Intelligent stair climbing machine

Abstract

The utility model provides an intelligent stair climbing machine. The intelligent stair climbing machine comprises a driving structure, a vertical lifting structure, a horizontal moving structure, a front end supporting structure, a rear end supporting structure and an automatic control system. The driving structure comprises a vertical driving motor, a horizontal driving motor, a front-position sensor, an upper-position sensor, a rear-position sensor, a lower-position sensor and a rolling bearing; the vertical lifting structure comprises a platform sensor, a platform sensor accessory, an upper sensor accessory, a lower sensor accessory and a seat; the horizontal movement structure comprises a horizontal guide cross beam, a horizontal rack, a front-position sensor accessory and a rear-position sensor accessory; the front end supporting structure comprises a front sensor and a front sensor accessory; the automatic control system comprises a power source, a sensor and a control device; the control device comprises control software, a control circuit and a switch element; the control circuit is electrically connected with all the sensors of the stair climbing machine and used for detecting the position relation between the driving structure, the vertical lifting structure and the horizontal movement structure and the stairs.

Description

Technical Field

[0001] The embodiments of the present disclosure belong to the technical field of transportation vehicles, and particularly relate to an intelligent stair climbing machine. Background Art

[0002] Currently, many multi-story residential buildings require residents to walk up or down the stairs one step at a time. This is particularly difficult for the elderly, frail residents, and those living on higher floors. To improve this situation, a number of mechanical devices have been invented and showcased on social media platforms such as TikTok. These devices are mainly divided into two categories: wheelchair-type and standing (or seated) elevators.

[0003] Wheelchair-type stair climbers resemble ordinary wheelchairs, but with two longer tracks in addition to the wheels. Most use electricity to power the tracks underneath the chair to climb stairs. Their main advantage is that they don't require stair modifications and have a high load capacity. However, their disadvantages are that the wheelchairs are bulky, occupying almost the entire stairway, and making it difficult to navigate narrow stairways, making them difficult to promote.

[0004] Standing (or sitting) elevators typically attach a track to the existing stair railings. A foldable board, capable of holding a standing or sitting person, is installed on the track. This board is electrically powered and moves passengers up and down the track. While their main advantages are safety and comfort, their disadvantages include the need for significant renovation of existing stairways and the fact that each section of track and board can only go straight up and down, requiring a new section of track and board for each turn. This results in low equipment utilization and high investment, making them challenging to implement.

[0005] Therefore, how to provide a low-cost, easy-to-use stair climbing machine is a technical problem that those skilled in the art urgently need to solve. Utility Model Content

[0006] The embodiments of the present disclosure aim to solve at least one of the technical problems existing in the prior art and provide an intelligent stair climbing machine.

[0007] One aspect of an embodiment of the present disclosure provides an intelligent stair climbing machine, comprising: a driving structure, a vertical lifting structure, a horizontal movement structure, a front-end support structure, a rear-end support structure, and an automatic control system;

[0008] The driving structure includes a gear box, a vertical drive motor, a horizontal drive motor, a motor support plate, a front position sensor, an upper position sensor, a rear position sensor, a lower position sensor, a rolling bearing, a vertical transmission gear and a horizontal transmission gear; the gear box is in the shape of a rectangular tube, the vertical drive motor and the horizontal drive motor are fixedly connected to two horizontally opposite sides of the gear box, the power output shafts of the vertical drive motor and the horizontal drive motor face the inside of the box, and the vertical transmission gear and the horizontal transmission gear are respectively connected to the motor output shafts; the upper and lower opposite surfaces of the gear box are provided with rack guide holes penetrating the box, and the motor support plate is arranged between the gear box and the vertical drive motor and the horizontal drive motor; the rolling bearings are arranged at both ends above the gear box, and the front position sensor, upper position sensor, rear position sensor and lower sensor are respectively arranged at the left, upper, rear and lower positions of the gear box;

[0009] The vertical lifting structure includes a vertical rack, a load-bearing platform, a platform contact wheel, a platform sensor, a platform sensor accessory, an upper sensor accessory, a lower sensor accessory, and a seat; the load-bearing platform is fixedly connected to the bottom of the vertical rack, the plane of the load-bearing platform is perpendicular to the vertical rack and parallel to the ground; the platform contact wheel is located below the load-bearing platform; the vertical lifting structure is movably connected to the drive structure, the vertical rack vertically passes through the rack guide hole of the gear box from top to bottom, and is meshed with the vertical transmission gear;

[0010] The horizontal motion structure includes a horizontal guide beam, a horizontal rack, a front position sensor attachment, and a rear position sensor attachment; the horizontal guide beam is in the shape of a rectangular tube, the horizontal rack is fixedly arranged on the inner wall above the horizontal guide beam, and the upper and lower opposite surfaces of the horizontal guide beam are provided with rack guide grooves so that the vertical rack can move horizontally in the rack guide grooves; the left and right opposite side surfaces of the horizontal guide beam are provided with motor shaft guide grooves, and the vertical drive motor shaft and the horizontal drive motor shaft can move horizontally in the motor shaft guide grooves;

[0011] The front end support structure includes a front support frame, a front handle, a telescopic tube, a front bearing tube, a front contact piece, a front sensor, and a front sensor accessory; the front bearing tube, the telescopic tube, and the front support frame are all tubular bodies and form a large-inside-small, retractable movable structure; the front handle is arranged at the top of the telescopic tube; the front contact piece is connected to the outside of the front support frame and can rotate counterclockwise around the lower end of the telescopic tube; the front sensor is fixedly arranged inside the telescopic tube, and the front sensor accessory is fixedly arranged on the front contact piece and corresponds to the front sensor;

[0012] The rear end support structure includes a rear support column, a horizontal double bracket, a ground contact wheel, a ground contact sensor A, a ground contact sensor B, a ground contact sensor A accessory, a ground contact sensor B accessory, a rear large wheel, and a horizontal single bracket; the rear support column is perpendicular to the ground, the horizontal double bracket and the horizontal single bracket are connected to form an H-shaped structure, the plane of which is parallel to the ground; the H-shaped structure is fixedly connected to the rear support column; the ground contact wheel is arranged at the rear end of the H-shaped structure;

[0013] The automatic control system includes a power source, sensors and a control device; the control device includes control software, a control circuit and a switching element; the control circuit is electrically connected to all sensors of the stair climber, and is used to detect the positional relationship between the drive structure, vertical lifting structure, horizontal motion structure and the stairs, and to issue correct instructions so that the control device can control the stair climber to work in an orderly manner.

[0014] Furthermore, the vertical lifting structure passes through the driving structure from top to bottom and can move up and down in the driving structure; the horizontal motion structure passes through the driving structure from left to right and can move left and right in the driving structure; the front end support structure is fixedly connected to one end of the horizontal motion structure; the rear end support structure is fixedly connected to the other end of the horizontal motion structure; the height of the front end support structure from the ground is higher than the height of the rear end support structure from the ground by a step of a stair, thereby forming a horizontal motion structure with a higher front and a lower back; the automatic control system is electrically connected to the sensors in the driving structure, vertical lifting structure, horizontal motion structure, front end support structure, and rear end support structure, respectively.

[0015] Furthermore, the vertical drive motor and the horizontal drive motor are fixedly connected on both sides of the gear box of the driving structure through the motor support plate; the output shaft of the vertical drive motor faces the inside of the driving structure and forms a transmission relationship with the vertical lifting structure, and the vertical drive motor can drive the vertical lifting structure to move up and down; the output shaft of the horizontal drive motor faces the inside of the driving structure and forms a transmission relationship with the horizontal motion structure, and the horizontal drive motor can drive the horizontal motion structure to move horizontally; the front position sensor, rear position sensor, upper position sensor, and lower position sensor are respectively arranged at the front, rear, upper, and lower positions of the gear box.

[0016] Furthermore, the vertical rack of the vertical lifting structure passes through the gear box from top to bottom and forms a meshing relationship with the vertical transmission gear and can move up and down in the gear box; the bearing platform is fixedly connected to the lower end of the vertical rack, and the seat is fixedly connected to the upper end of the vertical rack; the platform sensor is installed under the bearing platform to monitor the contact between the bearing platform and the stair platform; the upper sensor accessory is fixedly set at a position close to the upper end of the vertical rack; the lower sensor accessory is fixedly set at a position close to the lower end of the vertical rack; the straight line formed by the upper sensor accessory and the lower sensor accessory coincides with the straight line formed by the upper sensor and the lower sensor of the driving structure; the bearing platform is used to carry people and / or objects, and the width of the bearing platform corresponds to the width of the stair step plane and can land smoothly on the stair step plane.

[0017] Furthermore, the horizontal rack is fixedly connected to the inside of the horizontal guide beam; the front position sensor accessory is fixedly arranged on the horizontal guide beam near the front end; the rear position sensor accessory is fixedly arranged on the horizontal guide beam near the rear end; the straight line formed by the front position sensor accessory and the rear position sensor accessory coincides with the straight line formed by the front position sensor and the rear position sensor of the driving structure; under the driving action of the horizontal driving motor, the guide beam can move horizontally in the gear box body; the length of the horizontal guide beam is more than twice the width of the stair step plane, so that the stair climber can land smoothly on two stair step planes.

[0018] Furthermore, the front support frame of the front support structure is fixedly connected to the front end of the horizontal guide beam; the front bearing tube passes through the front support frame and is movably connected to the front support frame, and the telescopic tube is movably connected in the front bearing tube and can move up and down in the front bearing tube; the front sensor accessory is fixedly arranged on the front contact piece; the front sensor, the front contact piece structure and the front sensor accessory together constitute a front sensor assembly, which is movably connected in the front bearing tube and is used to monitor the contact between the front end of the stair climber and the vertical surface of the stair steps.

[0019] Furthermore, the upper end of the rear support column of the rear end support structure is fixedly connected to the rear end of the horizontal guide beam; the middle of the horizontal single bracket is fixedly connected to the lower end of the rear support column to form a T-shaped structure; the horizontal double bracket is fixedly connected to both ends of the horizontal single bracket to form an H shape; the ground-contacting small wheel is movably connected to the front position of the horizontal double bracket and can move freely up and down within a small range; the rear large wheel is movably connected to the rear end of the horizontal double bracket and can move freely up and down within a small range.

[0020] Furthermore, the front sensor accessory of the front-end support structure is fixedly set on the front contact piece and can be linked with the front contact piece; a compression spring is provided on one side of the front contact piece to naturally maintain the front contact piece in a forward tilted state. When the front contact piece of the moving stair climber contacts the vertical surface of the stair step, the front contact piece under pressure will rotate to the right, thereby driving the front sensor accessory to trigger the front sensor, so that the automatic control system can sense the current position status of the stair climber.

[0021] Furthermore, a ground sensor A accessory of the rear support structure is fixedly connected to the ground contact wheel shaft, and the ground sensor A is fixedly connected to the front end of the horizontal double bracket. When the ground contact wheel does not touch the ground, the ground contact wheel naturally droops under the action of gravity, and the ground sensor A accessory moves away from the ground sensor A. When the ground contact wheel touches the ground, the ground contact wheel is lifted upward by the pressure of the stair climber ground, driving the ground sensor A accessory to approach the ground sensor A, thereby triggering the automatic control system to sense the contact between the rear support structure and the ground; a ground sensor B accessory of the rear support structure is fixedly connected to the rear large wheel shaft, and the ground sensor B is fixedly connected to the rear end of the horizontal double bracket. When the rear large wheel does not touch the ground, the rear large wheel naturally droops under the action of gravity, and the ground sensor B accessory moves away from the ground sensor B. When the rear large wheel touches the ground, the rear large wheel is lifted upward by the pressure of the stair climber ground, driving the ground sensor B accessory to approach the ground sensor B, thereby triggering the automatic control system to sense the contact between the rear support structure and the ground.

[0022] The beneficial effects of the embodiments of the present disclosure include: the stair climbing machine provided by the present invention has a simple structure, low cost and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the intelligent stair climbing machine of the present application;

[0024] Figure 2 This is a three-dimensional line diagram of the overall structure of the intelligent stair climbing machine of the present application;

[0025] Figure 3 This is a three-dimensional rendering of the intelligent stair climbing machine of the present application;

[0026] Figure 4 This is a plan view of the front-end support structure of the intelligent stair climbing machine of the present application;

[0027] Figure 5 This is a plan view of the back-end support structure of this application;

[0028] Figure 6 It is a three-dimensional schematic diagram of the back-end support structure of this application;

[0029] Figure 7This is a plan view of the vertical lifting structure of the present application;

[0030] Figure 8 It is a three-dimensional schematic diagram of the vertical lifting structure of this application;

[0031] Figure 9 This is a plan view of the driving structure of this application;

[0032] Figure 10 It is a three-dimensional schematic diagram of the driving structure of this application;

[0033] Figure 11 This is a planar diagram of the connection between the horizontal motion structure, front-end support structure, and rear-end support structure of the present application;

[0034] Figure 12 This is a three-dimensional schematic diagram of the connection structure of the horizontal motion structure, front-end support structure, and rear-end support structure of the present application;

[0035] Figure 13-22 This is a schematic diagram of the working principle and process of the intelligent stair climbing machine of this application;

[0036] Figure 23-24 This is a schematic diagram of the working principle and process of the intelligent stair climbing machine of this application going up and down multiple stairs;

[0037] Figures 25-26 This is a schematic diagram of the working principle and process of the dual-drive structure intelligent stair climbing machine of this application;

[0038] Figures 27-29 It is a structural diagram of the rear-end support structure of the intelligent stair climbing machine of this application.

[0039] In the figure, 1.0, gear box; 1.1, vertical drive motor; 1.2, horizontal drive motor; 1.3, motor support plate; 1.4, rolling bearing; 1.5, front position sensor; 1.6, upper position sensor; 1.7, rear position sensor; 1.8, lower position sensor; 1.9, upper and lower gears; 1.10, horizontal gear; 2.0, horizontal guide beam; 2.1, horizontal rack; 2.3, front position sensor accessories; 2.4, rear position sensor accessories; 3.0, vertical rack; 3.1, load-bearing platform; 3.2, platform contact wheel; 3.3, riding seat; 3.4, lower position Sensor accessories; 3.5. Upper sensor accessories; 3.6. Platform sensor accessories; 3.7. Platform sensor; 4.0. Front support frame; 4.1. Front handle; 4.2. Telescopic tube; 4.3. Front load-bearing tube; 4.4. Front contact piece; 4.5. Front sensor; 4.6. Front sensor accessories; 5.0. Rear support column; 5.1. Horizontal double bracket; 5.2. Ground contact wheel; 5.3. Ground contact sensor A; 5.4. Ground contact sensor B; 5.5. Rear large wheel; 5.6. Horizontal single bracket; 5.7. Ground contact sensor A accessories; 5.8. Ground contact sensor B accessories. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the present disclosure is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0041] The following is a further detailed description of the embodiments of the present application in conjunction with the accompanying drawings and examples. The detailed descriptions and drawings of the following examples are used to illustrate the principles of the present application, but are not used to limit the scope of the present application, that is, the present application is not limited to the described embodiments. In the description of the present application, it should be noted that, unless otherwise specified, the meaning of "multiple" is more than two; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inside", "outside", etc. is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not perpendicular in the strict sense, but is within the allowable error range. "Parallel" is not parallel in the strict sense, but is within the allowable error range.

[0042] It should also be noted that, in the description of this application, unless otherwise specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0043] like Figure 1-22 As shown, an intelligent stair climbing machine includes: a driving structure, a vertical lifting structure, a horizontal movement structure, a front-end support structure, a rear-end support structure and an automatic control system.

[0044] The drive structure includes a gearbox 1.0, a vertical drive motor 1.1, a horizontal drive motor 1.2, a motor support plate 1.3, a front position sensor 1.5, a rear position sensor 1.7, an upper position sensor 1.6, a lower position sensor 1.8, and a rolling bearing 1.4. The motor support plates 1.3 (one on each side), the vertical drive motor 1.1, and the horizontal drive motor 1.2 are positioned on the left and right sides of the gearbox 1.0, respectively. The output shafts of the vertical drive motor 1.1 and the horizontal drive motor 1.2 face the interior of the gearbox 1.0, and transmission gears are installed at the ends of the shafts. The front position sensor 1.5, the rear position sensor 1.7, the upper position sensor 1.6, and the lower position sensor 1.8 are positioned at the front, rear, top, and bottom of the gearbox, respectively.

[0045] The vertical lifting mechanism includes a vertical rack 3.0, a supporting platform 3.1, a platform sensor 3.7, an upper sensor attachment 3.5, a lower sensor attachment 3.4, and a rider seat 3.3. The vertical rack 3.0 runs from top to bottom through the gearbox 1.0, meshing with the gear on the shaft of the vertical drive motor 1.1. The rider seat 3.3 is fixed to the upper end of the vertical rack 3.0 and provides a comfortable seat for ascending and descending stairs. The supporting platform 3.1 is fixed to the lower end of the vertical rack 3.0, serving as both a support for the stair climber and a footing for ascending and descending stairs. The upper sensor attachment 3.5 and the lower sensor attachment 3.4 are mounted on the vertical rack 3.0, allowing the upper sensor 1.6 and the lower sensor 1.8 of the drive mechanism to detect the vertical position of the vertical rack 3.0. Below the supporting platform 3.1 are a platform sensor 3.7 and a platform sensor attachment 3.6. The horizontal movement mechanism includes a horizontal guide beam 2.0 and a horizontal rack 2.1.

[0046] The front end support structure includes a front support frame 4.0, a front handle 4.1, a telescopic tube 4.2, a front load-bearing tube 4.3, a front contact piece 4.4, a front sensor 4.5 and a front sensor attachment 4.6.

[0047] The rear end support structure includes a rear support column 5.0, a lateral single bracket 5.6, a horizontal double bracket 5.1, a small ground contact wheel 5.2, a ground contact sensor A5.3, a ground contact sensor B5.4 and a rear large wheel 5.5.

[0048] The automatic control system includes a power source, sensors, and a control device. The control device includes control software, control circuitry, and switching elements. The control circuit is electrically connected to all of the stair climber's sensors and is used to detect the positional relationships between the drive mechanism, vertical lift mechanism, and horizontal motion mechanism, and the stairs. It then issues the correct commands to control the stair climber's orderly operation.

[0049] In some embodiments, the gear housing 1.0 of the drive structure is fixedly connected to a vertical drive motor 1.1 and a horizontal drive motor 1.2 on both sides via a motor support plate 1.3. The output shaft of the vertical drive motor 1.1 faces the interior of the gear housing 1.0, and the motor shaft gear forms a meshing relationship with the vertical rack 3.0, allowing the vertical drive motor 1.1 to drive the vertical lifting structure up and down. The output shaft of the horizontal drive motor 1.2 faces the interior of the drive structure and forms a transmission relationship with the horizontal motion structure, allowing the horizontal drive motor 1.2 to drive the horizontal motion structure horizontally.

[0050] In some embodiments, the vertical rack 3.0 of the vertical lifting structure passes through the gear housing 1.0 of the drive structure from top to bottom and meshes with the gear on the shaft of the vertical drive motor 1.1. Driven by the vertical motor, the vertical structure can move up and down within the gear housing 1.0. The horizontal guide beam 2.0 and horizontal rack 2.1 of the horizontal motion structure pass through the drive structure from left to right. The horizontal rack 2.1 meshes with the gear on the shaft of the horizontal drive motor 1.2. Driven by the horizontal drive motor 1.2, the horizontal motion structure can move left and right within the gear housing 1.0.

[0051] In some embodiments, the horizontal rack 2.1 of the horizontal motion structure is fixedly connected to the inside of the horizontal guide beam 2.0. The front position sensor 1.5 accessory is fixedly set near the front end of the horizontal guide beam 2.0, and the rear position sensor accessory is fixedly set near the rear end of the horizontal guide beam 2.0. The straight line formed by the front position sensor 1.5 accessory and the rear position sensor 1.7 accessory coincides with the straight line formed by the front position sensor 1.5 and the rear position sensor 1.7 of the drive structure. Driven by the horizontal drive motor 1.2, the guide beam can move horizontally within the gear box 1.0. The length of the horizontal guide beam 2.0 is more than twice the width of the stair step plane, so that the stair climber can land smoothly on two stair step planes.

[0052] In some embodiments, the front-end support structure is fixedly connected to one end of the horizontal guide beam 2.0, and the rear-end support structure is fixedly connected to the other end of the horizontal guide beam 2.0. The height of the front-end support structure from the ground is higher than that of the rear-end support structure by a height difference of one stair step, thereby forming a horizontal motion structure with a higher front and a lower back.

[0053] In some embodiments, the horizontal motion structure and the vertical lifting structure are movably connected through a drive structure, and the two can respectively touch the ground and alternately support the stair climber. When the horizontal double brackets 5.1 of the horizontal motion structure touch the ground to support the stair climber, the vertical drive motor 1.1 can drive the carrying platform 3.1 to move up and down, and the horizontal drive motor 1.2 can also drive the carrying platform 3.1 to move horizontally forward and backward, so that the carrying platform 3.1 can complete the upward (downward) and forward (backward) movement of a stair step. When the carrying platform 3.1 touches the ground to support the stair climber, the vertical drive motor 1.1 can drive the horizontal motion structure to move vertically up and down, and the horizontal drive motor 1.2 can drive the horizontal motion structure to move horizontally forward and backward, so that the horizontal motion structure can complete the upward (downward) and forward (backward) movement of a stair step. After the two complete a mutual support process, the stair climber has completed the climbing (descending) of a stair step. By repeating the above process continuously, the stair climber can realize the climbing function of multiple stair steps.

[0054] In some embodiments, the front support structure comprises a front support frame 4.0 fixedly connected to the front end of the horizontal guide beam 2.0. A front support tube 4.3 passes through and is movably connected to the front support frame 4.0. A telescopic tube 4.2 is movably connected within the front support tube 4.3 and can move up and down within the front support tube 4.3. A front sensor attachment 4.6 is fixedly mounted on the front contact piece 4.4. The front sensor 4.5, the front contact piece 4.4, and the front sensor attachment 4.6 together constitute the front sensor assembly, which is movably connected within the front support tube 4.3 and is used to monitor the contact between the front end of the stair climber and the vertical surface of the stair step.

[0055] In some embodiments, the upper end of the rear support column 5.0 of the rear support structure is fixedly connected to the rear end of the horizontal guide beam 2.0. The middle of the single horizontal bracket 5.6 is fixedly connected to the lower end of the rear support column 5.0 to form a T-shaped structure. The double horizontal brackets 5.1 are fixedly connected to both ends of the single horizontal bracket 5.6 to form an H-shaped structure. The small ground-contact wheels 5.2 are movably connected to the front of the double horizontal brackets 5.1 and can move freely up and down within a small range. The large rear wheels 5.5 are movably connected to the rear end of the double horizontal brackets 5.1 and can move freely up and down within a small range.

[0056] In some embodiments, a front sensor attachment 4.6 of the front support structure is fixedly mounted on the front contact piece 4.4 and can be linked to the front contact piece 4.4. A compression spring is installed on one side of the front contact piece 4.4 to naturally maintain the front contact piece 4.4 in a forward tilted position. When the front contact piece 4.4 of the stair climber contacts the vertical surface of the stair step during movement, the pressure on the front contact piece 4.4 will cause it to rotate to the right, thereby driving the front sensor attachment 4.6 to trigger the front sensor 4.5, allowing the automatic control system to sense the current position of the stair climber.

[0057] In some embodiments, the ground sensor A5.3 accessory of the rear end support structure is fixedly connected to the ground contact wheel 5.2 shaft, and the ground sensor A5.3 is fixedly connected to the front end of the horizontal double bracket 5.1. When the ground contact wheel 5.2 does not touch the ground, the ground contact wheel 5.2 naturally droops under the action of gravity, and the ground sensor A5.3 accessory leaves the ground sensor A5.3. When the ground contact wheel 5.2 touches the ground, the ground contact wheel 5.2 is lifted upward under the action of the ground pressure of the stair climber, driving the ground sensor A5.3 accessory to approach the ground sensor A5.3, thereby triggering the automatic control system to sense the contact between the rear end support structure and the ground. The ground sensor B5.4 accessory of the rear end support structure is fixedly connected to the rear large wheel 5.5 shaft, and the ground sensor B5.4 is fixedly connected to the rear end of the horizontal double bracket 5.1. When the rear large wheel 5.5 does not touch the ground, the rear large wheel 5.5 naturally droops under the action of gravity, and the ground sensor B5.4 accessory leaves the ground sensor B5.4. When the rear large wheel 5.5 touches the ground, the rear large wheel 5.5 is lifted upward under the action of the ground pressure of the stair climber, driving the ground sensor B5.4 accessory to approach the ground sensor B5.4, thereby triggering the automatic control system to sense the contact between the rear end support structure and the ground.

[0058] In some embodiments, the automatic control system circuit control board is electrically connected to the sensors, motors and power supplies in the driving structure, vertical lifting structure, horizontal motion structure, front end support structure and rear end support structure respectively.

[0059] Working principle and working process---going upstairs

[0060] First, put the stair climbing machine in the upstairs reset position ( Figure 13 ) state, start the control system, and carry out the upward movement of the carrying platform 3.1 ( Figure 14 ), the carrying platform 3.1 moves forward ( Figure 15 ), the supporting structure (including the front supporting structure and the rear supporting structure) moves upward ( Figure 16 ), the supporting structure (including the front supporting structure and the rear supporting structure) moves forward, etc. ( Figure 17 ) Four actions. After performing the above four actions, the stair climbing machine has completed the climbing of one step. Repeating the above cycle can realize the stair climbing function.

[0061] Upstairs reset action ( Figure 13 ): First, the stair climber must be placed in front of the first step of the stairs facing the upward direction, with the front contact piece 4.4 of the front support structure close to the vertical surface of the second step of the stairs. The automatic control system sends a command, and the horizontal drive motor 1.2 outputs power to make the front edge of the vertical lifting structure's support platform 3.1 close to the vertical facade of the stair step. At the same time, the vertical drive motor 1.1 outputs power to make the bottom surface of the vertical lifting structure's support platform 3.1 touch the ground.

[0062] The carrying platform moves upwards ( Figure 14 ): The vertical drive motor 1.1 drives the vertical lifting structure in the forward direction and drives the carrying platform 3.1 to move upward. When the platform sensor 3.7 senses that the carrying platform 3.1 is higher than the stair step, it stops rising. At this time, the entire stair climber is supported by the front and rear end support structures and lands on the first step and the flat ground respectively, and the carrying platform 3.1 is in a suspended state.

[0063] The carrying platform moves forward ( Figure 15 ): The horizontal drive motor 1.2 outputs positive power, causing the drive structure, the vertical lifting structure and the carrying platform 3.1 to move horizontally toward the second stair step. When the current position sensor 1.5 senses that it is in place, the horizontal movement stops.

[0064] The support structure moves upwards ( Figure 16 ): The vertical drive motor 1.1 outputs reverse power to make the support structure (including the front support structure and the rear support structure) rise. When the upper sensor 1.6 senses that it is in place, it stops rising. At this time, the entire stair climber is supported by the carrying platform 3.1 and lands on the first step plane, and the front and rear support structures are in a suspended state.

[0065] Support structure moves forward ( Figure 17 ): The horizontal drive motor 1.2 outputs reverse power, causing the front and rear end support structures and the horizontal movement structure to move horizontally toward the second stair step. The current sensor 4.5 stops moving horizontally until it touches the vertical surface of the second step. At this time, the stair climber as a whole is above the first step and is in the upstairs reset state.

[0066] The above four steps are repeated one step at a time to realize the stair climbing function.

[0067] Working principle and working process---Go downstairs

[0068] First, put the stair climbing machine into the downstairs reset action ( Figure 18 ) state, start the control system to work, and sequentially carry out the support structure (including the front support structure and the rear support structure) to move backward ( Figure 19 ), the supporting structure (including the front supporting structure and the rear supporting structure) moves downward ( Figure 20 ), the carrying platform 3.1 moves backward ( Figure 21 ), downward movement of the carrying platform 3.1, etc. ( Figure 22 ) Four actions. After performing the above four actions, the stair climbing machine has completed the descent of one step. Repeating the above cycle can realize the downstairs function.

[0069] Downstairs reset action ( Figure 18): First, the stair climber must be placed facing the upward direction at the front edge of the first step of the stairs. The automatic control system sends a command, and the horizontal drive motor 1.2 outputs power to make the front edge of the vertical lifting structure's supporting platform 3.1 close to the vertical facade of the stair step. At the same time, the vertical drive motor 1.1 outputs power to make the bottom surface of the vertical lifting structure's supporting platform touch the ground.

[0070] The supporting structure moves backwards ( Figure 19 ): The horizontal drive motor 1.2 outputs positive power, causing the front and rear end support structures and the horizontal movement structure to move horizontally together in the downward direction. The current sensor 4.5 stops horizontal movement after sensing that it is in place. At this time, the stair climber as a whole is supported by the carrying platform 3.1 and is placed on the top step.

[0071] Support structure downward movement ( Figure 20 ): The vertical drive motor 1.1 outputs positive power to make the support structure (including the front support structure and the rear support structure) and the drive structure descend together, and stops descending when the lower sensor 1.8 senses that it is in place.

[0072] The carrying platform moves backwards ( Figure 21 ): The horizontal drive motor 1.2 outputs reverse power to make the vertical lifting structure and the carrying platform 3.1 move horizontally together in the downward direction. When the platform front position sensor 1.5 senses that it has left the table surface, it stops moving horizontally. At this time, the entire stair climber is supported by the front and rear end support structures and lands on the top step and the first step down, respectively. The carrying platform 3.1 is in a suspended state.

[0073] The load-bearing platform moves downwards ( Figure 22 ): The vertical drive motor 1.1 drives the vertical lifting structure in reverse and drives the carrying platform 3.1 downward. When the upper position sensor 1.6 senses that it is in place, it stops descending. At this time, the entire stair climber returns to the downstairs reset state.

[0074] The above four processes are repeated one step at a time to realize the function of going downstairs.

[0075] refer to Figure 23-24 In some embodiments, the height of the rear support column 5.0 is at least greater than the height of two steps, allowing the stair climber to vertically ascend and descend multiple steps. Furthermore, the length of the horizontal guide beam 2.0 and the horizontal rack 2.1 are both greater than the width of at least two steps, allowing the stair climber to horizontally ascend and descend multiple steps. It is understood that the principle of stair climbing by the stair climber is similar to the above description.

[0076] refer to Figures 25-26In some embodiments, the stair climbing machine includes two relative drive structures, two relative vertical lifting structures, two relative horizontal motion structures and two relative front end support structures, and the rear end support structure includes two relative rear support columns 5.0, and the two rear support columns 5.0 are spaced apart on a horizontal single bracket 5.6. Furthermore, the bearing platforms 3.1 of the two relative vertical lifting structures are connected to jointly carry large mass loads. Furthermore, the two relative front end support structures are connected by a connecting rod. It can be understood that the working principle of the two drive structures, two vertical lifting structures, two horizontal motion structures, two front end support structures and two rear end support structures can be referred to the above description.

[0077] refer to Figures 27-29 In some embodiments, the rear-end support structure includes a horizontal dual support 5.1, which includes two opposing horizontal supports. Each horizontal support is provided with a rear large wheel 5.5 and a front large wheel at the other end. In other words, the horizontal dual support 5.1 is provided with four wheels to enable smooth travel. It is understood that the operating principle of the rear-end support structure is similar to the above description.

[0078] It is understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present disclosure, and the present disclosure is not limited thereto. Those skilled in the art may make various modifications and improvements without departing from the spirit and substance of the present disclosure, and such modifications and improvements are also considered to be within the scope of protection of the present disclosure.

Claims

1. An intelligent stair climbing machine, characterized in that: include: Driving structure, vertical lifting structure, horizontal motion structure, front-end support structure, rear-end support structure and automatic control system; The driving structure includes a gear box, a vertical drive motor, a horizontal drive motor, a motor support plate, a front position sensor, an upper position sensor, a rear position sensor, a lower position sensor, a rolling bearing, a vertical transmission gear and a horizontal transmission gear; the gear box is in the shape of a rectangular tube, the vertical drive motor and the horizontal drive motor are fixedly connected to two horizontally opposite sides of the gear box, the power output shafts of the vertical drive motor and the horizontal drive motor face the inside of the box, and the vertical transmission gear and the horizontal transmission gear are respectively connected to the motor output shafts; the upper and lower opposite surfaces of the gear box are provided with rack guide holes penetrating the box, and the motor support plate is arranged between the gear box and the vertical drive motor and the horizontal drive motor; the rolling bearings are arranged at both ends above the gear box, and the front position sensor, upper position sensor, rear position sensor and lower sensor are respectively arranged at the left, upper, rear and lower positions of the gear box; The vertical lifting structure includes a vertical rack, a load-bearing platform, a platform contact wheel, a platform sensor, a platform sensor accessory, an upper sensor accessory, a lower sensor accessory, and a seat; the load-bearing platform is fixedly connected to the bottom of the vertical rack, the plane of the load-bearing platform is perpendicular to the vertical rack and parallel to the ground; the platform contact wheel is located below the load-bearing platform; the vertical lifting structure is movably connected to the drive structure, the vertical rack vertically passes through the rack guide hole of the gear box from top to bottom, and is meshed with the vertical transmission gear; The horizontal motion structure includes a horizontal guide beam, a horizontal rack, a front position sensor attachment, and a rear position sensor attachment; the horizontal guide beam is in the shape of a rectangular tube, the horizontal rack is fixedly arranged on the inner wall above the horizontal guide beam, and the upper and lower opposite surfaces of the horizontal guide beam are provided with rack guide grooves so that the vertical rack can move horizontally in the rack guide grooves; the left and right opposite side surfaces of the horizontal guide beam are provided with motor shaft guide grooves, and the vertical drive motor shaft and the horizontal drive motor shaft can move horizontally in the motor shaft guide grooves; The front end support structure includes a front support frame, a front handle, a telescopic tube, a front bearing tube, a front contact piece, a front sensor, and a front sensor accessory; the front bearing tube, the telescopic tube, and the front support frame are all tubular bodies and form a large-inside-small, retractable movable structure; the front handle is arranged at the top of the telescopic tube; the front contact piece is connected to the outside of the front support frame and can rotate counterclockwise around the lower end of the telescopic tube; the front sensor is fixedly arranged inside the telescopic tube, and the front sensor accessory is fixedly arranged on the front contact piece and corresponds to the front sensor; The rear end support structure includes a rear support column, a horizontal double bracket, a ground contact wheel, a ground contact sensor A, a ground contact sensor B, a ground contact sensor A accessory, a ground contact sensor B accessory, a rear large wheel, and a horizontal single bracket; the rear support column is perpendicular to the ground, the horizontal double bracket and the horizontal single bracket are connected to form an H-shaped structure, the plane of which is parallel to the ground; the H-shaped structure is fixedly connected to the rear support column; the ground contact wheel is arranged at the rear end of the H-shaped structure; The automatic control system includes a power source, sensors and a control device; the control device includes control software, a control circuit and a switching element; the control circuit is electrically connected to all sensors of the stair climber, and is used to detect the positional relationship between the drive structure, vertical lifting structure, horizontal motion structure and the stairs, and to issue correct instructions so that the control device can control the stair climber to work in an orderly manner.

2. The intelligent stair climbing machine according to claim 1, characterized in that: The vertical lifting structure passes through the driving structure from top to bottom and can move up and down in the driving structure; the horizontal motion structure passes through the driving structure from left to right and can move left and right in the driving structure; the front end support structure is fixedly connected to one end of the horizontal motion structure; the rear end support structure is fixedly connected to the other end of the horizontal motion structure; the height of the front end support structure from the ground is higher than the height of the rear end support structure from the ground by a step of a stair, thereby forming a horizontal motion structure with a higher front and a lower back; the automatic control system is electrically connected to the sensors in the driving structure, vertical lifting structure, horizontal motion structure, front end support structure, and rear end support structure respectively.

3. The intelligent stair climbing machine according to claim 1, characterized in that: The vertical drive motor and the horizontal drive motor are fixedly connected on both sides of the gear box of the driving structure through the motor support plate; the output shaft of the vertical drive motor faces the inside of the driving structure and forms a transmission relationship with the vertical lifting structure, and the vertical drive motor can drive the vertical lifting structure to move up and down; the output shaft of the horizontal drive motor faces the inside of the driving structure and forms a transmission relationship with the horizontal motion structure, and the horizontal drive motor can drive the horizontal motion structure to move horizontally; the front position sensor, rear position sensor, upper position sensor, and lower position sensor are respectively arranged at the front, rear, upper, and lower positions of the gear box.

4. The intelligent stair climbing machine according to claim 1, characterized in that: The vertical rack of the vertical lifting structure passes through the gear box from top to bottom and forms a meshing relationship with the vertical transmission gear and can move up and down in the gear box; the carrying platform is fixedly connected to the lower end of the vertical rack, and the seat is fixedly connected to the upper end of the vertical rack; the platform sensor is installed under the carrying platform to monitor the contact between the carrying platform and the stair platform; the upper sensor accessory is fixedly set at a position close to the upper end of the vertical rack; the lower sensor accessory is fixedly set at a position close to the lower end of the vertical rack; the straight line formed by the upper sensor accessory and the lower sensor accessory coincides with the straight line formed by the upper sensor and the lower sensor of the driving structure; The carrying platform is used for carrying people and / or objects. The width of the carrying platform corresponds to the width of the stair step plane and can land stably on the stair step plane.

5. The intelligent stair climbing machine according to claim 1, characterized in that: The horizontal rack is fixedly connected to the inside of the horizontal guide beam; the front position sensor accessory is fixedly arranged on the horizontal guide beam near the front end; the rear position sensor accessory is fixedly arranged on the horizontal guide beam near the rear end; the straight line formed by the front position sensor accessory and the rear position sensor accessory coincides with the straight line formed by the front position sensor and the rear position sensor of the driving structure; under the driving action of the horizontal driving motor, the guide beam can move horizontally within the gear box body; the length of the horizontal guide beam is more than twice the width of the stair step plane, so that the stair climber can land smoothly on two stair step planes.

6. The intelligent stair climbing machine according to claim 1, characterized in that: The front support frame of the front support structure is fixedly connected to the front end of the horizontal guide beam; the front bearing tube passes through the front support frame and is movably connected to the front support frame, and the telescopic tube is movably connected in the front bearing tube and can move up and down in the front bearing tube; the front sensor accessory is fixedly arranged on the front contact piece; the front sensor, the front contact piece structure and the front sensor accessory together constitute a front sensor assembly, which is movably connected in the front bearing tube and is used to monitor the contact between the front end of the stair climber and the vertical surface of the stair steps.

7. The intelligent stair climbing machine according to claim 1, characterized in that: The upper end of the rear support column of the rear end support structure is fixedly connected to the rear end of the horizontal guide beam; the middle of the horizontal single bracket is fixedly connected to the lower end of the rear support column to form a T-shaped structure; the horizontal double bracket is fixedly connected to both ends of the horizontal single bracket to form an H shape; the ground-contacting small wheel is movably connected to the front position of the horizontal double bracket and can move freely up and down within a small range; the rear large wheel is movably connected to the rear end of the horizontal double bracket and can move freely up and down within a small range.

8. The intelligent stair climbing machine according to claim 1, characterized in that: The front sensor accessory of the front support structure is fixedly set on the front contact piece and can be linked with the front contact piece; a compression spring is provided on one side of the front contact piece to naturally keep the front contact piece in a forward tilted state. When the front contact piece of the moving stair climber contacts the vertical surface of the stair step, the front contact piece under pressure will rotate to the right, thereby driving the front sensor accessory to trigger the front sensor, so that the automatic control system can sense the current position status of the stair climber.

9. The intelligent stair climbing machine according to claim 1, characterized in that: The ground sensor A accessory of the rear support structure is fixedly connected to the ground contact wheel shaft. The ground sensor A is fixedly connected to the front end of the horizontal double bracket. When the ground contact wheel is not touching the ground, the ground contact wheel naturally droops under the action of gravity, and the ground sensor A accessory moves away from the ground sensor A. When the ground contact wheel touches the ground, the ground contact wheel is lifted upward by the pressure of the stair climber ground, driving the ground sensor A accessory to approach the ground sensor A, thereby triggering the automatic control system to sense the contact between the rear support structure and the ground. The ground sensor B accessory of the rear support structure is fixedly connected to the rear large wheel shaft. The ground sensor B is fixedly connected to the rear end of the horizontal double bracket. When the rear large wheel is not touching the ground, the rear large wheel naturally droops under the action of gravity, and the ground sensor B accessory moves away from the ground sensor B. When the rear large wheel touches the ground, the rear large wheel is lifted upward by the pressure of the stair climber ground, driving the ground sensor B accessory to approach the ground sensor B, thereby triggering the automatic control system to sense the contact between the rear support structure and the ground.

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