CN112678086A

CN112678086A - Stair climbing device and method for climbing stairs by using same

Info

Publication number: CN112678086A
Application number: CN202110065201.XA
Authority: CN
Inventors: 郑涛
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-04-20

Abstract

The invention discloses a stair climbing device and a method for climbing stairs by using the same, and relates to the field of transport machinery. This stair climbing device includes: the car body, at least 2 groups of moving devices and electric control magnetic suckers. The mobile device includes: the moving driving mechanism can drive the moving part to do linear reciprocating motion relative to the moving device under the action of power, and the moving device is connected with the vehicle body through the moving part. The invention adopts at least 2 groups of moving devices to drive the electric control magnetic disc to alternatively adsorb the iron plate on the vertical surface of the stair, and the movable part alternatively drags the vehicle body to move, so that the vehicle body keeps a certain speed and continuously runs along an approximate linear track, and the manned carrying platform always keeps a horizontal state in the whole running process, so that a user can feel riding the escalator. The improved stair climbing device has the advantages that the climbing speed can be greatly increased, the operation is stable and reliable, the energy consumption is remarkably reduced, and the problem that special people are difficult to climb stairs can be solved.

Description

Stair climbing device and method for climbing stairs by using same

Technical Field

The invention relates to the field of transport machinery, in particular to a stair climbing device and a method for climbing stairs by using the stair climbing device.

Background

In order to solve the problem that a plurality of people are difficult to go up and down stairs, the invention patent 'a stair climbing device and system' with the publication (announcement) number of 111422273A discloses a stair climbing device adopting an electromagnetic chuck and an iron plate on the stairs for adsorption, and provides a solution for the problem that the traditional stair climbing device is lack of effective anti-falling measures. Fig. 1 is a schematic view of a stair climbing device according to the patent, and it can be seen that the stair climbing operation of the stair climbing device is realized by the continuous alternate telescopic motion of a push rod vertically acting on the stair plane and a push rod horizontally acting on the stair plane.

The device can be seen to climb the stairs through a combination of horizontal and vertical movements; if the method is used for carrying people, the passengers feel uncomfortable due to inertia because 2 directions of movement are continuously started and stopped, and the method is not suitable for the old and weak to take when the speed is slightly high, so the method is only suitable for low-speed and slow occasions.

The stair climbing mode divides the stair climbing action into 2 directions of movement, so that the stroke is lengthened, and the energy consumption is increased; meanwhile, multiple starting and stopping in each direction not only increase energy consumption, but also reduce the service life of the electronic element or increase the manufacturing cost of the electric control part due to multiple impact actions of current, and meanwhile, the abrasion of the mechanical element and the workload of maintenance and maintenance are increased due to frequent reversing actions.

Disclosure of Invention

The invention aims to solve the technical problem of providing a stair climbing device which moves linearly at a constant speed, keeps a vehicle body horizontal all the time, is stable in transition when moving from a stair to a platform and can be lifted and lowered on a stair without an elevator, and meanwhile, the safety and the running speed are ensured to be suitable for the requirements of normal use. Namely a stair climbing device which realizes a stair climbing mode similar to a mode of going up and down stairs by taking a rolling ladder on a common stair.

In order to achieve the above object, the present invention provides a stair climbing device and a method for climbing stairs using the same, comprising: the car body, at least 2 groups of moving devices and electric control magnetic suckers. The mobile device includes: the moving driving mechanism can drive the moving part to do linear reciprocating motion relative to the moving device under the action of power, and the moving device is connected with the vehicle body through the moving part.

Automatically controlled magnetic force sucking disc activity or fixed in mobile device, automatically controlled magnetic force sucking disc produces magnetic field force by power control, automatically controlled magnetic force sucking disc can be with its magnetic field within range, locate the iron board magnetization on stair surface or the other wall of stair when producing magnetic force state to under the magnetic field effect, automatically controlled magnetic force sucking disc adsorption plane can with iron board surface laminating, absorption.

When the stair climbing device goes up and down stairs, at least one group of electric control magnetic suction cups of the moving device is adsorbed by the iron plate, so that the moving device is connected to the surface of the stairs, and under the action of power, the moving driving mechanism drives the movable part to move, thereby driving the vehicle body to generate linear displacement relative to the stairs.

Preferably, the moving device further comprises a rotating part, one end of the rotating part is connected to the vehicle body, the other end of the rotating part is connected to the movable part, and when the rotating part rotates, the angle of the relative position of the moving device and the vehicle body changes.

Preferably, the mobile device further comprises a rotating shaft, the electric control magnetic suction cup is connected to the rotating shaft through a connecting piece, and the rotating shaft drives the electric control magnetic suction cup to rotate when rotating around the axis line of the rotating shaft.

Preferably, the electric control magnetic chuck is connected with the moving device through a rotating part in a rotating mode, the rotating shaft of the rotating part is arranged on the center of mass of the electric control magnetic chuck in an offset mode and located on the edge of the chuck, and the axial lead of the rotating shaft is parallel to the adsorption surface of the electric control magnetic chuck.

Preferably, the automobile body still includes horizontal slip table, horizontal slip table with automobile body fixed connection, horizontal slip table includes horizontal migration actuating mechanism, straight line track, movable block, horizontal migration actuating mechanism can drive under the power action the movable block is linear movement along straight line track, the direction perpendicular to stair facade place plane of movable block linear movement, the movable block with mobile device links to each other.

The invention also provides a method for climbing stairs of the stair climbing device, which comprises the following implementation steps:

firstly, an electric control magnetic suction cup of a first group of moving devices is adsorbed on an iron plate on a stair, and then a moving driving mechanism of the moving devices drives a movable part to move under the action of power, so that a vehicle body is pulled to move relative to the stair;

step two, the electric control magnetic chuck connected with the second group of moving devices does not generate a magnetic field, and the moving driving mechanism of the group of moving devices drives the moving parts of the group to move under the action of power;

step three, after the second group of moving devices move to the set position, the electric control magnetic suction disc connected with the group of moving devices is adsorbed with the iron plate on the stair step;

fourthly, a movement driving mechanism of the second group of moving devices drives the movable part to move under the action of power, so that traction force is provided for the movement of the vehicle body;

and fifthly, the first group of mobile devices enable the electric control magnetic chuck connected with the first group of mobile devices to release the adsorption state with the iron plate through power supply control.

Preferably, from the end of the first step to the end of the fourth step, the vehicle body moves under the traction of the movable part of the first group of moving devices and finally moves at a set speed with respect to the stairs at a constant speed.

Preferably, starting from step four, the moving driving mechanism of the second group of moving devices drives the group of movable parts to move under the action of power so as to provide traction for the vehicle body, and then the moving speed of the group of movable parts is increased to the set speed of the movable parts of the first group of moving devices moving relative to the stairs, and the constant-speed movement is continuously maintained at the speed.

Preferably, before the moving device moves to the direction of going upstairs or downstairs, the rotating shaft rotates under the action of power and drives the electrically controlled magnetic suction cup connected with the rotating shaft to rotate to a position where the moving device is not influenced to move.

Preferably, when the user goes up and down stairs, the movable part and the rotating part move in a combined manner under the driving of power, so that the adsorption surface of the electric control magnetic chuck and the adsorbed surface of the iron plate are close to each other within a distance range capable of being adsorbed.

Preferably, when the stair climbing device is positioned on the flat ground, the movable part, the rotating shaft, the rotating part and the movable block are driven by power to move in a combined manner, so that the moving device and the electric control magnetic suction cup are arranged on the side part of the vehicle body.

The invention adopts at least 2 groups of moving devices to drive the electric control magnetic disc to alternatively absorb with the iron plate and the movable part to alternatively drag the vehicle body to move, so that the vehicle body keeps a certain speed to continuously run along an approximate linear track, and the manned carrying platform is always kept in a horizontal state in the whole running process, so that a user can feel riding the escalator.

In a word, the improved stair climbing device can greatly improve the climbing speed, is more stable and reliable in operation, remarkably reduces energy consumption, and can help special people to solve the problem of difficulty in climbing stairs.

Drawings

Fig. 1 is a schematic diagram of a background art implementation.

Fig. 2 is a schematic view of the operation principle of the stair climbing device according to the embodiment of the invention.

Fig. 3 is a schematic perspective view of a mobile device according to an embodiment of the invention.

Fig. 4 is a schematic view illustrating a principle that the rotating shaft drives the electrically controlled magnetic chuck to rotate according to the embodiment of the present invention.

Fig. 5 is a schematic view of a mobile device according to an embodiment of the present invention when the mobile device is placed beside a vehicle body.

Fig. 6 is a schematic view of the operation principle of the stair climbing device from the stairs to the landing according to the embodiment of the invention.

The reference numbers are as follows:

the device comprises a vehicle body 100, a horizontal sliding table 110, a horizontal sliding block 111, a horizontal sliding table motor 112, a moving device 200, a lead screw 201, a slide rail 202, a rotating shaft 203, a rotating part 204, a rotating part 205, an adjusting spring 206, a sliding block 208, a rotating shaft motor 209, a sliding table motor 210, an electric control magnetic suction cup 301 and an iron plate 401.

It is to be noted, however, that the appended drawings illustrate rather than limit the invention. It is noted that the drawings representing structures may not be drawn to scale. Also, in the drawings, the same or similar elements are denoted by the same or similar reference numerals.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings, which are provided only for illustrating the present invention in further detail, and not for limiting the scope of protection of the claims of the present application.

Referring to fig. 2, the stair climbing device according to the embodiment of the present invention includes a vehicle body 100, and moving devices 200 respectively disposed on both sides of the vehicle body, wherein an iron plate 401 is fixedly mounted on a vertical surface of each stair.

Referring to fig. 3, the moving device 200 of the stair climbing device according to the embodiment of the present invention includes a screw 201, a slide rail 202, a rotating shaft 203, a rotating member 204, a rotating member 205, an adjusting spring 206, a slider 208, a rotating shaft motor 209, and a sliding platform motor 210. In this embodiment, the moving device 200 is a ball screw type sliding platform, and the sliding table motor 210 drives the screw 201 to rotate, so as to drive the sliding block 208 to make linear reciprocating movement along the axis direction of the rail 202; the sliding block 208 is connected with the rotating part 204, the rotating part 204 is a disk motor and its mounting part in this embodiment, the other end of the rotating part 204 is fixedly connected with the horizontal sliding block 111 on the vehicle body, and when the rotating part 204 rotates, it drives the sliding block 208 and the sliding block 208 to drive the whole moving device 200 to rotate relative to the vehicle body 100; the rotating shaft motor 209 can drive the rotating shaft 203 to rotate under the driving of power, so as to drive the electric control magnetic suction cup connected with the rotating shaft to rotate; the rotating member 205 is a steering engine type speed reducing motor and its mounting member in this embodiment, and when it rotates under power drive, it drives the electric control magnetic suction cup to rotate around the steering engine rotating shaft; the adjusting spring 206 not only plays a role in eliminating distance errors when the moving device 200 drives the electric control magnetic suction cup 301 to be attached to the iron plate 401, but also plays a role in matching and buffering when the sliding blocks 208 of the 2 groups of moving devices simultaneously pull the car body 100 at inconsistent speeds, so that the influence on the car body to keep running at a constant speed is reduced to a minimum.

Referring to fig. 4, the sliding block 208 is connected to the vehicle body 100 through a connecting member, when the sliding table motor 210 rotates under power driving, the moving device 200 moves downward toward a next stair section relative to the vehicle body 100 except the sliding block 208 and the rotating member 204, the electrically controlled magnetic chuck is controlled to be in a non-magnetic field state, the rotating shaft motor 209 rotates under power driving and drives the rotating shaft 203 to rotate, and the rotating shaft 203 drives the electrically controlled magnetic chuck 301 connected to the rotating shaft 203 to rotate to a position where the electrically controlled magnetic chuck does not interfere with the stair when moving.

Referring to fig. 5, the combined motion of the rotating part 204, the rotating shaft 203, the rotating part 205, the sliding block 208 and the horizontal sliding block 111 makes the 2 sets of moving devices and the electrically controlled magnetic suction cups connected with the moving devices contract at the two sides of the vehicle body when the vehicle is on the flat ground.

Referring to fig. 6, a horizontal sliding platform 110 is arranged beside the car body 100, a horizontal sliding block 111 on the horizontal sliding platform is connected with a rotating part 204 of the moving device, when the stair climbing device arrives at a platform from a stair or goes down to the stair from the platform, an electric control magnetic suction cup 301 on the moving device is adsorbed on an iron plate 401 of the stair, and a horizontal sliding platform motor 112 drives the horizontal sliding block 111 to move along a track of the horizontal sliding platform 110, so that the car body is pulled to horizontally move towards the platform or the stair, and the car body moves from the stair to the platform or from the platform to the stair.

The method for climbing stairs of the stair climbing device comprises the following steps: the vehicle body 100 is provided with an operation system for operating each device, a machine vision system for identifying and detecting path parameters, a sensor module group for detecting parameters such as distance, angle, 6 degrees of freedom and the like, a wheel type ground walking mechanism, and an energy storage and supply unit for providing power for each driving mechanism of the stair climbing device; iron plates 401 are arranged on the vertical surfaces of the stairs, 2 sets of moving devices 200 are arranged on the two sides of the vehicle body 100, and if the 2 sets of moving devices 200 are divided into A, B groups, the 2 sets of moving devices and the electric control magnetic suction cups are collected on the two sides of the vehicle body when the ground is flat; when going up and down stairs, the control system controls the sliding table motors 210 and the rotating parts 204 of the 2 sets of moving devices, so that the moving device 200 moves and rotates integrally except the sliding block 208 and the rotating part 204 connected with the sliding block, and the linear moving direction of the moving device 200 relative to the sliding block 208 is consistent with the arrangement direction of the stairs; the rotating shaft motor 209 and the rotating piece 205 of the group A are combined to act so that the adsorption surface of the electric control magnetic suction cup 301 connected with the rotating shaft motor is opposite to and parallel to the iron plate 401 on the vertical surface of the stair, the control system controls the vehicle body 100 or the horizontal sliding block 111 to move and is matched with the sliding block 208 of the group A so that the electric control magnetic suction cup of the group is attached to and adsorbed by the iron plate, and at the moment, the moving device of the group A is fixed on the iron plate on the surface of the stair; the control system controls the sliding blocks 208 of the group A to run along the sliding platform to move the traction vehicle body 100 along the sliding platform of the moving device, and the sliding platform of the group A is fixed on the stairs through the suction cups at the moment, so that the vehicle body moves relative to the stairs, and the sliding blocks 208 drive the vehicle body to continuously move until the speed reaches a set value and then keep moving at a constant speed; synchronously, the group B moving device 200 moves along with the vehicle body 100, the front group B rotating shaft motor 209 rotates to enable the electric control magnetic suction cups 301 connected with the moving device B to rotate to a position which does not interfere with the stairs in the moving process, after the group B moving device moves to a set position, the rotating shaft motor 209 rotates to enable the adsorption surfaces of the electric control magnetic suction cups 301 to be opposite to the stair vertical iron plates, and the control system controls the group B sliding blocks 208, the rotating pieces 205 and the horizontal sliding blocks 111 to cooperatively act to enable the electric control magnetic suction cups to be parallel to, aligned, attached and adsorbed to the iron plates; then the control system controls the B group of sliding blocks 208 to move and accelerate, the vehicle body is subjected to traction force conducted by the B group of sliding blocks, at the moment, because the running speeds of the 2 groups of sliding blocks 208 are inconsistent, the B group of adjusting springs 206 are stressed and deformed, when the B group of sliding blocks drive the vehicle body to run at the sliding speed of the A group of sliding blocks, the magnetic force of the electrically-controlled magnetic suction cups connected with the A group is controlled to disappear, the vehicle body 200 is subjected to the traction force in the direction of going upstairs and going downstairs of the A group of moving devices to disappear, and the vehicle body 200 is only subjected to the traction force in; the group A rotating shaft motor 209 rotates to enable the electric control magnetic suction cup 301 connected with the moving device to rotate to a position where the electric control magnetic suction cup does not interfere with the stairs in the moving process, and then the control system controls the group A sliding table motor 210 to change direction and rotate to drive the group A moving device to move for a distance in the opposite direction, so that the track position is reserved for the next climbing action. Such that the 2 sets of moving devices 200 operate alternately to perform the ascending or descending stair climbing motion of the stair climbing device.

Every group mobile device 200 even has 2 automatically controlled magnetic chuck 301 in this embodiment, and the fixed value that 2 sucking discs between axis of rotation 203 were calculated according to stair step height and depth dimension to assume the stair overall dimension unanimity that this embodiment climbed.

The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A stair traversing device, comprising:

the vehicle body, at least 2 groups of moving devices and electric control magnetic chucks;

the mobile device includes: a movable member, a movement drive mechanism;

the moving driving mechanism can drive the movable part to do linear reciprocating motion relative to the moving device under the action of power, and the moving device is connected with the vehicle body through the movable part;

the electric control magnetic sucker is movably or fixedly connected to the moving device, the electric control magnetic sucker is controlled by a power supply to generate magnetic field force, when the electric control magnetic sucker generates magnetic force, an iron plate arranged on the surface of a stair or the wall beside the stair in the magnetic field range can be magnetized, and under the action of a magnetic field, the adsorption surface of the electric control magnetic sucker can be attached to and adsorbed on the surface of the iron plate;

2. The stair traversing device according to claim 1, wherein the moving device further comprises a rotating member coupled to the vehicle body at one end and the movable member at the other end, wherein an angle of a relative position of the moving device to the vehicle body changes when the rotating member rotates.

3. The stair traversing device according to claim 1, wherein the moving device further comprises a rotating shaft, the electrically controlled magnetic suction cup is connected to the rotating shaft by a connector, and the rotating shaft drives the electrically controlled magnetic suction cup to rotate when rotating around an axis of the rotating shaft.

4. The stair traversing device according to claim 1, wherein the electrically controlled magnetic chuck is rotatably coupled to the moving device by a rotating member, wherein a rotation axis of the rotating member is offset from a center of mass of the electrically controlled magnetic chuck and is located at an edge of the chuck, and wherein an axial center line of the rotation axis is parallel to an absorption surface of the electrically controlled magnetic chuck.

5. The stair climbing device according to claim 1, wherein the vehicle body further comprises a horizontal sliding table, the horizontal sliding table is fixedly connected with the vehicle body, the horizontal sliding table comprises a horizontal movement driving mechanism, a linear rail and a movable block, the horizontal movement driving mechanism can drive the movable block to linearly move along the linear rail under the action of power, the direction of the linear movement of the movable block is perpendicular to the plane of the vertical face of the stair, and the movable block is connected with the moving device.

6. A method of ascending and descending stairs using the stair traversing device according to any one of claims 1 to 5, comprising the steps of:

step two, the electric control magnetic chuck connected with the second group of moving devices does not generate a magnetic field, the moving driving mechanism of the group of moving devices drives the moving parts of the group to move under the action of power, and as the moving parts are connected with the vehicle body, the group of moving devices except the moving parts are changed in displacement relative to the vehicle body and move towards the direction of stairs needing to go up or down,

step three, after the second group of moving devices move to the set position, the electric control magnetic force sucker connected with the group of moving devices is adsorbed with the iron plate on the stair steps,

7. The stair traversing method according to claim 6, wherein the method comprises:

in the process from the first step to the fourth step, the vehicle body moves under the traction of the movable part of the first group of moving devices and finally moves at a set speed relative to the stairs at a constant speed;

and starting from the fourth step, the moving driving mechanism of the second group of moving devices drives the group of movable parts to move under the action of power so as to provide traction for the vehicle body, and then the moving speed of the group of movable parts is increased to the set speed of the movable parts of the first group of moving devices relative to the stair movement, and the constant-speed movement is continuously maintained at the speed.

8. A method for ascending and descending stairs using the stair-climbing device according to any one of claims 1 to 5, wherein before the moving device moves to the direction of the stairs to be ascended or descended, the rotating shaft rotates under power and drives the electrically-controlled magnetic chuck connected with the rotating shaft to rotate to a position where the moving device is not influenced to perform the moving.

9. A method for climbing stairs using the stair climbing device as claimed in any one of claims 1 to 5, wherein the electrically controlled magnetic chuck attracting surface and the iron plate attracted surface are close to each other to a distance within a range of being attracted by the combined motion of the movable member and the rotary member under power driving when climbing stairs.

10. A method for climbing stairs using the stair climbing device according to any one of claims 1 to 5, wherein the moving device and the electrically controlled magnetic suction cup are disposed at the side of the vehicle body by the combined motion of the moving member, the rotating shaft, the rotating member and the moving block under the driving force when the stair climbing device is on the flat ground.