Intelligent climbing assisting device and climbing method thereof

Abstract

The application discloses a kind of intelligent climbing power assisting device and its climbing method, it is related to climbing auxiliary device technical field, including support rod, foot support, leg fixing belt and power box, drive mechanism is arranged in power box with support rod transmission connection and can move along support rod, the bottom of support rod is provided with first contact switch, first contact switch has ground end and elastic reset piece, after ground end touches ground, first contact switch is conducted;The top of power box is provided with second contact switch, and contact end is arranged on support rod;The application is set up support rod and power box articulated on leg fixing belt, can be in the process of standing up after human body steps and climbs, using lifting force provided by drive mechanism, reduce knee joint, thigh load, auxiliary lower limb power makes human body stand up;Simultaneously by setting first contact switch and second contact switch, so that the power circuit is only conducted in the process of standing up after step and climbs, so that the whole device is more applicable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of climbing aids, in particular to an intelligent climbing aid and a climbing method thereof. BACKGROUND

[0002] Nowadays, the population is aging, the elderly are weak, and the lower limbs are insufficient, and going up and down the stairs has become a major obstacle for the elderly. Many elderly people with difficulty in moving also worry about going up and down the stairs and can only choose to go down the stairs less or not at all, which hinders their normal life and forces them to lose the right to enjoy a happy life in their old age. Similarly, mountaineering is also a physically demanding sport that requires mountaineers to have sufficient leg strength to climb for a long time and appreciate the beautiful scenery at the top. Climbing stairs and mountain climbing are both climbing sports that make the elderly or those with weak lower limbs hesitant.

[0003] In order to solve this technical problem, the utility model patent with the application number "201220385661.7" and the name "intelligent booster" connects the universal intention sensor to the upper end of the controller through the connecting wire, and the lower end of the controller is connected with the large-torque motor. The output shaft of the large-torque motor is connected with the electrically controlled clutch, the electrically controlled clutch is externally connected with the gear and connected with the transmission gear ring, the lower end of the transmission gear ring is connected with the push rod, the push rod is provided with a torsion joint, the other end of the push rod is connected with a gear joint, and the gear joint is connected with a shoe rack through a jacking rod. It can reduce the physical consumption and knee joint fatigue pain of people due to climbing mountains, climbing stairs and running. In the actual use process, it is found that it can only assist the human body to lift the leg, but it cannot assist the leg at a high place to exert force to restore the human body to an upright position when climbing. The most physically demanding process is exactly the process of restoring the human body to an upright position after climbing. Therefore, the above-mentioned device cannot solve the above-mentioned technical problem.

[0004] In the invention device with the application number "201710568278.2" and the name "mountain climbing aid", a mechanical structure is adopted, the leg flexion is used to store power for the aid device when climbing, and the weight above the thigh is supported by using the reaction force when stepping down, thereby reducing the load of the knee joint during climbing and making climbing more labor-saving. However, the leg flexion will also be subjected to the reaction force of the aid device during the process of storing power for the aid device by leg flexion, which will cause difficulty in leg flexion. It is not very suitable for the elderly or people with weak lower limbs, and it will cause inconvenience to the climbing process.

[0005] Therefore, it is very meaningful to design a climbing aid device that is beneficial to the elderly or other groups with weak lower limbs. SUMMARY

[0006] The purpose of the present application is to provide a kind of intelligent climbing aid device and its climbing method, to solve the problems existing in prior art, can be in the process of standing up after human body steps up, using the lifting force provided by drive mechanism, reduce knee, thigh load, auxiliary lower limb force to make human body stand up and will not in the process of upward step to leg cause obvious burden, make the overall device more applicable.

[0007] To achieve the above object, the present application provides the following scheme: the present application provides a kind of intelligent climbing aid device, including support rod, hinge in the bottom end of the support rod foot support, fixed on the thigh leg fixed band and hinge in the leg fixed band power box, the power box is provided with drive mechanism with the transmission connection and can move along the support rod of the support rod, the bottom end of the support rod is provided with first contact switch, the first contact switch has the ground contact end lower than the lower surface of the foot support and the elastic reset member connected with the ground contact end, after the ground contact end touches the ground, the first contact switch is turned on;The top of the power box is provided with the second contact switch, the support rod is provided with the contact end, the contact end is located above the second contact switch, for the second contact switch to touch and make it open;Drive motor, the first contact switch, the second contact switch and power supply are connected in series to form an energized circuit.

[0008] Preferably, the drive mechanism includes a steering adjustable drive motor and an electromagnetic clutch, the electromagnetic clutch includes a rotating shaft, a rotor end fixed on the rotating shaft and a suction end rotatably arranged on the rotating shaft and axially slidable along the rotating shaft, the suction end is provided with a gear tooth; The surface of the support rod is provided with a rack along its axial direction, the rack is arranged in the power box and is engaged with the gear tooth on the suction end; Preferably, the contact end fixing position is adjustable in the length direction of the support rod

[0009] Preferably, the power box is further provided with a plurality of rollers uniformly distributed along the circumference of the support rod, the rollers abut against the surface of the support rod and can rotate along the length direction of the support rod.

[0010] Preferably, the power box is provided with a first bevel gear and a second bevel gear meshing with each other, the first bevel gear is fixedly connected with the output shaft of the drive motor, and the second bevel gear is fixed on the rotating shaft.

[0011] Preferably, the two ends of the leg fixing belt are provided with a child-mother connecting piece capable of being connected, the outer surface of the middle part is provided with an arc-shaped fixing piece matched with the thigh, and the outer surface of the arc-shaped fixing piece is provided with a spherical hinge joint seat for hinge connection with the power box.

[0012] Preferably, the intelligent climbing assisting device further comprises a waist belt, and a storage battery is arranged on the waist belt and connected in the power supply circuit.

[0013] Preferably, the foot support comprises a right-angle bracket, a sliding sleeve and a buckle belt, the sliding sleeve is arranged to slide along one side of the right-angle bracket, and one end of the buckle belt is fixed to the sliding sleeve and the other end is fixed to the other end of the other side of the right-angle bracket.

[0014] Preferably, a handle is further arranged at the top end of the supporting rod.

[0015] The application further discloses a climbing method, which comprises the following steps: wearing the waist belt, the leg fixing belt and the foot support, in a standing state, the contact end is in contact with the ground, the elastic reset member is compressed, the first contact switch is turned on, the second contact switch is in abutment with the contact end, the second contact switch is turned off, and the power supply circuit is disconnected; after lifting the leg, the contact end is not in contact with the ground, the elastic reset member is reset, the first contact switch is turned off, the second contact switch is disconnected with the contact end, the second contact switch is turned on, and the power supply circuit is disconnected; after upwardly stepping and landing, the second contact switch on the leg of the upward step is disconnected with the contact end, the second contact switch is turned on, the contact end is in contact with the ground, the first contact switch is turned on, the power supply circuit is turned on, the rotor end and the suction end of the electromagnetic clutch are in suction, the driving motor is driven to rotate the rotor end and the suction end in a forward direction, the power box moves upward along the supporting rod, an upward force is applied to the upper leg, and the human body is assisted to stand upright.

[0016] Preferably, when walking downward, the driving motor is adjusted to be in a power supply reverse rotation mode through the controller, during the process of downward stepping and landing, the second contact switch on the bent leg is disconnected with the contact end, the second contact switch is turned on, the contact end is in contact with the ground, the first contact switch is turned on, the power supply circuit is turned on, the rotor end and the suction end of the electromagnetic clutch are in suction, the driving motor is driven to rotate the rotor end and the suction end in a reverse direction, the power box moves downward along the supporting rod, an upward force is applied to the upper leg, and the human body is assisted to move downward.

[0017] The application has the following technical effects relative to the prior art:

[0018] 1. By arranging the supporting rod and the power box hinged to the leg fixing belt, the lifting force provided by the driving mechanism can be utilized to reduce the weight of the knee joint and the upper leg during the process of standing upright after stepping and climbing, the lower limbs of the human body are assisted to exert force to make the human body stand upright, and the climbing movement of the old people and other groups with weak lower limbs is facilitated; meanwhile, by arranging the first contact switch and the second contact switch, the power supply circuit is only turned on during the process of standing upright after stepping and climbing, and the leg is not obviously burdened during the process of upward stepping, so that the whole device is more applicable.

[0019] 2、The electromagnetic clutch is arranged, so that the flexion and extension load of the leg when the power circuit is disconnected can be obviously reduced, and the user is more labor-saving;

[0020] 3、The driving motor in the power box can be adjusted in forward rotation and reverse rotation, and can support the human body when climbing or walking downward, so that the user is more labor-saving, and the personal safety of the user is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Fig. 1 It is a wearing schematic diagram of the intelligent climbing assisting device in the present application;

[0023] Fig. 2 It is a schematic diagram of the internal structure of the power box;

[0024] Fig. 3 It is a schematic diagram of the structure of the leg fixing belt;

[0025] Fig. 4 It is a schematic diagram of the structure of the foot support;

[0026] Among them, 1, support rod; 2, foot support; 3, leg fixing belt; 4, power box; 5, first contact switch; 6, ground contact end; 7, compression spring; 8, second contact switch; 9, contact end; 10, waist belt; 11, battery; 12, driving motor; 13, rotating shaft; 14, rotor end; 15, suction end; 16, gear tooth; 17, rack; 18, first bevel gear; 19, second bevel gear; 20, roller; 21, arc-shaped fixing piece; 22, magic tape; 23, bracket; 24, sliding sleeve; 25, buckle belt; 26, handle. DETAILED DESCRIPTION

[0027] 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 only constitute some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] The purpose of this invention is to provide an intelligent climbing assistance device and its climbing method to solve the problems existing in the prior art. During the process of standing upright after the human body steps up, the lifting force provided by the drive mechanism can reduce the load on the knee joint and thigh, assist the lower limbs to exert force to make the human body stand upright, and will not cause significant burden on the legs during the upward stepping process, making the device more applicable as a whole.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Example 1:

[0031] like Figs. 1-4 As shown, this embodiment provides an intelligent climbing assistance device, including a support rod 1, a footrest 2 hinged to the bottom of the support rod 1 via a ball joint, a leg fixing strap 3 fixed to the thigh, and a power box 4 hinged to the leg fixing strap 3 via a ball joint. The power box 4 is provided with a drive mechanism that is transmittedly connected to the support rod 1. A first contact switch 5 is provided at the bottom of the support rod 1. The first contact switch 5 has a ground contact end 6 that is lower than the lower surface of the footrest 2 and an elastic reset member connected to the ground contact end 6. The elastic reset member can be a compression spring 7. After the ground contact end 6 touches the ground, the first contact switch 5 is turned on. A second contact switch 8 is provided at the top of the power box 4. A contact end 9 is provided on the support rod 1. The contact end 9 is located above the second contact switch 8 and is used to contact the second contact switch 8 to turn it off. The drive motor 12, the first contact switch 5, the second contact switch 8 and the power supply are connected in series to form an electrical circuit.

[0032] When in use, the footrest 2 is worn on the foot. When the body is upright, the ground contact end 6 contacts the ground, the elastic reset member is compressed, the first contact switch 5 is turned on, the second contact switch 8 abuts against the contact end 9, the second contact switch 8 is turned off, and the power circuit is disconnected. After lifting the leg, the ground contact end 6 is no longer in contact with the ground, the elastic reset member is reset, the first contact switch 5 is turned off, the second contact switch 8 is turned off from the contact end 9, the second contact switch 8 is turned on, and the power circuit is disconnected. After stepping up and landing, the second contact switch 8 on the stepping leg is still in the off state from the contact end 9, the second contact switch 8 is still turned on, the ground contact end 6 contacts the ground, the first contact switch 5 is turned on, thus the power circuit is turned on, the drive mechanism is activated, the drive mechanism climbs along the support rod 1, and drives the power box 4 and the leg fixing strap 3 to move upward along the support rod 1, thereby applying an upward force to the thigh to assist the body in standing upright.

[0033] Thus, the embodiment can reduce the load of knee and thigh, assist the lower limbs to make the human body stand up, and facilitate the climbing (such as climbing a mountain, climbing stairs, etc.) movement of the weak lower limbs group such as the elderly by using the lifting force provided by the driving mechanism during the standing process after the human body steps up, by setting the support rod 1 and the power box 4 hinged on the leg fixing belt 3. Meanwhile, the first contact switch 5 and the second contact switch 8 are set in the embodiment, so that the power circuit is only conducted during the standing process after the human body steps up, and will not cause obvious burden to the legs during the upward stepping process, so that the whole device is more applicable.

[0034] The contact switch is a commonly used switch in the art, and the specific structure is well known to those skilled in the art, and the embodiment does not limit the specific model. Meanwhile, the fixed position of the contact end 9 on the support rod 1 is adjustable in the embodiment, so as to adapt to the use of users with different heights; specifically, two semicircular clamping plates with through holes in the middle can be used, the two semicircular clamping plates are fixed on the support rod 1 in a clamping manner, and are fixed by bolts, forming a sheet-shaped contact end 9.

[0035] In order to reduce the load of the user during the upward stepping process, the driving mechanism in the embodiment includes a driving motor 12 with adjustable steering and an electromagnetic clutch. The electromagnetic clutch includes a rotating shaft 13, a rotor end 14 fixed on the rotating shaft 13, and a suction end 15 rotatably arranged on the rotating shaft 13 and axially slidable along the rotating shaft 13, and the suction end 15 is provided with a gear tooth 16. The surface of the support rod 1 is provided with a rack 17 along the axial direction thereof, the rack 17 is arranged in the power box 4, and the gear tooth 16 on the suction end 15 is in meshing engagement with the rack 17, and the width of the gear tooth 16 is greater than the width of the rack 17. Whether the suction end 15 is in suction engagement with the rotor end 14 or not, the gear tooth 16 and the rack 17 are always in meshing engagement. When the power circuit is conducted, the electronic clutch is powered on, the rotor end 14 is in suction engagement with the suction end 15, and the driving motor 12 can rotate through the rotor end 14 and the suction end 15, so that the driving mechanism moves along the support rod 1. When the power circuit is disconnected, the rotor end 14 is disconnected from the suction end 15, and when the legs are flexed, the suction end 15 moves along the support rod 1 and idles on the rotating shaft 13, which can significantly reduce the load when the legs are flexed.

[0036] The specific structure and suction principle of the electromagnetic clutch are well known to those skilled in the art, and the embodiment does not repeat them. Meanwhile, the power box 4 in the embodiment is also provided with a control module, which has two working modes of controlling the driving motor 12 to rotate forward and reverse after being powered on. The forward rotation mode is adopted during the upward climbing process, such as climbing a mountain or climbing stairs, and the reverse rotation mode can be adopted during the downward walking process, such as descending a mountain or descending stairs.

[0037] In this embodiment, the support rod 1 is preferably made of titanium alloy or carbon fiber material, which not only has sufficient strength but also is more lightweight, reducing the dead weight and making the user's flexion process more labor-saving. Moreover, the support rod 1 is a hollow structure, and the inside is provided with wires connected with the driving mechanism, the first contact switch 5 and the second contact switch 8, and the wires have a margin for the driving mechanism to slide along the support rod 1.

[0038] In order to limit the support rod 1 in its vertical direction and avoid its disengagement from the suction end 15, a plurality of rollers 20 are arranged in the power box 4 in this embodiment, which are uniformly distributed along the circumference of the support rod 1, abut against the surface of the support rod 1 and can rotate along the length direction of the support rod 1. Specifically, the cross section of the support rod 1 is rectangular or square in this embodiment, one of the surfaces is provided with teeth, and the other three surfaces abut against the rollers 20, and the surface of the roller 20 is made of rubber material to reduce the noise generated during rolling.

[0039] Further, the first bevel gear 18 and the second bevel gear 19 are arranged in the power box 4 and are engaged with each other in this embodiment, the first bevel gear 18 is fixedly connected with the output shaft of the driving motor 12, and the second bevel gear 19 is fixed on the rotating shaft 13.

[0040] Further, the two ends of the leg fixing belt 3 are provided with sub-mother connecting pieces capable of being connected in this embodiment, the middle outer surface is provided with an arc-shaped fixing piece 21 for fitting the thigh, and the outer surface of the arc-shaped fixing piece 21 is provided with a ball hinge joint seat for hinging with the power box 4; the sub-mother connecting pieces can be magic tapes 22, buckles or other connecting pieces.

[0041] Further, the intelligent climbing assisting device in this embodiment further comprises a waist belt 10, and the battery 11 is arranged on the waist belt 10, and the battery 11 is connected in the power circuit as a power supply through wires.

[0042] Further, the foot support 2 in this embodiment comprises a right-angled bracket 23, a sliding sleeve 24 and a buckle belt 25, the sliding sleeve 24 is slidingly arranged along one side of the right-angled bracket 23, and the buckle belt 25 is fixed at one end on the sliding sleeve 24 and at the other end on the other end of the other side of the right-angled bracket 23; by changing the position of the sliding sleeve 24, different users with different foot sizes can be adapted.

[0043] Further, the top end of the support rod 1 is further provided with a handle 26 for the user to hold in this embodiment.

[0044] Embodiment 2:

[0045] The embodiment discloses a climbing method, comprising the following steps: firstly, wearing the waistband 10, the leg fixing belt 3 and the foot support 2, adjusting the control module to the working mode of power-on and forward rotation, in the upright state, the ground contact end 6 is in contact with the ground, the compression spring 7 is compressed, the first contact switch 5 is turned on, the second contact switch 8 is in abutment with the contact end 9, the second contact switch 8 is turned off, and the power-on loop is disconnected; after lifting the leg, the ground contact end 6 is not in contact with the ground, the compression spring 7 is reset, the first contact switch 5 is turned off, the second contact switch 8 is disconnected with the contact end 9, the second contact switch 8 is turned on, and the power-on loop is disconnected; after upwardly stepping and landing, the second contact switch 8 on the upwardly stepping leg is disconnected with the contact end 9, the second contact switch 8 is turned on, the ground contact end 6 is in contact with the ground, the first contact switch 5 is turned on, the power-on loop is turned on, the rotor end 14 of the electromagnetic clutch is attracted to the attraction end 15, the driving motor 12 is actuated to drive the rotor end 14 and the attraction end 15 to rotate forward, the power box 4 moves upward along the support rod 1, and an upward force is applied to the upper leg to assist the human body to stand upright.

[0046] When walking downward, the driving motor 12 is adjusted to the working mode of power-on and reverse rotation through the controller, in the process of downwardly stepping and landing, the second contact switch 8 on the bent leg is disconnected with the contact end 9, the second contact switch 8 is turned on, the ground contact end 6 is in contact with the ground, the first contact switch 5 is turned on, the power-on loop is turned on, the rotor end 14 of the electromagnetic clutch is attracted to the attraction end 15, the driving motor 12 is actuated to drive the rotor end 14 and the attraction end 15 to rotate reversely, the power box 4 moves downward along the support rod 1, an upward force is always applied to the upper leg in the process of moving downward, which is equivalent to supporting the human body to descend, assisting the human body to move downward, and the power box 4 is uniformly descended, so that the human body is more stable in descending, and the situation that the user falls down due to weak leg strength is avoided.

[0047] The selection of the driving motor 12 and the working control of the driving motor 12 can be realized by the person skilled in the art according to the own skill.

[0048] The adaptive changes according to the actual needs are within the protection scope of the present application.

[0049] It should be noted that, for the person skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A smart climbing assisting device, characterized in that, The device comprises a support rod, a foot support hinged at the bottom end of the support rod, a leg fixing belt fixed on the thigh, and a power box hinged on the leg fixing belt, wherein a driving mechanism is arranged in the power box and is in transmission connection with the support rod and can move along the support rod, a first contact switch is arranged at the bottom end of the support rod, the first contact switch has a ground contact end lower than the lower surface of the foot support and an elastic reset member connected with the ground contact end, and the first contact switch is turned on after the ground contact end touches the ground. A second contact switch is arranged at the top of the power box, and a contact end is arranged on the support rod and is located above the second contact switch to touch the second contact switch to turn off the second contact switch. The driving mechanism comprises a driving motor with adjustable steering and an electromagnetic clutch, the electromagnetic clutch comprises a rotating shaft, a rotor end fixed on the rotating shaft, and an attraction end rotatably arranged on the rotating shaft and capable of axially sliding along the rotating shaft, and the attraction end is provided with a gear tooth; a rack is arranged on the surface of the support rod in the axial direction, the rack is arranged in the power box, and the gear tooth on the attraction end is in meshing connection with the rack; the contact end is adjustable in the length direction of the support rod; the driving motor, the first contact switch, and the second contact switch are connected in series to form a power supply circuit. A handle is further arranged at the top end of the support rod.

2. The intelligent climbing assisting device according to claim 1, characterized in that, A plurality of rollers are further arranged in the power box and are uniformly distributed in the circumferential direction of the support rod, the rollers abut against the surface of the support rod and can rotate in the length direction of the support rod.

3. The intelligent climbing assisting device according to claim 2, characterized in that First and second bevel gears are arranged in the power box and are in meshing connection with each other, the first bevel gear is fixedly connected with the output shaft of the driving motor, and the second bevel gear is fixed on the rotating shaft.

4. The intelligent climbing assisting device according to any one of claims 1-3, characterized in that, The two ends of the leg fixing belt are provided with sub-mother connecting pieces capable of being connected, the outer surface of the middle part is provided with an arc-shaped fixing piece matched with the thigh, and a spherical hinge hinge seat for hinging with the power box is arranged on the outer surface of the arc-shaped fixing piece.

5. The intelligent climbing assisting device according to claim 4, characterized in that The intelligent climbing assisting device further comprises a waist belt, and a storage battery is arranged on the waist belt and connected in the power supply circuit.

6. The intelligent climbing assisting device according to claim 5, characterized in that The foot support comprises a right-angle bracket, a sliding sleeve, and a buckle belt, the sliding sleeve is slidingly arranged along one side of the right-angle bracket, and the buckle belt is fixed at one end on the sliding sleeve and at the other end on the other end of the other side of the right-angle bracket.

7. A method of climbing, based on the intelligent climbing aid device of claim 5, characterized in that, The waistband, the leg fixing belt and the foot support are worn, the ground contact end is in contact with the ground in the upright state, the elastic return member is compressed, the first contact switch is turned on, the second contact switch is in abutment with the contact end, the second contact switch is turned off, and the power supply circuit is disconnected; after the leg is lifted, the ground contact end is not in contact with the ground, the elastic return member is reset, the first contact switch is turned off, the second contact switch is disconnected from the contact end, the second contact switch is turned on, and the power supply circuit is disconnected; after the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the leg is lifted, the 8. The climbing method according to claim 7, characterized in that ​

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