CN110316273A - For climbing the ladder-like supporting mechanism of stairs device - Google Patents
For climbing the ladder-like supporting mechanism of stairs device Download PDFInfo
- Publication number
- CN110316273A CN110316273A CN201810267579.6A CN201810267579A CN110316273A CN 110316273 A CN110316273 A CN 110316273A CN 201810267579 A CN201810267579 A CN 201810267579A CN 110316273 A CN110316273 A CN 110316273A
- Authority
- CN
- China
- Prior art keywords
- support
- ladder
- supporting mechanism
- support leg
- stairs device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
For climbing the ladder-like supporting mechanism of stairs device, it is characterised in that: ladder-like supporting mechanism includes telescoping support arm (2), several support legs (3)；It formed by ladder-like supporting mechanism across the support of the step surface of two-stage or multi-stage stairs, improve the stability of support, to simplify the structure for climbing stairs device.
Description
Technical field
The present invention relates to a kind of for climbing the ladder-like supporting mechanism of stairs device, by ladder-like supporting mechanism formed across
The stability of more step surface support, the raising support of two-stage or multi-stage stairs belongs to and climbs to simplify the structure for climbing stairs device
The technical field of stairs device.
Background technique
Existing stepping type climbs stairs device over/under during stair, and the supporting form contacted with stair is usually
Point contact, line contact or plane contact.
Stable supporting role cannot be all implemented separately in above several contact forms, need multiple groups support construction cooperative achievement
Support be easy to cause gravity center instability and motion amplitude is limited if each supporting point distance is relatively；And if each
Supporting point distance, which farther out, is then easy to cause, climbs the increase of the stairs device bodily form, convenience decline.
Over/under during stair, there must be part supporting mechanism liftoff and be moved to next supporting point, simultaneously
The process swerved the weight along with up/down climbs stairs device and is in unstable holding state, at this time therefore, in order to ensure that climbing
Stairs device traveling comfort, it usually needs the supporting mechanism or setting arrestment mechanism of multiple groups are set.
It, can be significantly if the supporting mechanism performance for climbing stairs device in the motion process of up/down stair can be improved
Simplify mechanical structure, and promotes overall performance.
Summary of the invention
To solve problem of the prior art, the ladder-like supporting mechanism for being used to climb stairs device of the invention is used to form
Across the support of the step surface of two-stage or multi-stage stairs, the stability supported is improved, structure is:
Ladder-like supporting mechanism includes telescoping support arm, support leg；
The upper end of telescoping support arm is connected with stairs device main body is climbed；Telescopic device one is set in telescoping support arm,
For adjusting the length of telescoping support arm；
The lower end of telescoping support arm is connected with several support legs, and each support leg is along the direction of travel for climbing stairs device
Successively front and back setting；Telescopic device two wherein is set in the quantity at least two of support leg and at least one support leg,
Telescopic device two is used to adjust the height of support leg, to adapt to the step of different height；
When ladder-like supporting mechanism becomes contacting with stair and forming support from vacant state: firstly, by telescoping support arm
Other support legs are respectively aligned to different platforms after at least one support leg generates contact with a step surface by elongation downwards
Terrace, then flexible adjustment is carried out to each support leg, until each support leg forms stable face with step surfaces at different levels respectively and connects
Touching；(this supporting form has compared with existing supporting form for ladder-like support to realize across two-stage or multi-stage stairs
Significant progress)；
When ladder-like supporting mechanism becomes vacant state from holding state: by telescoping support arm or telescoping support foot to
Upper contraction can be such that ladder-like supporting mechanism separates with step surface and be in vacant state.
Described climbing includes several ladder-like supporting mechanisms, each ladder-like support machine in operational process in stairs device
Structure is alternately in holding state respectively or is in vacant state and replaces Support Position, to complete the movement of up/down step.
Advantages of the present invention:
1, the stair or ladder of various specifications are adapted to, length or height including each step of stair are irregular
Complex situations；
2, when only one ladder-like supporting mechanism foot is in holding state, can also be formed across two-stage or multi-stage stairs
Step surface support, i.e. formed stablize support, at this time can with the danger of supporting mechanism's center of gravity moved, do not toppled by a small margin,
It does not need to take additional brake measure.
Detailed description of the invention
Attached drawing 1: (two support legs can stretch the ladder-like supporting mechanism structure chart one for climbing stairs device of the invention
Contracting)；
Attached drawing 2: (two support leg one can stretch the ladder-like supporting mechanism structure chart two for climbing stairs device of the invention
Contracting)；
Attached drawing 3: of the invention climbs stairs device and ladder-like supporting mechanism assembling figure (front view)；
Attached drawing 4: of the invention climbs stairs device and ladder-like supporting mechanism assembling figure (side view)；
Attached drawing 5: of the invention climbs stairs device uplink procedure decomposition figure (step 1)；
Attached drawing 6: of the invention climbs stairs device uplink procedure decomposition figure (step 2)；
Attached drawing 7: of the invention climbs stairs device uplink procedure decomposition figure (step 3)；
Attached drawing 8: of the invention climbs stairs device uplink procedure decomposition figure (step 4)；
Attached drawing 9: of the invention climbs stairs device uplink procedure decomposition figure (step 5)；
Attached drawing 10: of the invention climbs stairs device downlink procedure decomposition figure (step 1)；
Attached drawing 11: of the invention climbs stairs device downlink procedure decomposition figure (step 2)；
Attached drawing 12: of the invention climbs stairs device downlink procedure decomposition figure (step 3)；
Attached drawing 13: of the invention climbs stairs device downlink procedure decomposition figure (step 4)；
Attached drawing 14: of the invention climbs stairs device downlink procedure decomposition figure (step 5)；
Wherein: X-direction is the direction of travel for climbing stairs device；
In Fig. 1-2, L is the length of step, and H is the height of step, and L1 is the spacing between two support legs；F1, F2, F3 arrow
Head direction respectively corresponds three adjacent step surfaces；
In Fig. 5-14, G is the position of centre of gravity for climbing stairs device, and La and Lb are respectively two groups of ladder-like supporting mechanisms.
Specific embodiment
Hereinafter, in conjunction with the embodiments and the solution of the present invention is further described in attached drawing.
Embodiment 1:
The present embodiment mainly introduces the structure and working condition of ladder-like supporting mechanism.
As shown in Figure 1, including two support legs in the ladder-like supporting mechanism, and comprising flexible in two support legs
Two 3a of device, i.e., can stretch.
When ladder-like supporting mechanism becomes contacting with stair and forming support from vacant state: firstly, by telescopic branch
Brace 2 extends downwards, so that the support leg 3 on right side is contacted with a step surface F2 generation first in figure, then by the branch in left side
Support foot 3 is directed at next step surface F1, then carries out flexible adjustment to the support leg 3 in left side by two 3a of telescopic device, until two
A support leg 3 forms stable face contact with two step surfaces respectively；To realize across the ladder-like of two-stage step (F1+F2)
Support.Since two support legs can stretch, integrated support effect can be made more firm by micro-adjustment at this time.
As shown in Fig. 2, including two support legs in the ladder-like supporting mechanism, comprising flexible in the support leg in left side in figure
Two 3a of device can stretch, not have the two i.e. not flexible of 3a of telescopic device in the support leg on right side, and the structure is relatively simple
Just.
When ladder-like supporting mechanism becomes contacting with stair and forming support from vacant state: firstly, by telescopic branch
Brace 2 extends downwards, so that the support leg 3 on right side is contacted with a step surface F2 generation first in figure, then by the branch in left side
Support foot 3 is directed at next step surface F1, then carries out flexible adjustment to the support leg 3 in left side by two 3a of telescopic device, until two
A support leg 3 forms stable face contact with two step surfaces respectively；To realize across the ladder-like of two-stage step (F1+F2)
Support.
Further, slide device 2b is set in the junction of support arm 2 and each support leg 3, for adjusting each
The distance between support foot 3, to adapt to the step of different length.
In usual one group of continuous step, the height H of each step is essentially identical, length L is also essentially identical, but does not also arrange
Except in some cases, the height H or length L of each step have differences.It, can be with when the height H of each step has differences
The height of support leg 3 is adjusted by two 3a of telescopic device；When the length L of each step has differences, can be filled by sliding
It sets 2b and adjusts the spacing L1 between two support legs 3, the step to adapt to different length.
Further, the bottom of support leg 3 is equipped with pressure sensor 3b, after measuring support leg 3 and step face contact
Generated pressure data, and then judge whether support leg 3 forms between step surface and stablize support.
Further, the angle of the telescopic direction and step surface of support arm or support leg is usually 90 degree, is mutually perpendicular to,
But it can also suitably lean forward/hypsokinesis or flexibly change angle, the stability to enhance support in a small range and adapt to different
Application demand.
Further, although the present invention generallys use the typical structure of two levels of support foot, in some applications using more
The support leg of multistage number is also possible.According to the support leg of more series, then it is bigger to be formed by supporting surface range, climbs platform
The limitation of the gravity motion of rank device is then smaller.
Embodiment 2:
The present embodiment mainly introduces ladder-like supporting mechanism in the practical application climbed in stairs device.
Described climbing includes several ladder-like supporting mechanisms, each ladder-like support machine in operational process in stairs device
Structure is alternately in holding state respectively or is in vacant state and replaces Support Position, to complete the movement of up/down step.
Wherein, each ladder-like supporting mechanism respectively with climb stairs device main body 1 and be connected, and can be along climbing step dress
The direction of travel set alternately is moved forward and backward position；Each ladder-like supporting mechanism is successively to arrange, and is not done mutually when being moved forward and backward
It disturbs.
The following are a concrete cases: ladder-like supporting mechanism being divided into two groups (hereinafter referred to as La and Lb) first, is divided
Not with climb stairs device main body 1 and be connected.
In terms of the visual angle of Fig. 3, La is the ladder-like supporting mechanism of a wide cut, positioned at the middle part for climbing stairs device, and Lb is
Two narrow ladder-like supporting mechanisms, positioned at the two sides for climbing stairs device.Because of La wider, one can be formed surely
Fixed supporting surface；And Lb is relatively narrow, so increasing the stability of support using two synchronous operations.Complex chart 3, Fig. 4 see, La and Lb
It can be moved forward and backward relative to stairs device main body 1 is climbed, not will form interference mutually.
Specifically, Fig. 5-9 is the decomposition for climbing stairs device uplink process:
Step 1: when climbing stairs device preparation and climbing step uplink, preceding, each support leg 3 in La is adjusted in rear, Lb by La
To substantially the same height, and the telescoping support arm 2 of La extended downwards, each support leg 3 is made to form stabilization with ground
Support；Lb is in vacant state, independently forms support by La, climbs the supporting surface that the center of gravity G of stairs device is formed generally within La
Within the scope of；
Step 2: Lb is integrally moved forward and extends the telescoping support arm 2 of Lb downwards, is existed by ladder-like supporting mechanism
Ladder-like support is formed on the step in front；In the process, if it is necessary to can will climb stairs device main body 1 relative to La forward
Mobile, the center of gravity G for climbing stairs device at this time will also be moved forward, but the center of gravity G for climbing stairs device at most can only be more than by a small margin
La formed supporting surface range, to prevent from toppling；
Step 3: stairs device main body 1 will be climbed and moved forward relative to La and Lb, the center of gravity G for climbing stairs device at this time is located at La
Within the scope of the supporting surface of formation；If it is necessary to can suitably extend La and Lb, to promote the height for climbing stairs device；
La: being shortened and is in vacant state, independently form support by Lb by step 4, and then La moves forward, makes Lb in rear, La
Preceding, while Lb being extended, to promote the height for climbing stairs device；And it will suitably climb stairs device main body 1 relative to Lb forward
Mobile, the center of gravity G for climbing stairs device also moves forward therewith, but is still within the scope of the supporting surface of La formation；
Step 5: La integrally being moved forward and extends the telescoping support arm of La downwards, and the ladder-like supporting mechanism of La exists
Ladder-like support is formed on the step in front；In the process, if it is necessary to can will climb stairs device main body 1 relative to Lb forward
Mobile, the center of gravity G for climbing stairs device at this time will also be moved forward, but the center of gravity G for climbing stairs device at most can only be more than by a small margin
Lb formed supporting surface range, to prevent from toppling；
Then, it recycles according to this, until climbing the top that stairs device reaches step.
Specifically, Figure 10-14 is the decomposition for climbing stairs device downlink process:
Step 1: when climbing stairs device preparation and climbing step downlink, rear, each support leg 3 in Lb is adjusted in preceding, Lb by La
To substantially the same height, and the telescoping support arm 2 of Lb extended downwards, each support leg 3 is made to form stabilization with ground
Support；La is in vacant state, independently forms support by Lb, climbs the supporting surface that the center of gravity G of stairs device is formed generally within Lb
Within the scope of；
Step 2: La is integrally moved forward and extends the telescoping support arm 2 of La downwards, is existed by ladder-like supporting mechanism
Ladder-like support is formed on the step in front；In the process, if it is necessary to can will climb stairs device main body 1 relative to Lb forward
Mobile, the center of gravity G for climbing stairs device at this time will also be moved forward, but the center of gravity G for climbing stairs device at most can only be more than by a small margin
Lb formed supporting surface range, to prevent from toppling；
Step 3: stairs device main body 1 will be climbed and moved forward relative to La and Lb, the center of gravity G for climbing stairs device at this time is located at Lb
Within the scope of the supporting surface of formation；If it is necessary to can suitably shorten La and Lb, to reduce the height for climbing stairs device；
Lb: being shortened and is in vacant state, independently form support by La by step 4, and then Lb moves forward, makes La in rear, Lb
Preceding, while La being shortened, to reduce the height for climbing stairs device；And it will suitably climb stairs device main body 1 relative to La forward
Mobile, the center of gravity G for climbing stairs device also moves forward therewith, but is still within the scope of the supporting surface of La formation；
Step 5: Lb is integrally moved forward and is extended the telescoping support arm 2 of Lb downwards, the ladder-like supporting mechanism of Lb
Ladder-like support is formed on the step in front；In the process, if it is necessary to can will climb stairs device main body 1 relative to Lb to
Preceding movement, the center of gravity G for climbing stairs device at this time will also be moved forward, but the center of gravity G for climbing stairs device can only at most surpass by a small margin
Cross the supporting surface range of Lb formation, to prevent from toppling；
Then, it recycles according to this, until climbing the top that stairs device reaches step.
Certainly, the invention is not limited to above embodiment, and those skilled in the art are without prejudice to originally
Equivalent deformation or replacement can be also made under the premise of spirit, these equivalent variation or replacement are all contained in the application right
It is required that in limited range.
Claims (4)
1. the ladder-like supporting mechanism for climbing stairs device, it is characterised in that: ladder-like supporting mechanism includes telescoping support
Arm (2), support leg (3)；
The upper end of telescoping support arm (2) is connected with stairs device main body (1) is climbed；Flexible dress is set in telescoping support arm
One (2a) is set, for adjusting the length of telescoping support arm；
The lower end of telescoping support arm (2) is connected with several support legs (3), and each support leg (3) is along climbing stairs device
The successively front and back setting of the direction of travel of main body (1)；The wherein quantity at least two of support leg (3) and at least one branch
Telescopic device two (3a) is set in support foot (3), telescopic device two (3a) is used to adjust the height of support leg (3), to adapt to difference
The step of height；
When ladder-like supporting mechanism becomes contacting with step and forming support from vacant state: firstly, by telescoping support arm
(2) other support legs (3) are respectively aligned to by elongation downwards after at least one support leg (3) generates contact with a step surface
Different step surfaces, then to each support leg (3) carry out flexible adjustment, until each support leg (3) respectively with step surfaces at different levels
Form stable face contact；To realize the ladder-like support across two-stage or multi-stage stairs；
When ladder-like supporting mechanism becomes vacant state from holding state: telescoping support arm (2) being shunk upwards, can be made
Ladder-like supporting mechanism separates with step surface and is in vacant state.
2. according to claim 1 for climbing the ladder-like supporting mechanism of stairs device, it is characterised in that: in support arm
(2) make with the junction of each support leg (3) setting slide device (2b) for adjusting the distance between each support leg (3)
It obtains each support leg (3) and is respectively aligned to different step surfaces, to adapt to the step of different length.
3. according to claim 1 for climbing the ladder-like supporting mechanism of stairs device, it is characterised in that: support leg (3)
Bottom be equipped with pressure sensor (3b), for measuring generated pressure data after support leg (3) and step face contact, in turn
Judge whether support leg (3) forms between step and stablizes support.
4. according to claim 1 climb stairs device, it is characterised in that: described climbs in stairs device comprising several ranks
Scalariform supporting mechanism, in operational process each ladder-like supporting mechanism respectively alternately in holding state or in vacant state simultaneously
Support Position is replaced, to complete the movement of up/down step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810267579.6A CN110316273B (en) | 2018-03-29 | 2018-03-29 | Stepped supporting mechanism for stair climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810267579.6A CN110316273B (en) | 2018-03-29 | 2018-03-29 | Stepped supporting mechanism for stair climbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110316273A true CN110316273A (en) | 2019-10-11 |
| CN110316273B CN110316273B (en) | 2020-10-13 |
Family
ID=68110379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810267579.6A Active CN110316273B (en) | 2018-03-29 | 2018-03-29 | Stepped supporting mechanism for stair climbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110316273B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852204A (en) * | 2022-04-27 | 2022-08-05 | 东南大学 | Walking module, walking method and walking equipment suitable for corridor step translation system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6194877A (en) * | 1984-10-15 | 1986-05-13 | Mitsubishi Electric Corp | Shifting device |
| JPS62205863A (en) * | 1986-03-07 | 1987-09-10 | Meidensha Electric Mfg Co Ltd | Running device |
| CN106394723A (en) * | 2016-09-21 | 2017-02-15 | 奇瑞汽车股份有限公司 | Quadruped walking robot |
-
2018
- 2018-03-29 CN CN201810267579.6A patent/CN110316273B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6194877A (en) * | 1984-10-15 | 1986-05-13 | Mitsubishi Electric Corp | Shifting device |
| JPS62205863A (en) * | 1986-03-07 | 1987-09-10 | Meidensha Electric Mfg Co Ltd | Running device |
| CN106394723A (en) * | 2016-09-21 | 2017-02-15 | 奇瑞汽车股份有限公司 | Quadruped walking robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852204A (en) * | 2022-04-27 | 2022-08-05 | 东南大学 | Walking module, walking method and walking equipment suitable for corridor step translation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110316273B (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2869211C (en) | Self-moving tunnel support canopy | |
| US6073726A (en) | Adjustable step ladder | |
| CN110316273A (en) | For climbing the ladder-like supporting mechanism of stairs device | |
| JP2015051483A (en) | Leg type mobile robot control device | |
| CN104675421A (en) | Multifunctional hydraulic support equipment | |
| US4565036A (en) | Front-supported telescoping seating structure | |
| ES2353354T3 (en) | ESCABEL WITH FOLDING PLATFORM AND EXPANSIBLE SUPPORT LEGS. | |
| CN211851621U (en) | Ladder with pedal | |
| ITPD20100196A1 (en) | STABILIZER DEVICE OF THE WORKING STRUCTURE AND LOADING DEPARTMENT FOR AGRICULTURAL AND NURSING OPERATING MACHINES, AND A MACHINE OPERATOR PARTICULARLY FOR THE HANDMADE EQUIPPED WITH SUCH A STABILIZER DEVICE | |
| CN206957084U (en) | The adjustable stair of riser height and the assembled architecture with the stair | |
| CN214303232U (en) | Building engineering safety device | |
| CN106037301A (en) | Liftable storage cabinet | |
| JPS6194877A (en) | Shifting device | |
| CN209807436U (en) | Lifting table with balance adjusting mechanism | |
| CN203525269U (en) | Gymnast back handspring training device | |
| CN207452667U (en) | A kind of trestle traverse displacement unit | |
| CN220360678U (en) | Ladder structure suitable for rehabilitation training | |
| CN214091929U (en) | Leading support telescopic support leg mounting structure | |
| CN215631474U (en) | Modular scaffold frame for building engineering | |
| CN205222622U (en) | Scissor -fork type aerial work platform | |
| CN106477426B (en) | Lift appliance and its installation method | |
| CN210933813U (en) | Football training is with little hurdling convenient to height-adjusting | |
| CN219412444U (en) | A cat ladder for construction of outer facade of building | |
| CN216861745U (en) | Marine inclined ladder that highly can adjust in a flexible way | |
| CN216641335U (en) | Building construction safety platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200902 Address after: No.396 Binjiang Avenue, Jiangbei new district, Nanjing City, Jiangsu Province Applicant after: NANJING KULANG ELECTRONICS Co.,Ltd. Address before: Room 1107, 11th floor, Xihua Building, 302 Zhonghua Road, Qinhuai District, Nanjing City, Jiangsu Province Applicant before: Nanjing Nazhen Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |