Stair-climbing device and method for going up and down stairs using the same

Abstract

The stair-climbing device of the present invention relates to the field of transportation machinery. The stair-climbing device includes a vehicle body, a translation device, a lifting device, an electric control magnetic suction cup, a ground suction cup device, a swing rod balance mechanism, a steering gear, a rocker, a balance rod, an iron plate, and a ground iron plate; two groups of electric control magnetic suction cups are alternately adsorbed on the iron plates on the vertical surfaces of each step under the combined movement of the translation device and the lifting device, so as to drive the vehicle body to achieve the action of climbing stairs. The present invention aims to solve the problems of large energy consumption, slow speed, and low stability of the stair-climbing device in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of transportation machinery, and particularly to a stair climbing device and a method for going up and down stairs using the device. Background Art

[0002] To solve the problem of difficult stair climbing for multiple types of people, the invention patent "A Stair Climbing Device and System" with the publication (announcement) number 111422273A discloses a stair climbing device that uses electromagnetic suction cups to adsorb to the iron plates on the stairs, providing a solution to the problem that conventional stair climbing devices lack effective anti-falling measures. Figure 1 It is a schematic diagram of the implementation of a stair climbing device referring to this patent. During the stair climbing process, two sets of lifting push rod groups 003 extend simultaneously and lift the vehicle body 001 above the step plane. Two sets of electric push rods 002 extend and drive two sets of electronically controlled magnetic suction cups 004 to adsorb to the iron plates on the stair facades simultaneously. Then, the two sets of lifting push rod groups 003 contract to suspend the vehicle body 001. Subsequently, the two sets of electric push rods 002 contract to drive the vehicle body 001 to move above the stair plane. The function of the rotating motor 005 is that when the stair climbing device is approaching a flat floor or descending from a flat floor to a step, the rotating motor rotates 90 degrees so that the adsorption surface of the electronically controlled magnetic suction cup 004 faces the ground for adsorption to the iron plate on the ground.

[0003] It can be seen that when the vehicle body 001 is suspended, the electric push rod 002 of the vehicle body and the electronically controlled magnetic disk 004 with one end adsorbed to the iron plate form a cantilever beam support structure. To make the structure more stable, the original solution uses double push rods as the beam body, and the disk adsorption surface is the maximum stress point. To achieve safe and reliable support, this structure requires increasing the electrical energy of the electronically controlled magnetic suction cup 004 to obtain a sufficient magnetic field. If this stair climbing device uses a battery as the power source, the continuous working time of the device will be greatly shortened.

[0004] Moreover, using a cantilever beam support structure not only requires increasing the mass and strength of the beam body to improve the load-bearing capacity, but also because the cantilever beam structure bears dynamic loads, it is prone to shaking, and it is difficult to increase the speed of the device during this stage of operation.

[0005] The original solution uses two sets of suction cups to simultaneously and step by step adsorb to the iron plates on each step, and two sets of lifting push rod groups 003 simultaneously and step by step move up and down on the steps, rather than the push rod group driving the two sets of suction cups separately, alternately, and in sequence according to the step order, resulting in cumbersome actions, reduced climbing speed, and increased energy waste.

[0006] Using the rotating motor 005 to rotate the electronically controlled magnetic suction cup 90 degrees for adsorption to the iron plate on the ground, after adsorption, the pulling force generated on the suction cup when the vehicle body moves is not perpendicular to the adsorption surface of the disk, making the force direction not ideal, and thus more electrical energy is required to increase the adsorption force. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a stair-climbing device that alternately and sequentially adsorbs an iron plate on the vertical surface of a stair with an electric control magnetic chuck, and two sets of lifting mechanisms alternately support the steps, that is, a stair-climbing device that imitates the way of human walking up and down stairs.

[0008] To achieve the above object, a stair-climbing device provided by the present invention includes a vehicle body, a translation device, and a lifting device; a roller group is provided below the vehicle body, and the roller group can drive the vehicle body to reciprocate linearly or turn on the ground under the drive of a motor; the translation device includes a translation drive mechanism and a translation moving member, one end of the translation moving member is movably connected to the translation drive mechanism and can reciprocate under the drive of the translation drive mechanism; the lifting device includes a lifting drive mechanism and a lifting moving member, one end of the lifting moving member is movably connected to the lifting drive mechanism, and the other end can reciprocate under the drive of the lifting drive mechanism; two sets of translation devices and two sets of lifting devices are provided on the vehicle body, and the translation drive mechanisms of the two sets of translation devices are fixedly installed on the vehicle body; the reciprocating movement direction of the translation moving members connected by the two sets of translation drive mechanisms is perpendicular to the vertical surface of the stair to be climbed; the lifting drive mechanisms of the two sets of lifting devices are respectively fixedly installed on the two sets of translation moving members and can reciprocate following the translation moving members; the lifting moving members of the two sets of lifting devices can reciprocate in a direction perpendicular to the plane of the stair to be climbed; the stair-climbing device further includes two sets of electric control magnetic chucks, and the electric control magnetic chucks generate or eliminate magnetic force by controlling the conduction or cut-off conversion of their electric energy; the electric control magnetic chucks are respectively fixedly connected or hinged to the two sets of lifting moving members through connecting members; the adsorption surface of the magnetic chuck is perpendicular to the plane of the stair when climbing the stair and faces the vertical direction of the stair step.

[0009] Preferably, the stair-climbing device further includes a ground chuck device, and the ground chuck device includes a lifting mechanism and an electric control magnetic chuck; one end of the lifting mechanism is fixedly installed or hinged to the vehicle body, and the other end is connected to the electric control magnetic chuck, and the adsorption surface of the electric control magnetic chuck faces the ground; the lifting mechanism is an actuator that can reciprocate towards the ground direction driven by a motor, an electromagnet, a hydraulic pressure, or an air pump.

[0010] Preferably, the stair-climbing device further includes a swing rod balance mechanism, which includes a motor and a reducer, a link mechanism, and a balance rod. The swing rod balance mechanism is fixedly installed at the ground end of each group of the lifting movable components. The output shaft of the motor and the reducer provides power for the link structure, and the motor and the reducer are fixedly installed on the lifting movable components. The balance rod is a rocker of the link mechanism, one end of which is connected to the link structure through a hinge point, and the other end extends outward. The balance rod can swing between the running direction of the translation movable component and the direction towards the bottom of the vehicle body under the drive of the motor.

[0011] Preferably, the translation device and the lifting device are actuators driven by a motor, hydraulic pressure, or air pump and capable of reciprocating motion.

[0012] Preferably, one end of the translation movable component is movably connected to the translation drive mechanism, and one end of the lifting movable component is movably connected to the lifting drive mechanism. The connection methods include hinge, piston, lead screw nut, ball screw, belt, rope, and chain.

[0013] Preferably, the number of the translation device and the lifting device included in the stair-climbing device is 2 groups or more than 2 groups.

[0014] The present invention also provides a method for going up and down stairs by the stair-climbing device. The implementation steps are as follows: An iron plate that can be magnetized by a magnet is installed on the vertical surface of the stairs. The translation device, the lifting device, and the electric control magnetic suction cups are divided into group A and group B according to the connection relationship. The combined movement of the translation device and the lifting device in group A causes the electric control magnetic suction cup in this group to adsorb to the iron plate on the vertical surface of the step where the vehicle body is located. Subsequently, the combined movement of the translation device and the lifting device in group A drives the vehicle body to move to the next step. The combined movement of the translation device in group B and the translation device in group A drives the electric control magnetic suction cup in group B to adsorb to the iron plate on the vertical surface of the next step. Subsequently, the magnetic force of the electric control magnetic suction cup in group A is eliminated.

[0015] Preferably, when the stair-climbing device moves from a flat level to a lower step or from a step to a flat level, the iron plate is installed on the ground near the stairs on the flat level of the stairs, and the electric control magnetic suction cup on the ground suction cup device adsorbs to the iron plate. After the electric control magnetic suction cup in group A or group B adsorbs to the iron plate on the vertical surface of the stairs, or after the stair-climbing device reaches the flat level from the stairs, the magnetic force of the electric control magnetic suction cup on the ground suction cup device is eliminated.

[0016] Preferably, when an electric control magnetic suction cup adsorbs to the iron plate on the vertical surface of the stairs, and the lifting movable component moves relative to the lifting drive mechanism and drives the vehicle body to rise or fall, the balance rod swings towards the vehicle body direction and is parallel to the adsorption plane of the electric control magnetic suction cup to prevent the stair-climbing device from tilting due to the offset of the center of gravity at this time.

[0017] Preferably, when the stair-climbing device goes up and down the stair steps, the A-group and B-group of electronically controlled magnetic chucks alternately adsorb to the iron plates on the vertical surfaces of each step in sequence.

[0018] The present invention adopts the method of alternately adsorbing with 2 groups of chucks, that is, the method that one group of chucks releases only after the other group of chucks adsorbs, which ensures that the stair-climbing device always has a safety protection measure of approximately rigid fixation with the stairs when climbing the stairs.

[0019] The present invention adopts the method of alternately supporting each step with 2 groups of lifting devices, which doubles the crawling span and improves the practicability of the device.

[0020] The present invention adopts the method of alternately supporting each step with 2 groups of lifting devices and the method that the roller group touches the ground first after the edge of the vehicle body reaches the step to be climbed. In this way, there is always ground support under the vehicle body during the whole climbing process. If the device is modified for carrying people, it not only increases the safety factor, but also makes the process of going up and down the stairs run smoothly and reduces the psychological concerns of users.

[0021] The ground suction cup device in the content of the present invention is used when going up and down the platform layer higher than the stairs. The swing rod balance mechanism of the present invention prevents the vehicle body from tilting due to the offset of the center of gravity when a single group of lifting devices is lifted or lowered.

[0022] In short, the improved stair-climbing device of the present invention can greatly improve the climbing speed, run more smoothly and reliably, and significantly reduce the energy consumption, and can help special groups solve the problem of difficult stair climbing. Description of the Drawings

[0023] Figure 1 is a schematic diagram of the implementation of the background technology.

[0024] Figure 2 is a three-dimensional schematic diagram of the structure of the stair-climbing device in the embodiment of the present invention.

[0025] Figure 3 is a top view of the swing rod balance mechanism in the embodiment of the present invention.

[0026] Figure 4 is a schematic diagram of the stair-climbing state of the stair-climbing device in the embodiment of the present invention.

[0027] The reference numerals are as follows:

[0028] Vehicle body 001, Electric push rod 002, Lifting push rod group 003, Electronically controlled magnetic chuck 004, Rotating motor 005, Vehicle body 100, Translation device 110, Lifting device 120, Electronically controlled magnetic chuck 140, Ground suction cup device 150, Swing rod balance mechanism 160, Steering gear 161, Rocker arm 162, Balance rod 163, Iron plate 171, Ground iron plate 172

[0029] It should be noted that the accompanying drawings are used to illustrate the present invention, rather than to limit the present invention. Note that the drawings showing the structure may not be drawn to scale. Also, in the drawings, the same or similar elements are labeled with the same or similar reference numerals. Detailed implementation manners

[0030] Hereinafter, preferred embodiments of the present invention will be further described in detail with reference to the accompanying drawings. The embodiments are only used to further describe the present invention in detail and do not limit the protection scope of the claims of this application.

[0031] Refer to Figure 2 , the stair-climbing device of the embodiment of the present invention includes a vehicle body 100, a translation device 110, and a lifting device 120; a roller group is provided below the vehicle body, and the roller group can drive the vehicle body 100 to reciprocate linearly or turn on the ground under the drive of a motor; the translation device 110 includes a translation drive mechanism and a translation moving member. In this embodiment, the translation device 110 is a screw-nut type sliding platform driven by a motor, and the translation moving member is a slider thereon. The lifting device 120 includes a lifting drive mechanism and a lifting moving member. In this example, the lifting device 120 is an electric push rod, and the lifting moving member is a moving push rod thereon. A total of 2 groups of translation devices 110 are horizontally and fixedly installed on both left and right sides of the vehicle body 100, and 2 groups of lifting devices 120 are respectively installed on the sliders of the translation devices, and the pushing direction of the push rod faces downward the vehicle body 100. 2 groups of electronically controlled magnetic suction cups 140 are respectively fixedly installed on the push rods through cross bars, and the adsorption surface is perpendicular to the running direction of the sliders of the translation device 110. The electronically controlled magnetic suction cup 140 generates or cancels magnetic force when the electric energy is on or off.

[0032] The stair-climbing device further includes a ground suction cup device 150, and the ground suction cup device 150 includes a lifting mechanism and an electronically controlled magnetic suction cup; one end of the lifting mechanism is fixedly installed or hinged to the vehicle body, and the other end is connected to the electronically controlled magnetic suction cup, and the adsorption surface of the electronically controlled magnetic suction cup faces the ground; the lifting mechanism is an actuator driven by a motor, an electromagnet, a hydraulic pressure, or an air pump and capable of reciprocating in the direction of the ground. In this embodiment, the ground suction cup device 150 is installed below the vehicle body 100.

[0033] Refer to Figure 2 , Figure 3, the stair-climbing device further includes a swing rod balance mechanism 160, and the swing rod balance mechanism 160 includes a motor and a reducer, a link mechanism, and a balance rod 163. In this embodiment, the motor and the reducer are combined to form a steering gear 161. The link mechanism further includes a rocker 162. The swing rod balance mechanism 160 is fixedly installed on the cross bar under each push rod. The output shaft of the steering gear 161 provides power for the link structure and is placed on a rotating shaft of the rocker 162. The balance rod 163 is another rocker of the link structure and is connected to the link structure through a hinge point. The balance rod 163 can swing between the running direction of the translation moving part and the direction towards the bottom of the vehicle body under the drive of the motor.

[0034] Reference Figure 4 , the method for going up and down stairs of the stair-climbing device in the embodiment is as follows: Iron plates 171 that can be magnetized by magnets are installed on the vertical surfaces of the stairs. The translation device, the lifting device, and the electro-controlled magnetic suction cup on one side of the vehicle body 100 are set as group A, and those on the other side are set as group B. In this embodiment, the illustration shows the state of climbing the stairs upward. Group A is on the left side in the traveling direction of the vehicle body, and group B is on the right side. The combined movement of the translation device 110 and the lifting device 120 of group A causes the electro-controlled magnetic suction cup 140 of this group to adsorb to the iron plate 171 below. Subsequently, the combined movement of the translation device 110 and the lifting device 120 of group A, that is, the actions of lifting and pushing forward, drives the vehicle body 100 to move up to the next step. When the vehicle body 100 reaches the upper step, that is, the lowest point of the vehicle body is higher than the step plane, the lifting device of group A descends and the rollers 101 land on the stair platform. Subsequently, the combined movement of the translation device of group B, the translation device of group A, and the rollers 101, that is, together drive the vehicle body to translate in the direction of the stair vertical surface, so as to drive the electro-controlled magnetic suction cup of group B to adsorb the iron plate on the vertical surface of this step. After the suction cup of group B completes the adsorption, the magnetic force of the electro-controlled magnetic suction cup of group A is eliminated, that is, the climbing action of one step is completed. In this way, groups A and B alternate actions to complete the climbing of the entire stairs.

[0035] It should be noted that the stair-climbing device in this embodiment can not only go up the stairs but also go down the stairs. The specific operation is the reverse action of referring to the above process.

[0036] When the stair-climbing device moves from a step to a flat floor or before descending from a flat floor to a step, a ground iron plate 172 is installed on the ground near the flat floor of the staircase; when going downstairs, the electro-controlled magnetic suction cup on the ground suction cup device 150 first adsorbs to the ground iron plate 172. After the electro-controlled magnetic suction cups in Group A or Group B adsorb to the iron plate 171 on the vertical surface of the first step under the platform, the magnetic force of the electro-controlled magnetic suction cup on the ground suction cup device is eliminated, and the lifting mechanism lifts the suction cup; if the stair-climbing device moves from the staircase to the flat floor, the operation is as follows: after the vehicle body reaches the flat floor and runs above the iron plate 172, the electro-controlled magnetic suction cup on the ground suction cup device 150 adsorbs to the ground iron plate 172, and the adsorption of the electro-controlled magnetic suction cups in Group A or Group B to the iron plate 171 on the staircase vertical surface is immediately released.

[0037] Refer to Figure 4 , the lifting device 120 in Group A lifts the vehicle body 100 off the ground. At this time, the electro-controlled magnetic suction cup 140 in Group A adsorbs to an iron plate 171 on the vertical surface. Although the stair-climbing device and the staircase are approximately rigidly connected at this time, the center of gravity of the vehicle body 100 is offset from the vehicle body support point, and the support point is the lifting device 120 in Group A. To maintain the balance of the vehicle body, the torque generated by the center-of-gravity offset needs to be offset by increasing the friction between the electro-controlled magnetic suction cup in Group A and the iron plate. Increasing the magnetic adsorption force of the suction cup requires more electric energy or increases the mass of the suction cup. In this embodiment, the balance bar method only consumes electric power by the servo motor during retraction and extension. The balance bar 163 extends below the center-of-gravity position of the vehicle body 100 to play a supporting role to reduce the torque generated by the center-of-gravity deviation.

[0038] When the stair-climbing device goes up and down the staircase steps, the electro-controlled magnetic suction cups in Group A and Group B alternately and sequentially adsorb to the iron plates on the vertical surfaces of each step, and the two sets of lifting mechanisms also alternately support each step to achieve the action of climbing the stairs.

[0039] The above embodiments only illustrate the implementation manners of the present invention, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. Stair-climbing device, comprising a vehicle body, a translation device, and a lifting device; a roller set is provided below the vehicle body, and the roller set can drive the vehicle body to reciprocate linearly or turn on the ground under the drive of a motor; the translation device comprises a translation drive mechanism and a translation moving member, one end of the translation moving member is movably connected to the translation drive mechanism, and can reciprocate under the drive of the translation drive mechanism; the lifting device comprises a lifting drive mechanism and a lifting moving member, one end of the lifting moving member is movably connected to the lifting drive mechanism, and the other end can reciprocate under the drive of the lifting drive mechanism; It is characterized in that, Two sets of translation devices and two sets of lifting devices are provided on the vehicle body, and the translation drive mechanisms of the two sets of translation devices are fixedly installed on the vehicle body; the reciprocating movement direction of the translation moving members connected to the two sets of translation drive mechanisms is perpendicular to the vertical surface of the staircase to be climbed; the lifting drive mechanisms of the two sets of lifting devices are respectively fixedly installed on the two sets of translation moving members, and can reciprocate following the translation moving members; the lifting moving members of the two sets of lifting devices can reciprocate in a direction perpendicular to the plane of the staircase to be climbed; the stair-climbing device further comprises two sets of electronically controlled magnetic chucks, and the electronically controlled magnetic chucks generate or eliminate magnetic force by controlling the conduction or cut-off conversion of their electric energy; the electronically controlled magnetic chucks are fixedly connected or hinged to the two sets of lifting moving members respectively through connecting members; the adsorption surface of the electronically controlled magnetic chucks is perpendicular to the plane of the staircase when climbing the stairs and faces the vertical surface direction of the stair steps, and further comprises a ground chuck device, the ground chuck device comprises a lifting mechanism and an electronically controlled magnetic chuck; one end of the lifting mechanism is fixedly installed or hinged to the vehicle body, and the other end is connected to the electronically controlled magnetic chuck, and the adsorption surface of the electronically controlled magnetic chuck faces the ground; the lifting mechanism is an actuator driven by a motor, an electromagnet, a hydraulic pressure, or an air pump and can reciprocate in the direction towards the ground, and further comprises a swing rod balance mechanism, the swing rod balance mechanism comprises a motor and a speed reducer, a connecting rod mechanism, and a balance rod; the swing rod balance mechanism is fixedly installed at the ground-facing end of each set of lifting moving members, the output shaft of the motor and the speed reducer provides power for the connecting rod mechanism, and the motor and the speed reducer are fixedly installed on the lifting moving members; the balance rod is a rocker of the connecting rod mechanism, one end is connected to the connecting rod structure through a hinge point, and the other end extends outwards, and the balance rod can swing between the running direction of the translation moving member and the direction towards the vehicle body under the drive of the motor.

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