Combined transmission lifting step assisting in going up and down stairs and using control method of combined transmission lifting step

Abstract

The invention discloses a combined transmission lifting step assisting in going up and down stairs and a using control method thereof.The combined transmission lifting step comprises a combined transmission mechanism capable of being arranged on the stairs and a plurality of lifting mechanisms, and the combined transmission mechanism is provided with an electric driving device, a controller and a plurality of combined transmission devices connected in sequence; the combined transmission device is provided with a first coupler, the first coupler is connected with the lifting mechanisms, when the electric driving device drives the combined transmission device to rotate, the connected lifting mechanisms ascend and descend in a linkage mode, and the lifting directions of every two adjacent lifting mechanisms are opposite. Gravitational potential energy of the descending part can assist ascending of the ascending part, and the energy-saving effect is good; the power required by equipment can be reduced, and the equipment cost is saved; a sensor and a controller are arranged, so that the assisting person can be intelligently controlled to go up and down stairs or steps, and the intelligent degree is high; the stair can be used for stairs, and can also be used for steps of tourist attractions and parks.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stair climbing assisting mechanism, and particularly relates to a combined transmission lifting step for assisting stair climbing and a use control method thereof. BACKGROUND

[0002] Different height buildings usually rely on elevators, walking stairs or steps to realize the passage between floors. Although the elevator is convenient and fast, it is prohibited to use in emergency situations such as fire, so the walking stairs or steps are indispensable as a safe evacuation channel. Especially for the old buildings that have been built, the later installation of elevators often faces many technical and spatial problems, and it is very difficult to implement. Not only the stairs, but also the steps of tourist attractions and parks, simply relying on walking up and down the stairs or steps is actually equivalent to using the body force to overcome the body weight to do work, which is very tiring to lift and lower the body weight. With the improvement of living standards, people are increasingly hoping to reduce the physical burden of climbing stairs or steps and achieve easy travel. Therefore, the demand for installing labor-saving assisting devices on stairs or steps is increasing. However, the current assisting devices for climbing stairs or various steps generally do not have energy-saving function, have the disadvantages of high energy consumption and low intelligence, and are difficult to meet the actual application requirements.

[0003] The present application is made on the basis of the above situation. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art and provides a combined transmission lifting step for assisting stair climbing and a use control method thereof, which not only enables people to more easily climb stairs or steps, but also drives the entire row of liftable mechanisms with only one motor, has good energy-saving effect, and has high intelligence.

[0005] The present application is realized by the following technical solutions:

[0006] A combined transmission lifting step for assisting stair climbing, comprising a combined transmission mechanism that can be arranged on a stair and a plurality of liftable mechanisms, wherein the combined transmission mechanism is provided with an electric drive device, a controller and a plurality of combined transmission devices connected in sequence, a first coupling is arranged on the combined transmission device, and the first coupling is connected with the liftable mechanism respectively, when the electric drive device drives the combined transmission device to rotate, the connected liftable mechanisms are linked to lift and lower, and the lifting and lowering directions of adjacent two liftable mechanisms are opposite.

[0007] The liftable mechanism comprises an upper frame and a lower frame, a liftable support group that can drive the upper frame to lift and lower is arranged between the upper frame and the lower frame, the liftable support group comprises a lifting support and a linkage mechanism that drives the lifting support to lift and lower, a transmission connection port is arranged on the linkage mechanism, and the transmission connection port is connected with the corresponding first coupling of each combined transmission device.

[0008] The combined drive lifting step for assisting up and down stairs as described above, the combined drive device comprises a first chain, the first chain is staggered connected or connected in the same direction with a plurality of first sprocket, each first sprocket is connected with the lifting mechanism through the first shaft coupling;When the first chain is staggered connected with a plurality of first sprocket, the rotation direction of adjacent two first sprocket is opposite;When the first chain is connected in the same direction with a plurality of first sprocket, the rotation direction of adjacent two first sprocket is same.

[0009] The combined drive lifting step for assisting up and down stairs as described above, the combined drive device comprises a plurality of driving bevel gears which are connected in sequence in axial direction and a driven bevel gear which is engaged with each driving bevel gear, each driven bevel gear is connected with the lifting mechanism through the first shaft coupling;The adjacent two driving bevel gears are arranged oppositely or reversely so that the rotation direction of adjacent two driven bevel gears is opposite;Or the rotation direction of adjacent two driving bevel gears is same, and the rotation direction of adjacent two driven bevel gears is same.

[0010] The combined drive lifting step for assisting up and down stairs as described above, the combined drive device comprises a plurality of driving bevel gears which are connected in sequence in axial direction and a driven bevel gear which is engaged with each driving bevel gear, each driven bevel gear is connected with the lifting mechanism through the first shaft coupling;The adjacent two driving bevel gears are arranged oppositely or reversely so that the rotation direction of adjacent two driven bevel gears is opposite;Or the rotation direction of adjacent two driving bevel gears is same, and the rotation direction of adjacent two driven bevel gears is same.

[0011] The combined drive lifting step for assisting up and down stairs as described above, the upper frame is provided with a pedal, the first pressure sensor is arranged between the upper frame and the pedal or the bottom of the lower frame, and the first pressure sensor is in communication connection with the controller.

[0012] The combined drive lifting step for assisting up and down stairs as described above, the lifting support comprises an X-shaped support or a herringbone-shaped support, a connecting rod which can drive the lifting support to shear and lift when sliding is arranged on the lifting support, and the linkage mechanism is connected with the connecting rod so as to drive the connecting rod to slide.

[0013] As described above, in a combined transmission lifting step for assisting in going up and down stairs, the linkage mechanism is either a telescopic rod mechanism or a screw transmission mechanism. When the linkage mechanism is a telescopic rod mechanism, the telescopic end of the telescopic rod mechanism is connected to a connecting rod. When the linkage mechanism is a screw transmission mechanism, the lifting support assembly has two pairs of A-frame supports. The left support rod of the left pair of A-frame supports is connected to a connecting rod, and the connecting rod is provided with a first slider. The right support rod of the right pair of A-frame supports is connected to a connecting rod, and the connecting rod is provided with a second slider. The screw transmission mechanism is provided with a transmission screw with double-helical threads. The first slider and the second slider are threadedly connected to the transmission screw. The rotation of the transmission screw causes the first slider and the second slider to move in opposite directions or in opposite directions, and simultaneously causes the two pairs of A-frame supports to move in opposite directions or in opposite directions from the rotation connection point with the lower frame, thereby causing the upper frame to rise or fall.

[0014] As described above, a combined transmission lifting step for assisting in going up and down stairs includes a linkage mechanism comprising a steering conversion mechanism, a second sprocket, and a second chain. There are two second sprockets; one second sprocket is connected to the rotating shaft of the steering conversion mechanism, and the other second sprocket is rotatably connected to the lower frame. The connecting rod is fixed to the second chain.

[0015] As described above, a combined transmission lifting step for assisting in going up and down stairs includes a linkage mechanism comprising a steering conversion mechanism and a crank-connecting rod mechanism. One end of the crank of the crank-connecting rod mechanism is connected to the rotating shaft of the steering conversion mechanism, and the other end of the crank is connected to the connecting rod via a connecting rod.

[0016] The present invention also discloses a method for controlling the use of the above-mentioned combined transmission lifting steps, wherein a second pressure sensor or human body sensing device is provided at the high platform stairwell area and the low platform stairwell area of ​​the staircase, and the second pressure sensor and human body sensing device are communicatively connected to the controller.

[0017] The usage control method includes:

[0018] S1: In manual start mode, after manual start, the controller controls the electric drive device to drive each adjacent lifting mechanism to move up and down in opposite directions at a set speed. When going upstairs, people will step on the pedals to support their body weight according to the rhythm of the lifting mechanism. The pedals will rise to help people climb the steps one by one until they reach the highest position of the lifting mechanism pedal. When going downstairs, people will step on the pedals to support their body weight according to the rhythm of the lifting mechanism. The pedals will fall to help people descend the steps one by one until they reach the lowest position of the lifting mechanism pedal.

[0019] S2: In the automatic starting mode, when no one is on the pedal of the liftable mechanism and the controller controls the electric drive device to be in the waiting state, if a person first steps on the low platform stairway area, the second pressure sensor of the low platform stairway area is subjected to a pressure greater than a preset value or the human body sensing device senses the person, then the controller controls the electric drive device to make the lowest liftable mechanism descend to the lowest position, when the force-bearing foot bearing the human body weight steps on the pedal of the lowest liftable mechanism, the first pressure sensor thereof is subjected to a pressure greater than a preset value, the lowest liftable mechanism rises to the highest position, the liftable mechanism adjacent thereto descends to the lowest position, and the person is helped to step on one step, and so on, the person is helped to step on one step after another according to the rhythm of the force-bearing foot bearing the human body weight stepping on the closest liftable mechanism in front, until the person steps on the highest position of the pedal of the highest liftable mechanism, and the controller controls the electric drive device to return to the waiting state.

[0020] S3: In the automatic starting mode, when no one is on the pedal of the liftable mechanism and the controller controls the electric drive device to be in the waiting state, if a person first steps on the high platform stairway area, the second pressure sensor of the high platform stairway area is subjected to a pressure greater than a preset value or the human body sensing device senses the person, then the controller controls the electric drive device to make the pedal of the highest liftable mechanism rise to the highest position, when the force-bearing foot bearing the human body weight steps on the pedal of the highest liftable mechanism in front, the first pressure sensor thereof is subjected to a pressure greater than a preset value, the highest liftable mechanism descends to the lowest position, the pedal of the liftable mechanism adjacent thereto rises to the highest position, and the person is helped to step on one step, and so on, the person is helped to step on one step after another according to the rhythm of the force-bearing foot bearing the human body weight stepping on the closest liftable mechanism in front, until the person steps on the low position of the pedal of the lowest liftable mechanism, and the controller controls the electric drive device to return to the waiting state.

[0021] S4: In the automatic starting mode, when a person is on the pedal of the liftable mechanism and another person goes up and down the stairs, the person goes up and down the steps according to the rhythm of the pedal of the triggered liftable mechanism, until no one is on the pedal of the liftable mechanism, and the controller controls the electric drive device to return to the waiting state.

[0022] Compared with the prior art, the present application has the following advantages:

[0023] 1. The gravitational potential energy of the descending part can help the rising of the rising part, and the energy-saving effect is good.

[0024] 2. The power required by the equipment can be reduced, and the equipment cost can be saved.

[0025] 3. The sensor and the controller are provided, the person going up and down the stairs or steps can be intelligently controlled, and the intelligent degree is high.

[0026] 4. The present application can not only be used for stairs, but also can be used for steps of tourist attractions and parks. BRIEF DESCRIPTION OF DRAWINGS

[0027] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings, in which:

[0028] Figure 1 is a structural schematic diagram of a first embodiment of the joint drive lifting step of the present application for assisting in ascending and descending stairs;

[0029] Figure 2 is a structural schematic diagram of a chain wheel staggered connection structure of the joint drive device of the joint drive lifting step of the present application;

[0030] Figure 3 is a structural schematic diagram of a chain wheel same direction connection structure of the joint drive device of the joint drive lifting step of the present application;

[0031] Figure 4 is a structural schematic diagram of the reverse rotation of adjacent bevel gear sets of the joint drive device of the joint drive lifting step of the present application;

[0032] Figure 5 is a structural schematic diagram of the same direction rotation of adjacent bevel gear sets of the joint drive device of the joint drive lifting step of the present application;

[0033] Figure 6 is a structural schematic diagram of the reverse rotation of adjacent worm gear sets of the joint drive device of the joint drive lifting step of the present application;

[0034] Figure 7 is a structural schematic diagram of the same direction rotation of adjacent worm gear sets of the joint drive device of the joint drive lifting step of the present application.

[0035] Figure 8 is a structural schematic diagram of a first embodiment of the liftable mechanism of the joint drive lifting step of the present application;

[0036] Figure 9 is a structural schematic diagram of a second embodiment of the liftable mechanism of the joint drive lifting step of the present application;

[0037] Figure 10 is a structural schematic diagram of a third embodiment of the liftable mechanism of the joint drive lifting step of the present application;

[0038] Figure 11 is a structural schematic diagram of a fourth embodiment of the liftable mechanism of the joint drive lifting step of the present application;

[0039] Figure 12 is a structural schematic diagram of a fifth embodiment of the liftable mechanism of the joint drive lifting step of the present application;

[0040] Figure 13 is a structural schematic diagram of the transmission screw of the double helix thread of the fifth embodiment of the liftable mechanism of the joint drive lifting step of the present application; Detailed Implementation

[0041] The present invention will now be further described with reference to the accompanying drawings:

[0042] Example 1 of a combined transmission lifting staircase for assisting in going up and down stairs:

[0043] like Figure 1 The illustrated combined transmission lifting step for assisting in ascending and descending stairs includes a combined transmission mechanism 1000 that can be installed on one side of a staircase 100 and lifting mechanisms 103 respectively installed on multiple steps of the staircase 100. The combined transmission mechanism 1000 is equipped with an electric drive device 1020 and a combined transmission device 200 and a controller connected in sequence. The combined transmission device 200 is equipped with first couplings, which can be movable rigid couplings or flexible couplings, including double universal couplings or cloverleaf-shaped flexible couplings. The device has multiple first couplings connected to lifting mechanisms 103, and adjacent lifting mechanisms 103 are respectively set in positions where the lifting direction is always opposite. When the electric drive device 1020 drives the combined transmission device 200 to rotate, the connected lifting mechanisms 103 are linked to lift and lower, and the lifting directions of adjacent lifting mechanisms 103 are opposite. That is, when any lifting mechanism 103 rises, the adjacent lifting mechanism 103 falls, and vice versa.

[0044] Because it is a linkage, the lifting and lowering are carried out simultaneously. The potential energy of gravity in the descending part will help the ascending part to rise, thus saving energy and reducing the power required by the electric drive unit 1020.

[0045] The controller inside the combined transmission mechanism 1000 and the first pressure sensor 8 inside each lifting mechanism 103 are connected in communication to form a control system. The combined transmission lifting step also includes a second pressure sensor or human body sensing device located in the low platform stairwell area 1030 and the high platform stairwell area 1038 of the staircase 100. The second pressure sensor and human body sensing device are connected in communication with the control system.

[0046] like Figure 1As shown, taking a 7-step staircase as an example, a combined transmission lifting staircase for assisting in ascending and descending stairs includes a combined transmission mechanism 1000 disposed on one side of the staircase 100 according to the structural dimensions of the staircase 100, and first lifting mechanisms 1031 to seventh lifting mechanisms 1037 respectively disposed on the 7 steps of the staircase 100. The combined transmission mechanism 1000 is equipped with an electric drive device 1020 and a combined transmission device 200 connected in sequence. The combined transmission device 200 is equipped with 7 first couplings, namely first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. The 7 couplings are respectively connected to the corresponding first lifting mechanisms 1031 to seventh lifting mechanisms 1037, and the first lifting mechanism 1031, third lifting mechanism 1033, and fifth lifting mechanism 1035 are also connected. The seventh lifting mechanism 1037 is set at the lowest position, while the second lifting mechanism 1032, the fourth lifting mechanism 1034, and the sixth lifting mechanism 1036 are set at the highest position. When the electric drive device 1020 drives the combined transmission device 200 to rotate, the connected first lifting mechanism 1031 to the seventh lifting mechanism 1037 move up and down in tandem. When the first lifting mechanism 1031, the third lifting mechanism 1033, the fifth lifting mechanism 1035, and the seventh lifting mechanism 1037 rise, the second lifting mechanism 1032, the fourth lifting mechanism 1034, and the sixth lifting mechanism 1036 fall. Conversely, when the first lifting mechanism 1031, the third lifting mechanism 1033, the fifth lifting mechanism 1035, and the seventh lifting mechanism 1037 fall, the second lifting mechanism 1032, the fourth lifting mechanism 1034, and the sixth lifting mechanism 1036 rise.

[0047] The aforementioned human body sensing device can be one or more of the following: infrared sensor, radar sensor, ultrasonic sensor, human body recognition camera module, or other human body sensing devices.

[0048] Example 1 of a combined transmission device in a combined transmission mechanism 1000:

[0049] like Figure 1 , Figure 2The combined transmission device shown includes a first chain 209, which is sequentially and alternately connected to first sprockets 201, 202, 203, 204, 205, 206, and 207. The first sprockets 201, 202, 203, 204, 205, 206, and 207 are respectively connected to first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. When the electric drive device 1020 rotates, the adjacent first sprockets rotate in opposite directions. If the first sprockets 201, 203, 205, and 207 rotate clockwise, then the first sprockets 202, 204, and 206 rotate counterclockwise. Conversely, if the first sprockets 201, 203, 205, and 207 rotate counterclockwise, then the first sprockets 202, 204, and 206 rotate clockwise.

[0050] Embodiment 2 of the combined transmission device in a combined transmission mechanism 1000:

[0051] like Figure 1 , Figure 3 The combined transmission device shown includes a first chain 209, which is sequentially connected to first sprockets 501, 502, 503, 504, 505, 506, and 507 in the same direction. The first sprockets 501, 502, 503, 504, 505, 506, and 507 are respectively connected to first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. When the electric drive device 1020 rotates, the first sprockets 501, 502, 503, 504, 505, 506, and 507 rotate in the same direction.

[0052] Embodiment 3 of the combined transmission device in a combined transmission mechanism 1000:

[0053] like Figure 1 , Figure 4The combined transmission device 200 shown includes sequentially axially connected driving bevel gears 301, 302, 303, 304, 305, 306, and 307. The driven bevel gears of the driving bevel gears 301, 302, 303, 304, 305, 306, and 307 are respectively connected to first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. Adjacent driving bevel gears are arranged opposite or back-to-back. When the combined transmission mechanism 100... When the electric drive device 1020 rotates, the driven bevel gears of each adjacent driving bevel gear rotate in opposite directions. For example, when the driven bevel gears of driving bevel gears 301, 303, 305, and 307 rotate clockwise, the driven bevel gears of driving bevel gears 302, 304, and 306 rotate counterclockwise. Conversely, when the driven bevel gears of driving bevel gears 301, 303, 305, and 307 rotate counterclockwise, the driven bevel gears of driving bevel gears 302, 304, and 306 rotate clockwise.

[0054] Embodiment 4 of the combined transmission device in a combined transmission mechanism 1000:

[0055] like Figure 1 , Figure 5 The combined transmission device 200 shown includes a series of axially connected driving bevel gears 601, 602, 603, 604, 605, 606, and 607. The driven bevel gears of the driving bevel gears 601, 602, 603, 604, 605, 606, and 607 are respectively connected to couplings, namely first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. All driving bevel gears are identical. When the electric drive device 1020 rotates, the rotation direction of all driving bevel gears is the same. When the combined transmission mechanism 1000 electric drive device 1020 rotates, the rotation direction of the driven bevel gears of the driving bevel gears 601, 602, 603, 604, 605, 606, and 607 is the same.

[0056] Embodiment 5 of the combined transmission device in a combined transmission mechanism 1000:

[0057] like Figure 1 , Figure 6The combined transmission device 200 shown includes worm gear transmission mechanisms 401, 402, 403, 404, 405, 406, and 407 connected axially in sequence. The worm gears of the worm gear transmission mechanisms 401, 402, 403, 404, 405, 406, and 407 are respectively connected to first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. The threads of adjacent axially connected worms have opposite directions of rotation. When the electric drive device 1020 of the combined transmission mechanism 1000 rotates, each adjacent worm gear rotates in the opposite direction. For example, when the worm gears of the worm gear transmission mechanisms 401, 403, 405, and 407 rotate clockwise, the worm gears of the worm gear transmission mechanisms 402, 404, and 406 rotate counterclockwise.

[0058] Embodiment 6 of a combined transmission device in a combined transmission mechanism 1000:

[0059] like Figure 1 , Figure 7 The combined transmission device 200 shown includes worm gear transmission mechanisms 701, 702, 703, 704, 705, 706, and 707 connected axially in sequence. The worm wheels of the worm gear transmission mechanisms 701, 702, 703, 704, 705, 706, and 707 are respectively connected to first couplings 1011, 1012, 1013, 1014, 1015, 1016, and 1017. Each gear transmission mechanism is the same. When the electric drive device 1020 rotates, the rotation direction of each gear transmission mechanism is the same. When the combined transmission mechanism 1000 and the electric drive device 1020 rotate, the worm wheels of the worm gear transmission mechanisms 701, 702, 703, 704, 705, 706, and 707 rotate in the same direction.

[0060] Embodiment 1 of a lifting mechanism in a combined transmission lifting step for assisting in going up and down stairs:

[0061] like Figure 1 , Figure 8 The lifting mechanism 103 shown includes an upper frame 1 and a lower frame 2. A lifting support group is provided between the upper frame 1 and the lower frame 2, which can drive the upper frame 1 to rise and fall. The lifting support group includes a lifting support 4 and a linkage mechanism 5B that drives the lifting support 4 to rise and fall. The linkage mechanism 5B is provided with a transmission connection port 5B1. The transmission connection port 5B1 is connected to the first coupling corresponding to each combined transmission device 200 to realize the conversion of rotation into movement. A pedal 6 is provided on the upper frame 1.

[0062] like Figure 8The lifting bracket 4 shown is an X-shaped bracket 4A1. The lifting bracket assembly consists of at least one pair of X-shaped brackets 4A1. Each pair of X-shaped brackets 4A1 is located on opposite sides between the upper frame 1 and the lower frame 2. Each bracket of the X-shaped bracket 4A1 has two support rods that are rotatably connected at the intersection point. The two support rods have four ends: top, bottom, left, and right. When the two support rods rotate around the intersection point and the two upper ends separate, the X-shaped bracket 4A1 lowers; when the two upper ends come closer together, the X-shaped bracket 4A1 rises. The upper two ends on the left in the figure are the upper left ends, and the upper two ends on the right are the upper right ends. The lower two ends... The left end in the diagram is the lower left end, and the right end is the lower right end. The upper right end and the lower right end are rotatably connected to the upper frame 1 and the lower frame 2, respectively. The upper left end and the lower left end are movably connected to the upper frame 1 and the lower frame 2, respectively. The lower left support section is between the lower left end of the X-shaped bracket 4A1 and the intersection point. A connecting rod 5D is provided between the lower left support sections of a pair of X-shaped brackets 4A1 to drive the X-shaped brackets 4A1 to perform shearing and lifting. The linkage mechanism 5B connects to the connecting rod 5D, thereby driving the connecting rod 5D to slide, and thus push and pull the support rod of the linkage X-shaped bracket 4A1, and link the upper frame 1 and the pedal 6 to lift and lower. The linkage mechanism 5B can be a telescopic rod mechanism.

[0063] Furthermore, a first pressure sensor 8 is provided between the upper frame 1 and the pedal 6 or at the bottom of the lower frame 2. The controller is electrically connected to the first pressure sensor 8. The first pressure sensor 8 can sense the pressure change on the pedal 6. When someone steps on the pedal 6, the pressure increases and when the person leaves, the pressure decreases.

[0064] Furthermore, the upper frame 1 or the pedal 6 is equipped with a safety protection component 7 that can extend and retract as the upper frame 1 moves up and down, thereby blocking the gap between the upper frame 1 and the lower frame 2. The safety protection component 7 can prevent foreign objects from entering the gap between the upper frame 1 and the lower frame 2 and being trapped. The safety protection component 7 can be multiple sliding plates that are slidably connected; as the upper frame 1 rises, the sliding plates automatically slide downwards under the influence of gravity.

[0065] Embodiment 2 of a lifting mechanism in a combined transmission lifting step for assisting in going up and down stairs:

[0066] like Figure 1 , Figure 9 The difference between Embodiment 2 and Embodiment 1 of the lifting mechanism shown is that:

[0067] The linkage mechanism 5B is a steering conversion mechanism and a sprocket structure. The sprocket structure includes a second sprocket 5B2 and a second chain 5C. There are two second sprockets 5B2. One second sprocket 5B2 is connected to the rotating shaft of the steering conversion mechanism, and the other second sprocket 5B2 is connected to the lower frame 2. A second chain 5C is connected between the two second sprockets 5B2. The connecting rod 5D is connected to the second chain 5C. The steering conversion mechanism is provided with a transmission connection port 5B1, which is connected to the first coupling corresponding to the joint transmission device 200 of the joint transmission mechanism 1000. Its rotation is turned by the steering conversion mechanism, and the second sprocket 5B2, the second chain 5C, and the connecting rod 5D are moved in linkage, thereby linking the X-shaped bracket 4A1, the upper frame 1, and the pedal 6 to rise and fall.

[0068] Embodiment 3 of a lifting mechanism in a combined transmission lifting step for assisting in going up and down stairs:

[0069] like Figure 10 The difference between Embodiment 3 and Embodiment 1 of the lifting mechanism shown is that:

[0070] The linkage mechanism 5B includes a steering conversion mechanism and a crank-connecting rod mechanism. One end of the crank of the crank-connecting rod mechanism is connected to the rotating shaft of the steering conversion mechanism, and the other end of the crank is connected to the connecting rod. The other end of the connecting rod is connected to the connecting rod 5D. When the crank makes one circular motion, it can link the upper frame 1 and the pedal 6 to rise and fall once. Therefore, the raising and lowering can be achieved without changing the direction of the motor.

[0071] Embodiment 4 of a lifting mechanism in a combined transmission lifting step for assisting in going up and down stairs:

[0072] like Figure 11 The difference between Embodiment 4 and Embodiment 1 of the lifting mechanism shown is that:

[0073] The lifting bracket 4 is a herringbone bracket 4A2. The lifting bracket assembly consists of at least one pair of herringbone brackets 4A2. Each herringbone bracket 4A2 has two support rods. The two ends that are connected are rotatably connected. When the other two ends are separated, the herringbone bracket 4A2 is lowered. When they are close together, the herringbone bracket 4A2 is raised, which can be folded and raised. Since a pair of herringbone brackets 4A2 also needs to be equipped with a device to keep the upper frame 1 balanced, for ease of explanation, the lifting bracket in this example consists of two pairs of herringbone brackets 4A2. The close ends of the two pairs of herringbone brackets 4A2 are rotatably connected. The lower right end of the right herringbone bracket 4A2 is rotatably connected to the lower frame 2. The other connection ends with the upper frame 1 and the lower frame 2 are movable connections.

[0074] Embodiment 5 of a lifting mechanism in a combined transmission lifting step for assisting in going up and down stairs:

[0075] like Figure 12The difference between Embodiment 5 and Embodiment 1 of the lifting mechanism shown is that:

[0076] The linkage mechanism 5B is a screw drive mechanism; the lifting support assembly has two pairs of herringbone brackets 4A2. The left support rod of the pair of herringbone brackets 4A2 on the left is connected to a connecting rod 5D, and a first slider 5F1 is provided on the connecting rod 5D. The right support rod of the pair of herringbone brackets 4A2 on the right is connected to a connecting rod 5D, and a second slider 5F2 is provided on the connecting rod 5D. The screw drive mechanism is provided with a double-threaded drive screw 5H. The first slider 5F1 and the second slider 5F2 are threadedly connected to the drive screw 5H. The rotation of the drive screw 5H causes the first slider 5F1 and the second slider 5F2 to move in opposite directions, and at the same time causes the two pairs of herringbone brackets 4A2 to move in opposite directions to the rotational connection point with the lower frame 2, thereby causing the upper frame 1 to rise or fall. The structural diagram of the double-threaded drive screw 5H is shown below. Figure 13 As shown.

[0077] This invention also discloses a method for controlling the use of a combined transmission lifting step, Example 1:

[0078] like Figure 1 As shown:

[0079] S1: In manual start mode, after manual start, the controller controls the electric drive device 1020 to drive each adjacent lifting mechanism 103 to move up and down in opposite directions at a set speed. When going upstairs, the person bearing the weight of their body steps on the pedal 6 according to the rhythm of the reciprocating movement of the lifting mechanism 103. The pedal 6 rises to help the person climb the steps one by one until they reach the highest position of the lifting mechanism 103 pedal 6. When going downstairs, the person bearing the weight of their body steps on the pedal 6 according to the rhythm of the reciprocating movement of the lifting mechanism 103. The pedal 6 descends to help the person descend the steps one by one until they reach the lowest position of the lifting mechanism 103 pedal 6.

[0080] S2: In automatic start mode, when no one is on the pedal 6 of the lifting mechanism 103, and the controller controls the electric drive device 1020 to be in a waiting state; if someone steps on the low platform stairwell area 1030 first, and the pressure received by the second pressure sensor of the low platform stairwell area 1030 is greater than the preset value or the human body sensor detects a person, the controller controls the electric drive device 1020 to lower the lowest lifting mechanism 103 to the lowest position. When the foot bearing the weight of the person steps on the pedal 6 of the lowest lifting mechanism 103, and the pressure received by its first pressure sensor 8 is greater than the preset value, the lowest lifting mechanism 103 rises to the highest position, and the adjacent lifting mechanism 103 lowers to the lowest position, helping the person to climb one step. In this way, as the foot bearing the weight of the person steps on the nearest lifting mechanism 103, the person is helped to climb one step at a time until the person reaches the highest position of the pedal 6 of the highest lifting mechanism 103. The controller then controls the electric drive device 1020 to return to the waiting state.

[0081] S3. In automatic start mode, when no one is on the pedal 6 of the lifting mechanism 103 and the controller controls the electric drive device 1020 to be in a waiting state, if someone steps onto the high platform stairwell area 1038 first, and the pressure received by the second pressure sensor of the high platform stairwell area 1038 is greater than the preset value or the human body sensor detects a person, the controller controls the electric drive device 1020 to raise the pedal 6 of the highest lifting mechanism 103 to the highest position. When the foot bearing the weight of the human body steps onto the pedal 6 of the highest lifting mechanism 103 in front, and the pressure received by its first pressure sensor 8 is greater than the preset value, the highest lifting mechanism 103 descends to the lowest position, and the pedal 6 of its adjacent lifting mechanism 103 rises to the highest position to help the person go down one step. This continues, with the foot bearing the weight of the human body stepping onto the nearest lifting mechanism 103 in front, helping the person go down one step at a time until the person goes down to the low-high position of the pedal 6 of the lowest lifting mechanism 103. The controller then controls the electric drive device 1020 to return to the waiting state.

[0082] S4. In automatic start mode, if someone is on the pedal 6 of the lifting mechanism 103 and someone is going up or down the stairs, the steps will be raised and lowered in rhythm with the already triggered pedal 6 of the lifting mechanism 103 until no one is on the pedal 6 of the lifting mechanism 103. Then the controller will control the electric drive device 1020 to return to the waiting state.

[0083] like Figures 1 to 13As shown in the embodiments of the combined transmission lifting steps for assisting in going up and down stairs, there are multiple transmission nodes, which makes it easy to ensure that adjacent lifting mechanisms always move in opposite directions. For example, in the embodiment of the combined transmission mechanism 1000, the rotation directions of each adjacent transmission mechanism are opposite or the same. Each lifting mechanism also has multiple transmission nodes, which also makes it easy to ensure that adjacent lifting mechanisms 103 move in opposite directions when the same steering input is input. For example, in the embodiment of the lifting mechanism 103, the telescopic rod mechanism, as long as the screw threads of the telescopic rod mechanisms of adjacent lifting mechanisms 103 are turned in opposite directions, the telescopic directions can be reversed when the same steering input is input, thereby making the lifting directions of adjacent lifting mechanisms 103 reversed.

[0084] Without a reciprocating motion transmission structure in the middle, the electric drive device 1020 can control the forward and reverse rotation of the motor to realize the reciprocating lifting of the lifting mechanism 103.

[0085] There are reciprocating motion transmission structures in the middle, such as... Figure 10 As shown, in Embodiment 3 of the lifting mechanism 103, there is a crank structure. One revolution of the crank can lift the upper frame 1 and pedal 6 once, thus achieving reciprocating lifting without changing the motor's direction. Therefore, it is easy to control the electric drive device 1020 to achieve the functions of the control method described above.

[0086] The above description is merely an embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A combined transmission lifting step for assisting in going up and down stairs, characterized in that: It includes a combined transmission mechanism (1000) that can be installed on a staircase (100) and a plurality of lifting mechanisms (103). The combined transmission mechanism (1000) is equipped with an electric drive device (1020), a controller and a plurality of combined transmission devices (200) connected in sequence. The combined transmission device (200) is equipped with a first coupling, which is connected to the lifting mechanism (103) respectively. When the electric drive device (1020) drives the combined transmission device (200) to rotate, the connected lifting mechanisms (103) lift and lower in tandem, and the lifting directions of two adjacent lifting mechanisms (103) are opposite. The lifting mechanism (103) includes an upper frame (1) and a lower frame (2). A lifting bracket group is provided between the upper frame (1) and the lower frame (2) to drive the upper frame (1) to lift. The lifting bracket group includes a lifting bracket (4) and a linkage mechanism (5B) for driving the lifting bracket (4) to lift. The linkage mechanism (5B) is provided with a transmission connection port (5B1). The transmission connection port (5B1) is connected to the first coupling corresponding to each combined transmission device (200).

2. The combined transmission lifting step for assisting in going up and down stairs according to claim 1, characterized in that: The combined transmission device (200) includes a first chain (209), which is connected in a staggered manner or in the same direction to a plurality of first sprockets. Each first sprocket is connected to a lifting mechanism (103) via a first coupling. When the first chain (209) is connected in a staggered manner to a plurality of first sprockets, the rotation directions of two adjacent first sprockets are opposite. When the first chain (209) is connected in the same direction to a plurality of first sprockets, the rotation directions of two adjacent first sprockets are the same.

3. The combined transmission lifting step for assisting in going up and down stairs according to claim 1, characterized in that: The combined transmission device (200) includes a plurality of sequentially axially connected driving bevel gears and driven bevel gears that mesh with each driving bevel gear. Each driven bevel gear is connected to the lifting mechanism (103) through a first coupling. Two adjacent driving bevel gears are arranged opposite to each other or back to back, so that the rotation directions of the two adjacent driven bevel gears are opposite; or the rotation directions of the two adjacent driving bevel gears are the same, and the rotation directions of the two adjacent driven bevel gears are the same.

4. The combined transmission lifting step for assisting in going up and down stairs according to claim 1, characterized in that: The combined transmission device (200) includes a plurality of worms axially connected in sequence and worm wheels meshing with each worm. Each worm wheel is connected to the lifting mechanism (103) through a first coupling. The threads of two adjacent worms have opposite directions, so that the adjacent worm wheels rotate in opposite directions; or the threads of two adjacent worms have the same direction, so that the adjacent worm wheels rotate in the same direction.

5. A combined transmission lifting step for assisting in going up and down stairs according to any one of claims 1-4, characterized in that: The upper frame (1) is provided with a pedal (6), and a first pressure sensor (8) is provided between the upper frame (1) and the pedal (6) or at the bottom of the lower frame (2). The first pressure sensor (8) is communicatively connected to the controller.

6. The combined transmission lifting step for assisting in going up and down stairs according to claim 5, characterized in that: The lifting bracket (4) includes an X-shaped bracket (4A1) or a herringbone bracket (4A2). The lifting bracket (4) is provided with a connecting rod (5D) that can drive the lifting bracket (4) to perform shearing lifting when sliding. The linkage mechanism (5B) connects to the connecting rod (5D) so as to drive the connecting rod (5D) to slide.

7. A combined transmission lifting step for assisting in going up and down stairs according to claim 6, characterized in that: The linkage mechanism (5B) is a telescopic rod mechanism or a screw drive mechanism; when the linkage mechanism (5B) is a telescopic rod mechanism, the telescopic end of the telescopic rod mechanism is connected to the connecting rod (5D); when the linkage mechanism (5B) is a screw drive mechanism, the lifting support assembly has two pairs of herringbone brackets (4A2), the left support rod of the pair of herringbone brackets (4A2) on the left is connected to the connecting rod (5D), and the connecting rod (5D) is provided with a first slider (5F1), and the right support rod of the pair of herringbone brackets (4A2) on the right is connected to the connecting rod (5D). The connecting rod (5D) is equipped with a second slider (5F2). The screw transmission mechanism is equipped with a transmission screw (5H) with a double-helix thread. The first slider (5F1) and the second slider (5F2) are threadedly connected to the transmission screw (5H). The rotation of the transmission screw (5H) is linked to the first slider (5F1) and the second slider (5F2) to move in opposite directions or in opposite directions. At the same time, it is linked to the two pairs of herringbone brackets (4A2) to move in opposite directions or in opposite directions to the rotation connection point with the lower frame (2), thereby linking the upper frame (1) to rise or fall.

8. A combined transmission lifting step for assisting in going up and down stairs according to claim 6, characterized in that: The linkage mechanism (5B) includes a steering conversion mechanism, a second sprocket (5B2), and a second chain (5C). There are two second sprockets (5B2); one second sprocket (5B2) is connected to the rotating shaft of the steering conversion mechanism, and the other second sprocket (5B2) is rotatably connected to the lower frame (2). The connecting rod (5D) is fixed to the second chain (5C).

9. A combined transmission lifting step for assisting in going up and down stairs according to claim 2, characterized in that: The linkage mechanism (5B) includes a steering conversion mechanism and a crank-connecting rod mechanism. One end of the crank (5F) of the crank-connecting rod mechanism is connected to the rotating shaft of the steering conversion mechanism, and the other end of the crank (5F) is connected to the connecting rod (5D) through a connecting rod.

10. A method for controlling the use of the combined transmission lifting step as described in any one of claims 5-9, characterized in that: The staircase (100) is equipped with a second pressure sensor or human body sensor at the high platform staircase area (1038) and the low platform staircase area (1030), and the second pressure sensor and human body sensor are communicatively connected to the controller. The usage control method includes: S1: In manual start mode, after manual start, the controller controls the electric drive device (1020) to drive each adjacent lifting mechanism (103) to move up and down in opposite directions at a set speed. People going upstairs will step on the pedal (6) to bear the weight of their body according to the rhythm of the reciprocating movement of the lifting mechanism (103). The pedal (6) will rise to help people go up the steps one by one until they reach the highest position of the lifting mechanism (103) pedal (6). People going downstairs will step on the pedal (6) to bear the weight of their body according to the rhythm of the reciprocating movement of the lifting mechanism (103). The pedal (6) will descend to help people go down the steps one by one until they reach the lowest position of the lifting mechanism (103) pedal (6). S2: In automatic start mode, when no one is on the pedal (6) of the lifting mechanism (103), and the controller controls the electric drive device (1020) to be in a waiting state; if someone steps onto the low platform stairwell area (1030) first, and the pressure received by the second pressure sensor in the low platform stairwell area (1030) is greater than the preset value or the human body sensor detects a person, then the controller controls the electric drive device (1020) to lower the lifting mechanism (103) at the lowest position to the lowest position. When the foot bearing the weight of the human body steps onto the lowest lifting mechanism (103), When the pressure on the first pressure sensor (8) of the pedal (6) of 03) is greater than the preset value, the lowest lifting mechanism (103) rises to the highest position, and the adjacent lifting mechanism (103) falls to the lowest position, helping the person to go up one step. In this way, as the foot bearing the weight of the human body steps on the nearest lifting mechanism (103) in the front, the person is helped to go up one step at a time until the person reaches the highest position of the pedal (6) of the highest lifting mechanism (103). The controller then controls the electric drive device (1020) to return to the waiting state. S3. In automatic start mode, when no one is on the pedal (6) of the lifting mechanism (103), and the controller controls the electric drive device (1020) to be in a waiting state, if someone steps onto the high platform stairwell area (1038) first, and the pressure received by the second pressure sensor in the high platform stairwell area (1038) is greater than the preset value or the human body sensor detects a person, then the controller controls the electric drive device (1020) to raise the pedal (6) of the highest lifting mechanism (103) to the highest position. When the foot bearing the weight of the human body steps onto the highest lifting mechanism (103) in front ( When the pressure on the first pressure sensor (8) of the pedal (6) of the 103) is greater than the preset value, the highest lifting mechanism (103) descends to the lowest position, and the pedal (6) of the adjacent lifting mechanism (103) rises to the highest position, helping the person to take the next step. In this way, as the foot bearing the weight of the human body steps on the nearest lifting mechanism (103) in rhythm, the person is helped to take the next step until the person reaches the low-high position of the pedal (6) of the lowest lifting mechanism (103). The controller then controls the electric drive device (1020) to return to the waiting state. S4. In automatic start mode, if someone is on the pedal (6) of the lifting mechanism (103) and someone is going up or down the stairs, the steps will be raised and lowered in rhythm with the pedal (6) of the already triggered lifting mechanism (103) until no one is on the pedal (6) of the lifting mechanism (103), and the controller will control the electric drive device (1020) to return to the waiting state.

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