility model also provides a control method of the stair-climbing cargo-carrying equipment.

Description

Stair climbing equipment

technical field

The utility model belongs to the technical field of vehicles, in particular, the utility model relates to a stair-climbing cargo-carrying equipment.

Background technique

At present, with the increasing number of online shoppers in my country and the rapid development of express logistics services, many couriers need to deliver a large amount of express to customers every day, and it is inevitable to go up and down the stairs frequently, whether it is for couriers or for customers who pick up express delivery, especially the elderly It is extremely inconvenient to carry goods up and down the stairs, so it is extremely necessary to design a car that can climb stairs and carry goods.

The walking mechanism of the existing stair-climbing trolley mainly adopts wheeled and rod-type mechanisms, and they all have many shortcomings. The mechanism has problems with difficult turning and low load weight.

Utility model content

The utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides a stair-climbing cargo-carrying equipment, which aims to improve the adaptability.

In order to achieve the above purpose, the technical solution adopted by the present invention is as follows: a stair-climbing and cargo-carrying equipment includes a vehicle body and a traveling mechanism arranged on the vehicle body, the traveling mechanism includes a plurality of crawler traveling wheels, and the crawler traveling wheels are arranged on the On the opposite sides of the vehicle body, the crawler traveling wheels include crawler belts, a rotatably arranged swivel bracket, a rotatable drive wheel arranged on the swivel bracket and engaged with the crawler track, and a first drive wheel for providing a driving force for rotating the swivel bracket. One motor, and a plurality of driving wheels are provided.

The first motor is connected with the rotating bracket and the vehicle body, and the first motor is an in-wheel motor.

The driving wheel includes a driving wheel hub engaged with the crawler track and a second motor for providing a driving force for rotating the driving wheel hub, the second motor is a wheel hub motor, the driving wheel hub is connected with the outer rotor of the second motor, and the second motor is a wheel hub motor. The inner stator of the motor is connected with the rotating bracket.

There are three drive wheels, and all the drive wheels are evenly distributed along the circumferential direction.

There are four crawler running wheels in total, and two crawler running wheels are respectively arranged on both sides of the vehicle body.

The stair-climbing cargo-carrying equipment further comprises a belt conveying device arranged on the vehicle body and used for conveying goods, and a rotatable belt conveying device arranged on the vehicle body and used for guiding the goods to the belt conveying device or receiving from the belt conveying device. Cargo guiding device for the cargo of the device.

The cargo guiding device includes a discharge plate rotatably connected with the vehicle body, a rotary actuator for controlling the rotation of the discharge plate, a support plate disposed on the discharge plate, a support shaft disposed on the support plate, and a support shaft sleeved on the support plate. The roller on the support shaft is provided with a bearing between the roller and the support shaft.

The stair-climbing cargo-carrying equipment further includes a cargo limiting device arranged on the vehicle body and used to keep the cargo on the belt conveying device.

The cargo limiting device includes an upper limiting member located above the belt conveying device and used to limit the cargo in the vertical direction, and is arranged on the vehicle body and used to limit the cargo in the horizontal direction. A side limiter that acts as a limiter and a lift actuator arranged on the vehicle body and used to control the upper limiter to move up and down.

The stair-climbing and cargo-carrying equipment of the utility model adopts a crawler-type walking mechanism, which has good adaptability and good driving stability. Through the control of the crawler-type wheels, the stairs can be stably climbed when carrying goods, which reduces the need for people to carry goods by themselves. The inconvenience of going up and down the stairs.

Description of drawings

This manual includes the following drawings, which are as follows:

Fig. 1 is the structural representation of the utility model climbing equipment for carrying goods;

Fig. 2 is the working state schematic diagram of the utility model climbing and cargo-carrying equipment;

Fig. 3 is the front view of the utility model climbing equipment for carrying goods;

Fig. 4 is the structural representation of crawler traveling wheel;

Figure 5 is a schematic structural diagram of a vehicle body;

Figure 6 is a front view of the vehicle body;

Fig. 7 is the structural representation of belt conveying device;

Figure 8 is a schematic diagram of the assembly of the vehicle body and the cargo limiting device;

FIG. 9 is a schematic structural diagram of the connection between the cargo limiting device and the vehicle body;

Marked in the figure: 1, bottom plate; 2, side baffle; 201, guide groove; 202, guide rail; 3, front baffle; 4, crawler traveling wheel; 401, crawler; 402, driving wheel; 403, rotating bracket; 404, first motor; 5, belt conveyor; 501, conveyor belt; 502, driving pulley; 503, driven pulley; 504, servo motor; 6, cargo guiding device; 601, unloading plate; 602, supporting plate ; 603, support shaft; 604, roller; 605, rotary actuator; 7, cargo limit device; 701, upper limit piece; 702, side limit piece; 703, lift actuator; 704, screw rod; 705, slide block; 706, the first nut; 707, the second nut.

Detailed ways

Below with reference to the accompanying drawings, through the description of the embodiments, the specific implementation of the present utility model will be described in further detail, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present utility model , and facilitate its implementation.

As shown in FIGS. 1 to 9 , the present invention provides a stair-climbing and cargo-carrying equipment, including a vehicle body and a traveling mechanism arranged on the vehicle body. The traveling mechanism includes a plurality of crawler traveling wheels 4 , and the crawler traveling wheels 4 are arranged On the opposite sides of the vehicle body, the crawler running wheels 4 include a crawler, a rotatably arranged rotating bracket 403, a rotatable driving wheel 402 arranged on the rotating bracket 403 and engaged with the crawler, and a driving wheel 402 for providing the rotating bracket 403 to rotate. The driving force of the first motor 404 and the driving wheel 402 are provided in plurality.

Specifically, as shown in FIGS. 1 to 3 , the vehicle body serves as the basis for installing other components, and the running mechanism provides support for the vehicle body and drives the vehicle body to move, thereby realizing the transfer of goods. When the stair-climbing cargo-carrying equipment travels on a flat road, the crawler belt contacts the ground, and at least one driving wheel 402 of the crawler-tracked traveling wheels 4 drives the crawler belt to run, so as to drive the stair-climbing and cargo-carrying equipment to move as a whole. When the stair-climbing and cargo-carrying equipment is climbing the stairs, the crawler belt contacts the stairs, and the first motor 404 of the crawler traveling wheel 4 is activated, and the first motor 404 provides the driving force to make the rotating bracket 403 rotate, so that the crawler traveling wheel 4 is turned over as a whole , you can climb the stairs and achieve climbing.

As shown in Fig. 1 to Fig. 4, the first motor 404 is connected with the rotating bracket 403 and the vehicle body, and the first motor 404 is an in-wheel motor. The structure of the in-wheel motor is known to those skilled in the art. The first motor 404 mainly includes an inner stator and an outer rotor that are used together. The inner stator of the first motor 404 is fixedly installed on the motor shaft, and the motor shaft is fixed to the vehicle body. connection, the outer rotor of the first motor 404 is fixedly connected with the rotating bracket 403, the rotation center line of the rotating bracket 403 is also the axis of the first motor 404, the rotation center line of the rotating bracket 403 is located in the horizontal plane, and the rotation center line of the rotating bracket 403 and parallel to the width direction of the vehicle body. Three driving wheels 402 are provided, all the driving wheels 402 are evenly distributed along the circumferential direction with the center line of the rotating bracket 403 as the axis, and the crawler belt is triangular. Rotating the driving force of the second motor, the driving hub has a ring of protruding teeth that mesh with the track. The second motor is also an in-wheel motor. The structure of the in-wheel motor is as known to those skilled in the art. The second motor mainly includes an inner stator and an outer rotor that are used together. The driving hub is connected to the outer rotor of the second motor. The inner stator is connected with the rotating bracket 403 . The inner stator of the second motor is fixedly installed on the motor shaft, the motor shaft is fixedly connected with the rotating bracket 403, the driving hub is sleeved on the outer rotor of the second motor, and the driving hub is fixedly connected with the outer rotor. That is, the axis of the second motor) is parallel to the rotation center line of the rotating bracket 403 . After the second motor runs, it generates a rotational force, which can make the driving wheel hub rotate around its axis, and the driving wheel hub drives the crawler belt to operate, thereby generating a driving force for driving the stair-climbing cargo equipment as a whole. After the operation of the first motor 404, a rotating force is generated, which can make the rotating support 403 rotate around its axis, and the rotating support 403 drives the driving wheel 402 and the crawler to rotate synchronously, thereby driving the overall movement of the stair-climbing cargo-carrying equipment.

As shown in FIGS. 1 to 3 , in this embodiment, there are four crawler traveling wheels 4 , the four crawler traveling wheels 4 are arranged in a rectangular shape, and two crawler traveling wheels 4 are respectively arranged on both sides of the vehicle body. Four crawler traveling wheels 4, two crawler traveling wheels 4 are coaxially arranged and two crawler traveling wheels 4 are respectively located on one side of the vehicle body, and the other two crawler traveling wheels 4 are also coaxially arranged and two crawler traveling wheels 4 are arranged coaxially. The wheels 4 are respectively located on one side of the vehicle body, and by controlling the rotational speeds of the second motors of the crawler traveling wheels 4 on both sides to be different, the steering of the stair-climbing cargo-carrying equipment can be realized.

As shown in FIG. 5 , the vehicle body mainly includes a base plate 1 , two side baffles 2 and a front baffle 3 arranged on the base plate 1 , and the two side baffles 2 and the front baffle 3 extend toward the top of the base plate 1 , The front baffle 3 and the side baffle 2 are fixedly connected with the bottom plate 1 . The bottom plate 1 has a certain length and width, the rotation center line of the swivel bracket 403 is parallel to the width direction of the bottom plate 1, and the front baffle 3 is arranged at one end of the bottom plate 1 in the length direction (this end is the front end of the vehicle body), and the cargo The guide device 6 is provided at the other end in the longitudinal direction of the floor panel 1 (the end is the rear end of the vehicle body). The side baffle 2 has a certain length and the length direction of the side baffle 2 is parallel to the length direction of the bottom plate 1 . One side edge is fixedly connected, and there is a certain distance between the two side baffles 2, which makes a storage cavity for accommodating goods formed between the two front baffles 3, the front baffle 3 is located at one end of the storage cavity, and the front The baffle 3 is used to limit the cargo in the first direction, the first direction is parallel to the longitudinal direction of the vehicle body (ie the longitudinal direction of the bottom plate 1 ), and the front baffle 3 acts on the cargo in front of the cargo. It can prevent the goods from falling and improve the reliability.

As shown in FIGS. 1 to 3 , 5 and 6 , the stair-climbing cargo-carrying equipment of the present invention further comprises a belt conveyor 5 arranged on the vehicle body and used for conveying goods, and a belt conveyor 5 rotatably arranged on the vehicle body And a goods guide 6 for guiding goods to the belt conveyor 5 or receiving goods from the belt conveyor 5 . The belt conveying device 5 is arranged on the bottom plate 1, and the belt conveying device 5 is located between the two side baffles 2. The belt conveying device 5 includes a driving pulley 502, a driven pulley 503, and a driving pulley 502 and a driven pulley. The conveyor belt 501 on the driving pulley 503, the driving pulley 502 is arranged on the driving shaft, and the driving pulley 502 and the driving shaft are coaxially arranged, the driven pulley 503 is arranged on the driven shaft, and the driven pulley 503 and the driving shaft are arranged coaxially. The driven shaft is arranged coaxially, the axis of the driving shaft and the axis of the driven shaft are parallel, and the axis of the driving shaft and the axis of the driven shaft are in the same plane parallel to the first direction and the second direction, the second direction The axis of the driving pulley 502 is parallel to the width direction of the vehicle body (that is, the width direction of the floor 1 ), and the axis of the driving pulley 502 is parallel to the second direction. The conveyor belt 501 is sleeved on the driving pulley 502 and the driven pulley 503, and the driving pulley 502 and the driven pulley 503 are respectively located at one end of the conveyor belt 501 in the length direction, and the length direction of the conveyor belt 501 is the same as the first direction. parallel. The width direction of the conveyor belt 501 is parallel to the second direction. The base plate 1 provides support for the driving shaft and the driven shaft. The servo motor 504 is connected to the driving shaft. The servo motor 504 is used to generate a rotational force to rotate the driving shaft. The servo motor 504 is arranged on the base plate 1 . After the servo motor 504 operates, the driving shaft rotates, the driving shaft drives the driving pulley 502 to rotate around its axis, the driving pulley 502 drives the conveyor belt 501 to run, and the conveyor belt 501 drives the driven pulley 503 to rotate. The conveyor belt 501 receives the goods, the goods are placed on the top surface of the conveyor belt 501, the conveyor belt 501 transports the goods to the designated position, and the conveyor belt 501 operates to facilitate receiving and unloading the goods.

As shown in Fig. 1 to Fig. 3, Fig. 5 and Fig. 6, the cargo guiding device 6 is used to guide the cargo to the belt conveying device 5 during loading, so that the user can easily put the heavy cargo into it. Inside the vehicle; the cargo guiding device 6 is also used to receive the cargo from the belt conveyor 5 during unloading and continue to guide the cargo downward. The cargo on the belt conveyor 5 can slide down to the ground through its own gravity through the cargo guiding device 6 , complete the unloading of goods and improve work efficiency. The cargo guiding device 6 includes an unloading plate 601 rotatably connected to the vehicle body, a rotary actuator 605 for controlling the rotation of the unloading plate 601 , a support plate 602 arranged on the unloading plate 601 , and a support shaft 603 arranged on the support plate 602 and a roller 604 sleeved on the support shaft 603 , a bearing is provided between the roller 604 and the support shaft 603 . The unloading board 601 is a rectangular flat plate with a certain length and width, the width direction of the unloading board 601 is parallel to the second direction, the unloading board 601 can rotate up and down, the rotation center line of the unloading board 601 is parallel to the second direction, the unloading board 601 Provided to be switchable between a guide position and a blocking position, the blocking position being located above the guide position. The unloading plate 601 rotates downward until the end part contacts the ground and can be in an inclined state. At this time, the unloading plate 601 is in the guiding position, and the length direction of the unloading plate 601 has an included angle with the first direction and the angle is an acute angle. The plate 601 extends toward the rear and bottom of the bottom plate 1, and the cargo guiding device 6 is also inclined as a whole at this time, which is convenient to guide the cargo to move upward to the belt conveyor 5 and guide the cargo to move downward. The conveyor belt 501 of the belt conveyor 5 is set to It extends from the stripper plate to the front baffle 3. The front baffle 3 is arranged at one end of the bottom plate 1 in the length direction, one end of the unloading plate 601 is rotatably connected with the other end in the length direction of the bottom plate 1, the front baffle 3 is located at one end of the storage cavity, and the unloading plate 601 is located at one end of the storage cavity. At the other end of the cavity, the unloading plate 601 and the front baffle 3 are on the same line parallel to the first direction, and the belt conveying device 5 is located between the front baffle 3 and the unloading plate 601 . When the unloading plate 601 is in the blocking position, the unloading plate 601 protrudes toward the top of the bottom plate 1, and the length direction of the unloading plate 601 is perpendicular to the first direction and the second direction. In the first direction, the front baffle 3 is used for The cargo is limited in front of the cargo, and the unloading plate 601 is used to limit the cargo behind the cargo, that is, the front baffle 3 and the unloading plate 601 respectively block the cargo at the front and rear of the cargo. , so as to keep the goods on the belt conveying device 5, avoid the goods falling, and improve the reliability. The rotary actuator 605 is a retractable member, and the rotary actuator 605 is preferably a hydraulic cylinder or an electric telescopic rod. The rotary actuator 605 is used to control the unloading plate 601 to switch between the guiding position and the blocking position. One end of the rotary actuator 605 The other end of the rotary actuator 605 is rotatably connected with the base plate 1 , and the other end of the rotary actuator 605 is rotatably connected with the unloading plate 601 , and the rotary actuator 605 is located under the base plate 1 . When the rotary actuator 605 is extended, it can push the unloading plate 601 to rotate upward, so that the unloading plate 601 is switched from the guiding position to the blocking position; when the rotary actuator 605 is retracted, it can pull the unloading plate 601 to rotate downward, so that the unloading plate 601 is blocked by the blocking position. The position switches to the guide position for easy loading and unloading.

As shown in FIG. 1 to FIG. 3 , FIG. 5 and FIG. 6 , the support plate 602 is disposed on the unloading board 601 and is fixedly connected to the unloading board 601 , the support board 602 has a certain length and the length direction of the support board 602 is the same as The length directions of the unloading plates 601 are parallel, two supporting plates 602 are provided, and the length directions of the two supporting plates 602 are parallel. There is a certain distance between the support plates 602 , such that a passage for accommodating goods is formed between the two support plates 602 . The two support plates 602 provide support for the support shaft 603 , the axis of the support shaft 603 is parallel to the second direction, and two ends of the support shaft 603 are respectively disposed on one support plate 602 . The roller 604 is located between the two support plates 602, the roller 604 is a hollow cylinder inside, the roller 604 is sleeved on the support shaft 603 and the roller 604 and the support shaft 603 are arranged coaxially, and the bearing is sleeved on the support shaft 603 and The bearing is located in the inner cavity of the drum 604, the outer surface of the drum 604 is in contact with the goods, and the drum 604 can rotate around its axis relative to the support shaft 603, which facilitates the movement of the goods, reduces friction, and facilitates loading and unloading. A plurality of support shafts 603 are provided, and all the support shafts 603 are arranged in sequence along the length direction of the support plate 602, the axes of all the support shafts 603 are in the same plane parallel to the unloading plate 601, and each support shaft 603 is respectively provided with a roller 604 , the axes of all rollers 604 are also in the same plane parallel to the unloading plate 601 .

As shown in Figures 1 to 3, Figure 8 and Figure 9, the stair-climbing cargo-carrying equipment of the present invention further comprises a cargo limiting device 7 arranged on the vehicle body and used to keep the cargo on the belt conveying device 5, The cargo limiting device 7 is used to limit the cargo in the vertical direction and the second direction, so as to prevent the cargo from falling and improve reliability. The cargo limiting device 7 includes an upper limiting member 701 located above the belt conveying device 5 and used to limit the cargo in the vertical direction, and is arranged on the vehicle body and used to limit the cargo in the horizontal direction. The side limiter 702 for positioning and the lift actuator 703 is provided on the vehicle body and used to control the upper limiter 701 to move up and down. The upper limit member 701 is placed horizontally above the belt conveying device 5 , the upper limit member 701 has a certain length, and the length direction of the upper limit member 701 is parallel to the second direction. The side stopper 702 is disposed on the side baffle 2 of the vehicle body. The side stopper 702 is a rectangular flat plate with a certain length and width. The length direction of the side stopper 702 is parallel to the first direction. The length of the side limiter 702 is approximately equal to the length of the side baffle 2 , the width direction of the side limiter 702 is the vertical direction, and the side limiter 702 is vertically arranged on the side baffle 2 and the side The part limiter 702 protrudes toward the upper side of the side baffle 2, two side limiters 702 are provided, and the two side limiters 702 are respectively arranged on one side baffle 2, and the two side limiters 702 are respectively located on one side of the goods, the height of the top surface of the side baffle 2 is greater than the height of the top surface of the conveyor belt 501, and the two side limiters 702 are matched with the two side baffles 2 for the second It has a blocking effect on the goods in the direction, the structure is simple, and the reliability is high.

As shown in FIG. 5 and FIG. 8 , a guide rail 202 is provided on the top surface of the side baffle 2 , and a chute for embedding the guide rail 202 is provided on the bottom surface of the side stopper 702 , and the chute is a side stopper. The bottom surface of 702 is a groove extending along the length direction of the side stopper 702. The chute is preferably a dovetail groove. The guide rail 202 extends along the length direction of the side baffle 2 on the top surface of the side baffle 2. The guide rail 202 The shape of the guide rail 202 matches the shape of the chute, and the chute forms an opening for the guide rail 202 to pass through on the end surface of the end of the side limiter 702 in the length direction. The side stopper 702 is detachably connected to the side baffle 2. When the side stopper 702 is installed, the guide rail 202 is inserted into the chute on the bottom surface of the side stopper 702, and the side stopper 702 is The member 702 moves along the length direction of the guide rail 202 to realize the assembly with the side baffle 2 .

Preferably, the position of the upper limit member 701 in the first direction can be adjusted, so that the position of the upper limit member 701 in the first direction can be adjusted according to different goods, and by moving the upper limit member 701 along the first direction, so that The upper limit member 701 is moved to an appropriate limit position to improve adaptability and reliability of the limit. The upper limiter 701 is connected to the lift actuator 703 , and when the upper limiter 701 moves in the first direction, the lifter 703 and the upper limiter 701 move synchronously. As shown in FIG. 5 , FIG. 8 and FIG. 9 , the lift actuator 703 is located above the side baffle 2 , the lift actuator 703 is vertically arranged, and the length direction of the lift actuator 703 is perpendicular to the first direction and the second direction The lower end of the lift actuator 703 is provided with a screw 704 , and the upper end of the lift actuator 703 is connected with the upper limit piece 701 . The screw 704 is arranged vertically, the screw 704 is provided with an external thread, the length direction of the screw 704 is perpendicular to the first direction and the second direction, the upper end of the screw 704 is connected with the lower end of the lifting actuator 703, and the lower end of the screw 704 is provided with a sliding Block 705. The side baffle 2 is provided with a guide groove 201 into which the slider 705 is embedded. The guide groove 201 is a groove extending along the length direction of the side baffle 2. The guide groove 201 is preferably a dovetail groove. The lengths of the guide rails 202 are the same, and the guide grooves 201 form openings through which the sliders 705 pass through the end surfaces of the ends of the side fences 2 in the longitudinal direction. Guide the groove 201 and form a rectangular opening on the top surface of the side baffle 2 for the screw 704 to pass through. The rectangular opening extends along the entire length of the side baffle 2 on the top surface of the side baffle 2. The width (the width direction of the rectangular opening is parallel to the first direction) is smaller than the size of the slider 705, the width of the rectangular opening is not less than the diameter of the screw 704, the lower end of the screw 704 is inserted into the guide groove 201 and is fixedly connected with the slider 705 The upper end of the screw rod 704 is connected to the lower end of the lift actuator 703 after passing through the rectangular opening on the top surface of the side baffle 2 , and the screw rod 704 and the lift actuator 703 are connected by thread. A first nut 706 and a second nut 707 are also arranged on the screw rod 704 , the first nut 706 and the second nut 707 are sleeved on the screw rod 704 and the first nut 706 and the second nut 707 are threadedly connected to the screw rod 704 , the first nut 706 is located below the second nut 707, the first nut 706 and the second nut 707 are hexagonal nuts, the diameter of the outer diameter of the circumscribed circle of the first nut 706 is larger than the rectangular opening on the top surface of the side baffle 2 width. The first nut 706 is used to keep the screw rod 704 and the side baffle 2 relatively fixed. By screwing the first nut 706, the first nut 706 moves downward along the axial direction of the screw rod 704. After tightening the first nut 706 Then, the first nut 706 is in contact with the top surface of the side baffle 2, the slider 705 is located in the guide groove 201, the first nut 706 cooperates with the slider 705 to clamp the side baffle 2, and then locks the screw 704, so that the screw 704 is fixed on the side panel 2. The upper end of the screw rod 704 is threadedly connected to the lift actuator 703 , the lower end of the lift actuator 703 has an internal thread hole for the screw rod 704 to be inserted into, and the second nut 707 is used to tighten the screw rod 704 to keep the screw rod 704 and the lift actuator 703 It is relatively fixed. By screwing the second nut 707, the second nut 707 moves upward along the axial direction of the screw rod 704. After the second nut 707 is tightened, the second nut 707 contacts the bottom surface of the lifting actuator 703, and tightens the second nut 707. The screw 704 will not loosen between the screw 704 and the lift actuator 703 . When the position of the upper limit member 701 needs to be adjusted, the first nut 706 needs to be loosened first, so that the screw rod 704 can move along the length direction of the guide groove 201, and then the lift actuator 703 and the upper limit can be moved along the first direction. 701 until the upper limit piece 701 is adjusted to a proper position, and then the first nut 706 is tightened. The slider 705 can only move in the first direction in the guide groove 201 relative to the side fence 2, the slider 705 cannot rotate relative to the side fence 2, and the slider 705 has two opposite sides parallel to the first direction. The outer wall surface is in contact with the two opposite inner wall surfaces in the guide groove 201 , which plays a limiting role and prevents the slider 705 from rotating in the guide groove 201 . The nut is matched with the screw 704, which is convenient to adjust the position of the upper limit member 701 in the first direction, the operation is convenient and simple, the efficiency is high, and the reliability is good.

The lift actuator 703 is a retractable component, and the lift actuator 703 is preferably a hydraulic cylinder or an electric telescopic rod. The lift actuator 703 is used to control the upper limit piece 701 to lift and lower, so as to realize the adjustment of the height position of the upper limit piece 701, that is, to achieve Adjustment of the distance between the upper limit member 701 and the lower belt conveyor 5, so that the limit position of the upper limit member 701 in the vertical direction can be adjusted according to the different heights of the goods, so as to improve the adaptability and the reliability of the limit . When the lift actuator 703 is extended, the upper limit member 701 can be pushed to move upward; when the lift actuator 703 is retracted, the upper limit member 701 can be pulled to move downward.

Preferably, a plurality of upper limit members 701 are provided, and all upper limit members 701 are arranged in sequence along the first direction, and each upper limit member 701 is respectively connected with two lifting actuators 703, and every two lifting actuators 703 cooperate with each other. They are respectively used to control the adjustment of the height position of one upper limit piece 701 . In this embodiment, as shown in FIG. 1 and FIG. 2 , there are three upper limit members 701 in total, and the upper limit members 701 are rod-shaped structures.

For the stair-climbing cargo-carrying equipment with the above structure, the control method includes the following steps:

S1. Loading goods;

S2. Climb the stairs and transport the goods;

S3. After the goods are transported to the designated location, the goods are unloaded.

In the above step S1, the unloading plate 601 of the cargo guiding device 6 is in the guiding position first, the unloading plate 601 is in an inclined state, the belt conveying device 5 is in an operating state, and the goods to be transported are moved through the cargo guiding device 6 to the position of the belt conveying device 5. On the conveyor belt 501, the running conveyor belt 501 receives the goods to be transported; after the goods enter the designated position in the storage cavity, the belt conveyor 5 stops running, the unloading plate 601 rotates upward, and the unloading plate 601 is switched from the guiding position to the blocking position; the lift actuator 703 retracts and pulls the upper limit member 701 to move downward until the upper limit member 701 moves to the limit position to realize the vertical limit of the goods.

In the above step S2, after the loading of the goods is completed, the stair-climbing cargo-carrying equipment starts to climb the stairs, the first motor 404 is activated, and the first motor 404 provides the driving force, so that the rotating bracket 403 rotates and promotes the crawler traveling wheel 4 The whole is flipped, climbed over the stairs, and climbed.

In the above-mentioned step S3, after the goods are transported to the designated position, the first motor 404 stops, the rotary actuator 605 and the lift actuator 703 start to work, and the lift actuator 703 pushes the upper limit member 701 to move upward to release the restriction on the goods. position, the rotary actuator 605 controls the unloading plate 601 to rotate downward, so that the unloading plate 601 is switched from the blocking position to the guiding position, and then the belt conveying device 5 starts to operate (the running direction of the conveyor belt 501 at this time is the same as the operation when step S1 is executed. In the opposite direction), the goods are transported to the goods guiding device 6, and then the goods slide down through the goods guiding device 6 to complete the unloading of the goods.

The present invention has been exemplarily described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above manner. As long as the method concept and technical solution of the present invention are adopted for various non-substantial improvements; or without improvement, the above-mentioned concept and technical solution of the present invention are directly applied to other occasions, all of which are included in the present invention. within the scope of protection.

Claims (9)

1. Stair-climbing cargo-carrying equipment, comprising a vehicle body and a running mechanism arranged on the vehicle body, wherein the running mechanism comprises a plurality of crawler running wheels, and the crawler running wheels are arranged on opposite sides of the vehicle body, The crawler traveling wheel includes a crawler, a rotatably arranged rotating support, a rotatable driving wheel arranged on the rotating support and engaged with the crawler, and a first motor for providing a driving force for rotating the rotating support. The driving wheel is provided with a plurality of . 2 . The stair-climbing and cargo-carrying equipment according to claim 1 , wherein the first motor is connected to the rotating bracket and the vehicle body, and the first motor is an in-wheel motor. 3 . 3. The stair-climbing cargo equipment according to claim 2, wherein the driving wheel comprises a driving wheel hub engaged with the crawler track and a second motor for providing a driving force for rotating the driving wheel hub, the first The second motor is a hub motor, the driving hub is connected with the outer rotor of the second motor, and the inner stator of the second motor is connected with the rotating support. 4. The stair-climbing cargo-carrying equipment according to any one of claims 1 to 3, wherein there are three driving wheels, and all the driving wheels are evenly distributed along the circumferential direction. 5. The stair-climbing and cargo-carrying equipment according to any one of claims 1 to 3, characterized in that there are four crawler running wheels in total, and two crawler running wheels are respectively arranged on both sides of the vehicle body. 6. The stair-climbing cargo-carrying equipment according to any one of claims 1 to 3, characterized in that, further comprising a belt conveying device arranged on the vehicle body and used for conveying goods, and a belt conveying device rotatably arranged on the vehicle body And a cargo guide for guiding cargo to or receiving cargo from a belt conveyor. 7 . The stair-climbing cargo-carrying equipment according to claim 6 , wherein the cargo guiding device comprises an unloading plate rotatably connected with the vehicle body, a rotary actuator for controlling the rotation of the unloading plate, and a A support plate on the unloading plate, a support shaft arranged on the support plate, and a roller sleeved on the support shaft, and a bearing is arranged between the roller and the support shaft. 8 . The stair-climbing cargo-carrying equipment according to claim 6 , further comprising a cargo limiting device disposed on the vehicle body and used to keep the cargo on the belt conveying device. 9 . 9 . The stair-climbing cargo-carrying equipment according to claim 8 , wherein the cargo limiting device comprises an upper limit located above the belt conveying device and used for limiting the cargo in the vertical direction. 10 . A positioning piece, a side limiting piece arranged on the vehicle body and used to limit the cargo in the horizontal direction, and a lift actuator arranged on the vehicle body and used to control the upper stopper to move up and down.