Power-assisted stair climbing shoes

Abstract

The embodiment of the invention discloses a power-assisted stair climbing shoe. The power-assisted stair climbing shoe comprises a lifting plate, a pedal plate, a driving assembly, a lifting assembly, a sensor and a controller assembly. When a user goes upstairs and drives one (such as left) power-assisted stair climbing shoe to leave (or step on) the ground of a stair, the controller assembly controls the driving assembly to start an upstairs (or downstairs) mode and drives the lifting plate of a certain (such as right) shoe to move in the direction away from the pedal plate, and meanwhile, the left lifting plate retracts to move in the direction close to the pedal plate; when the (right) lifting plate steps on (or leaves) the ground of the stair, the (left) lifting plate is driven to contract to move towards the pedal plate, and meanwhile, the (right) lifting plate moves towards the direction far away from the pedal plate; based on the principle, through interaction between the controller assembly and the feet of the human body, the lifting assembly is controlled to drive the lifting plate to drive the pedal and the feet of the user to alternately ascend and descend, the user can be assisted to go upstairs or downstairs, and more labor is saved for the user to go upstairs or downstairs.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of wearable devices, and particularly to a pair of stair-climbing shoes with assistance function. Background Art

[0002] At present, there are a large number of multi-story residential buildings. Residents have to go upstairs or downstairs step by step when going out. For the elderly, the weak, those with waist and leg problems, and residents living on higher floors, going up and down stairs is still a very difficult thing. To improve the current situation of residents going up and down stairs, people have invented and created some mechanical equipment for going up and down stairs, and demonstrated them on some self-media (such as Douyin). These equipment for going up and down stairs are mainly divided into two categories: wheelchair type and standing (seated) elevator type.

[0003] The wheelchair-type stair climber has an appearance similar to that of an ordinary wheelchair. In addition to the wheels, it also has two longer crawler wheels. Most of them use electricity to drive the crawlers under the chair to complete climbing stairs. Its main advantages are that it does not require modification of the stairs and has a relatively strong load-bearing capacity; the disadvantage is that the wheelchair is too bulky and almost occupies the entire corridor when in use, and it is very difficult to turn on narrow stairs. Therefore, it is difficult to promote.

[0004] The standing (seated) elevator type mostly adds another track to the existing stair handrail, and installs a foldable board on the track that can hold people (or seat people). Driven by electricity, the board carries people along the track to complete going up and down stairs. Its main advantages are relatively safe and comfortable. The disadvantages are: one is that it requires a large-scale modification of the existing stairs; the other is that each section of the track and the board can only go straight up and down, and another section of the track and the board needs to be set up for each turn, resulting in low equipment utilization rate and large investment; therefore, it is also very difficult to promote.

[0005] Therefore, how to provide a stair climber with low cost and convenient use is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. This part of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0008] In view of this, the embodiments of the present application propose a pair of stair-climbing shoes with assistance function, including:

[0009] A lifting plate;

[0010] A foot pedal, and the foot pedal is arranged above the lifting plate;

[0011] A driving component and a lifting component, the driving component is connected to the lifting component, the lifting component is connected to the lifting plate and the foot pedal, and the lifting component is used to drive the lifting plate to approach and move away from the foot pedal;

[0012] A state sensor, the state sensor is arranged at the bottom of the lifting plate and is used to detect the contact state between the lifting plate and the ground;

[0013] A controller component, the controller component is connected to the state sensor and the driving component, and is used to control the operating state of the driving component based on the detection result of the state sensor and the remote control instruction.

[0014] In a feasible implementation manner, the foot pedal includes:

[0015] A pedal body, and a front binding guide chute is formed on the pedal body;

[0016] A front binding stop and a front binding strap, the front binding strap is connected to the front binding stop, and the front binding stop is slidably connected to the front binding guide chute;

[0017] A front binding return spring, which is arranged in the pedal body and is used to apply stress to the front binding stop so that the front binding stop contracts;

[0018] A heel stop, which is arranged at one end of the pedal body away from the front binding stop;

[0019] A heel strap, and the heel strap is connected to the heel stop.

[0020] In a feasible implementation manner, the lifting component includes:

[0021] A main body box;

[0022] A rack, the rack is arranged in the main body box along the height direction of the main body box; sensor accessories are arranged at both ends of the rack; the sensor accessories include a first sensor accessory and a second sensor accessory, the first sensor accessory is arranged at the top of the rack; the second sensor accessory is arranged at the bottom of the rack.

[0023] A rack guide tube, the rack guide tube is connected to the main body box, and the rack passes through the rack guide tube; a notch is opened in the middle of the rack guide tube for meshing with the gear;

[0024] A gear, the gear meshes with the rack and is connected to the driving component;

[0025] A guide post, the bottom end of the guide post is connected to the lifting plate, and the rest is arranged inside the guide outer sleeve and can move up and down inside the guide outer tube;

[0026] A position sensor, the position sensor is arranged at both ends of the rack guide tube and cooperates with the rack sensor accessory; the position sensor includes a first position sensor and a second position sensor. The first position sensor is arranged at the upper end of the rack and is used to detect whether the rack reaches the highest point; the second position sensor is arranged at the lower end of the rack and is used to detect whether the rack reaches the lowest point.

[0027] In a feasible implementation manner, the driving assembly includes:

[0028] A motor, the motor is connected to the gear;

[0029] A balance frame, the balance frame is connected to the side of the motor far from the output shaft; a motor driver, the motor driver is connected to the motor and the controller assembly.

[0030] In a feasible implementation manner, the lifting assembly further includes:

[0031] A guide outer sleeve, the guide outer sleeve is arranged inside the main housing, and the guide post passes through the inside of the guide outer sleeve.

[0032] In a feasible implementation manner, the assistive climbing shoes further include:

[0033] An inner sleeve box, the inner sleeve box is connected above the main housing;

[0034] A calf strap, the calf strap is connected to the side of the inner sleeve box facing the foot pedal;

[0035] A handle ring, the handle ring is arranged at the top of the inner sleeve box.

[0036] In a feasible implementation manner, the assistive climbing shoes further include:

[0037] An outer sleeve box, the outer sleeve box is connected to the inner sleeve box and is arranged on the side of the inner sleeve box far from the foot pedal;

[0038] An interface line socket is opened on the outer sleeve box, and the interface line socket is connected to the controller assembly and the motor.

[0039] In a feasible implementation manner, the lifting plate includes:

[0040] A plate body;

[0041] A flexible sole, arranged at the bottom of the plate body;

[0042] A torsion spring, which is arranged inside the plate body; one leg of the torsion spring abuts against the upper part inside the lifting plate, and the other leg abuts against the upper part of the power-assisted wheel shaft with tension.

[0043] Power-assisted wheels, which are rotatably arranged on both sides of the plate body, and the power-assisted wheels are arranged at both ends of the power-assisted wheel shaft.

[0044] In a feasible implementation manner, the lifting plate further includes:

[0045] A wheel shaft guiding groove, which is opened inside the plate body;

[0046] A power-assisted wheel shaft, both ends of which are connected to the power-assisted wheels, and the upper part of the power-assisted wheel shaft abuts against one leg under the torsion spring; the power-assisted wheel shaft passes through the wheel shaft guiding groove and can move up and down therein.

[0047] In a feasible implementation manner, the controller assembly includes:

[0048] A processor, which is used to control the operation state of the drive assembly based on the detection results of the sensors and the remote control instructions;

[0049] A power supply, which is connected to the processor, the drive assembly and the lifting assembly;

[0050] A remote control, which is connected to the processor.

[0051] Compared with the prior art, the present invention has at least the following beneficial effects:

[0052] The climbing-assist shoes provided by the embodiments of the present application include a lifting plate, a foot pedal, a driving component, a lifting component, a state sensor, and a controller component. Based on this, during use, the user can wear the climbing-assist shoes provided by the embodiments of the present application on both the left and right feet. The state sensor is arranged at the bottom of the lifting plate and is used to detect the contact state between the lifting plate and the ground. The position state sensors are arranged at both ends of the rack guide tube and cooperate with the position state sensor accessories on the rack to detect the up and down positions of the rack and the lifting plate. When the user activates the upstairs mode: when the user drives one pair of climbing-assist shoes to step on the ground of the stairs, the controller component controls the driving component to start, and the lifting component of one pair of climbing-assist shoes drives the lifting plate to move away from the foot pedal; when the lifting plate is separated from the ground of the stairs, the controller component controls the driving component to start, and the lifting component drives the lifting plate to contract and move closer to the foot pedal; when the user activates the downstairs mode, when the user lifts one pair of climbing-assist shoes away from the ground of the stairs, the controller component controls the driving component to start, and the lifting component drives the lifting plate to extend and move away from the foot pedal; when the lifting plate steps on the ground of the stairs, the controller component controls the driving component to start, and the lifting component drives the lifting plate to contract and move closer to the foot pedal. Based on this process, combined with the interaction of the user, by controlling the lifting component through the controller component, driving the lifting plate to drive the lifting plates of the user's feet to alternately rise and fall, it is possible to assist the user to go upstairs or downstairs, making it easier for the user to go up and down the stairs.

[0053] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following specifically illustrates the specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0055] Figure 1 It is a schematic structural diagram of the climbing-assist shoes according to an embodiment provided by the present application from the first angle;

[0056] Figure 2 It is a schematic structural diagram of the climbing-assist shoes according to an embodiment provided by the present application from the second angle;

[0057] Figure 3 It is a schematic structural diagram of the climbing-assist shoes according to an embodiment provided by the present application from the third angle;

[0058] Figure 4 Schematic structural diagram of a power-assisted climbing shoe according to an embodiment provided by the present application from the fourth angle;

[0059] Figure 5 Schematic structural diagram of a power-assisted climbing shoe according to an embodiment provided by the present application from the fifth angle;

[0060] Figure 6 Schematic structural diagram of a power-assisted climbing shoe according to an embodiment provided by the present application from the sixth angle;

[0061] Figure 7 Schematic structural diagram of the lifting assembly of a power-assisted climbing shoe according to an embodiment provided by the present application;

[0062] Figure 8 Another angle schematic structural diagram of the lifting assembly of a power-assisted climbing shoe according to an embodiment provided by the present application;

[0063] Figure 9 Another angle schematic structural diagram of the lifting assembly of a power-assisted climbing shoe according to an embodiment provided by the present application;

[0064] Figure 10 Schematic structural diagram of the lifting plate of a power-assisted climbing shoe according to an embodiment provided by the present application;

[0065] Figure 11 Another angle schematic structural diagram of the lifting plate of a power-assisted climbing shoe according to an embodiment provided by the present application.

[0066] Among them, Figures 1 to 11 The corresponding relationship between the reference numerals and the component names in the figure is as follows:

[0067] 1 Lifting plate, 2 Pedal, 3 Driving assembly, 4 Lifting assembly, 5 State sensor, 6 Inner box, 7 Calf strap, 8 Handle loop, 9 Outer box, 10 Interface line socket;

[0068] 101 Plate body, 102 Flexible sole, 103 Torque spring, 104 Boosting wheel, 105 Wheel shaft guide groove, 106 Boosting wheel shaft;

[0069] 201 Pedal body, 202 Front binding guide chute, 203 Front binding stop, 204 Front binding strap, 205 Rear heel stop, 206 Rear heel strap, 207 Front binding stop return spring;

[0070] 401 Main body box, 402 Rack, 403 Rack guide tube, 404 Gear, 405 Guide post, 406 Position sensor, 407 First magnetic sheet, 408 Second magnetic sheet, 409 Guide outer sleeve; 410 First position sensor, 411 Second position sensor;

[0071] 301 Motor, 302 Balance frame, 303 Motor driver. Detailed implementation manners

[0072] In the following description, numerous specific details are given to provide a more thorough understanding of the technical solutions provided by the present invention. However, it is obvious to those skilled in the art that the technical solutions provided by the present invention can be implemented without one or more of these details.

[0073] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0074] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

[0075] As Figures 1 to 11 shown, an embodiment of the present application provides a pair of power-assisted climbing shoes, including: a lifting plate 1; a foot pedal 2, which is arranged above the lifting plate 1; a driving component 3 and a lifting component 4, the driving component 3 is connected to the lifting component 4, the lifting component 4 is connected to the lifting plate 1 and the foot pedal 2, and the lifting component 4 is used to drive the lifting plate 1 to approach and move away from the foot pedal 2; a state sensor 5, which is arranged at the bottom of the lifting plate 1 and is used to detect the contact state between the lifting plate 1 and the ground; a controller component, the controller component is connected to the state sensor 5, a first position sensor 410, a second position sensor 411 and the driving component 3, and is used to control the operating state of the driving component 3 based on the detection data of all sensors and the remote control instructions.

[0076] The power-assisted climbing shoes provided by the embodiments of the present application include a lifting plate 1, a foot pedal 2, a driving component 3, a lifting component 4, a state sensor 5, a first position sensor 410, a second position sensor 411, and a controller component. Based on this, during use, the user can wear the power-assisted climbing shoes provided by the embodiments of the present application on both the left and right feet. The state sensor 5 is arranged at the bottom of the lifting plate 1 and is used to detect the contact state between the lifting plate 1 and the ground. The first position sensor 410 and the second position sensor 411 cooperate with the first position sensor attachment and the second position sensor attachment on the rack to detect whether the lifting plate reaches the highest or lowest point. When the user turns on the upstairs mode: when the user drives the power-assisted climbing shoes to step on the ground of the stairs, the controller component controls the driving component 3 to start, and the lifting component 4 drives the lifting plate 1 to move away from the foot pedal 2; when the lifting plate 1 is separated from the ground of the stairs, the controller component controls the driving component 3 to start, and the lifting component 4 drives the lifting plate 1 to contract and move closer to the foot pedal 2; when the user turns on the downstairs mode, when the user lifts the power-assisted climbing shoes away from the stairs ground, the controller component controls the driving component 3 to start, and the lifting component 4 drives the lifting plate 1 to extend and move away from the foot pedal 2; when the lifting plate 1 steps on the stairs ground, the controller component controls the driving component 3 to start, and the lifting component 4 drives the lifting plate 1 to contract and move closer to the foot pedal 2. Based on the above process and interacting with the user, by controlling the lifting component 4 through the controller component to drive the lifting plate 1 to drive the lifting plates of the user's feet to alternately rise and fall, it can assist the user to go upstairs or downstairs, making it easier for the user to go up and down the stairs.

[0077] In a feasible implementation manner, the foot pedal 2 includes: a pedal body 201, on which a front binding guide chute 202 is arranged; a front binding stop 203 and a front binding strap 204, the front binding strap 204 is connected to the front binding stop 203, and the front binding stop 203 is slidably connected to the front binding guide chute 202; a front binding return spring 207, arranged inside the pedal body 201, and used to apply a backward pulling force to the front binding stop 203 so that the front binding stop 203 contracts in the direction of the rear binding stop; a heel stop 205, arranged at one end of the pedal body 201 away from the front binding stop 203; and a heel strap 206, the heel strap 206 is connected to the heel stop 205.

[0078] In this technical solution, the structural composition of the foot pedal 2 is further provided. The foot pedal 2 may include a pedal body 201, a front binding stop 203, a front binding strap 204, a front binding return spring 207, a heel stop 205, and a heel strap 206. Based on this, during use, the user can wear shoes and step on the pedal, and then adjust the position of the front binding stop 203 through the front binding guide chute 202 so that the foot pedal 2 can adapt to shoes of different specifications. Then, the user's shoes can be fixed by using the front binding strap 204, the heel stop 205, and the heel strap 206 to avoid the situation where the user's shoes come loose from the foot pedal 2. At the same time, a backward pulling force is applied to the front binding stop 203 through the front binding return spring 207, so that the front binding stop 203 abuts against the user's shoes, making the fixation of the shoes more reliable.

[0079] In some examples, the foot pedal 2 can also be set as a shoe cover (such as roller skates), and the user needs to take off their shoes and use the present invention barefoot.

[0080] In a feasible implementation manner, the lifting assembly 4 includes: a main body box 401; a rack 402, which is arranged in a rack guide tube 403 along the height direction of the main body box 401, and the lower end of the rack is connected to a lifting plate; a rack guide tube 403, which is connected to the main body box 401, and the rack 402 passes through the rack guide tube 403 and can move up and down in the rack guide tube; a gear 404, which meshes with the rack 402 and is connected to the driving assembly 3; a guide post 405, one end of which is connected to the lifting plate 1, and the other end is arranged in a guide outer tube 409 and can move freely in the guide outer tube 409; position sensors 410, 411, the first position sensor 410 and the second position sensor 411 are respectively arranged at the upper and lower ends of the rack guide tube 403 and cooperate with the first magnetic sheet 407 and the second magnetic sheet 408 to detect the up and down positions of the rack 402; a first magnetic sheet 407, which is arranged at the upper end of the rack 402; a second magnetic sheet 408, which is arranged at the lower end of the rack 402.

[0081] In this technical solution, the structural composition of the lifting assembly 4 is further provided. The lifting assembly 4 may include a main body box 401, a rack 402, a rack guide tube 403, a gear 404, a guide post 405, a first position sensor 410, and a second position sensor 411. Based on this, each component of the lifting assembly 4 can be accommodated and an installation position can be provided through the main body box 401; during the operation of the lifting assembly 4, the driving assembly 3 can be connected to the gear 404, and by driving the gear 404 to rotate forward or backward, the rack 402 can be driven to rise or fall via the main body box 401, and then the lifting plate 1 can be driven to rise or fall relative to the foot pedal 2 through the rack 402.

[0082] In this technical solution, the rack guide tube 403 and the guide post 405 serve as auxiliary components for driving the up and down movement. Through the setting of the rack guide tube 403, the gear 404 can be more precisely and stably meshed with the rack 402. At the same time, the rack 402 can move more precisely up and down vertically within the rack guide tube 403, reducing the misalignment probability of the gear and the rack meshing. Through the setting of the guide post 405 and the guide outer sleeve 409, it plays a guiding role in the up and down movement of the lifting plate.

[0083] In some examples, there are two guide posts 405, and the guide post 405 is composed of a hollow tube. Its first function is to maintain the up and down corresponding relationship between the lifting plate 1 and the foot pedal 2, avoiding the rotation of the lifting plate 1 around the rack 402. The second function is to provide a wire passing channel for the sensors inside the lifting plate 1, avoiding the connection of signal wires across from the outside, thus causing damage to the circuit.

[0084] In this technical solution, through the setting of the first position sensor 410, the second position sensor 411, the first magnetic sheet 407 and the second magnetic sheet 408, the positions of the first magnetic sheet 407 and the second magnetic sheet 408 can be detected, and then the transmission position information of the rack 402 can be obtained, which is convenient for precisely controlling the power-assisted climbing shoes.

[0085] In a feasible implementation manner, the drive assembly 3 includes: a motor 301, the motor 301 is connected to the main body box 401, and the output end of the motor is connected to the gear 404; a balance bracket 302, the balance bracket 302 is connected to the side of the motor 301 away from the output shaft, and the main body box 401 is arranged above one side of the foot pedal 2; the motor 301 and the controller assembly are electrically connected.

[0086] In this technical solution, the structural composition of the drive assembly 3 is further provided. The drive assembly 3 may include a motor 301, a balance bracket 302 and a motor driver 303. The motor driver 303 is connected to the inner sleeve box 6 and is electrically connected to the controller assembly and the motor 301, which is convenient for controlling the opening, closing, driving direction and speed of the motor 301. By turning on the motor 301, the gear 404 can be driven to rotate. Through the setting of the balance bracket 302, when the lifting plate 1 is in the retracted state, the balance bracket 302 can keep the power-assisted climbing shoes balanced on the ground.

[0087] In a feasible implementation manner, the lifting assembly 4 further includes: a guide outer sleeve 409, the guide outer sleeve 409 is arranged inside the main body box 401, and the guide post 405 passes through the inside of the guide outer sleeve 409 and can move up and down within the guide post 405.

[0088] In this technical solution, the lifting assembly 4 may further include a guiding outer sleeve 409. The guiding outer sleeve 409 is disposed within the main machine housing 401, and the guiding column 405 passes through the guiding outer sleeve 409. This arrangement prevents the lifting plate from rotating around the rack and makes the displacement of the guiding column 405 more accurate.

[0089] In a feasible implementation manner, the power-assisted climbing shoes further include: an inner sleeve box 6, which is connected above the main machine housing 401; a calf strap 7, which is connected to one side of the inner sleeve box 6 facing the foot pedal 2; and a lifting handle ring 8, which is disposed on the top of the inner sleeve box 6.

[0090] In this technical solution, the power-assisted climbing shoes may further include an inner sleeve box 6, a calf strap 7, and a lifting handle ring 8. The inner sleeve box 6 serves as the box body structure of the power-assisted climbing shoes and is the side in contact with the user's calf. By providing the calf strap 7 above the inner sleeve box 6, the calf strap 7 can be strapped to the user's calf, making the fixation of the power-assisted climbing shoes more reliable. Through the provision of the lifting handle ring 8, it is convenient for the user to carry the power-assisted climbing shoes.

[0091] In a feasible implementation manner, the power-assisted climbing shoes further include: an outer sleeve box 9, which is connected to the inner sleeve box 6 and is arranged on the side of the inner sleeve box 6 away from the foot pedal 2; and an interface line socket 10, which is opened on the outer sleeve box 9 and is connected to the controller assembly and the motor 301.

[0092] In this technical solution, the power-assisted climbing shoes may further include an outer sleeve box 9. The outer sleeve box 9 serves as the side of the power-assisted climbing shoes facing away from the user's calf and is used to connect to the inner sleeve box 6 to form a box body structure for accommodating components. Through the provision of the interface line socket 10, it is convenient to charge the power-assisted climbing shoes and control the drive assembly 3 and the lifting assembly 4.

[0093] In a feasible implementation manner, the lifting plate 1 includes: a plate body 101; a flexible sole 102, which is disposed at the bottom of the plate body 101; a torsion spring 103, which is disposed within the plate body 101; one leg of the torsion spring 103 abuts against the upper part of the inner shell of the lifting plate 1, and the other leg abuts against the power-assisted wheel shaft 106 with tension. The power-assisted wheels 104 are rotatably disposed at both ends of the power-assisted wheel shaft 106 and are arranged on both sides of the lifting plate body 101. The upper part of the power-assisted wheel shaft 106 abuts against one leg below the torsion spring 103.

[0094] In this technical solution, considering that in addition to going up or down stairs, the user can also walk on flat ground, such as walking on the landing during the interval of climbing stairs. By the lifting plate 1 including the plate body 101, the flexible sole 102, the torsion spring 103 and the assisting wheel 104, and the setting of the flexible sole 102, the user can use it more comfortably. And through the setting of the torsion spring 103, the assisting wheel shaft 106 and the assisting wheel 104, when the user wears the assisting climbing shoes to walk on flat ground, the assisting wheel 104 overcomes the own weight of the assisting climbing shoes under the action of the torsion spring 103, and the user can gently lift the foot and slide, which can make the user's walking on flat ground easier.

[0095] In a feasible implementation manner, the lifting plate 1 further includes: a wheel shaft guiding groove 105 opened in the plate body 101; an assisting wheel shaft 106, the assisting wheel 104 is connected to both ends of the assisting wheel shaft 106, and the assisting wheel 104 is closely attached to a leg with tension of the lower branch of the torsion spring 103 through the assisting wheel shaft 106; the assisting wheel 104 can move up and down in the wheel shaft guiding groove 105 along with the change of the tension of the torsion spring 103 through the assisting wheel shaft 106;

[0096] In this technical solution, the style of the lifting plate 1 is further provided. The lifting plate 1 can include a wheel shaft guiding groove 105 and an assisting wheel shaft 106. Such a setting facilitates the setting of the assisting wheel 104.

[0097] In a feasible implementation manner, the controller assembly includes: a processor for controlling the operating state of the driving assembly 3 based on the detection results of the state sensor 5, the first position sensor, the second position sensor and the remote control instructions; a power supply, the power supply is connected to the processor, the driving assembly 3 and the lifting assembly 4; a remote control, the remote control is connected to the processor.

[0098] In this technical solution, the structural composition of the controller assembly is further provided. The controller assembly includes a processor, a power supply and a remote control. Based on this, the processor can control the operating state of the driving assembly 3, the power supply can provide energy for the processor, the driving assembly 3 and the lifting assembly 4, and the setting of the remote control facilitates sending instructions to the processor for starting and stopping, speed control and operation mode of the assisting climbing shoes, so as to control the operating state of the assisting climbing shoes.

[0099] In some examples, the assisting wheel axle 106 runs horizontally through the lifting plate 1 and can move up and down along the wheel axle guiding grooves 105 on both sides of the lifting plate 1; the assisting wheels 104 are connected to both ends of the assisting wheel axle 106; the torsion spring is arranged inside the lifting plate 1, the central axis of the spring runs horizontally through the lifting plate 1, one leg abuts against the top of the lifting plate 1, and the other leg presses on the upper part of the assisting wheel axle 106 with a relatively large torque; one end of the state sensor 5 is of a hinge structure, the central hole of the hinge is coaxial with the central axis of the torque spring 103, and the other end freely presses on the upper part of the assisting wheel axle 106 and can move up and down together with the assisting wheel axle 106; the state sensor 5 is arranged on the sensor carrier plate, and a state sensor 5 accessory is arranged at the corresponding position above the lifting plate 1. When the sensor carrier plate approaches or moves away from the state sensor 5 accessory, the state sensor 5 will send out an electric signal; when the assisting wheel 104 is subjected to a force greater than the pressure of the torsion spring, the assisting wheel axle 106 will approach the upper part of the lifting plate 1 and at the same time drive the sensor carrier plate to move upward.

[0100] The working principle of the assisting stair-climbing shoes provided by the embodiment of the present application is as follows:

[0101] First, when climbing stairs, the lifting of the lifting component 4 is driven by the driving component 3 to do work against the earth's gravity to vertically lift the human body, thereby avoiding the physical energy consumed when the human body vertically ascends when going upstairs; second, when going downstairs, the lifting component 4 and the lifting plate 1 bear the human body weight to buffer the process of the sole touching the ground and avoid the impact on the knees; when the user climbs stairs, he only needs to interact with the assisting stair-climbing shoes and take a forward horizontal step like walking on flat ground, and actively control the landing point of the stair-climbing shoes, the rising height of each step, and the stair-climbing speed through limb instructions.

[0102] The working process of the assisting stair-climbing shoes provided by the embodiment of the present application is as follows:

[0103] The torque force of the torsion spring inside the lifting plate 1 is slightly greater than the own weight of a single stair-climbing shoe. When the human body weight is evenly distributed on both feet, the pressure borne by the lifting plates 1 and the flexible soles 102 of the two stair-climbing shoes is much greater than the elastic force of the torsion spring, and the lifting plates 1 and the flexible soles 102 will be pressed down to contact the ground, and the assisting wheels 104 are in the retracted state; when the human body center of gravity is completely transferred to one foot (such as the left foot) and the other foot (such as the right foot) is lifted, the pressure borne by the lifting plate 1 and the flexible sole 102 of this assisting stair-climbing shoe is zero. Under the action of the elastic force of the torsion spring, the assisting wheel 104 under the lifted foot is in the released state, so that the assisting wheel 104 touches the ground and the lifting plate 1 and the flexible sole 102 leave the ground.

[0104] I. Preparation

[0105] Turn on the power, and the system automatically places the lifting plates 1 of the left and right climbing assistance shoes in the retracted and shortened state; put on the climbing assistance shoes, adjust the position of the front binding block 203 to fit the user's shoe size, and fasten all the buckles to ensure that the shoes can move with the feet. When putting on the shoes, push the front binding block 203 forward forcefully until the user's shoes can be put on. Then, under the action of the front binding return spring, the front binding block 203 will automatically fasten. Note that the "center of gravity shifts to the left", "center of gravity shifts to the right", "heel of the shoe leaves the ground", "horizontal step", etc. described below are all the process actions of the user interacting with the climbing assistance shoes, and these actions also serve as limb commands to control the coordinated work of the climbing shoes and the user.

[0106] II. Going upstairs:

[0107] 1. Remote control instruction: The user stands parallel with both feet in front of the front wall of the first stair step facing the upstairs direction, and presses the "Upstairs" button on the remote control.

[0108] 2. Center of gravity shifts to the left and the heel of the right shoe leaves the ground: The center of gravity of the human body shifts to the left shoe, the heel of the right shoe lifts off the ground, the state sensor 5 on the sole droops, and the state sensor 5 emits an electrical signal.

[0109] 3. The left sole extends and the right sole shortens: The controller component issues an instruction to start the motor 301 to drive the left shoe lifting plate 1 to extend downward, and at the same time the right shoe lifting plate 1 automatically retracts and shortens. The human body (including the right shoe) rises relative to the ground by the height of one step, and the user's right shoe takes a horizontal step onto the first step plane.

[0110] 4. Center of gravity shifts to the right and the left sole shortens: The center of gravity of the human body turns to the right shoe, the heel of the left shoe lifts off the ground, the carrier of the state sensor 5 on the sole droops, and the state sensor 5 emits an electrical signal.

[0111] 5. The right sole extends and the left shoe shortens: The controller component issues an instruction to start the motor 301 to drive the right shoe lifting plate 1 to extend downward, and at the same time the left sole automatically retracts and shortens. The human body (including the left shoe) rises relative to the ground by the height of one step, and the user's left shoe takes a horizontal step onto the second step plane.

[0112] Repeat the action process in items 2 - 5 above, and the user continuously rises to a higher step, thus realizing the continuous climbing function.

[0113] II. Going downstairs:

[0114] 1. Remote control instruction: The user stands parallel with both feet in front of the first stair step facing the downstairs direction, with the toes of both feet flush with the edge of the step, and presses the "Downstairs" button on the remote control.

[0115] 2. Center of gravity shifts to the left and the heel of the right shoe leaves the ground: The center of gravity of the human body transfers to the left shoe, the heel of the right shoe lifts off the ground, the carrier piece of the right sole sensor droops, the state sensor 5 emits an electrical signal, and the user's right shoe takes a horizontal step in the downstairs direction onto the first step at the same time.

[0116] 3. Right sole extends while left sole retracts: The controller component issues an instruction to start the motor 301 to drive the right shoe lifting plate 1 to extend downward until it steps on the first step plane and then stops extending. At the same time, the left sole starts to automatically retract and shorten until the human body descends with the left shoe to the first step plane;

[0117] 4. Center of gravity shifts to the right and left heel leaves the ground: The center of gravity of the human body shifts to the right shoe, the left heel of the left shoe lifts off the ground, the left sole sensor carrier plate droops, and the status sensor 5 emits an electrical signal. At the same time, the user takes a horizontal step forward above the second step in the downstairs direction with the left shoe;

[0118] 5. Left sole extends while right sole retracts: The controller component issues an instruction to start the motor 301 to drive the right sole to start automatically retracting and shortening until the human body descends with the right shoe to the second step. At the same time, the left shoe lifting plate 1 extends downward until it steps on the second step plane and then stops. At this time, the human body has completed the process of going downstairs on the second step;

[0119] And so on, repeating the action process in items 2 - 5 above, the user continuously goes down the steps, thus realizing the function of continuous downstairs.

[0120] III. Walking on flat ground or at the turning of the corridor

[0121] When the user climbs to the turning of the corridor, press "walk on flat ground" on the remote control, and the controller component drives the lifting plates 1 of both climbing shoes to be in the retracted state.

[0122] Take the first step (such as the left foot): The center of gravity of the human body shifts to the right foot. Under the action of the human body weight pressure, the flexible sole 102 of the right shoe lifting plate 1 bears the human body weight and touches the ground steadily; while the left foot only needs to be slightly lifted, the flexible sole 102 of the left shoe lifting plate 1 leaves the ground. Under the action of the torsion spring elasticity, the assisting wheel 104 releases and bears the weight of the climbing shoe and touches the ground. At this time, the left foot can slide (step) forward gently like wearing roller skates;

[0123] Take the second step (such as the right foot). The center of gravity of the human body shifts to the left foot. Under the action of the human body weight pressure, the flexible sole 102 of the left shoe lifting plate 1 bears the human body weight and touches the ground steadily, while the right foot only needs to be slightly lifted, the flexible sole 102 of the right shoe lifting plate 1 leaves the ground. Under the action of the torsion spring force, the assisting wheel 104 releases and bears the weight of the climbing shoe and touches the ground. At this time, the right foot can slide (step) forward gently like wearing roller skates;

[0124] Repeat the above actions, and you can easily walk on flat ground or at the turning of the corridor, minimizing the impact of the weight of the climbing shoes on walking.

[0125] The beneficial effects of the embodiments of the present disclosure include: A stair-climbing assisting shoe provided by the present invention has a simple structure, is safe and stable, has a low cost, and is convenient to use.

[0126] The main functions of the assisting stair-climbing shoes provided by the embodiments of the present application are as follows: First, when the user wears the present invention and steps onto the stairs, the assisting stair-climbing shoes provide electric lift to alternately elongate or shorten the soles, enabling the person to overcome the earth's gravity and vertically lift the body with each step, avoiding physical exhaustion and knee injuries. Second, when going downstairs, the soles are alternately elongated to support the body weight and slowly descend vertically, avoiding impacts and abrasions on the knees. Third, the assisting wheels 104 of the shoes carry the weight of the stair-climbing shoes themselves under the elastic force of the torsion springs, avoiding an additional burden on the stepping foot, and allowing the user to slide (step) forward gently like wearing roller skates, while the flexible sole 102 of the other shoe touches the ground firmly with the load to avoid slipping. Therefore, the user can walk easily on flat ground or at the turning of the corridor. Using the present invention to go up and down the stairs is as easy as walking on flat ground. Each step is an interaction between the user's body movements and the stair-climbing shoes, actively controlling the climbing speed and the landing point, avoiding the risk of falling caused by missing a step, having high safety and stability, conforming to the natural walking law on flat ground during use, being simple and easy to learn, and being able to solve the travel problems of the elderly and the physically weak who have difficulty climbing stairs.

[0127] In the present invention, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance; the term "plural" refers to two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "connected to", and "fixed" should all be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. 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.

[0128] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "up", "down", "left", "right", "front", "back", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

[0129] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0130] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A stair climbing shoe, characterized in that: include: lifting board; A foot pedal, the foot pedal is arranged above the lifting plate; A driving assembly and a lifting assembly, wherein the driving assembly is connected to the lifting assembly, the lifting assembly is connected to the lifting plate and the foot pedal, and the lifting assembly is used to drive the lifting plate to approach and move away from the foot pedal; A state sensor, the state sensor is arranged at the bottom of the lifting plate, and is used to detect the contact state between the lifting plate and the ground; A controller component is connected to the sensor and the driving component and is used to control the operating state of the driving component based on the detection result of the sensor.

2. The stair climbing shoe according to claim 1, characterized in that: The foot pedal comprises: A pedal body, wherein the pedal body is provided with a front binding guide slide groove; A front binding stopper and a front binding buckle belt, wherein the front binding buckle belt is connected to the front binding stopper, and the front binding stopper is slidably connected to the front binding guide slide groove; A front binding return spring is arranged in the pedal body and is used to apply stress to the front binding stopper to shrink the front binding stopper; A rear heel stopper is arranged at an end of the pedal body away from the front heel stopper; A heel strap is connected to the heel guard.

3. The assisted stair climbing shoe according to claim 1, characterized in that: The lifting assembly comprises: Host box; A rack is arranged in the main housing along the height direction of the main housing; sensor accessories are provided at both ends of the rack; the sensor accessories include a first sensor accessory and a second sensor accessory, the first sensor accessory is arranged at the top of the rack; the second sensor accessory is arranged at the bottom of the rack. A rack guide tube, the rack guide tube is connected to the mainframe housing, the rack passes through the rack guide tube and is connected to the lifting plate; a notch is provided in the middle of the rack guide tube for meshing with a gear; a gear, the gear being meshed with the rack and connected to the drive assembly; A guide column, the bottom end of which is connected to the lifting plate, and the rest of which is disposed in the guide outer tube and can move up and down in the guide outer tube; A position sensor, wherein the position sensor is arranged at both ends of the rack guide tube and cooperates with the rack sensor accessory; the position sensor comprises a first position sensor and a second position sensor, wherein the first position sensor is arranged at the upper end of the rack and is used to detect whether the rack has reached the highest point; the second position sensor is arranged at the lower end of the rack and is used to detect whether the rack has reached the lowest point.

4. The assisted stair climbing shoe according to claim 3, characterized in that: The drive assembly comprises: a motor connected to the gear; A balancing frame, the balancing frame is connected to a side of the motor away from the output shaft; A motor driver is connected to the motor and the controller assembly.

5. The stair climbing shoe according to claim 3, characterized in that: The lifting assembly also includes: A guide outer sleeve is provided in the main housing, and the guide column passes through the interior of the guide outer sleeve.

6. The stair climbing shoe according to claim 5, characterized in that: Also includes: An inner box, the inner box being connected to the upper part of the mainframe box; A calf strap connected to a side of the inner box facing the footrest; A handle ring is arranged on the top of the inner box.

7. The stair climbing shoe according to claim 6, characterized in that: Also includes: An outer casing, the outer casing is connected to the inner casing and arranged on a side of the inner casing away from the foot pedal; An interface line socket is provided on the outer shell box, and the interface line socket is connected to the controller component and the drive component.

8. The stair climbing shoe according to any one of claims 1 to 7, characterized in that: The lifting plate comprises: plate body; A flexible sole, arranged at the bottom of the board body; A torque spring, wherein the torque spring is arranged in the plate body; one leg of the torque spring is close to the upper part of the lifting plate, and the other leg is close to the upper part of the power-assisting wheel shaft with tension; The power-boosting wheels are rotatably arranged on both sides of the plate body, and the power-boosting wheels are arranged at both ends of the power-boosting wheel shaft.

9. The stair climbing shoe according to claim 8, characterized in that: The lifting plate also includes: A wheel axle guide groove is provided in the plate body; A booster wheel shaft, both ends of which are connected to the booster wheels, and the upper part of the booster wheel shaft is close to a leg below the torque spring; the booster wheel shaft passes through the wheel shaft guide groove and can move up and down therein.

10. The stair climbing shoe according to any one of claims 1 to 6, characterized in that: The controller assembly comprises: A processor, the processor is connected to the motor controller and the sensor, and is used to control the operating state of the driving component based on the data detected by the sensor and the remote control command; A power supply, the power supply being connected to the processor, the drive assembly and the lifting assembly; A remote controller is connected to the processor.

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