Sea-sedan-lift-imitating type stair climbing and descending device

Abstract

The invention discloses a sedan-lift-imitating stair climbing device which comprises a carrying table, a lifting rod, a leg-imitating stair climbing mechanism, a balance module, a visual module and a main control unit. A balance module, a visual module and a main control unit are arranged on the carrying table, lifting rods are rotationally arranged on the left side and the right side of the carrying table correspondingly, and leg-imitating type stair climbing mechanisms are arranged at the front end and the rear end of each lifting rod correspondingly; the leg-imitating stair climbing mechanism comprises two leg-imitating assemblies, each leg-imitating assembly comprises a first hub motor, a rotating rod, a second hub motor and a supporting leg, the first hub motors are arranged on the lifting rods, one ends of the rotating rods are connected with the first hub motors, the other ends of the rotating rods are provided with the second hub motors, and the second hub motors are connected with the upper ends of the supporting legs. The device adopts the design thought of imitating a four-person sedan lifting mode, can freely and stably climb up and down stairs, is safe and efficient in the stair climbing process, is simple in structural form, and is particularly suitable for loading heavy objects to climb up and down stairs.

Description

Technical Field

[0001] The present invention relates to the field of climbing stairs, and in particular to a device for going up and down stairs in the form of imitating a sedan chair carrying. Background Art

[0002] There are mainly three types of up-and-down stair devices in the related art. One is a wheeled up-and-down stair device, which requires manual carrying up or down the stairs, consuming a lot of manpower and being inconvenient. Another is a caterpillar-track up-and-down stair device, which is relatively bumpy when going up and down stairs, and is prone to slipping and causing accidents when transporting heavy objects. The other is a spider-leg type up-and-down stair device. This type of device has many components, and the cooperation of each component is complex, and the manufacturing and use costs are high. Therefore, it is necessary to design a device with a simple structure, suitable for transporting heavy objects, and capable of freely and smoothly going up and down stairs. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, an object of the present invention is to provide a device for going up and down stairs in the form of imitating a sedan chair carrying.

[0004] The technical solution of the present invention is as follows: A device for going up and down stairs in the form of imitating a sedan chair carrying, characterized in that it includes: a carrying platform, lifting rods, leg-like climbing mechanisms, a balance module, a vision module and a main control unit;

[0005] The balance module, the vision module and the main control unit are provided on the carrying platform, and the lifting rods are respectively rotatably provided on the left and right sides of the carrying platform, and the leg-like climbing mechanisms are respectively provided at the front and rear ends of each lifting rod;

[0006] The leg-like climbing mechanism includes two leg-like components respectively provided on the left and right sides of the lifting rod. Each leg-like component includes a first hub motor, a rotating rod, a second hub motor and a leg. The first hub motor is provided on the lifting rod, one end of the rotating rod is connected to the first hub motor, the other end is provided with the second hub motor, and the second hub motor is connected to the upper end of the leg. The first hub motor is used to drive the rotating rod to rotate, and the second hub motor is used to drive the leg to rotate;

[0007] The first hub motor, the second hub motor, the balance module and the vision module are all connected to the main control unit.

[0008] Further, the balance module is a gyroscope module or an IMU module.

[0009] Further, the vision module is a camera module or a lidar module.

[0010] Further, a rechargeable battery is integrated on the carrying platform.

[0011] Further, the outrigger is a T-shaped outrigger.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] This device adopts the design concept of imitating the sedan chair carried by four people, can go up and down stairs freely and smoothly, the climbing process is safe and efficient, and the structure of this device is simple, especially suitable for loading heavy objects up and down stairs.

[0014] The additional aspects and advantages of the present invention will be partially given in the following description, partially will become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0016] Figure 1 is a perspective view of the present invention when going up stairs;

[0017] Figure 2 is a front view of the present invention when going up stairs;

[0018] Figure 3 is a left view of the present invention when going up stairs.

[0019] Reference numerals:

[0020] 1, carrying pole; 2, first hub motor; 3, rotating rod; 4, second hub motor; 5, outrigger; 6, carrying platform. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0022] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "vertical", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0023] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the description of the present invention, the "first feature" and "second feature" may include one or more of such features. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0025] As Figures 1-3 shown, a kind of up-and-down stair climbing device imitating a sedan chair carrying includes: a carrying platform 6, a lifting rod 1, a leg-like stair climbing mechanism, a balance module, a vision module and a main control unit.

[0026] The carrying platform 6 is used for transporting articles. The structural form of the carrying platform 6 may be, for example, a box body, a sedan chair body, etc., and there is no limitation here. Those skilled in the art can design and adjust the carrying platform 6 according to actual needs.

[0027] A balance module, a vision module and a main control unit are provided on the carrying platform 6. Lifting rods 1 are respectively rotatably provided on the left and right sides of the carrying platform 6, and leg-like stair climbing mechanisms are respectively provided at the front and rear ends of each lifting rod 1.

[0028] The leg - like stair - climbing mechanism includes two leg - like components respectively arranged on the left and right sides of the lifting rod 1. Each leg - like component includes a first hub motor 2, a rotating rod 3, a second hub motor 4, and a support leg 5. The first hub motor 2 is arranged on the lifting rod 1. One end of the rotating rod 3 is connected to the first hub motor 2, and the other end is provided with the second hub motor 4. The second hub motor 4 is connected to the upper end of the support leg 5. The first hub motor 2 is used to drive the rotating rod 3 to rotate, and the second hub motor 4 is used to drive the support leg 5 to rotate. The first hub motor 2, the second hub motor 4, the balance module, and the vision module are all connected to the main control unit.

[0029] Specifically, the overall design of this device follows the idea of imitating the sedan - chair - carrying method by four people. The carrying platform 6 in the scheme is equivalent to the sedan chair for people to sit in, the lifting rods 1 on both sides of the carrying platform 6 are equivalent to the poles of the sedan chair, the leg - like stair - climbing mechanisms at the front and rear ends of each lifting rod 1 are equivalent to the sedan - chair carriers, and the two leg - like components in each leg - like stair - climbing mechanism are equivalent to the legs of the sedan - chair carriers. The rotating rod 3 in the leg - like component is equivalent to the thigh part of the human body, and the support leg 5 in the leg - like component is equivalent to the calf part of the human body. The rotation of the rotating rod 3 driven by the first hub motor 2 plus the rotation of the support leg 5 driven by the second hub motor 4 is equivalent to the leg - lifting action of the human body. To facilitate the stable support of the support leg 5 on the stairs, the support leg 5 used is a T - shaped support leg 5. The T - shaped support leg 5 includes a vertical leg and a horizontal leg. The upper end of the vertical leg is connected to the second hub motor 4, and the lower end is connected to the horizontal leg. The front end of the horizontal leg first extends upward and then bends backward, so that the front end of the horizontal leg can stably abut against the steps, ensuring the balance of the device.

[0030] In this device, the set balance module is used for the main control unit to control the device to maintain balance, and the set vision module is used for the main control unit to plan the stair - climbing path. The first hub motor 2 and the second hub motor 4 are controlled by the main control unit to adjust the rotation angles, so as to adjust the inclination angles of the lifting rod 1, the rotating rod 3, and the support leg 5 during stair - climbing. Thus, the device can finally move up and down the stairs freely and stably.

[0031] In the specific setting, the balance module is a gyroscope module or uses an IMU module to maintain the attitude. The IMU is an inertial measurement unit, which is a module unit for measuring the three - axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU contains three single - axis accelerometers and three single - axis gyroscopes. The accelerometers detect the acceleration signals of the object on the three independent axes of the carrier coordinate system, and the gyroscopes detect the angular velocity signals of the carrier relative to the navigation coordinate system, measure the angular velocity and acceleration of the object in three - dimensional space, and calculate the attitude of the object based on this. The vision module is a camera module or a lidar module to achieve the autonomous navigation function. In addition, a rechargeable battery is integrated on the carrying platform 6 to supply power to each electrical component.

[0032] The model numbers of the gyroscope modules used can be, for example, JY61P, MPU6050, STIM202, etc.; the model numbers of the MU modules used can be, for example, M-G365, M-G370, M-G370PDF1, etc.; the model number of the camera module can be, for example, the OpenMV camera module; the model numbers of the lidar modules can be, for example, Hesai Technology AT128, RoboSense Falcon, etc. The main control unit used can be, for example, the intelligent board Jeston NX. The Jetson Orin NX intelligent board is part of the NVIDIA Jetson series and is specifically designed for edge computing and AI inference. It provides an inference computing power of up to 100 TOPS, sufficient to handle complex AI tasks. The board is equipped with the NVIDIA Jetson Orin NX system module and has 4 2.5G PoE+ Ethernet interfaces or 6 USB3 interfaces, suitable for connecting cameras and other peripherals. Those skilled in the art can select the corresponding model numbers of each component according to actual needs, and there is no limitation here.

[0033] In summary, this device adopts the design concept of imitating the four-person sedan chair carrying style, can go up and down stairs freely and smoothly, and the climbing process is safe and efficient. Moreover, the structure of this device is simple, especially suitable for carrying heavy objects up and down stairs.

[0034] Although some embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that: without departing from the principles and purposes of the present invention, various changes, modifications, substitutions, and variations to these embodiments are all within the protection scope of the claims of the present invention.

Claims

1. A device for going up and down stairs imitating a bridal sedan, characterized in that: include: Carrying platform, lifting rod, leg-like climbing mechanism, balance module, vision module and main control unit; The balancing module, the visual module and the main control unit are arranged on the carrying platform, the lifting rods are rotatably arranged on the left and right sides of the carrying platform, and the front and rear ends of each lifting rod are respectively provided with the leg-like climbing mechanism; The leg-like stair climbing mechanism comprises two leg-like components respectively arranged on the left and right sides of the lifting rod, each leg-like component comprises a first wheel hub motor, a rotating rod, a second wheel hub motor and a supporting leg, the first wheel hub motor is arranged on the lifting rod, one end of the rotating rod is connected to the first wheel hub motor, and the other end is provided with the second wheel hub motor, the second wheel hub motor is connected to the upper end of the supporting leg, the first wheel hub motor is used to drive the rotating rod to rotate, and the second wheel hub motor is used to drive the supporting leg to rotate; The first hub motor, the second hub motor, the balancing module and the vision module are all connected to the main control unit.

2. The device for going up and down stairs imitating a bridal sedan according to claim 1 is characterized in that: The balancing module is a gyroscope module or an IMU module.

3. The device for imitating a bridal sedan chair and ascending and descending stairs according to claim 1, characterized in that: The visual module is a camera module or a laser radar module.

4. The device for imitating a bridal sedan chair and ascending and descending stairs according to claim 1, characterized in that: A rechargeable battery is integrated on the carrier platform.

5. The device for going up and down stairs imitating a bridal sedan as claimed in claim 1, characterized in that: The supporting legs are T-shaped supporting legs.

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