CN117342372A - Stair climbing device and stair climbing equipment - Google Patents

Stair climbing device and stair climbing equipment Download PDF

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Publication number
CN117342372A
CN117342372A CN202311302713.9A CN202311302713A CN117342372A CN 117342372 A CN117342372 A CN 117342372A CN 202311302713 A CN202311302713 A CN 202311302713A CN 117342372 A CN117342372 A CN 117342372A
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CN
China
Prior art keywords
stair climbing
support
supporting
foot plate
stair
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.)
Pending
Application number
CN202311302713.9A
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Chinese (zh)
Inventor
黄晗峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian Grand Industrial Co ltd
Original Assignee
Fujian Grand Industrial Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fujian Grand Industrial Co ltd filed Critical Fujian Grand Industrial Co ltd
Priority to CN202311302713.9A priority Critical patent/CN117342372A/en
Publication of CN117342372A publication Critical patent/CN117342372A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
    • B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Steps, Ramps, And Handrails (AREA)

Abstract

The utility model relates to a climb building device and climb building equipment, climb building device includes climbing building mechanism, supporting mechanism and first induction mechanism, supporting mechanism includes support adjustment subassembly and sets up support foot on the support adjustment subassembly, support adjustment subassembly slidable set up in climbing building mechanism is last, support adjustment subassembly relative climbing building mechanism slides in order to have first state and second state, when support adjustment subassembly is in first state, support foot and ground floating support, when support adjustment subassembly is in second state, support foot breaks away from or rigid support with ground; the support adjusting component can drive the support foot plate to move up and down; the first sensing mechanism is used for sensing whether the support adjusting assembly is in the first state relative to the stair climbing mechanism. The utility model provides a climb building device can in time provide corresponding supporting role to climbing the building state, improves the security of climbing the building.

Description

Stair climbing device and stair climbing equipment
Technical Field
The application belongs to the technical field of stair climbing equipment, and more particularly relates to a stair climbing device and stair climbing equipment.
Background
At present, stair climbing equipment specially used for climbing stairs, such as a stair climbing wheelchair, is used for assisting people with inconvenient actions to climb up and down stairs, and material handling equipment in the industrial field is also used for assisting people to climb up and down stairs to carry goods.
Taking a manned stair climbing wheelchair as an example, the existing stair climbing device generally comprises a stair climbing mechanism, a supporting mechanism and a chair, wherein the supporting mechanism and the chair are arranged on the stair climbing mechanism, a person sits on the chair, the stair climbing mechanism realizes the stair climbing operation of the whole stair climbing device, and the supporting mechanism provides a supporting function in the stair climbing process of the stair climbing mechanism. In the process of moving the stair climbing mechanism, the gravity center of the whole stair climbing equipment can change, so that the stair climbing equipment can easily topple over in the subsequent moving process, and the supporting mechanism plays a vital role in ensuring the safety of the stair climbing equipment.
However, the existing supporting mechanism is only arranged under the inclined side of the stair climbing mechanism by using a simple supporting plate, the supporting plate is in contact with the corner surface of the stair, the supporting plate structure cannot be flexibly applicable to the stair with different types and different specifications and sizes, the supporting plate cannot be always in contact with the stair to provide supporting effect in the whole stair climbing process, and therefore the existing stair climbing equipment is poor in safety performance and weak in supporting effect.
Disclosure of Invention
An object of the embodiment of the application is to provide a stair climbing device and stair climbing equipment to solve the technical problem that supporting mechanism among the prior art is weaker and stair climbing equipment's security is relatively poor for stair climbing equipment's supporting role that provides.
In order to achieve the above purpose, the technical scheme adopted in the application is as follows:
in a first aspect, the present application provides a support mechanism for a stair climbing device comprising:
a stair climbing mechanism;
the support mechanism comprises a support adjusting assembly and a support foot plate arranged on the support adjusting assembly, the support adjusting assembly is slidably arranged on the stair climbing mechanism, the support adjusting assembly slides relative to the stair climbing mechanism to have a first state and a second state, when the support adjusting assembly is in the first state relative to the stair climbing mechanism, the support foot plate is in floating support with the ground, and when the support adjusting assembly is in the second state relative to the stair climbing mechanism, the support foot plate is separated from or rigidly supported with the ground; the support adjusting component can drive the support foot plate to move up and down;
the first sensing mechanism is used for acquiring a signal of whether the support adjusting assembly is in the second state relative to the stair climbing mechanism;
the control mechanism is electrically connected or in wireless communication signal connection with the support mechanism and the first sensing mechanism, and can receive signals acquired by the first sensing mechanism and control the support adjusting assembly to drive the support foot plate to move in a lifting mode.
In one embodiment of the first aspect, the support adjustment assembly comprises:
the mounting seat is slidably arranged on the stair climbing mechanism;
the driving piece is used for driving the supporting foot plate to lift and slide relative to the mounting seat.
In one embodiment of the first aspect, the support adjustment assembly further includes a first transmission member and a second transmission member, the first transmission member and the second transmission member are engaged with each other and are capable of sliding relatively, the first transmission member is in driving connection with the driving member, and the second transmission member is connected with the support foot plate.
In one embodiment of the first aspect, the support adjustment assembly further has a third state relative to the stair climbing mechanism, and the support foot plate cannot slide relative to the mount when the support adjustment assembly is in the third state relative to the stair climbing mechanism.
In one embodiment of the first aspect, let F be the friction force generated between the first transmission member and the second transmission member, and let F be the torque force of the driving member 1 When the support adjustment assembly is in the third state relative to the stair climbing mechanism, the F is greater than F 1 。
In one embodiment of the first aspect, the supporting foot plate includes:
the first supporting plate is arranged on the supporting and adjusting assembly;
the second supporting plate is obliquely arranged on the first supporting plate.
In one embodiment of the first aspect, an angle formed between the second support plate and the ground is alpha 1 An included angle alpha formed between the inclined surface of the stair and the ground is set 2 Said alpha is 1 ≥α 2 And said alpha 1 And said alpha 2 The difference range of (2) is 0-10 degrees; and/or the number of the groups of groups,
let the height of a step be H 1 Let the vertical height of the second support plate be H 2 The H is 2 ≥H 1 The method comprises the steps of carrying out a first treatment on the surface of the And/or the number of the groups of groups,
the sliding travel of the supporting foot plate relative to the mounting seat is L, and L is more than or equal to 2H 1 。
In one embodiment of the first aspect, the first sensing mechanism includes:
a sensor assembly disposed on the stair climbing mechanism, the sensor assembly having a slip zone;
the sensing piece is arranged on the supporting and adjusting assembly, and when the sensing piece is positioned at the end point position of the sliding interval, the supporting and adjusting assembly is in the second state relative to the stair climbing mechanism.
In one embodiment of the first aspect, the sensor assembly includes a first sensor and a second sensor both disposed on the stair climbing mechanism, the second sensor being disposed in a vertical spacing from the first sensor to form the slip zone;
the second state comprises a first position state and a second position state, and when the support adjusting assembly is in the first position state relative to the stair climbing mechanism, the support foot plate and the ground are rigidly supported; when the support adjusting assembly is in the second position state relative to the stair climbing mechanism, the support foot plate is separated from the ground;
when the sensing piece is positioned at the height position of the first sensor, the support adjusting assembly is in the first position state or the third state relative to the stair climbing mechanism;
when the sensing piece is positioned at the height position of the second sensor, the support adjusting assembly is in the second position state relative to the stair climbing mechanism.
In one embodiment of the first aspect, the stair climbing device further includes a second sensing mechanism, the second sensing mechanism is used for sensing an angle of the stair climbing mechanism deviating from a vertical direction, the second sensing mechanism and the stair climbing mechanism are both electrically connected with the control mechanism or connected with wireless communication signals, and the control mechanism can receive signals acquired by the second sensing mechanism and control the support mechanism and/or the stair climbing mechanism to stop driving.
In one embodiment of the first aspect, the support mechanism is detachably disposed to the stair climbing mechanism.
In a second aspect, the present application provides a stair climbing apparatus comprising a carrying device and a stair climbing device as described above, the stair climbing device being mounted on the carrying device.
The application provides a climb building device and climb building equipment's beneficial effect lies in: compared with the prior art, set up supporting mechanism on climbing mechanism, the position and the state of supporting mechanism are responded to through first sensing mechanism simultaneously, and control supporting mechanism through the response signal of control mechanism receipt first sensing mechanism and make the adjustment in order to provide the supporting role for climbing device, thereby but real time monitoring and real time adjustment supporting mechanism's position and state, make supporting mechanism can remain light contact with ground all the time, and then guarantee that supporting mechanism can in time provide good supporting role for climbing mechanism, in addition can also be adapted to the stair of different shapes and size specification and provide supporting role, climbing device's security and practicality have been improved.
The utility model provides a climb building equipment has adopted the stair climbing device that this application provided for climb building mechanism can in time provide the supporting role at the stair process of climbing, and can also be adapted to the stair use of different shapes and size specification, improved the security and the practicality of climbing building equipment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a stair climbing device according to an embodiment of the present disclosure;
FIG. 2 is an enlarged schematic view of a portion of FIG. 1 at A;
FIG. 3 is a schematic view of a support adjustment assembly according to an embodiment of the present disclosure in a first position relative to a stair climbing mechanism;
FIG. 4 is a schematic view of a second state of the support adjustment assembly according to the embodiments of the present disclosure;
FIG. 5 is a schematic view of a third embodiment of a support adjustment assembly according to the present disclosure;
fig. 6 is a schematic perspective view of a supporting mechanism in a stair climbing device according to an embodiment of the present disclosure;
FIG. 7 is a side view of the support mechanism shown in FIG. 6;
FIG. 8 is a first analysis chart of the inclination angle of the supporting foot plate and the gradient of the stairs according to the embodiment of the present application;
FIG. 9 is a second analysis chart of the inclination angle of the supporting foot plate and the gradient of the stairs according to the embodiment of the present application;
fig. 10 is a height analysis diagram of the second supporting foot plate and the step according to the embodiment of the present application.
Wherein, each reference sign in the figure:
1-a stair climbing mechanism; 2-a supporting mechanism; 3-a first sensing mechanism;
20-supporting an adjustment assembly; 21-a foot support plate;
200-mounting seats; 201-a first transmission member; 202-a driving member; 203-a second transmission member;
210-a first support plate; 211-a second support plate;
30-a sensor assembly; 31-a sensing member;
300-a first sensor; 301-a second sensor; 302-slip interval;
100-steps.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 to 4, a stair climbing device according to an embodiment of the present application will be described. The stair climbing device comprises a stair climbing mechanism 1, a supporting mechanism 2, a first sensing mechanism 3 and a control mechanism (not shown in the figure), wherein the stair climbing mechanism 1 is used for completing the stair climbing action of the stair climbing device. The support mechanism 2 is used to provide support for the stair climbing device during stair climbing. The support mechanism 2 comprises a support adjusting assembly 20 and a support foot plate 21 arranged on the support adjusting assembly 20, the support adjusting assembly 20 is slidably arranged on the stair climbing mechanism 1, the support adjusting assembly 20 slides relative to the stair climbing mechanism 1 to have a first state and a second state, the support foot plate 21 is in floating support with the ground when the support adjusting assembly 20 is in the first state relative to the stair climbing mechanism 1, and the support foot plate 21 is separated from the ground or rigidly supported when the support adjusting assembly 20 is in the second state relative to the stair climbing mechanism 1; the support adjustment assembly 20 can drive the support foot plate 21 to move up and down. The first sensing mechanism 3 is used to acquire a signal of whether the support adjustment assembly 20 is in a second state relative to the stair climbing mechanism 1. The supporting mechanism and the first sensing mechanism are electrically connected or connected with the control mechanism through wireless communication signals, and the control mechanism can receive signals acquired by the first sensing mechanism and control the supporting adjusting assembly to drive the supporting foot plate to move up and down.
The electrical connection here specifically includes a wire connection or a physical contact connection through a copper foil connection or the like on a circuit board, and the wireless communication signal connection includes a WiFi signal connection, a bluetooth signal connection, a mobile communication connection or the like.
The stair climbing process generally comprises a vertical direction and a horizontal direction, wherein the height direction of the stair is defined as the vertical direction, and the length direction of the stair is defined as the horizontal direction.
It should be noted that the ground is a general term and includes a flat ground and a step surface of a stair.
In the stair climbing process, the stair climbing device comprises the following two conditions:
the first is that the stair climbing mechanism 1 climbs a building normally, at this time, the support adjusting component 20 which can slide relative to the stair climbing mechanism 1 is in the first state, and the support foot plate 21 can always keep a floating support state with the ground. By floating support is meant herein that the foot support plate 21 is just able to contact the ground, but not completely limit the relatively free-running contact, the foot support plate 21 is able to adaptively displace a small extent in the vertical direction of the stairs, and the floating support force of the foot support plate 21 in contact with the ground is much less than the overall weight of the stair climbing device system, including the load, when the foot support plate 21 is in floating support with the ground.
Second, in the event of a slight incline or the like in the stair climbing mechanism 1, the support adjustment assembly 20 may be in the second position. In this state, the support leg plate 21 may be separated from the ground, or may be rigidly supported by the ground. Rigid support means that the support foot plate 21 is in contact with the ground and the entire support adjustment assembly 20, including the support foot plate 21, cannot slide upward relative to the stair climbing mechanism 1 such that the support foot plate 21 is no longer in floating support with the ground.
When the stair climbing mechanism 1 climbs stairs normally, the supporting foot plate 21 and the ground are kept in a floating supporting state all the time, the supporting foot plate 21 can be continuously adapted to the ground which is possibly continuously changed, and the supporting mechanism 2 can provide supporting function in time when the stair climbing mechanism 1 climbs stairs abnormally. In order to make the supporting mechanism provide supporting function in time during the stair climbing process, the supporting adjusting component 20 drives the supporting foot plate 21 to move up and down, so that the supporting foot plate 21 separated from the ground or the supporting foot plate 21 rigidly supported on the ground is adjusted and restored to be in floating support with the ground. The support adjusting assembly 20 drives the supporting foot plate 21 to move up and down, which is triggered by the signal given by the first sensing mechanism 3, to sense the state of the support adjusting assembly 20 relative to the stair climbing mechanism 1, so as to determine the state of the supporting foot plate 21 and the ground.
Compared with the prior art, the stair climbing device provided by the application is provided with the supporting mechanism 2 on the stair climbing mechanism 1, the position and the state of the supporting mechanism 2 are sensed through the first sensing mechanism 3, the supporting mechanism 2 is controlled to be adjusted through the control mechanism to receive the sensing signal of the first sensing mechanism 3 so as to provide a supporting effect for the stair climbing device, thereby the position and the state of the supporting mechanism 2 can be monitored in real time and adjusted in real time, the supporting mechanism 2 can always keep light contact with the ground, the supporting mechanism 2 can be further ensured to provide good supporting effect for the stair climbing mechanism 1, the stair climbing device can be further adapted to the stair with different shapes and sizes to provide supporting effect, and the safety and the practicability of the stair climbing device are improved.
In another embodiment of the present application, referring to fig. 1 and 6, the support adjustment assembly 20 includes a mounting base 200 and a driving member 202, wherein the mounting base 200 is slidably disposed on the stair climbing mechanism 1; the driving member 202 is used for driving the supporting foot plate 21 to lift and slide relative to the mounting seat 200.
The supporting foot plate 21 can slide relative to the mounting seat 200 under the driving of the driving member 202, so that the supporting foot plate 21 can be adjusted to keep floating support with the ground.
It should be noted that, the faster the support adjustment assembly 20 drives the supporting foot plate 21 to move, the more likely the stair climbing device is inclined and the supporting foot plate 21 is lifted up.
Based on this, in order to ensure the safety of the stair climbing device, the speed at which the support adjusting assembly 20 drives the support foot plate 21 to move up and down is set as slow as possible on the premise that the support adjusting assembly 20 can drive the support foot plate 21 to move up and down so as to keep floating support with the ground and normal stair climbing of the stair climbing mechanism 1 is not affected.
In another embodiment of the present application, let the sliding travel of the supporting foot plate 21 relative to the mounting base 200 be L, let the height of one step 100 be H 1 ，L≥2H 1 。
The sliding stroke of the supporting foot plate 21 is set to be at least two steps, so that when the stair climbing mechanism 1 ascends to the previous step 100, the supporting foot plate 21 can be supported on the step surface of the next step 100 in a floating mode, namely the supporting mechanism 2 in the application can achieve the effect of supporting the stair crossing 100.
In another embodiment of the present application, referring to fig. 6, the support adjustment assembly 20 further includes a first transmission member 201 and a second transmission member 203, where the first transmission member 201 and the second transmission member 203 are meshed with each other and can slide relatively, the first transmission member 201 is in driving connection with the driving member 202, and the second transmission member 203 is connected with the supporting foot plate 21.
The first transmission member 201 and the second transmission member 203 which are meshed with each other are provided as transmission members between the driving member 202 and the supporting foot plate 21, so that the supporting adjustment assembly 20 is of a self-locking structure, specifically, the driving member 202 can drive the supporting foot plate 21 to lift and slide, but the external force cannot drive the supporting foot plate 21 to lift and slide, so that the safety of the stair climbing device is improved.
In another embodiment of the present application, with continued reference to FIG. 6, the support adjustment assembly 20 employs a self-locking screw nut mechanism. Specifically, the first transmission member 201 is a screw, the second transmission member 203 is a sliding member, the screw is in driving connection with the driving member 202, the sliding member is fixedly connected with the supporting foot plate 21, the sliding member is provided with a threaded hole, and the sliding member is in threaded connection with the screw through the threaded hole and can move along the axial direction of the screw.
Through the threaded fit (engagement) between the threaded rod and the threaded hole of the slider, the slider can only lift and displace when the driving member 202 drives the threaded rod to rotate, and the movement safety of the support adjustment assembly 20 is ensured. Therefore, the support adjustment assembly 20 provided in the embodiment of the present application realizes that the support foot plate 21 can only lift and slide under the driving of the driving member 202, but cannot lift and slide under the action of external force. In order to provide the support adjustment assembly 20 with the above-mentioned features, in principle, only one transmission link is a self-locking structure in the whole transmission structure from the driving member 202 at the motion input end to the support foot plate 21 at the motion output end. Thus, in other embodiments, a worm and gear self-locking speed reducing mechanism may be used in the transmission structure of the support adjustment assembly 20.
In another embodiment of the present application, referring to fig. 5 and fig. 6 together, the support adjustment assembly 20 has a third state relative to the stair climbing mechanism 1, and when the support adjustment assembly 20 is in the third state relative to the stair climbing mechanism 1, the support foot plate 21 cannot slide relative to the mounting base 200. That is, even under the driving action of the driving member 202, the supporting foot plate 21 cannot slide relative to the mounting seat 200, which can avoid the situation that the supporting and adjusting assembly 20 is driven by mistake when the stair climbing device is inclined greatly.
In another embodiment of the present application, please continue to refer to fig. 5 and 6, let the friction generated between the first transmission member 201 and the second transmission member 203 be F, in this embodiment, the driving member 202 is a driving motor, and let the torque force of the driving member 202 be F 1 When the support adjustment assembly 20 is in the third state relative to the stair climbing mechanism 1, F > F 1 。
It can be understood that the motor has a torque parameter, and when the force required to drive the first transmission member 201 to rotate is greater than the torque of the motor, the motor cannot drive the first transmission member 201 to rotate, and the friction force f generated between the first transmission member 201 and the second transmission member 203 is the force required to overcome when the motor drives the first transmission member 201 to rotate. Thus, when F > F 1 That is, the driving member 202 cannot be driven, and the second transmission member 203 cannot slide relative to the mounting base 200.
Based on the above, another situation that may occur in the stair climbing process will be described below:
the stair climbing mechanism 1 has unexpected inclination during stair climbing, namely, the unexpected inclination is greatly inclined and even the supporting force of the supporting foot plate 21 (the supporting force is F 2 ) It is necessary to support part of the weight of the load of the stair climbing mechanism 1 and the stair climbing apparatus. The ground force applied by the support foot 21 can be understood as a large force compared to the floating support, and thus a large pressure is applied between the first transmission member 201 and the second transmission member 203 according to the formula: as can be seen from f=μ×f (F is friction force, μ is friction coefficient, and F is pressure), the friction coefficient between the first transmission member 201 and the second transmission member 203 is unchanged, and the friction force is greater when the pressure is greater, so that a great friction force is generated between the first transmission member 201 and the second transmission member 203, and by selecting the driving member 202 with torque force smaller than the friction force, the effect that the driving member 202 cannot drive the supporting foot plate 21 to slide when the stair climbing mechanism 1 is inclined unexpectedly is achieved, namely, the supporting adjustment assembly 20 is in a third state relative to the stair climbing mechanism 1, namely, a self-locking state, so that a stable and reliable supporting effect is provided for the stair climbing device. At the same time, the support adjustment assembly 20 can avoid misoperation in the dangerous situationA more serious hazard occurs.
Thus, it can be summarized as: when F is less than or equal to F 1 When the foot supporting plate 21 is driven by the driving piece 202, it can slide relative to the mounting seat 200; when F > F 1 When the driving member 202 cannot drive the supporting foot plate 21 to slide, the entire lifting adjustment assembly enters a self-locking state.
In another embodiment of the present application, when the support adjustment assembly 20 is in the first state relative to the stair climbing mechanism 1, the supporting foot plate 21 and the ground are supported in a floating manner (the acting force of the supporting foot plate 21 on the ground is far smaller than the weight of the whole stair climbing device), at this time, a corresponding friction force exists between the first transmission member 201 and the second transmission member 203, and the torque parameter of the driving member 202 is equivalent to the friction force at this time.
Thus, in this embodiment, the driving member 202 only needs to be able to drive the support leg plate 21 up and down, and the support mechanism 2 does not need to have a power to adjust the posture of the stair climbing device. The supporting mechanism 2 provides a supporting function when necessary by keeping the supporting foot plate 21 in floating support with the ground, thereby preventing the stair climbing device from excessively tilting to fall from the stairs and improving the safety of the stair climbing device. Based on this, the driving member 202 of the supporting mechanism 2 can be configured as a motor with a small driving force, i.e. a small-sized and lightweight motor can be selected, so that the whole supporting mechanism 2 is compact, portable and low in cost.
In another embodiment of the present application, referring to fig. 6 and 7, the supporting foot plate 21 includes a first supporting plate 210 and a second supporting plate 211, the first supporting plate 210 is disposed on the supporting adjustment assembly 20, and the first supporting plate 210 is specifically disposed on the second transmission member 203; the second support plate 211 is obliquely disposed to the first support plate 210.
The second supporting plate 211 is obliquely arranged on the first supporting plate 210, and in the stair climbing process, the second supporting plate 211 can always keep contact with the ground, so that the supporting foot plate 21 is guaranteed to be integrally supported.
In another embodiment of the present application, referring to fig. 6 to 9, an included angle formed between the second supporting plate 211 and the ground is denoted as α 1 A stair slope and a groundAn included angle alpha is formed between 2 ，α 1 ≥α 2 And alpha is 1 And alpha is 2 The difference of (2) is in the range of 0 DEG to 10 deg. The included angle formed between the inclined surface of the stair and the ground is the gradient of the stair, and the included angle formed by the inclined surface formed by connecting two adjacent horizontal step surfaces and the horizontal step surface is the angle formed by the inclined surface formed by connecting two adjacent horizontal step surfaces.
The setting of the inclination angle of the second support plate 211 to be too large or too small affects the supporting effect of the supporting mechanism 2, and may also affect the normal use of the supporting mechanism 2. Specifically, in the actual stair climbing process, taking a stair climbing as an example, the stair climbing mechanism 1 (see fig. 1) is lifted and ascended to the upper stage 100, and the supporting foot plate 21 may be still located at the lower stage 100, if α is 1 The angle (the angle formed between the second support plate 211 and the ground) is smaller than alpha 2 The angle (the angle between the inclined surface of the stair and the ground) is that no matter how long the second supporting plate 211 is set, the second supporting plate 211 can collide with the edge of the step 100, especially when the step 100 of the stair has a front edge of the pedal or has no baffle, the second supporting plate 211 can be blocked by the front edge of the pedal to move, so that the supporting foot plate 21 cannot smoothly float and support with the ground. At the same time, alpha 1 The angle of (a) cannot be set too large if alpha 1 If the angle of the second support plate 211 is too large, the load is easily supported by the support foot plate 21 leaning against the edge of the step 100, and the support foot plate is likely to slide down the stairs, so that the support foot plate cannot support the load.
In another embodiment of the present application, referring to fig. 10, let the vertical height of the second supporting plate 211 be H 2 ，H 2 ≥H 1 . Wherein H is 1 The setting of (2) is already mentioned above, in particular the height of one step 100.
During the stair climbing process, if the vertical height of the second supporting plate 211 is H 2 Less than one step 100 has a height H 1 The problem of collision and interference between the support foot plate 21 and the step 100 is also caused, and thus, it is necessary to secure H 2 ≥H 1 To ensure that the supporting foot plate 21 can be smoothly connected withThe ground floating support moves.
In another embodiment of the present application, referring back to fig. 1 and 2, the first sensing mechanism 3 includes a sensor assembly 30 and a sensing member 31, the sensor assembly 30 is disposed on the stair climbing mechanism 1, and the sensor assembly 30 has a sliding section 302; the sensing element 31 is disposed on the support adjustment assembly 20, and when the sensing element 31 is located at the end position of the sliding section 302, the support adjustment assembly 20 is in the second state relative to the stair climbing mechanism 1.
The sensor assembly 30 is arranged on the stair climbing mechanism 1, the sensor 31 is arranged on the supporting mechanism 2, and the relative position of the supporting mechanism 2 and the stair climbing mechanism 1 can be known by sensing whether the sensor 31 is in the sliding interval 302 or not through the sensor assembly 30, so that the supporting state of the supporting foot plate 21 and the ground can be judged.
Of course, in other embodiments, the sensing member 31 may be disposed on the stair climbing mechanism 1, and the sensor assembly 30 may be disposed on the supporting mechanism 2, so long as the relative position between the stair climbing mechanism 1 and the supporting mechanism 2 can be sensed.
In another embodiment of the present application, with continued reference to fig. 1 and 2, the sensor assembly 30 includes a first sensor 300 and a second sensor 301 both disposed on the stair climbing mechanism 1, the second sensor 301 being disposed at a vertical interval from the first sensor 300 to form a slip zone 302.
The second state includes a first position state and a second position state, and the support foot plate 21 is rigidly supported with the ground when the support adjustment assembly 20 is in the first position state relative to the stair climbing mechanism 1. When the support adjustment assembly 20 is in the second position relative to the stair climbing mechanism 1, the support foot plate 21 is disengaged from the ground.
When the sensing element 31 is located at the height position of the first sensor 300, the support adjustment assembly 20 is in the first position state or the third state relative to the stair climbing mechanism 1. When the sensing element 31 is located at the height position of the second sensor 301, the support adjustment assembly 20 is in a second position relative to the stair climbing mechanism 1.
Wherein the first sensor 300 and the second sensor 301 may employ photoelectric sensors in the prior art.
By installing the first sensor 300 and the second sensor 301 on the stair climbing mechanism 1, and arranging the first sensor 300 and the second sensor 301 at intervals, a sliding section 302 can be formed, and it should be noted that, in practical application, the sliding section 302 is very short, so the up-and-down movement range of the sensing element 31 is very small, because the final purpose of arranging the sliding section 302 is to sense and determine the contact state of the supporting foot plate 21 and the ground, and the sensing element 31 is not required to generate movement in a range. The mounting seat 200 of the supporting mechanism 2 and the stair climbing mechanism 1 can be connected by a linear movement pair to realize small-range movement between the two.
When the supporting foot plate 21 is normally moved up or down stairs or slightly inclined, the sensing element 31 is located at the height of the first sensor 300 to trigger the first sensor 300, the first sensor 300 sends a signal to the control mechanism, and the control mechanism can reduce the opening angle of the supporting foot plate 21 by driving the angle adjusting assembly or move the supporting foot plate 21 upwards by driving the supporting adjusting assembly 20 after receiving the signal, so that the supporting foot plate 21 and the ground are restored to be supported in a floating manner.
When the supporting foot plate 21 is separated from the ground in normal going upstairs and downstairs, at this time, due to the gravity action of the supporting mechanism 2, the sensing element 31 is located at the height position of the second sensor 301, that is, the second sensor 301 is triggered, the second sensor 301 sends a signal to the control mechanism, and after the control mechanism receives the signal, the control mechanism can increase the opening angle of the supporting foot plate 21 by driving the angle adjusting assembly or drive the supporting adjusting assembly 20 to move the supporting foot plate 21 downwards, so that the floating support between the supporting foot plate 21 and the ground is restored.
When the large inclination occurs, the sensing member 31 will be located at the height of the first sensor 300, but as mentioned above, the whole supporting mechanism 2 is already in a self-locking state to provide a more stable and reliable supporting effect due to the too large supporting force of the supporting mechanism 2.
In another embodiment of the present application, the stair climbing device further includes a second sensing mechanism (not shown in the figure), the second sensing mechanism is used for sensing an angle of the stair climbing mechanism 1 deviating from the vertical direction, both the second sensing mechanism and the stair climbing mechanism 1 are electrically connected with the control mechanism or connected with wireless communication signals, and the control mechanism can receive signals acquired by the second sensing mechanism and control the support mechanism 2 and/or the stair climbing mechanism 1 to stop driving.
When the inclination angle (the angle deviated from the vertical direction) of the stair climbing mechanism is sensed by the second sensing mechanism and exceeds the preset allowable inclination angle range, the driving piece 202 of the supporting mechanism 2 stops driving and the stair climbing mechanism 1 stops acting no matter whether the supporting and adjusting assembly 20 is in the first state or the second state relative to the stair climbing mechanism 1 at this time. The preset allowable inclination angle range is to be understood as simply the allowable inclination angle range when the stair climbing mechanism 1 is used alone (i.e., the stair climbing device is not provided with a supporting mechanism).
The second induction mechanism is arranged to avoid the situation that the support adjusting assembly 20 possibly drives the support foot plate 21 to continuously rise when the stair climbing device is slowly inclined and the support adjusting assembly 20 cannot be in a third state relative to the stair climbing mechanism 1, so that the safety performance of the stair climbing device can be further improved.
The embodiments of the electrical connection and the wireless communication signal connection are the same as or similar to those mentioned above, and thus the detailed description thereof will not be repeated here.
In another embodiment of the present application, the second sensing mechanism package is specifically an inclination sensor, where the inclination sensor may be an inclination sensor in the prior art, and the inclination sensor may be installed on the stair climbing mechanism, or may be installed on a support adjustment assembly of the support mechanism.
In another embodiment of the present application, the supporting mechanism 2 is detachably disposed on the stair climbing mechanism 1, so as to improve portability of the stair climbing device, in practice, the stair climbing mechanism 1 can independently complete a stair climbing action, and the supporting mechanism 2 is disposed to provide a supporting function for the stair climbing mechanism 1, so that safety is improved. When the stair climbing device is in a non-use state, the supporting mechanism 2 and the stair climbing mechanism 1 can be detached so as to be convenient to carry and store.
It should be noted that, as a portable stair climbing device, portability and safety of the stair climbing device are generally two contradictory performances. That is, for portability, it is generally required that the stair climbing device be small in size and light in weight; for safety, it is generally required that the stair climbing apparatus has a supporting point crossing the step 100, which requires increasing the supporting point distance of the supporting structure in the up-down direction of the stairs. Meanwhile, if the stair climbing device is suitable for various types (such as linear type, spiral type, L-shaped and the like) and various sizes of stairs, and meanwhile, the stair climbing device has the effect of step-crossing support in the stair climbing process, a plurality of front and rear support components with multiple degrees of freedom and complicated control are generally needed, the structure is complicated, the size is enlarged, the weight is increased, and the portability is reduced. Therefore, the existing stair climbing device cannot achieve good portability and safety, is often high in safety performance, is excessively complex in structure, is high in manufacturing cost and is difficult to put into practical use; while portability is high, security often cannot be structurally ensured but is largely dependent on the skill of the user.
Based on the above, the stair climbing device of this application, in the aspect of security and practicality, supporting mechanism 2 can adjust position and state according to the stair of different grade type and size, and through keeping with the state that ground floats the support in order can in time provide the supporting role, in addition, in the aspect of portability, support mechanism 2 and climb between the stair mechanism 1 detachable to improve portability.
In another embodiment of the present application, referring to fig. 1, a stair climbing mechanism 1 adopts a stair climbing mechanism 1 in which a stair climbing is implemented by relative movement in a horizontal direction and relative movement in a vertical direction in the prior art, and specifically may include an installation main body, a front-back movement assembly, an up-down lifting assembly and a travelling wheel. The back and forth moving assembly is installed on the installation body for driving the stair climbing mechanism 1 to move back and forth on the step surface. An up-down lifting assembly is mounted on the mounting body for driving the stair climbing mechanism 1 up and down between the steps 100. The road wheels are mounted at the bottom of the mounting body for facilitating movement of the stair climbing mechanism 1 over the steps 100.
The front-back moving assembly can comprise a front-back moving motor, a front-back moving rack, a front-back moving gear, a front-back moving guide rail and a front-back moving slide block, wherein the front-back moving motor, the front-back moving rack and the front-back moving guide rail are all arranged on the installation main body, the front-back moving motor is in driving connection with the front-back moving gear, the front-back moving gear is in meshed transmission with the front-back moving rack, and the front-back moving slide block is in sliding connection with the front-back moving guide rail to provide a guiding function.
The up-down lifting assembly can comprise a lifting main body, an up-down moving motor, an up-down moving rack and an up-down moving gear, wherein the lifting main body can slide relative to the mounting main body through a guide rail structure and can penetrate through the upper end and the lower end of the mounting main body, the up-down moving motor and the up-down moving rack are mounted on the mounting main body, the up-down moving motor is in driving connection with the up-down moving gear, and the up-down moving gear is in meshed transmission with the up-down moving rack, so that the lifting main body can lift relative to the mounting main body.
In another embodiment of the present application, the stair climbing mechanism 1 may also adopt a step support stair climbing mechanism which is formed by alternately supporting two sets of supporting devices mainly consisting of star wheels and crank mechanisms, so as to realize the stair climbing function. Reference is made in particular to the stair climbing device disclosed in the US patent publication No. US5263547 a.
In another embodiment of the present application, the control mechanism adopts a control mechanism in the prior art, and when the first sensing mechanism 3 senses that the support adjustment assembly 20 is in the second state relative to the stair climbing mechanism 1, the first sensing mechanism 3 sends a signal to the control mechanism, and the control mechanism controls the support adjustment assembly 20 to drive the support foot plate 21 to move up and down.
The application also provides a stair climbing device comprising a bearing device and the stair climbing device, wherein the stair climbing device is arranged on the bearing device. In daily life field, bearing device specifically can be the chair, and personnel sit on the chair, climb building equipment and can be used to assist the inconvenient crowd of action to walk up and down stairs. In the industrial field, the carrying device can be a carrying device, the goods are loaded on the carrying device, and the stair climbing equipment is utilized to assist in carrying the goods up and down stairs.
The utility model provides a climb building equipment has adopted the stair climbing device that this application provided for climb building mechanism 1 can in time provide the supporting role at the stair process of climbing, and can also be adapted to the stair use of different shapes and size specification, improved stair climbing equipment's security and practicality.
In another embodiment of the present application, the chair is configured to be removably mounted to the stair climbing device, thereby improving the flexibility and portability of the stair climbing device. Correspondingly, the carrying device can be detachably arranged on the stair climbing device, and the carrying device and the stair climbing device can be respectively and independently used when the stair climbing device does not need to go up and down stairs, so that the use flexibility and portability of the stair climbing device are improved. It is contemplated that the stair climbing apparatus may be adaptable for use in installing chairs and cargo devices in different use scenarios.
The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (10)

1. A stair climbing device, comprising:
a stair climbing mechanism;
the support mechanism comprises a support adjusting assembly and a support foot plate arranged on the support adjusting assembly, the support adjusting assembly is slidably arranged on the stair climbing mechanism, the support adjusting assembly slides relative to the stair climbing mechanism to have a first state and a second state, when the support adjusting assembly is in the first state relative to the stair climbing mechanism, the support foot plate is in floating support with the ground, and when the support adjusting assembly is in the second state relative to the stair climbing mechanism, the support foot plate is separated from or rigidly supported with the ground; the support adjusting component can drive the support foot plate to move up and down;
the first sensing mechanism is used for acquiring a signal of whether the support adjusting assembly is in the second state relative to the stair climbing mechanism;
the control mechanism is electrically connected or in wireless communication signal connection with the support mechanism and the first sensing mechanism, and can receive signals acquired by the first sensing mechanism and control the support adjusting assembly to drive the support foot plate to move in a lifting mode.
2. The stair climbing apparatus according to claim 1, wherein the support adjustment assembly comprises:
the mounting seat is slidably arranged on the stair climbing mechanism;
the driving piece is used for driving the supporting foot plate to lift and slide relative to the mounting seat.
3. The stair climbing device according to claim 2, wherein the support adjustment assembly further comprises a first transmission member and a second transmission member, the first transmission member intermeshes with the second transmission member and is capable of sliding relative to the second transmission member, the first transmission member is drivingly connected to the driving member, and the second transmission member is connected to the support foot plate.
4. The stair traversing device according to claim 3, wherein the support adjustment assembly further comprises a third condition relative to the stair climbing mechanism, the support foot plate being non-slidable relative to the mount when the support adjustment assembly is in the third condition relative to the stair climbing mechanism.
5. The stair climbing device according to claim 4, wherein a friction force generated between the first transmission member and the second transmission member is F, and a torsion force of the driving member is F 1 When the support adjustment assembly is in the third state relative to the stair climbing mechanism, the F is greater than F 1 。
6. The stair traversing device according to any one of claims 2-5, wherein the support foot comprises:
the first supporting plate is arranged on the supporting and adjusting assembly;
the second supporting plate is obliquely arranged on the first supporting plate.
7. The stair traversing device according to any one of claims 4-5, wherein the first sensing mechanism comprises:
a sensor assembly disposed on the stair climbing mechanism, the sensor assembly having a slip zone;
the sensing piece is arranged on the supporting and adjusting assembly, and when the sensing piece is positioned at the end point position of the sliding interval, the supporting and adjusting assembly is in the second state relative to the stair climbing mechanism.
8. The stair climbing device according to claim 7, wherein the sensor assembly includes a first sensor and a second sensor each disposed on the stair climbing mechanism, the second sensor being vertically spaced from the first sensor to form the glide interval;
the second state comprises a first position state and a second position state, and when the support adjusting assembly is in the first position state relative to the stair climbing mechanism, the support foot plate and the ground are rigidly supported; when the support adjusting assembly is in the second position state relative to the stair climbing mechanism, the support foot plate is separated from the ground;
when the sensing piece is positioned at the height position of the first sensor, the support adjusting assembly is in the first position state or the third state relative to the stair climbing mechanism;
when the sensing piece is positioned at the height position of the second sensor, the support adjusting assembly is in the second position state relative to the stair climbing mechanism.
9. The stair climbing apparatus according to any one of claims 1-5, 8, further comprising a second sensing mechanism for sensing an angle of the stair climbing mechanism from a vertical direction, wherein the second sensing mechanism and the stair climbing mechanism are both electrically connected or wirelessly connected to the control mechanism, and wherein the control mechanism is capable of receiving a signal acquired by the second sensing mechanism and controlling the support mechanism and/or the stair climbing mechanism to stop driving.
10. A stair climbing apparatus comprising a load bearing device and a stair climbing device according to any one of claims 1 to 9, the stair climbing device being mounted on the load bearing device.
CN202311302713.9A 2023-10-10 2023-10-10 Stair climbing device and stair climbing equipment Pending CN117342372A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311302713.9A CN117342372A (en) 2023-10-10 2023-10-10 Stair climbing device and stair climbing equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311302713.9A CN117342372A (en) 2023-10-10 2023-10-10 Stair climbing device and stair climbing equipment

Publications (1)

Publication Number Publication Date
CN117342372A true CN117342372A (en) 2024-01-05

Family

ID=89360695

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311302713.9A Pending CN117342372A (en) 2023-10-10 2023-10-10 Stair climbing device and stair climbing equipment

Country Status (1)

Country Link
CN (1) CN117342372A (en)

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