CN117919030A - Convenient stair climbing device - Google Patents

Convenient stair climbing device Download PDF

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Publication number
CN117919030A
CN117919030A CN202211263444.5A CN202211263444A CN117919030A CN 117919030 A CN117919030 A CN 117919030A CN 202211263444 A CN202211263444 A CN 202211263444A CN 117919030 A CN117919030 A CN 117919030A
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CN
China
Prior art keywords
outer frame
guide rail
telescopic
inner frame
frame
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
CN202211263444.5A
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Chinese (zh)
Inventor
高敏
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Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to CN202211263444.5A priority Critical patent/CN117919030A/en
Publication of CN117919030A publication Critical patent/CN117919030A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • A61G5/06—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
    • A61G5/068—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 with extensible supports pushing upwards, e.g. telescopic legs
    • 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

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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)
  • Ladders (AREA)

Abstract

The convenient stair climbing device comprises an outer frame, an inner frame and a driving device, wherein a first guide rail is arranged on the outer frame, and the inner frame can move relative to the outer frame through the first guide rail; the inner frame is provided with a second guide rail, and the outer frame moves relative to the inner frame through the second guide rail; the two ends of the outer frame are respectively provided with a first telescopic leg, and the two ends of the inner frame are respectively provided with a second telescopic leg; the driving device can respectively drive the inner frame and the outer frame to move. The beneficial effects of the invention are as follows: (1) According to the invention, the driving device drives the inner frame and the outer frame to integrally move on the corresponding guide rails, and the telescopic legs are not independently driven in the prior art, so that the gravity center of the device is lowered, and the risk of falling down of the device is further reduced. (2) The outer frame can stretch out and draw back, so that the device can span steps with different widths, and the practicability of the device is higher.

Description

Convenient stair climbing device
Technical Field
The invention relates to the technical field of robots, in particular to a convenient stair climbing device.
Background
At present, people can encounter steps in many occasions when going out, and for mobility-impaired people, the steps are inconvenient all the time, so that a convenient stair climbing device is required to be manufactured, and people can pass through the steps smoothly.
The invention discloses a ladder passing device, which comprises a support frame, wherein the support frame is connected with a rail, and the rail is connected with another support frame. The two support frames can slide relatively through the rails. Simultaneously, have the telescopic link to fix on the support frame, the telescopic link can be according to the length of position needs adjustable lever. This application text is the applicant's own prior application. This patent requires further optimization in that: the driving device directly drives the telescopic rods to move, the number of required driving devices is large, the driving devices are difficult to drive the displacements of different telescopic rods to be uniform, and the situation that the displacements of the telescopic rods are inconsistent is easy to occur. In addition, because the telescopic link is directly driven, the device focus is unstable, very easily falls down.
The application number is 201910149576.7, the publication date is China patent application of stair climbing robot and stair climbing control method thereof in the 6 th month and 7 th year of 2019, and the stair climbing robot and stair climbing control method thereof are disclosed. The device has the following defects: the control mechanism directly drives the corresponding supporting mechanism (supporting leg), which is easy to cause unstable gravity center of the device and even fall down.
The application number is 201510192023.1, and the Chinese patent application of the invention, namely a horizontal posture intelligent stair climbing wheelchair and a rotary stair climbing method, is disclosed in the publication date of 2015, namely 8 months and 5 days. The intelligent ladder wheelchair with the horizontal posture is characterized by comprising an upper plate, an adapter plate and a lower plate, wherein the upper plate is fixedly connected with a seat, a rear wheel is arranged on the lower side of the seat, the seat is connected with front legs through front leg lifting mechanisms, the front legs are provided with front wheels, the front legs can be lifted to the horizontal posture by the front leg lifting mechanisms, four liftable outer legs are fixed on the lower side of the upper plate, the upper plate is connected with the adapter plate through a steering shaft and can realize relative rotation through the steering shaft, the adapter plate is connected with the lower plate through a screw and can realize relative linear motion through the screw, four liftable inner legs are fixed on the lower side of the lower plate, and the inner legs are positioned on the inner sides of the outer legs. The device has the following defects: the device is provided with front wheels and rear wheels, and the front legs and the rear legs can be influenced in the stair climbing process, so that the device falls down. In addition, the device is also provided with a steering shaft, and is extremely easy to damage in the use process.
Disclosure of Invention
The invention provides a convenient stair climbing device for solving the defects in the prior art.
The technical scheme of the invention is as follows:
The convenient stair climbing device comprises an outer frame, an inner frame, a three-dimensional connecting piece and a driving device, wherein the inner frame is quadrilateral and symmetrically arranged; the outer frame is arranged on the outer side of the inner frame and is connected with the inner frame through a three-dimensional connecting piece; the outer frame is provided with a first guide rail, and the inner frame can move relative to the first guide rail; the inner frame is provided with a second guide rail, and the outer frame can move relative to the second guide rail; a first telescopic leg and a second telescopic leg are respectively arranged at one side, close to the ground, of two ends of the outer frame and the inner frame; the driving device can respectively drive the inner frame and the outer frame to move; in the space formed by the oppositely arranged inner frames, a seat or a pedal is arranged.
Preferably, a first telescopic connecting rod is arranged on the outer frame, and the outer frame horizontally moves on a first guide rail through the first telescopic connecting rod; a second telescopic connecting rod is arranged on one side of the inner frame, and the inner frame can vertically move on a second guide rail through the second telescopic connecting rod; the driving device is arranged between the two inner frames and can drive the first telescopic connecting rod and the second telescopic connecting rod to move.
Preferably, the first rail is horizontal and the second rail is vertical.
Preferably, the three-dimensional connecting piece is in a shape of a Chinese character 'kou', wherein two sides of the three-dimensional connecting piece are respectively connected with the first guide rail, and the other two sides of the three-dimensional connecting piece are respectively connected with the second guide rail, so that the first guide rail and the second guide rail form a whole.
Preferably, the bottom of the inner frame and/or the bottom of the outer frame is also provided with a sensing controller, so that the telescopic distance between the first telescopic leg and the second telescopic leg can be controlled to just reach the ground.
Preferably, the sensing controller may be one or more of a laser range finder, an infrared range finder and an electric wave range finder.
Preferably, the bottom of the inner frame and/or the outer frame is/are also provided with rollers, so that the device can be conveniently pushed to a designated position.
Preferably, the two ends of the outer frame are further provided with telescopic structures, so that the width between the two first telescopic legs is changed.
Preferably, the driving device can be one or more of an electric device, a pneumatic device, a hydraulic cylinder and a manual driving device.
The beneficial effects of the invention are as follows:
(1) In the invention, the inner frame and the outer frame form a whole through the three-dimensional connecting piece, the driving device drives the whole to move on the corresponding guide rail, and the telescopic legs are not independently driven in the prior art, so that the gravity center of the device is lowered, and the risk of falling down of the device is further reduced.
(2) The outer frame of the invention can be telescopic, so that the device can span steps with different widths, and the practicability of the device is higher.
Drawings
FIG. 1 is a schematic side view of embodiment 1;
FIG. 2 is a schematic top view of embodiment 1;
FIG. 3 is a schematic diagram showing the front view of the structure of embodiment 1;
FIG. 4 is a schematic view of the structure of the positional relationship of the three-dimensional connector;
FIG. 5 is a schematic side view of embodiment 2;
FIG. 6 is a schematic top view of embodiment 2;
FIG. 7 is a schematic view showing the structure of a front view of embodiment 2;
FIG. 8 is a schematic view of embodiment 2 in position status 1;
FIG. 9 is a schematic view of embodiment 2 in position status 2;
FIG. 10 is a schematic view of embodiment 2 in position status 3;
FIG. 11 is a schematic view of embodiment 2 in position status 4;
FIG. 12 is a schematic side view of the structure of embodiment 3;
FIG. 13 is a schematic top view of embodiment 3;
fig. 14 is a schematic diagram showing the structure of a front view of embodiment 3;
FIG. 15 is a schematic view of embodiment 1 in position status 1;
FIG. 16 is a schematic view of embodiment 1 in position status 2;
FIG. 17 is a schematic view of embodiment 1 in position status 3;
FIG. 18 is a schematic view of embodiment 1 in position status 4;
the reference numerals in the figures represent the meanings: 1. a first telescoping leg; 2.a second telescoping leg; 3. an outer frame; 4. a first guide rail; 5. a three-dimensional connecting piece; 6. a driving device; 7. a second guide rail; 8. and an inner frame.
Detailed Description
Example 1
Fig. 1 to 3 are schematic side, top and front views of a convenient stair climbing device according to embodiment 1.
The convenient stair climbing device comprises an outer frame 3, an inner frame 8 and a driving device 6, wherein the inner frame 8 is quadrilateral and symmetrically arranged; the outer frame 3 is respectively arranged at the outer sides of the two inner frames 8, and one sides of the two ends of the outer frame 3 and the inner frames 8, which are close to the ground, are respectively provided with a first telescopic leg 1 and a second telescopic leg 2. In the space formed by the oppositely arranged inner frames 8, seats or footrests are provided.
The outer frame 3 is provided with a first guide rail 4, the first guide rail 4 is horizontal, the outer frame 3 is provided with a first telescopic connecting rod, and the outer frame 8 horizontally moves on the first guide rail 4 through the first telescopic connecting rod.
The side of the inner frame 8 is provided with a second guide rail 7, the second guide rail 7 is vertical, one side of the inner frame 8 (the same side as the second guide rail 7) is provided with a second telescopic link, and the inner frame 3 is vertically movable on the second guide rail 7 through the second telescopic link.
The driving device 6 is arranged between the two inner frames 8, and the driving device 6 can drive the first telescopic connecting rod and the second telescopic connecting rod to move.
Fig. 4 is a schematic structural view of the solid connection 5. The three-dimensional connecting piece 5 is shaped like a Chinese character 'kou', two opposite sides of the three-dimensional connecting piece are respectively connected with the first guide rail 4, and the other two sides of the three-dimensional connecting piece are respectively connected with the second guide rail 7, so that the first guide rail 4 and the second guide rail 7 form a whole.
The bottoms of the first telescopic legs 1 and the second telescopic legs 2 or the inner frame 8 and/or the outer frame 3 are also provided with sensing controllers which can measure the distance between the first telescopic legs 1 and the second telescopic legs 2 and the ground and control the telescopic distance between the first telescopic legs 1 and the second telescopic legs 2 to just reach the ground. The sensing controller can be one or more of a laser range finder, an infrared range finder and an electric wave range finder.
The bottom of the inner frame 8 and/or the outer frame 3 is also provided with rollers, which facilitate pushing the device to a designated position. The two ends of the outer frame 3 are also provided with telescopic structures, so that the width between the two first telescopic legs 1 is changed, and the width of different steps is correspondingly adjusted. The driving device 6 may be one or more of an electric device, a pneumatic device, a hydraulic cylinder and a manual driving device.
Example 2
Fig. 5 to 7 are schematic side, top and front views of a convenient stair climbing device according to example 2.
The convenient stair climbing device comprises an outer frame 3, an inner frame 8, a three-dimensional connecting piece 5 and a driving device 6, wherein the outer frame 3 is connected with the inner frame 8 through the three-dimensional connecting piece 5; the first guide rail 4 is arranged on the outer frame 3, and the inner frame 8 can move relative to the first guide rail 4; the second guide rail 7 is arranged on the inner frame 8, and the outer frame 3 can move relative to the second guide rail 7; the bottoms of the two ends of the outer frame 3 are provided with first telescopic legs 1, and the bottom end of the inner frame 8 is provided with second telescopic legs 2; the driving means 6 can drive the inner frame 8 and the outer frame 3 to move, respectively.
In this embodiment, the number of outer frames 3 of one convenient stair climbing device is 2 which are oppositely arranged.
The first rail 4 is horizontal and the second rail 7 is vertical.
The inner frame 8 and the outer frame 3 can respectively move horizontally through the first guide rails 4. The inner frame 8 and the outer frame 3 can be moved vertically by means of the second guide rails 7, respectively.
The bottoms of the first telescopic legs 1 and the second telescopic legs 2 or the inner frame 8 and/or the outer frame 3 are also provided with sensing controllers, and the distances between the first telescopic legs 1 and the second telescopic legs 2 and the ground can be measured, so that the telescopic distances between the first telescopic legs 1 and the second telescopic legs 2 just reach the ground. The sensing controller can be one or more of a laser range finder, an infrared range finder and an electric wave range finder.
Rollers are further arranged on the bottoms of the inner frame 8 and/or the outer frame 3, so that the device can be conveniently pushed to a designated position. The two ends of the outer frame 3 are also provided with telescopic structures, so that the width between the two first telescopic legs 1 is changed, and the width of different steps is correspondingly adjusted.
The driving device 6 may be one or more of an electric device, a pneumatic device, a hydraulic cylinder and a manual driving device.
Fig. 8 to 11 are schematic views of the position states 1 to 4 of the embodiment 1, respectively.
As shown in fig. 8, in position 1, the device is on the ground, near the edge of the first stage step.
The movement process from fig. 8 to 9: the driving device 6 drives the outer frame 3 to vertically slide upward on the second guide rail 7 so that the bottom ends of the first telescoping legs 1 on one side of the outer frame 3 are higher than the height of the first stage step surface. In the position state 2, the first telescopic leg 3 is suspended and the second telescopic leg 2 remains unchanged.
The movement process from fig. 9 to 10: the driving device 6 drives the outer frame 3 to horizontally move toward the step by such a distance that the first telescopic leg 1 on one side of the outer frame 3 is positioned on the first-stage step surface. Then, the inner frame 8 moves vertically upward along the second guide rail 7. Subsequently, the inner frame 8 moves in the step direction along the first guide rail 4. Finally, the first telescopic leg 1 and the second telescopic leg 2 are extended onto the respective step surfaces by means of a distance meter. In the position state 3, the first telescopic leg 1 on one side of the outer frame 3 is on the first-stage step surface, the first telescopic leg 1 on the other side of the outer frame 3 is on the ground, the second telescopic leg 2 on one side of the inner frame 8 is on the first-stage step surface, and the second telescopic leg 2 on the other side of the inner frame 8 is on the ground.
The movement process from fig. 10 to 11: the driving device 6 drives the outer frame 3 to move vertically upward on the second rail 7, and thereafter, the driving device 6 drives the outer frame 3 to move in the horizontal direction along the first rail 4 toward the step surface. In the position state 4, the first telescopic leg 1 on one side of the outer frame 3 is on the second-stage step surface, the first telescopic leg 1 on the other side of the outer frame 3 is on the ground, the second telescopic leg 2 on one side of the inner frame 8 is on the first-stage step surface, and the second telescopic leg 2 on the other side of the inner frame 8 is on the ground.
And the device reciprocates until the device climbs the stairs.
The order of going down stairs is reversed.
Example 3
Fig. 12 to 14 are schematic side, top and front views of a convenient stair climbing device according to example 3.
This embodiment differs from embodiment 2 in that: the outer frame 3 comprises an upper layer of first guide rails 4 and a lower layer of first guide rails 4 which are parallel, and the first telescopic legs 1 respectively penetrate through the upper layer of first guide rails 4 and the lower layer of first guide rails 4, so that the two layers of first guide rails 4 move synchronously.
The convenient stair climbing device comprises an outer frame 3, an inner frame 8 and a driving device 6, wherein the outer frame 3 comprises 4 parallel first guide rails 4, and the inner frame 8 can slide relative to the outer frame 3 through the first guide rails 4; the outer frame 3 slides relative to the inner frame 8 through the second guide rail 7; the two ends of the outer frame 3 are respectively provided with a first telescopic leg 1, and the two ends of the inner frame 3 are respectively provided with a second telescopic leg 2; the driving device 6 can drive the inner frame 3 and the outer frame 8 to slide respectively. The two first rails 4 are connected by an inner frame 8 and move synchronously on the second rails 7.
The outer first rail 4 is horizontal and the second rail 7 is vertical.
One side of the outer frame 3 is provided with a solid connecting piece 5, and the driving device 6 drives the solid connecting piece 5 to enable the outer frame 3 to slide on the second guide rail 7. The inner frame 8 comprises two parallel second guide rails 7, and the driving means 6 drives the inner frame 8 to slide on the first guide rails 4. The two second guide rails 7 are connected by a three-dimensional connecting piece 5 and can synchronously move on the first guide rail 4.
The bottoms of the first telescopic legs 1 and the second telescopic legs 2 or the inner frame 8 and/or the outer frame 3 are also provided with sensing controllers, and the distances between the first telescopic legs 1 and the second telescopic legs 2 and the ground can be measured, so that the telescopic distances between the first telescopic legs 1 and the second telescopic legs 2 just reach the ground. The sensing controller can be one or more of a laser range finder, an infrared range finder and an electric wave range finder.
The bottom of the inner frame 8 and/or the outer frame 3 is also provided with rollers, which facilitate pushing the device to a designated position. The two ends of the outer frame 3 are also provided with telescopic structures, so that the width between the two first telescopic legs 1 is changed, and the width of different steps is correspondingly adjusted. The driving device 6 may be one or more of an electric device, a pneumatic device, a hydraulic cylinder and a manual driving device.
Fig. 15 to 18 are schematic views of embodiment 3 from position state 1 to position state 4, respectively.
Consistent with the course of movement of example 2, the description will not be repeated.

Claims (9)

1. The convenient stair climbing device is characterized by comprising an outer frame (3), an inner frame (8), a three-dimensional connecting piece (5) and a driving device (6), wherein the inner frame (8) is quadrilateral and symmetrically arranged; the outer frame (3) is arranged on the outer side of the inner frame (8), and the outer frame (3) is connected with the inner frame (8) through a three-dimensional connecting piece (5); the outer frame (3) is provided with a first guide rail (4), and the inner frame (8) can move relative to the first guide rail (4); the inner frame (8) is provided with a second guide rail (7), and the outer frame (3) can move relative to the second guide rail (7); a first telescopic leg (1) and a second telescopic leg (2) are respectively arranged at one side, close to the ground, of two ends of the outer frame (3) and the inner frame (8); the driving device (6) can respectively drive the inner frame (8) and the outer frame (3) to move; in the space formed by the oppositely arranged inner frames (8), a seat or a pedal is arranged.
2. The convenient stair climbing device according to claim 1, wherein the outer frame (3) is provided with a first telescopic link, and the outer frame (8) horizontally moves on the first guide rail (4) through the first telescopic link; a second telescopic connecting rod is arranged on one side of the inner frame (8), and the inner frame (3) can vertically move on a second guide rail (7) through the second telescopic connecting rod; the driving device (6) is arranged between the two inner frames (8), and the driving device (6) can drive the first telescopic connecting rod and the second telescopic connecting rod to move.
3. A handy stair climbing device according to claim 1, characterized in that the first guide rail (4) is horizontal and the second guide rail (7) is vertical.
4. The convenient stair climbing device according to claim 1, wherein the three-dimensional connecting piece (5) is shaped like a Chinese character 'kou', wherein two sides are respectively connected with the first guide rail (4), and the other two sides are respectively connected with the second guide rail (7), so that the first guide rail (4) and the second guide rail (7) form a whole.
5. The convenient stair climbing device according to claim 1, wherein the bottom of the inner frame (8) and/or the bottom of the outer frame (3) are/is further provided with a sensor controller, and the telescopic distance between the first telescopic leg (1) and the second telescopic leg (2) can be controlled to just reach the ground.
6. The portable stair climbing device according to claim 5, wherein the sensing controller is one or more of a laser range finder, an infrared range finder, and an electric wave range finder.
7. The convenient stair climbing device according to claim 1, wherein the bottom of the inner frame (8) and/or the outer frame (3) is further provided with rollers for facilitating pushing the device to a designated position.
8. A handy stair climbing device according to claim 1, characterized in that the two ends of the outer frame (3) are further provided with telescopic structures, whereby the width between the two first telescopic legs (1) is changed.
9. The portable stair climbing device according to claim 1, wherein the driving means (6) may be one or more of an electric device, a pneumatic device, a hydraulic cylinder, a manual driving device.
CN202211263444.5A 2022-10-14 2022-10-14 Convenient stair climbing device Pending CN117919030A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211263444.5A CN117919030A (en) 2022-10-14 2022-10-14 Convenient stair climbing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211263444.5A CN117919030A (en) 2022-10-14 2022-10-14 Convenient stair climbing device

Publications (1)

Publication Number Publication Date
CN117919030A true CN117919030A (en) 2024-04-26

Family

ID=90754419

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211263444.5A Pending CN117919030A (en) 2022-10-14 2022-10-14 Convenient stair climbing device

Country Status (1)

Country Link
CN (1) CN117919030A (en)

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