Stair climbing aid and stair climbing method thereof

Abstract

The present invention discloses a stair climbing aid and a stair climbing method thereof, wherein the stair climbing aid comprises a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism; the upper cover plate and the lower cover plate are connected by a moving mechanism, the upper cover plate is provided with at least two pairs of driving wheels, each driving wheel is connected to a driving motor; the lifting mechanism comprises a lifting motor, a lifting screw and a scissor-type support foot, the lifting screw is installed on the lower cover plate through a third bearing seat, the upper end of the scissor-type support foot is connected to a first bearing seat, the first bearing seat is connected to the lifting screw through a first screw flange, the lifting motor is connected to the lifting screw through a first synchronous belt mechanism; the moving mechanism, the lifting motor and the driving motor are all connected to the controller. The present invention can be pre-programmed according to different heights and widths of steps to meet the needs of various types of stairs, with wide adaptability, good flexibility and maneuverability.

Description

Technical Field

[0001] The invention relates to assistive equipment technology, and in particular to a stair climbing walker and a stair climbing method thereof. Background Art

[0002] With the improvement of living standards and the development of medical technology, human life expectancy continues to increase, the problem of population aging is becoming more and more prominent, and the frequent occurrence of traffic accidents and natural disasters has also caused some disabled people to climb stairs and become an obstacle to their lives. At this stage, elevators have not yet been fully popularized. Stairs are still commonly used in some low-rise residential buildings and duplex houses, especially in the vast rural areas, which are basically staircase buildings. How to solve the problem of going up and down stairs for the elderly and disabled is an urgent problem to be solved.

[0003] There are many types of stair climbing machines that have been developed. They are usually divided into planetary wheel type, crawler type, and leg-foot type according to the working mode they adopt when climbing stairs. However, there are still the following defects:

[0004] 1. Planetary wheel stair climbing machine: This type of machine works by having the planetary wheel bracket revolve around the planetary wheel main axis, and the star wheel rotates around its own star wheel axis to climb the stairs. The more planetary wheels there are, the higher the stairs will be and the stronger the stability will be. However, the increase in the volume of the planetary wheel body structure will increase the weight of the entire stair climbing walker, affecting its ability to carry goods or achieve other tasks. It is expensive and can only be used in certain occasions due to environmental restrictions.

[0005] 2. Crawler stair climber: This type of machine has a smaller center of gravity fluctuation during movement, good stability, and a simple control system, but the sitting posture varies greatly. Because the crawler tracks are too large, they take up a large space and are difficult to turn, so they usually require assistance from other people.

[0006] 3. Leg-foot stair climber: The leg-foot stair climber uses bionics to simulate the movements of people when climbing stairs, climbing one or more steps, and supporting the seat to climb the stairs by lifting and lowering multiple mechanical legs in sequence. The leg-foot stair climber is relatively stable when climbing stairs and can adapt well to steps of different sizes; however, it is difficult to control and the operation is cumbersome, and the movement is relatively slow when traveling on flat ground.

[0007] In summary, most of the existing ladder-climbing walkers have the disadvantages of complex structure, poor adaptability to turning and going downstairs, poor flexibility and maneuverability, high manufacturing cost, and are not widely used in real family life. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the above prior art and provide a stair climbing walker which has a simple structure, strong adaptability, and good flexibility and maneuverability.

[0009] At the same time, another object of the present invention is to provide a stair climbing method for a stair climbing walker.

[0010] The objective of the present invention is achieved through the following technical solutions: the stair climbing aid comprises a controller, an upper cover, a lower cover, a lifting mechanism and a moving mechanism; the upper cover and the lower cover are connected by a moving mechanism, the upper cover is provided with at least two pairs of driving wheels, each driving wheel is connected to a driving motor; the lifting mechanism comprises a lifting motor, a lifting screw and a scissor-type supporting foot, the lifting screw is installed on the lower cover, the upper end of the scissor-type supporting foot is connected to a first bearing seat, the first bearing seat is connected to the lifting screw via a first screw flange, the lifting motor is connected to the lifting screw via a first synchronous belt mechanism; the moving mechanism, the lifting motor and the driving motor are all connected to the controller.

[0011] Preferably, the scissor-type support foot comprises at least one pair of support rods, the middle parts of the two support rods in each pair of support rods are connected by a thrust ball bearing, and the upper ends of the two support rods in each pair of support rods are connected to the corresponding first bearing seat; the lower end of one of the support rods in each pair of support rods is connected to a support seat, and the lower end of the other support rod is provided with a pulley;

[0012] The scissor-type support legs include two pairs of support rods, which are arranged in parallel. Two parallel support rods in the two pairs of support rods are connected to the support seat, and the other two parallel support rods in the two pairs of support rods are connected to the sliding rod, and the pulley is installed on the sliding rod.

[0013] Preferably, the stair climbing walker further comprises a connecting support and a first universal ball, the connecting support is connected to the upper cover plate via an adjusting screw, the adjusting screw is sleeved with a spring, and the first universal ball is mounted on the lower end of the connecting support.

[0014] Preferably, the moving mechanism includes a horizontal motor and a horizontal screw, the horizontal screw is installed on the lower cover plate through a second bearing seat, the horizontal screw is provided with a second screw flange, the second screw flange is connected to the upper cover plate through a flange connector, the horizontal motor is connected to the horizontal screw through a second synchronous belt mechanism; the horizontal motor is connected to the controller.

[0015] Preferably, the upper cover plate is provided with a supporting wheel, the lower cover plate is provided with a guide rail for guiding the supporting wheel, and the supporting wheel is rollingly connected to the lower cover plate.

[0016] Preferably, a wheelchair is installed on the upper cover plate.

[0017] Preferably, the stair climbing walker also includes a swivel chair mechanism, which includes a support frame and a swivel chair, the front legs of the support frame are installed on the upper cover plate, the support frame is provided with a support plate, the swivel chair is installed on the support plate through a gear transmission mechanism, and the gear transmission mechanism is connected to a rotating motor; each rear leg of the support frame is provided with a push rod mechanism, and the lower end of the push rod mechanism is provided with a second universal ball.

[0018] Preferably, the push rod mechanism includes at least two electric push rods, each of which is connected in sequence, and the electric push rod located at the top is connected to the rear leg of the support frame, and the lower end of the electric push rod located at the bottom is provided with a second universal ball;

[0019] Among the electric push rods connected in sequence, from bottom to top, the rod body of the second electric push rod is installed with a connecting frame, and the lower end of the connecting frame is provided with a second universal ball.

[0020] A stair climbing method based on the above-mentioned stair climbing walker includes the following modes:

[0021] Stair climbing mode:

[0022] (1-1) Before going up the stairs, set the lifting height of the scissor-type support legs according to the size of the stairs;

[0023] (1-2) The controller controls the lifting motor to rotate forward, and the lifting motor drives the scissor-type support legs to unfold, so that the upper and lower cover plates rise;

[0024] (1-3) When the bottom end of the Mecanum wheel is at the same height as the upper step surface, the lifting motor stops; and the controller controls the horizontal motor to rotate forward, and the horizontal motor drives the upper cover plate to move forward through the horizontal screw and the flange connector so that the Mecanum wheel contacts the upper step surface, and controls the drive motor to rotate forward, and the drive motor drives the Mecanum wheel to rotate, so that the upper cover plate moves forward again, and stops when the end face of the upper cover plate approaches the vertical surface of the next step;

[0025] (1-4) The controller controls the lifting motor to reverse, and the lifting motor drives the scissor-type support legs to retract and fold, and then controls the translation motor to reverse, and the translation motor retracts the lower cover plate into the upper cover plate through the translation screw rod;

[0026] (1-5) Repeat steps (1-2) to (1-4) to complete the stairs;

[0027] Stairs down mode:

[0028] (2-1) Before going down the stairs, set the lifting height of the scissor-type support legs according to the size of the stairs;

[0029] (2-2) The controller controls the horizontal motor to reverse, and the horizontal motor drives the lower cover plate to extend out of the upper cover plate through the horizontal screw rod, and then controls the lifting motor to rotate forward, so that the scissor-type support legs are unfolded, and the base and pulley at the lower end of the scissor-type support legs contact the next step surface;

[0030] (2-3) The controller controls the driving motor to reverse, and the driving motor drives the Mecanum wheel to rotate, thereby driving the upper cover to move, so that the lower cover returns to the upper cover;

[0031] (2-4) Control the lifting motor to reverse, so that the scissor-type support legs can be retracted and folded again;

[0032] (2-5) Repeat steps (2-2) to (2-4) to complete the descent;

[0033] Horizontal walking mode: the scissor-type support is in a retracted and folded state.

[0034] When the whole walker moves forward in a straight line, the controller controls each driving motor to rotate forward at the same speed;

[0035] When the whole walker moves in a straight line and moves backward, the controller controls each driving motor to reverse at the same speed;

[0036] When the entire walker needs to turn, the controller controls each drive motor to rotate at different speeds, so that each drive motor drives each corresponding Mecanum wheel to rotate at different speeds, and the entire walker can turn 0 to 360 degrees.

[0037] Preferably, in the stair ascending mode and the stair descending mode, the second universal ball at the lower end of the lowest electric push rod and / or the second universal ball at the lower end of the connecting frame maintain contact with the step surface.

[0038] The present invention has the following advantages over the prior art:

[0039] 1. The present invention adopts a scissor-type supporting foot structure, which can be pre-programmed according to the different heights and widths of the steps to meet the needs of various types of stairs and has a wide adaptability.

[0040] 2. The present invention is mainly composed of a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism. During the ladder climbing process, the upper cover plate can carry heavy objects and people with limited mobility, and has good flexibility and maneuverability.

[0041] 3. The present invention is mainly composed of a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism. The overall structure is compact, the volume is small, and it is easy to use, and can achieve smooth going up and down stairs.

[0042] 4. The present invention adopts a driving wheel and a driving motor, and each driving motor independently controls the rotation of the corresponding driving wheel, which facilitates the walker to move forward and backward in a straight line and also facilitates turning. Therefore, it can be adapted to indoor and outdoor operation, especially for routes with steps.

[0043] 5. The present invention arranges a wheelchair or a swivel chair on the upper cover plate to facilitate carrying people and ensure comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the structure of the stair climbing walker according to the first embodiment of the present invention from a first perspective.

[0045] Figure 2 2 is a schematic diagram of the structure of the stair climbing walker according to the first embodiment of the present invention from a second viewing angle.

[0046] Figure 3 It is a side view of the stair climbing walker according to the first embodiment of the present invention.

[0047] Figure 4 4 is a front view of a stair climbing walker according to a first embodiment of the present invention.

[0048] Figure 5 1 is a top view of the stair climbing walker according to the first embodiment of the present invention.

[0049] Figure 6 1 is a schematic diagram of the stair climbing process of the stair climbing walker according to the first embodiment of the present invention. Figure 6 Middle a~ Figure 6 Figure e in the figure is a schematic diagram of the process of climbing from the initial staircase to the next level of staircase.

[0050] Figure 7 It is a schematic structural diagram of a stair climbing walker according to a second embodiment of the present invention from a first perspective.

[0051] Figure 8 It is a schematic structural diagram of the stair climbing walker according to the second embodiment of the present invention from a second viewing angle.

[0052] Fig. 9 It is a schematic diagram of the structure of a stair climbing walker according to a third embodiment of the present invention.

[0053] Fig.10 It is a schematic diagram of the structure of the stair climbing walker according to the third embodiment of the present invention with some components removed.

[0054] Fig.11 It is a side view of a stair climbing walker according to a third embodiment of the present invention.

[0055] Fig.12 1 is a schematic diagram of the structure of the stair climbing walker according to the third embodiment of the present invention. Fig.12Middle a~ Fig.12 In the figure, i is a schematic diagram of the process of climbing from the initial staircase to the next staircase.

[0056] Among them, 1 is the upper cover, 2 is the lower cover, 3 is the lifting mechanism, 4 is the moving mechanism, 5 is the Mecanum wheel, 6 is the drive motor, 7 is the lifting motor, 8 is the lifting screw, 9 is the scissor-type support foot, 10 is the third bearing seat, 11 is the first bearing seat, 12 is the first screw flange, 13 is the first synchronous belt mechanism, 14 is the worm gear reducer, 15 is the coupling, 16 is the support rod, 17 is the thrust ball bearing, 18 is the support seat, 19 is the pulley, 20 is the slide rod, 21 is the connecting support, 22 is the first universal ball, 23 is the adjusting screw rod, 24 is a spring, 25 is a fixing nut, 26 is an adjusting nut, 27 is a horizontal motor, 28 is a horizontal screw, 29 is a second bearing seat, 30 is a second screw flange, 31 is a flange connector, 32 is a second synchronous belt mechanism, 33 is a support wheel, 34 is a guide rail, 35 is a wheelchair, 36 is a mounting frame, 37 is a swivel chair mechanism, 38 is a support frame, 39 is a swivel chair, 40 is a support plate, 41 is a gear transmission mechanism, 42 is a rotating motor, 43 is a push rod mechanism, 44 is a second universal ball, 45 is an electric push rod, and 46 is a connecting frame. DETAILED DESCRIPTION

[0057] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0058] Example 1

[0059] like Figures 1 to 5 The stair climbing walker shown includes a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism; the upper cover plate and the lower cover plate are connected by a moving mechanism, the upper cover plate is provided with at least two pairs of driving wheels, each driving wheel is connected to a driving motor; the lifting mechanism includes a lifting motor, a lifting screw and a scissor-type supporting foot, the lifting screw is installed on the lower cover plate through a third bearing seat, the upper end of the scissor-type supporting foot is connected to a first bearing seat, the first bearing seat is connected to the lifting screw through a first screw flange, and the lifting motor is connected to the lifting screw through a first synchronous belt mechanism; the moving mechanism, the lifting motor and the driving motor are all connected to the controller.

[0060] Specifically, the driving wheel adopts a Mecanum wheel to ensure friction and facilitate the steering of the entire walker. In this embodiment, two pairs of Mecanum wheels are used. The two pairs of Mecanum wheels are respectively installed at the front and rear ends of the upper cover plate, and the two Mecanum wheels in each pair are respectively located on the left and right sides of the upper cover plate. This structure is simple and easy to install, and ensures the stability of the entire walker during driving. The driving motor and the Mecanum wheel are connected through a worm gear reducer and a coupling, which is not only convenient for installation, but also ensures stable power transmission.

[0061] In order to improve the stability of the overall lifting of the upper and lower covers, the lifting mechanism has two groups, and the two groups of lifting mechanisms are respectively arranged on both sides of the lower cover. That is, the moving mechanism is installed in the middle of the lower cover, and the two groups of lifting mechanisms are symmetrically arranged relative to the axis of the moving mechanism. When the lifting motor is started, the lifting screw rotates, thereby causing the scissor-type support legs to unfold or retract and fold.

[0062] The scissor-type support foot includes at least one pair of support rods, the middle parts of the two support rods in each pair of support rods are connected by a thrust ball bearing, the upper ends of the two support rods in each pair of support rods are connected to the corresponding first bearing seat; the lower end of one of the support rods in each pair of support rods is connected to a support seat, and the lower end of the other support rod is provided with a pulley. An appropriate number of support rods are used to ensure the strength of the entire scissor-type support foot. In this embodiment, each scissor-type support foot uses 2 pairs, that is, the scissor-type support foot includes 2 pairs of support rods, the 2 pairs of support rods are arranged in parallel, the 2 parallel support rods in the 2 pairs of support rods are both connected to the support seat, the other 2 parallel support rods in the 2 pairs of support rods are both connected to the sliding rod, and the pulley is installed on the sliding rod. Figures 1 to 5 As shown, in a pair of support rods, the middle parts of the two support rods are connected by a thrust ball bearing to facilitate the relative movement of the two support rods, that is, to allow the support legs to be unfolded or retracted and folded. Each scissor-type support leg adopts two pairs of support rods, and the two pairs of support rods are arranged in parallel. In order to ensure the synchronization of the two pairs of support rods, the two parallel support rods in the two pairs of support rods in the same scissor-type support leg are connected to the support seat, and the other two parallel support rods in the two pairs of support rods are connected to the slide bar, and the pulley is installed on the slide bar. The number of pulleys is 2, and the two pulleys are installed at both ends of the slide bar. This structure is simple and has good stability.

[0063] The stair climbing aid further comprises a connecting support and a first universal ball, wherein the connecting support is connected to the upper cover plate via an adjusting screw, wherein the adjusting screw is sleeved with a spring, and the first universal ball is installed at the lower end of the connecting support. Figure 1 and Figure 4 As shown, the front and rear ends of the connecting support are connected to the upper cover plate through an adjusting screw, wherein the upper end of the adjusting screw is mounted on the upper cover plate through a fixing nut, and the lower end of the adjusting screw is sleeved with an adjusting nut, and the adjusting nut is tightly attached to the outer bottom surface of the connecting support. After the spring is sleeved on the adjusting screw, the upper end of the spring abuts against the fixing nut, and the lower end of the spring abuts against the inner bottom surface of the connecting support. The deformation of the spring can be adjusted by adjusting the degree to which the adjusting nut is screwed into the adjusting screw. The supporting structure composed of the connecting support and the first universal ball plays the role of auxiliary support, further ensuring the stable operation of the entire walker.

[0064] The moving mechanism includes a horizontal motor and a horizontal screw rod, the horizontal screw rod is installed on the lower cover plate through a second bearing seat, the horizontal screw rod is provided with a second screw rod flange, the second screw rod flange is connected to the upper cover plate through a flange connector, the horizontal motor is connected to the horizontal screw rod through a second synchronous belt mechanism; the horizontal motor is connected to the controller. The horizontal motor drives the horizontal screw rod to rotate, and the upper cover plate reciprocates along the axis direction of the horizontal screw rod to realize the action of going up and down stairs.

[0065] The upper cover plate is provided with a support wheel, and the lower cover plate is provided with a guide rail for guiding the support wheel, and the support wheel is connected to the lower cover plate in a rolling manner. There are two guide rails, and the two guide rails are symmetrically arranged relative to the horizontal screw rod. The support wheels are arranged in pairs, and the two support wheels in a pair of support wheels correspond to the two guide rails respectively. During the rolling process of the upper cover plate, the support wheels are constrained by the guide rails, and the support wheels roll along the axial direction of the guide rails to avoid the support wheels from moving in a direction perpendicular to the guide rails, thereby improving the stability of the upper cover plate when it moves horizontally relative to the lower cover plate. In this embodiment, three pairs of support wheels are arranged, which can further improve the stability of the upper cover plate when it moves horizontally.

[0066] A stair climbing method based on the above-mentioned stair climbing walker includes the following modes:

[0067] like Figure 6 As shown, stair climbing mode:

[0068] (1-1) Before going up the stairs, set the lifting height of the scissor-type support legs according to the size of the stairs, and then adjust the degree to which the adjusting nut is screwed into the adjusting screw to adjust the deformation of the spring to provide good auxiliary support for the upper cover plate;

[0069] (1-2) The controller controls the lifting motor to rotate forward, and the lifting motor drives the scissor-type support legs to unfold, so that the upper and lower cover plates rise;

[0070] (1-3) When the bottom end of the Mecanum wheel is at the same height as the upper step surface, the lifting motor stops; and the controller controls the horizontal motor to rotate forward, and the horizontal motor drives the upper cover plate to move forward through the horizontal screw and the flange connector so that the Mecanum wheel contacts the upper step surface, and controls the drive motor to rotate forward, and the drive motor drives the Mecanum wheel to rotate, so that the upper cover plate moves forward again, and stops when the end face of the upper cover plate approaches the vertical surface of the next step;

[0071] (1-4) The controller controls the lifting motor to reverse, and the lifting motor drives the scissor-type support legs to retract and fold, and then controls the translation motor to reverse, and the translation motor retracts the lower cover plate into the upper cover plate through the translation screw rod;

[0072] (1-5) Repeat steps (1-2) to (1-4) to complete the stairs;

[0073] Stairs down mode:

[0074] (2-1) Before going down the stairs, set the lifting height of the scissor-type support legs according to the size of the stairs, and then adjust the degree to which the adjusting nut is screwed into the adjusting screw to adjust the deformation of the spring to provide good auxiliary support for the upper cover plate;

[0075] (2-2) The controller controls the horizontal motor to reverse, and the horizontal motor drives the lower cover plate to extend out of the upper cover plate through the horizontal screw rod, and then controls the lifting motor to rotate forward, so that the scissor-type support legs are unfolded, and the base and pulley at the lower end of the scissor-type support legs contact the next step surface;

[0076] (2-3) The controller controls the driving motor to reverse, and the driving motor drives the Mecanum wheel to rotate, thereby driving the upper cover to move, so that the lower cover returns to the upper cover;

[0077] (2-4) Control the lifting motor to reverse, so that the scissor-type support legs can be retracted and folded again;

[0078] (2-5) Repeat steps (2-2) to (2-4) to complete the descent;

[0079] The action of the stair-down mode is reverse to the action of the stair-up mode.

[0080] Horizontal walking mode: the scissor-type support is in a retracted and folded state.

[0081] When the whole walker moves forward in a straight line, the controller controls each driving motor to rotate forward at the same speed;

[0082] When the entire walker moves backward in a straight line, the controller controls each drive motor to reverse at the same speed;

[0083] When the entire walker needs to turn, the controller controls each drive motor to rotate at different speeds, so that each drive motor drives each corresponding Mecanum wheel to rotate at different speeds, and the entire walker can turn 0 to 360 degrees.

[0084] The driving motor, lifting motor and horizontal motor are all stepper motors. The upper cover in this embodiment is not provided with other components, so that the user can stand on the upper cover or stack items on the upper cover to climb stairs using the walker. Different models are selected for each synchronous belt mechanism according to different sizes.

[0085] Example 2

[0086] The present stair climbing aid and stair climbing method thereof have the following additional technical features based on the first embodiment:

[0087] A wheelchair is installed on the upper cover. Figure 7 and Figure 8 As shown, the wheelchair is fixed on the upper cover plate through a mounting frame. When the walker is climbing stairs, the user can sit directly on the wheelchair, and this structure improves comfort.

[0088] The present stair climbing aid and stair climbing method thereof have the following additional technical features based on the first embodiment:

[0089] like Figures 9-11 As shown, the stair climbing walker also includes a swivel chair mechanism, which includes a support frame and a swivel chair, the front legs of the support frame are installed on the upper cover plate, the support frame is provided with a support plate, the swivel chair is installed on the support plate through a gear transmission mechanism, and the gear transmission mechanism is connected to a rotating motor; each rear leg of the support frame is provided with a push rod mechanism, and the lower end of the push rod mechanism is provided with a second universal ball. The swivel chair improves comfort. The swivel chair is installed on the support plate using a gear transmission mechanism, and the user adjusts the direction of the swivel chair according to the walking aid during the process of going up and down the stairs, providing the user with a good viewing direction.

[0090] The push rod mechanism includes at least two electric push rods, each of which is connected in sequence, and the uppermost electric push rod is connected to the rear leg of the support frame, and the lower end of the lowermost electric push rod is provided with a second universal ball. Specifically, the support frame has two rear legs, and the push rod mechanism of this embodiment uses two electric push rods. The number of such electric push rods can be determined according to the height of the support frame and the parameters of the electric push rods. This structure further ensures the stability of the entire walker when climbing stairs. Figures 9 to 11 As shown, the electric push rod located above is connected to the rear leg of the support frame through a push rod connector, while the base of the electric push rod located below is connected to the rod body of the electric push rod above. The use of two electric push rods in each push rod mechanism can not only meet the requirements of stairs of different heights, but also achieve the stability of the going up and down stairs action.

[0091] Among the electric linear actuators connected in sequence, from bottom to top, the rod body of the second electric linear actuator is installed with a connecting frame, and the lower end of the connecting frame is provided with a second universal ball. When the rod body of the lowest electric linear actuator is in a retracted state, the second universal ball located on the connecting frame and the second universal ball located on the electric linear actuator below are at the same height, thereby further improving the stability of the support frame when supporting.

[0092] like Fig.12 As shown, in the stair climbing mode and stair descending mode, the second universal ball at the lower end of the lowest electric push rod and / or the second universal ball at the lower end of the connecting frame keep in contact with the step surface. In the upstairs and downstairs, at least one second universal ball is in contact with the step surface, thereby improving safety and stability.

[0093] The above specific implementation modes are preferred embodiments of the present invention and cannot be used to limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solution of the present invention are included in the protection scope of the present invention.

Claims

1. A stair climbing walker, characterized in that: It includes a controller, an upper cover, a lower cover, a lifting mechanism and a moving mechanism; the upper cover and the lower cover are connected by a moving mechanism, the upper cover is provided with at least two pairs of driving wheels, each driving wheel is connected to a driving motor; the lifting mechanism includes a lifting motor, a lifting screw and a scissor-type supporting foot, the lifting screw is installed on the lower cover, the upper end of the scissor-type supporting foot is connected to a first bearing seat, the first bearing seat is connected to the lifting screw through a first screw flange, and the lifting motor is connected to the lifting screw through a first synchronous belt mechanism; the moving mechanism, the lifting motor and the driving motor are all connected to the controller; The scissor-type support foot comprises at least one pair of support rods, the middle parts of the two support rods in each pair of support rods are connected by a thrust ball bearing, and the upper ends of the two support rods in each pair of support rods are connected to the corresponding first bearing seat; the lower end of one of the support rods in each pair of support rods is connected to a support seat, and the lower end of the other support rod is provided with a pulley; The scissor-type support legs include two pairs of support rods, the two pairs of support rods are arranged in parallel, the two parallel support rods in the two pairs of support rods are connected to the support seat, the other two parallel support rods in the two pairs of support rods are connected to the slide rod, and the pulley is installed on the slide rod; The moving mechanism comprises a horizontal motor and a horizontal screw rod, the horizontal screw rod is mounted on the lower cover plate through a second bearing seat, the horizontal screw rod is provided with a second screw rod flange, the second screw rod flange is connected to the upper cover plate through a flange connector, the horizontal motor is connected to the horizontal screw rod through a second synchronous belt mechanism; the horizontal motor is connected to a controller; It also includes a swivel chair mechanism, which includes a support frame and a swivel chair, the front legs of the support frame are installed on the upper cover plate, the support frame is provided with a support plate, the swivel chair is installed on the support plate through a gear transmission mechanism, and the gear transmission mechanism is connected to a rotating motor; each rear leg of the support frame is provided with a push rod mechanism, and the lower end of the push rod mechanism is provided with a second universal ball; The push rod mechanism includes at least two electric push rods, each of which is connected in sequence, and the electric push rod located at the top is connected to the rear leg of the support frame, and the lower end of the electric push rod located at the bottom is provided with a second universal ball; Among the electric push rods connected in sequence, in the direction from bottom to top, the rod body of the second electric push rod is installed with a connecting frame, and the lower end of the connecting frame is provided with a second universal ball.

2. The stair climbing aid according to claim 1, characterized in that: It also includes a connecting support and a first universal ball. The connecting support is connected to the upper cover plate through an adjusting screw. The adjusting screw is sleeved with a spring. The first universal ball is installed at the lower end of the connecting support.

3. The stair climbing aid according to claim 1, characterized in that: The upper cover plate is provided with a supporting wheel, the lower cover plate is provided with a guide rail for guiding the supporting wheel, and the supporting wheel is rollingly connected to the lower cover plate.

4. The stair climbing aid according to claim 1, characterized in that: A wheelchair is installed on the upper cover plate.

5. A stair climbing method based on the stair climbing walker according to any one of claims 1 to 4, characterized in that: The following modes are included: Stair climbing mode: (1-1) Before going up the stairs, set the lifting height of the scissor-type support legs according to the size of the stairs; (1-2) The controller controls the lifting motor to rotate forward, and the lifting motor drives the scissor-type support legs to unfold, causing the upper and lower cover plates to rise; (1-3) When the bottom end of the Mecanum wheel is at the same height as the upper step surface, the lifting motor stops; and the controller controls the horizontal motor to rotate forward. This horizontal motor drives the upper cover plate to move forward through the horizontal screw and flange connector to make the Mecanum wheel contact the upper step surface. The drive motor is controlled to rotate forward, and the drive motor drives the Mecanum wheel to rotate, so that the upper cover plate moves forward again, and stops when the end face of the upper cover plate approaches the vertical surface of the next step. (1-4) The controller controls the lifting motor to reverse, and the lifting motor drives the scissor-type support legs to retract and fold, and then controls the translation motor to reverse, and the translation motor retracts the lower cover into the upper cover through the translation screw; (1-5) Repeat steps (1-2) to (1-4) to complete the stairs. Stairs down mode: (2-1) Before going down the stairs, set the lifting height of the scissor-type support legs according to the size of the stairs; (2-2) The controller controls the horizontal motor to reverse, and the horizontal motor drives the lower cover plate to extend out of the upper cover plate through the horizontal screw rod, and then controls the lifting motor to rotate forward, so that the scissor-type support legs are unfolded, and the base and pulley at the lower end of the scissor-type support legs contact the next step surface; (2-3) The controller controls the drive motor to reverse, and the drive motor drives the Mecanum wheel to rotate, thereby driving the upper cover to move, so that the lower cover returns to the upper cover; (2-4) Control the lifting motor to reverse, so that the scissor-type support legs can be retracted and folded again; (2-5) Repeat steps (2-2) to (2-4) to complete the descent; Horizontal walking mode: the scissor-type support is in a retracted and folded state. When the whole walker moves forward in a straight line, the controller controls each driving motor to rotate forward at the same speed; When the entire walker moves backward in a straight line, the controller controls each drive motor to reverse at the same speed; When the entire walker needs to turn, the controller controls each drive motor to rotate at different speeds, so that each drive motor drives each corresponding Mecanum wheel to rotate at different speeds, and the entire walker can turn 0~360°.

6. The stair climbing method of the stair climbing walker according to claim 5, characterized in that: In the stair-ascending mode and the stair-descending mode, the second universal ball at the lower end of the lowest electric push rod and / or the second universal ball at the lower end of the connecting frame maintains contact with the step surface.

Images