CN1565914A - Automatic running gear capable of going up and down bench and method for going up and down bench - Google Patents

Automatic running gear capable of going up and down bench and method for going up and down bench Download PDF

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Publication number
CN1565914A
CN1565914A CN 03137620 CN03137620A CN1565914A CN 1565914 A CN1565914 A CN 1565914A CN 03137620 CN03137620 CN 03137620 CN 03137620 A CN03137620 A CN 03137620A CN 1565914 A CN1565914 A CN 1565914A
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CN
China
Prior art keywords
support
main
leg
arm
assistant
Prior art date
Application number
CN 03137620
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Chinese (zh)
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CN1326740C (en
Inventor
王大坚
Original Assignee
王大坚
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Publication date
Application filed by 王大坚 filed Critical 王大坚
Priority to CNB031376207A priority Critical patent/CN1326740C/en
Priority to PCT/CN2004/000595 priority patent/WO2004110846A1/en
Priority claimed from PCT/CN2004/000595 external-priority patent/WO2004110846A1/en
Publication of CN1565914A publication Critical patent/CN1565914A/en
Application granted granted Critical
Publication of CN1326740C publication Critical patent/CN1326740C/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62BHAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00Accessories or details specially adapted for hand carts
    • B62B5/02Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06Chairs 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
    • A61G5/061Chairs 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

Abstract

An automatic walking device capable of going up and down stairs comprises a frame composed of a main support (10), a auxiliary support (20) and a bearing support (30); wheels; a motor; a power device; and an accumulator. The bearing support is equipped in the auxiliary support, and the auxiliary support is equipped in the main support; the geometric boundaries of the main support and auxiliary support are cuboid, the main support inside slidably connects to the auxiliary support outside, and the main support and auxiliary support are respectively provided with four controllable legs whose extension lengths are equal and two horizontal rails, the bearing support is provided with four rows of rolling wheel (31) capable of moving along the rails, a support extending mechanism (6) is equipped between the main, auxiliary support, and the bearing support moving mechanism (7) is equipped in the frame. The device also comprises a electric control system (50) with micro-controller, sensors and control switches.

Description

The device and the up/down steps method of automatic walking and energy up/down steps
Technical field the present invention relates to a kind of automated machine device, particularly relates to a kind of also device and up/down steps method of energy up/down steps of walking automatically.
Background technology is installed wheel on structural framing car is quotidian, have add actuating device after, when plane and little surface slope, can walk automatically, but its up/down steps automatically.Up/down steps will face very big difficulty if desired.In the existing data, still find no a kind of device and can make self and suppressed by vector reach the effect of up/down steps with vertical and horizontal mode alternating movement reposefully, this device can be walked automatically on the level land or during little surface slope.
Summary of the invention technical problem underlying to be solved by this invention is, a kind of automatic walking of new structure and the device of energy up/down steps are provided, make it can rely on wheel to walk automatically on the level land or during little surface slope, when running into step, rely on supporting leg flexible and structural framing open receive reach self and suppressed by vector with vertical with the horizontal mode alternating movement and the effect of while up/down steps.
Another technical matters to be solved by this invention is, the method for the automatic up/down steps of this device is provided, and the each several part of the structure of this device is moved according to Program Coordination, reaches the effect of up/down steps more reposefully.
The present invention solves its technical problem underlying and realizes by the following technical solutions.According to a kind of automatic walking of the present invention's proposition and the device of energy up/down steps, have structural framing and be installed in the wheel on the framework, the motor of wheels, power plant, be contained in motor in the cabin and sensor driving circuit, the storage battery of the energy is provided, its structural framing is made of main support, assistant support and carrier, each is connected and composed main support and assistant support by two pairs of rectangular side supports, each is paid side stand and has under two columns, the side cross-arm on cross-arm and the side, and the length of these cross-arms all equates; The geometrical boundary of main support and assistant support is cuboid, and main front leg strut, main rear support leg, secondary front leg strut and secondary rear support leg that maximal dilation length all equates are housed respectively, every supporting leg can both controlled elongation and withdrawal, when elongation and withdrawal structural framing is raise and reduces; Between two pairs of side stands of formation assistant support, be connected with cross-arm under the secondary back with the preceding cross-arm down of a pair respectively again; Constitute between two pairs of side stands of main support, more respectively with before the master down cross-arm and main back down cross-arm be connected, the rear portion is also with upward cross-arm connection after; The lower edge of cross-arm is higher than the main preceding upper edge of cross-arm down under the assistant support side; Carrier falls to being contained in the assistant support, and assistant support is sleeved in the main support, and secondary front leg strut is outside the main support framework, and secondary rear support leg is in the main support framework; Sliding block joint before and after the employing level between the inboard of main support and the outside of assistant support; On the main support side on cross-arm and the assistant support side cross-arm be in same level height; Main support respectively is equipped with the two row horizontal rail parallel with cross-arm under the side with assistant support; The both sides of carrier respectively have a flank, and flank is above cross-arm on the side of major and minor support; Carrier is equipped with four row scroll wheels, drops on respectively on main support track and the assistant support track, and possesses the ability of rolling along track; Be connected with the support telescoping mechanism between main support and the assistant support; Carrier travel mechanism is housed in the structural framing; Have the electric-control system that contains microcontroller, sensor and the master cock of carrying out control action.
The present invention solves its technical problem underlying and also realizes by the following technical solutions simultaneously.Automatic walking that proposes according to the present invention and method that can up/down steps, top bar after the pattern or the pattern of getting out of a predicament or an embarrassing situation electric-control system control setup action according to the following steps by artificial selection:
A) up/down steps is prepared;
B) the driving arm telescoping mechanism stretches out, and the assistant support level is protracted;
C) detect to judge that the support telescoping mechanism has reached maximum and stretched out limit or anti-collision switch action or assistant support front portion and extended through N step;
D) postpone Δ T second;
E) stop the driving arm telescoping mechanism, assistant support stops to protract;
F) the assistant support supporting leg lands;
G) carrier travel mechanism action makes the carrier reach;
H) the main support supporting leg is contracted to the shortest;
I) the driving arm telescoping mechanism shrinks, and makes the reach of main support level;
J) the main support supporting leg lands;
K) the assistant support supporting leg is contracted to the shortest;
L) the driving arm telescoping mechanism stretches out, and the assistant support level is protracted;
M) detect to judge that the support telescoping mechanism has reached maximum and stretched out limit or anti-collision switch action or assistant support rear portion and extended through a step;
N) postpone Δ T second;
O) stop the driving arm telescoping mechanism, assistant support stops to protract;
P) the assistant support supporting leg lands;
Q) carrier travel mechanism action makes the carrier reach;
R) the main support supporting leg is contracted to the shortest;
S) the driving arm telescoping mechanism shrinks, and makes the reach of main support level;
T) do you judge whether the assistant support front and rear portions contour? if contour, turn to X) step;
U) the main support supporting leg lands;
V) the assistant support supporting leg is contracted to the shortest;
W) setting device height turns to then and carries out L) step;
X) supporting leg is regained;
Y) tenth skill.
The present invention solves its technical matters and can also adopt following technical measures further to realize:
For aforesaid controlled step, at A) in the step, when topping bar pattern, the main support supporting leg extend out to the longest, and when getting out of a predicament or an embarrassing situation pattern, the main support supporting leg lands earlier, and then be stretched to a predetermined height Δ H, make that the wheel of device can a little distance of built on stilts; At W) setting device height in the step is meant, when topping bar pattern, main rear support leg extend out to the longest, the length that main front leg strut stretches out makes the side stand cross-arm maintenance level basically of main support, when getting out of a predicament or an embarrassing situation pattern, the supporting leg of main support shrinks, and the extension elongation that reaches main rear support leg stops during for predetermined height Δ H, and the length that main front leg strut stretches out makes the side stand cross-arm maintenance level basically of main support; At C) in the step, N be one in program, set be not less than 1 integer, relevant with concrete supporting leg extension elongation, its definite method is: the distance between the plane, solstics that lower edge plane to the supporting leg of wheel stretches out is the S1 millimeter, when M was S1 divided by 190 maximum integer merchant, N equaled M and subtracts 1; At D) and N) in the step, Δ T depends on the speed of stretching out of assistant support second, determines by experiment.
The scantling of structure of aforementioned main support and assistant support is subjected to the constraint of supporting leg extension elongation as follows: establish the S1 millimeter for after supporting leg stretches out extreme length, from the distance between the plane, solstics that lower edge plane to the supporting leg of wheel stretches out, M is S1 divided by 190 maximum integer merchant, the S2 millimeter is that secondary front leg strut is foremost to the distance between the main rear support leg rearmost end, then S2 multiply by 240 less than M, and S1 should be not less than 380.Such ratio mainly is to satisfy in China's construction trade the design standard of relevant dwelling house stair, and has considered suitable surplus, dwelling house stair and other step of making device of the present invention to adapt to meet these reference conditions.
Aforesaid main support track is separately fixed at the top of cross-arm under main preceding cross-arm down and the main back; The assistant support track is separately fixed at the top of cross-arm under secondary preceding cross-arm down and the secondary back; Four row scroll wheels are fixed on the bottom of carrier.
Aforesaid main support track and assistant support track are installed on the main support side top of cross-arm on the cross-arm and assistant support side respectively; Scroll wheel is installed in the bottom of flank respectively, and two row scroll wheels are equipped with in the below of every flank, and outside scroll wheel drops on the main support track, and inboard scroll wheel drops on the assistant support track.
Aforesaid sensor is mounted in the preceding detector below the secondary preceding cross-arm down and is installed in the back detector below the cross-arm under the secondary back; Master cock comprises system switching and detector switch; System switching is installed in the position that is easy to user's operation on the structural framing; Detector switch be mounted in secondary before down the cross-arm below anti-collision switch, be installed on the main support track or near main travel switch it and be installed on the assistant support track or near the secondary travel switch it; The signal input electric-control system of sensor and detector switch, the output signal of electric-control system moves and the action of carrier travel mechanism by flexible, the support telescoping mechanism of driving circuit control supporting leg.
Aforesaid carrier contains carrying platform, cabin and base plate; It is the action that relies on carrier travel mechanism that carrier moves forward; Driving circuit, storage battery, electric-control system are installed in the cabin.
Sliding block joint can adopt various ways before and after the aforesaid level, and one of them is the dovetail furrow mode, and dovetail groove is equipped with in two inboards of main support, and the dovetail tongue is equipped with in two outsides of assistant support; Wherein two are connecting rod mechanism modes, the two ends of left and right two auxiliary connecting rod mechanisms are connected to two outsides of the two inboard and assistant support front portions at main support rear portion.
Aforesaid main front leg strut, main rear support leg, secondary front leg strut and secondary rear support leg respectively have two; Wherein each supporting leg both can be to work independently respectively, also can utilize mechanical system respectively two main front leg struts, two main rear support legs, two secondary front leg struts, the main front leg strut on two secondary rear support legs, left side or right sides and the secondary front leg strut on main rear support leg, left side or right side and the telescopic section of secondary rear support leg to be coupled together, thereby can utilize a transmission device that two supporting legs are stretched out simultaneously or withdraw.
The present invention compared with prior art has tangible advantage and beneficial effect.By above technical scheme as can be known, device provided by the present invention can be finished the action of up/down steps automatically, and what adopt is the mode of motion that vertical lift and parallel motion combine, and this is a kind of as safe as a house and pulsation-free motion process for the object that is carried.When carrying platform is designed to seat, people for those moving difficulties, this device can help their safety and up/down steps cosily, particularly can satisfy stair size and gradient situation according to the residence building of production-release design, those old, weak, sick, residual persons that live upstairs need not other people be helped and can oneself arrive outdoor activities, perhaps freely going to the public place of step, as seen is a new and innovative, progressive, practical new design in fact.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Fig. 1 is main support structure stereoscopic figure of the present invention.
Fig. 2 is assistant support structure stereoscopic figure of the present invention.
Fig. 3 is that assistant support of the present invention is sleeved on the structural perspective in the main support.
Fig. 4 is the main support structure stereoscopic figure that channel suspending rail is equipped with in bottom of the present invention.
Fig. 5 is the assistant support structure stereoscopic figure that channel suspending rail is equipped with in bottom of the present invention.
Fig. 6 is that assistant support that rail groove is equipped with in the bottom is sleeved on the structural perspective in the main support.
Fig. 7 is the three-view diagram that the carrier of scroll wheel is equipped with in the bottom.
Fig. 8 is the three-view diagram that the carrier of scroll wheel is housed under the flank.
Fig. 9 is front elevation of the present invention and the lateral plan that scroll wheel is equipped with in the bottom.
Figure 10 is front elevation of the present invention and the lateral plan that scroll wheel is equipped with on top.
Figure 11 is the of the present invention no carrier birds-eye view that channel suspending rail is equipped with on top.
Figure 12 is the supreme cross-arm birds-eye view of of the present invention no carrier that channel suspending rail is equipped with in the bottom.
Figure 13 is a hydraulic scheme.
Figure 14 is the electric system schematic diagram.
Figure 15 is the process flow diagram flow chart of topping bar.
Figure 16 is the process flow diagram flow chart of getting out of a predicament or an embarrassing situation.
Figure 17 is that the major and minor support in left side is looked scheme drawing with the right side of sliding block joint before and after a kind of connecting rod mechanism realization level.
Figure 18 is that the major and minor support in right side is looked scheme drawing with the right side of sliding block joint before and after a kind of connecting rod mechanism realization level.
Among the figure: 1. motor 2. electric machine supports 3. cushion blocks
4. wheel shaft 6. support telescoping mechanisms 7. carrier travel mechanisms
8. wheel 9. is assisted cross-arms
10. cross-arm under the cross-arms 12. main backs under before main support 11. masters
13. main front leg strut 14. main rear support leg 15. dovetail grooves
16. cross-arm on the cross-arm 18. main support sides under the flute profile main support track 17. main support sides
19. cross-arm on the back
20. assistant support 21. secondary preceding cross-arms down 22. secondary backs are cross-arm down
23. secondary front leg strut 24. secondary rear support leg 25. dovetail tongues
26. cross-arm on the cross-arm 28. assistant support sides under the flute profile assistant support track 27. assistant support sides
30. carrier 31. scroll wheels 32. cabins
33. carrying platform 34. base plates 35. wheel supports
39. flank
40. hydraulic efficiency pressure system 45. Hydraulic Pumps 46. filters
47. fuel tank 48. straight ejector half by pass valve 49. check valves
403. high pressure relay 404. low pressure relays 411. main leg three-position four-way valves
412. main leg hydraulic lock 4111. main foreleg switch valve 4112. main back leg switch valves
421. secondary leg three-position four-way valve 422. secondary leg hydraulic lock
The valve 441. carrier movements of valve 431. support stretches
50. electric-control system 51. microcontrollers
521. preceding detector 522. back detector 53. anti-collision switch
541. main travel switch 542. secondary travel switch 55. driving circuits
551. motor-drive circuit 552. control Driver Circuit 56. storage batterys
57.A/D change-over circuit 581. source switchs 582. mode switchs
The specific embodiment is below in conjunction with accompanying drawing and preferred embodiment, the automatic walking that foundation the present invention is proposed and device and its specific embodiment of up/down steps method, structure, feature and effect thereof that can up/down steps, describe in detail as after.
In an embodiment, telescopic supporting leg and column are united two into one, the side stand of the assistant support 20 that formation is made of cross-arm 28 on cross-arm 27 under independently secondary front leg strut 23, secondary rear support leg 24, the assistant support side respectively and the assistant support side, the side stand of the main support 10 that constitutes by cross-arm 18 on cross-arm 17 under independently main front leg strut 13, main rear support leg 14, the main support side respectively and the main support side.Select for use channel suspending rail to cooperate with the carrier scroll wheel.Distance between the maximum extension elongation plane of each supporting leg to the lower edge plane of wheel 8 is 575 millimeters.For making facility with the aid of pictures, the part that wherein belongs to assistant support to be filled with oblique striped, the part that belongs to carrier is filled with netted striped.
See also Fig. 1, Fig. 2, shown in Figure 3, the installation that assistant support 20 is sleeved in the main support 10 concerns by clearly expression among the figure: secondary front leg strut 23 is outside main support 10 frameworks, secondary rear support leg 24 is in main support 10 frameworks, cross-arm 11 is lower than cross-arm 27 under the assistant support side under before main, at grade, the mobile space of secondary rear support leg 24 in main support 10, autonomous before down cross-arm 11 to main back down between the cross-arm 12.Each supporting leg is all selected the double acting single-piston-rod hydraulic cylinder of same specification for use, guarantees their Telescopic.
See also Fig. 4, Fig. 5, shown in Figure 6, for keeping the level of bottom channel suspending rail, before main, on the cross-arm 11 cushion block 3 to be housed down, before secondary down cross-arm 21, secondary back down cross-arm 22 and main back down cross-arm 12 be in same level height, about the outside two row flute profile assistant support tracks 26 are installed, installed inside two row flute profile main support tracks 16, secondary back cross-arm 22 down are crushed on below the flute profile main support track 16.Under the main support side on cross-arm 17, the main support side under cross-arm 18, the assistant support side on cross-arm 27 and the assistant support side length of cross-arm 28 all equate.See also shown in Figure 9, the extension elongation of hydraulic actuating cylinder is deducted the end of wheel 8 along the distance bottom to supporting leg, difference S1 is 575 millimeters, S1 is 3 divided by 190 maximum integer merchant, 3 times of 240 is 720 millimeters, choose these cross-arms length constituted from the front end of secondary front leg strut 23 to the minor increment S2 between the rear end of main rear support leg 14 is 710 millimeters.
See also Fig. 7, shown in Figure 8, carrier 30 includes scroll wheel 31, cabin 32, carrying platform 33, base plate 34 and flank 39.Cabin 32 is frameworks, there is carrying platform 33 to cover above it, base plate 34 is arranged below, does not block at the four sides, the wheel support 35 of scroll wheel 31 is fixed on following (for the situation of top dress scroll wheel, the wheel support 35 of scroll wheel 31 is fixed on the following of flank 39) of base plate 34, and carrier travel mechanism 7 selects hydraulic actuating cylinder for use, the cylinder sleeve top be fixed on carrier block foremost and be connected, cylinder sleeve is fixed on below the base plate 34, rod end does not fix.The length of cross-arm 17 is identical under the length of carrier travel mechanism 7 and the main support side.Cabin 32 internal fixation have: electric-control system 50, driving circuit 55, storage battery 56 and hydraulic efficiency pressure system 40.Hydraulic efficiency pressure system 40 is the power plant of embodiment, comprises that Hydraulic Pump, fluid control valve, fuel tank etc. drive the equipment of hydraulic actuating cylinder action.
See also Fig. 9, Figure 10, Figure 11 and shown in Figure 12, after (for making facility with the aid of pictures, omitting hydraulic efficiency pressure system 40 in the drawings) major and minor support assembling was finished, the carrier let-down promptly constituted complete device of the present invention on channel suspending rail.Wherein: dovetail groove 15 levels are installed between main front leg strut 13 and the main rear support leg 14, and dovetail tongue 25 levels are installed between secondary front leg strut 23 and the secondary rear support leg 24.Detector 521 before the installation below time cross-arm 21 before secondary, back detector 522 is installed below the cross-arm 22 under after pair, preceding detector 521 and back detector 522 are all selected the thing location probe for use, be used for when up/down steps, the extension elongation of forward and backward supporting leg can guarantee that the angle of inclination of whole device is not more than 5 degree.Bottom at two secondary front leg struts 23 is equipped with anti-collision switch 53 respectively, adorns main travel switch 541 at the rear portion of a flute profile main support track 16, adorns secondary travel switch 542 in the front portion of a flute profile assistant support track 26.Be connected with wheel shaft 4 between two wheels 8 at rear portion, and two anterior wheels 8 are contained on the versatile spindle respectively.The motor 1 of wheels 8 is installed on the electric machine support 2, and top, the two ends that electric machine support 2 is positioned at wheel shaft 4 are fixed under two main support sides on the cross-arm 17.Support telescoping mechanism 6 is positioned at electric machine support 2 tops, selects for use two ends to be fixed on double acting single-piston-rod hydraulic cylinder on the block, an end block be connected secondary before down on the cross-arm 21, other end block is connected main back down on the cross-arm 12.For making carrier travel mechanism 7 can promote carrier 30 reaches, between two main rear support legs 14, add auxiliary cross-arm 9, auxiliary cross-arm 9 is in same level height with carrier travel mechanism 7.
Present embodiment is selected the power plant of hydraulic efficiency pressure system as up/down steps for use.See also shown in Figure 13, Hydraulic Pump 45 by check valve 49 to each hydraulic actuating cylinder fuel feeding.The break-make of the main leg three-position four-way valve 411 of electric-control system 50 controls, secondary leg three-position four-way valve 421, the flexible valve 431 of support and carrier movement of valve 441.When fluid control valve was closed, main leg hydraulic lock 412 and secondary leg hydraulic lock 422 guaranteed that main supporting leg and stretching out of secondary supporting leg are locked at original position.Main foreleg switch valve 4111 and main back leg switch valve 4112 are inharmonious for preventing to cause supporting leg to stretch out because of the oil circuit resistance is uneven, under the signal feedback effect of thing location probe 52, by its break-makes of electric-control system 50 control, to guarantee that when the up/down steps, the degree of dip of device is not more than 5 degree.The electric contact of high pressure relay 403 and low pressure relay 404 inserts electric-control system, by detecting the high and low pressure of oil circuit, determines the coordination degree that supporting leg stretches out respectively.Because when the system failure caused oil pressure too high, straight ejector half by pass valve 48 was used to avoid damaging the hydraulic efficiency pressure system device.
See also the electrical schematic diagram of the utility model device shown in Figure 14.Driving circuit 55 is specially two circuit cards in an embodiment: motor-drive circuit 551 and control Driver Circuit 552.When source switch 581 mediates, the device outage, when this switch is invested motor-drive circuit 551, device is plane and little surface slope walking states, storage battery 56 makes motor 1 work of wheels by motor-drive circuit 551, when this switch was invested electric-control system 50, device entered the up/down steps state.When the up/down steps state, when mode switch 582 mediates, the control system standby, the contact at mode switch 582 two ends is represented the pattern of topping bar respectively and the pattern of getting out of a predicament or an embarrassing situation.High pressure relay 403, low pressure relay 404, main travel switch 541, secondary travel switch 542 and two mutually redundant anti-collision switch 53 1 ends connect power supply ground, the other end provides the on-off signal of input to microcontroller 51, and preceding detector 521 and back detector 522 provide the digital signal of input to microcontroller 51 by A/D change-over circuit 57.Microcontroller 51 corresponding output signal are by the action of the start and stop of control Driver Circuit 552 modulated pressure pumps 45, main leg three-position four-way valve 411, secondary leg three-position four-way valve 421, the flexible valve 431 of support, carrier movement of valve 441, main foreleg switch valve 4111 and main back leg switch valve 4112, wherein, valve 411, valve 421 and valve 431 respectively have two magnet coils.Storage battery 56 also is the working power of microcontroller 51, preceding detector 521, back detector 522, A/D change-over circuit 57 and control Driver Circuit 552.Source switch 581 and mode switch 582 are installed in the position of being convenient to operate---for example, be installed in the upper surface of carrier flank 39.
See also shown in Figure 15ly, specify the method for topping bar of the present invention below in conjunction with Figure 14 and Figure 13.When source switch 581 dropped into electric-control system one side, microcontroller 51 powered up standby, simultaneously primer fluid press pump 45.When microcontroller 51 detects mode switch 582 and provides the signal of topping bar and be low level, send control signal and drive main leg three-position four-way valve 411 actions, connect oil circuit and make that four main landing leg hydraulic cylinders are non-loaded to be stretched out and land, continue to extend out to the limit then, make device reach maximum height (step 601).
Hydraulic Pump does not quit work because hydraulic actuating cylinder can not continue to stretch out, and makes oil circuit pressure continue to raise, and causes 403 actions of high pressure relay.When microcontroller 51 detects this road signal and is low level, close main leg three-position four-way valve 411, the driving arm valve 431 that stretches is connected oil circuit the support telescopic hydraulic cylinder is stretched out, and promotes assistant support protract (step 602).
The data of detector 521 before microcontroller 51 begins to read, (575 is 3 divided by 190 maximum integer merchant, N=3-1) after the transition, through predefined delay time when data take place twice Second, microcontroller 51 cuts out the flexible valve 431 of support, makes assistant support stop to protract.Next, microcontroller 51 drives secondary leg three-position four-way valve 421, connects oil circuit and makes that secondary landing leg hydraulic cylinder is non-loaded to be stretched out and land.Anti-collision switch 53 has moved if twice transition does not take place the data of preceding detector 521, perhaps length causes the oil circuit increased pressure because the support telescopic hydraulic cylinder reaches capacity, cause 404 actions of low pressure relay, microcontroller 51 will be carried out stopped the operation that assistant support protracts, and make secondary supporting leg land (step 603 ∽ 606).Wherein, delay time Second, be to drop on to the main support supporting leg to reserve enough positions on the same step.
In case when secondary supporting leg continues to stretch out,, must cause oil circuit pressure to raise, make 404 actions of low pressure relay owing to have load.When microcontroller 51 detects this road signal and is low level, close secondary leg three-position four-way valve 421, stop secondary landing leg hydraulic cylinder and stretch out, drive carrier movement of valve 441 then, connect oil circuit the carrier mobile hydraulic cylinder is stretched out, promote the carrier reach.When carrier moves on the assistant support really allocation, secondary travel switch 542 actions.When microcontroller 51 detects this road signal and is low level, stop to drive the coil of carrier movement of valve 441, under the effect of valve inner spring, carrier movement of valve 441 return to primitive age positions make the carrier mobile hydraulic cylinder be communicated with oil return line (step 607).
Microcontroller 51 shrinks main landing leg hydraulic cylinder with rear drive master leg three-position four-way valve 411.After being contracted to the limit, rely on 403 actions of high pressure relay, microcontroller 51 is received this road low level signal, close main leg three-position four-way valve 411, the driving arm valve 431 that stretches, the support telescopic hydraulic cylinder is shunk, and the pulling main support is withdrawn the rod end drive of carrier mobile hydraulic cylinder (step 608 ∽ 609) forward simultaneously.
Main support moves forward to carrier really during allocation, main travel switch 541 is owing to the contact roller driving wheel moves, and microcontroller 51 is received this road low level signal, closes the flexible valve 431 of support, drive main leg three-position four-way valve 411, make that main landing leg hydraulic cylinder is non-loaded to be stretched out.When main supporting leg landed, the extension elongation of forward and backward main supporting leg was inconsistent.The trend that hydraulic actuating cylinder continues to stretch out causes 404 actions of low pressure relay, and microcontroller 51 is received this road low level signal, closes main leg three-position four-way valve 411, drives secondary leg three-position four-way valve 421, makes secondary landing leg hydraulic cylinder shrink (step 610 ∽ 611).
After secondary landing leg hydraulic cylinder is contracted to the limit, 404 actions of low pressure relay.Microcontroller 51 is received this road low level signal, closes secondary leg three-position four-way valve 421, the driving arm valve 431 that stretches, assistant support is protracted, this moment, microcontroller 51 began to read the data of back detector 522, after a transition takes place data, through predefined delay time Second, microcontroller 51 cuts out the flexible valve 431 of support, makes assistant support stop to protract.Anti-collision switch 53 has moved if transition does not take place the data of preceding detector 521, perhaps length causes the oil circuit increased pressure because the support telescopic hydraulic cylinder reaches capacity, cause 404 actions of low pressure relay, microcontroller 51 will be carried out stopped the operation (step 612 ∽ 615) that assistant support protracts.
According to the detailed description of preceding step (606 ∽ 609), under the programming control of microcontroller 51, device of the present invention finishes further that secondary supporting leg lands, carrier reach, main supporting leg are shunk, main support moves forward these several steps actions (step 616 ∽ 619).
Microcontroller reads the data of preceding detector 521 and back detector 522 51 this moments, and compares their size, if both differences illustrate that device has arrived the level land, execution in step 624 in the tolerance scope; Otherwise carry out following action: main supporting leg lands, secondary supporting leg shrinks.Then, main supporting leg bringing onto load stretches out, and microcontroller 51 reads the data of back detector 522, when these data show that main rear support leg has extend out to the limit, closes main leg three-position four-way valve 411, changes and goes execution in step 612 (step 620 ∽ 623).
Arrived the level land when installing, microcontroller 51 sends control signal, regains the supporting leg that stretches out, and finishes the process of all topping bar (step 624 ∽ 625).
When main supporting leg bringing onto load rises, the data of detector 521 and back detector 522 before microcontroller 51 constantly reads, when finding that the extension elongation of main front leg strut and main rear support leg is inharmonious and surpassing permissible error, control main foreleg switch valve 4111 or main back leg switch valve 4112, adjust the horizontality of assurance device in uphill process accordingly.
See also shown in Figure 16ly, specify the method for getting out of a predicament or an embarrassing situation of the present invention below in conjunction with Figure 15.When microcontroller 51 detects mode switch 582 and provides the signal of getting out of a predicament or an embarrassing situation and be low level, send control signal and drive main leg three-position four-way valve 411 actions, connect oil circuit and make that four main landing leg hydraulic cylinders are non-loaded to be stretched out and land, bringing onto load continues to stretch out then, the data of detector 521 and back detector 522 before microcontroller 51 constantly reads, wheel built on stilts a little when device, when reaching least restrictive height value (being designated hereinafter simply as lower bound) given in advance in program, close main leg three-position four-way valve 411 (step 701).
((602 ∽ 625) implementation procedure is basic identical, and difference wherein is step 723 and step 623 for the step of follow-up step (702 ∽ 725) and above-mentioned Figure 15.In the step 623 of above-mentioned Figure 15, main supporting leg bringing onto load rises; In step 723, become main supporting leg bringing onto load and descend (main landing leg hydraulic cylinder contraction), when main rear support leg decline reaches lower bound, promptly stop.
See also Figure 17 and shown in Figure 180, replace aforesaid dovetail furrow mode to form sliding block joint before and after the level between main support and the assistant support with common a kind of connecting rod mechanism, for the meaning that keeps context and other each figure links up, will realize among the figure that the bonded assembly column replaces with supporting leg.The lower end, rear portion of connecting rod mechanism and front lower ends are separately fixed on main rear support leg 14 and the secondary front leg strut 23, and connecting rod can rotate around anchor shaft.The rear upper end of connecting rod mechanism and nock can slide up and down in the groove on main rear support leg 14 and the secondary front leg strut 23 respectively, and through with being fastenedly connected of supporting leg, guarantee unlikelyly under the effect of diametral load from groove, to deviate from.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, the version of major and minor supporting leg particularly, sliding block joint before and after the level between main support and the assistant support, and support telescoping mechanism and carrier travel mechanism, can realize by variety of way.Every foundation technical spirit of the present invention all still belongs in the scope of technical solution of the present invention any simple modification, equivalent variations and modification that above embodiment did.

Claims (10)

1, the device of a kind of automatic walking and energy up/down steps, have structural framing and be installed in the wheel (8) on the framework, the motor (1) of wheels, power plant, be contained in the driving circuit that is used for drive motor and electromagnetic switch (55) in the cabin (32), the storage battery (56) of the energy is provided, it is characterized in that: structural framing is made of main support (10), assistant support (20) and carrier (30); Each is connected and composed main support (10) and assistant support (20) by two pairs of rectangular side supports, and each is paid side stand and has under two columns, the side cross-arm on cross-arm and the side, and the length of these cross-arms all equates; The geometrical boundary of main support (10) and assistant support (20) is cuboid, and main front leg strut (13), main rear support leg (14), secondary front leg strut (23) and secondary rear support leg (24) that maximal dilation length all equates are housed respectively, every supporting leg can both controlled elongation and withdrawal, when elongation and withdrawal structural framing is raise and reduces; Between two pairs of side stands of formation assistant support (20), be connected with cross-arm (22) under the secondary back with the preceding cross-arm (21) down of a pair respectively again; Constitute between two pairs of side stands of main support (10), more respectively with before the master down cross-arm (11) and main back down cross-arm (12) be connected, the rear portion is also with upward cross-arm (19) connection after; The lower edge of cross-arm under the assistant support side (27) is higher than the main preceding upper edge of cross-arm (11) down; Carrier (30) falls to being contained in the assistant support (20), and assistant support (20) is sleeved in the main support (10), and secondary front leg strut (23) is outside main support (10) framework, and secondary rear support leg (24) is in main support (10) framework; Sliding block joint before and after the employing level between the outside of the inboard of main support (10) and assistant support (20); Cross-arm (28) is in same level height on cross-arm on the main support side (18) and the assistant support side; Main support (10) respectively is equipped with the two row horizontal rail parallel with cross-arm under the side with assistant support (20); The both sides of carrier (30) respectively have a flank (39), and flank (39) is above cross-arm on the side of major and minor support; Carrier (30) is equipped with four row scroll wheels (31), drops on respectively on main support track (16) and the assistant support track (26), and possesses the ability of rolling along track; Be connected with support telescoping mechanism (6) between main support (10) and the assistant support (20); Carrier travel mechanism (7) is housed in the structural framing; Have the electric-control system that contains microcontroller (51) (50), sensor and the master cock of carrying out control action.
2, the device of automatic walking according to claim 1 and energy up/down steps, the scantling of structure that it is characterized in that wherein said main support (10) and assistant support (20) is subjected to the constraint of supporting leg extension elongation as follows: establish the S1 millimeter for after supporting leg stretches out extreme length, from the distance between the plane, solstics that lower edge plane to the supporting leg of wheel (8) stretches out, M is S1 divided by 190 maximum integer merchant, the S2 millimeter is that secondary front leg strut (23) is foremost to the distance between main rear support leg (14) rearmost end, then S2 multiply by 240 less than M, and S1 should be not less than 380.
3, automatic walking according to claim 1 and device that can up/down steps, it is characterized in that wherein said main support track (16) be separately fixed at main before the top of cross-arm (12) under cross-arm (11) and the main back down; Assistant support track (26) is separately fixed at the top of cross-arm (22) under preceding cross-arm (21) down of pair and the secondary back; Four row scroll wheels (31) are fixed on the bottom of carrier (30).
4, the device of automatic walking according to claim 1 and energy up/down steps is characterized in that wherein said main support track (16) and assistant support track (26) are installed in the top of cross-arm (28) on cross-arm on the main support side (18) and the assistant support side respectively; Scroll wheel (31) is installed in the bottom of flank (39) respectively, and two row scroll wheels (31) are equipped with in the below of every flank (39), and outside scroll wheel drops on the main support track (16), and inboard scroll wheel drops on the assistant support track (26).
5, automatic walking according to claim 1 and device that can up/down steps, it is characterized in that wherein said sensor be mounted in secondary before the preceding detector (521) below the cross-arm (21) and be installed in the secondary back following back detector (522) of cross-arm (22) down down; Master cock comprises system switching and detector switch; System switching is installed in the position that is easy to user's operation on the structural framing; Detector switch be mounted in secondary before down cross-arm (21) below anti-collision switch (53), be installed in that main support track (16) is gone up or near the main travel switch (541) it and near assistant support track (26) is gone up or it is secondary travel switch (542); The signal input electric-control system (50) of sensor and detector switch, the output signal of electric-control system (50) moves and carrier travel mechanism (7) action by flexible, the support telescoping mechanism (6) of driving circuit control supporting leg.
6, the device of automatic walking according to claim 1 and energy up/down steps is characterized in that wherein said carrier (30) contains carrying platform (31), cabin (32) and base plate (34); It is the action that relies on carrier travel mechanism (7) that carrier (30) moves forward; Driving circuit (55), storage battery (56), electric-control system (50) are installed in the cabin (32).
7, the device of automatic walking according to claim 1 and energy up/down steps, sliding block joint can adopt various ways before and after it is characterized in that wherein said level, one of them is the dovetail furrow mode, dovetail groove (15) is equipped with in two inboards of main support (10), and dovetail tongue (25) is equipped with in two outsides of assistant support (20); Wherein two are connecting rod mechanism modes, the two ends of left and right two auxiliary connecting rod mechanisms are connected to two outsides of two inboard and assistant support (20) front portions at main support (10) rear portion.
8, the device of automatic walking according to claim 1 and energy up/down steps is characterized in that wherein said main front leg strut (13), main rear support leg (14), secondary front leg strut (23) and secondary rear support leg (24) respectively have two; Main front leg strut (13) wherein or main rear support leg (14) both can be respectively independently, also can utilize mechanical system that the telescopic section of two main front leg struts or two main rear support legs is coupled together, thereby can utilize a transmission device that two supporting legs are stretched out simultaneously or withdraw; Wherein the main front leg strut (13) on left side or right side and main rear support leg (14) both can be respectively independently, also can utilize mechanical system that the main front leg strut left side or the right side and the telescopic section of main rear support leg are coupled together, thereby can utilize a transmission device that two supporting legs are stretched out simultaneously or withdraw; Secondary front leg strut (23) wherein or secondary rear support leg (24) both can be respectively independently, also can utilize mechanical system that the telescopic section of two secondary front leg struts or two secondary rear support legs is coupled together, thereby can utilize a transmission device that two supporting legs are stretched out simultaneously or withdraw; Wherein the secondary front leg strut (23) on left side or right side and secondary rear support leg (24) both can be respectively independently, also can utilize mechanical system that the secondary front leg strut left side or the right side and the telescopic section of secondary rear support leg are coupled together, thereby can utilize a transmission device that two supporting legs are stretched out simultaneously or withdraw.
9, the up/down steps method of a kind of automatic walking and device that can up/down steps is characterized in that: topped bar after the pattern or the pattern of getting out of a predicament or an embarrassing situation electric-control system (50) control setup action according to the following steps during upper and lower step by artificial selection:
A) up/down steps is prepared;
B) driving arm telescoping mechanism (6) stretches out, and assistant support (20) level is protracted;
C) detect to judge that support telescoping mechanism (6) has reached maximum and stretched out limit or anti-collision switch (53) action or assistant support (20) front portion and extended through N step;
D) postpone Δ T second;
E) stop driving arm telescoping mechanism (6), assistant support (20) stops to protract;
F) assistant support (20) supporting leg lands;
G) carrier travel mechanism (7) action makes carrier (30) reach;
H) main support (10) supporting leg is contracted to the shortest;
I) driving arm telescoping mechanism (6) shrinks, and makes the reach of main support (10) level;
J) main support (10) supporting leg lands;
K) assistant support (20) supporting leg is contracted to the shortest;
L) driving arm telescoping mechanism (6) stretches out, and assistant support (20) level is protracted;
M) detect to judge that support telescoping mechanism (6) has reached maximum and stretched out limit or anti-collision switch (53) action or assistant support (20) rear portion and extended through a step;
N) postpone Δ T second;
O) stop driving arm telescoping mechanism (6), assistant support (20) stops to protract;
P) assistant support (20) supporting leg lands;
Q) carrier travel mechanism (7) action makes carrier (30) reach;
R) main support (10) supporting leg is contracted to the shortest;
S) driving arm telescoping mechanism (6) shrinks, and makes the reach of main support (10) level;
T) do you judge whether assistant support (20) front and rear portions contour? if contour, turn to X) step;
U) main support (10) supporting leg lands;
V) assistant support (20) supporting leg is contracted to the shortest;
W) setting device height turns to then and carries out L) step;
X) supporting leg is regained;
Y) tenth skill.
10, the up/down steps method of the device of automatic walking according to claim 9 and energy up/down steps, it is characterized in that: at A) in the step, when topping bar pattern, the main support supporting leg extend out to the longest, when getting out of a predicament or an embarrassing situation pattern, the main support supporting leg lands earlier, and then is stretched to a predetermined height Δ H, makes that the wheel (8) of device can a little distance of built on stilts; At W) setting device height in the step is meant: when topping bar pattern, main rear support leg (14) extend out to the longest, the length that main front leg strut (13) stretches out makes the last plane maintenance level basically of main support, when getting out of a predicament or an embarrassing situation pattern, the supporting leg of main support shrinks, stop when reaching length that main rear support leg (14) stretched out for predetermined height Δ H, the length that main front leg strut (13) stretches out makes the last plane maintenance level basically of main support; At C) in the step, N be one in program, set be not less than 1 integer, relevant with concrete supporting leg extension elongation, its definite method is: the distance between the plane, solstics that lower edge plane to the supporting leg of wheel (8) stretches out is the S1 millimeter, when M was S1 divided by 190 maximum integer merchant, N equaled M and subtracts 1; At D) and N) in the step, Δ T depends on the speed of stretching out of assistant support (20) second, determines by experiment.
CNB031376207A 2003-06-18 2003-06-18 Automatic running gear capable of going up and down bench and method for going up and down bench CN1326740C (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CNB031376207A CN1326740C (en) 2003-06-18 2003-06-18 Automatic running gear capable of going up and down bench and method for going up and down bench
PCT/CN2004/000595 WO2004110846A1 (en) 2003-06-18 2004-06-03 A climbing stairs device and climbing stairs method thereof

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CNB031376207A CN1326740C (en) 2003-06-18 2003-06-18 Automatic running gear capable of going up and down bench and method for going up and down bench
CNB2004800020160A CN100460258C (en) 2003-06-18 2004-06-03 A device capable of automatically moving up/down steps and method for moving up/down steps
PCT/CN2004/000595 WO2004110846A1 (en) 2003-06-18 2004-06-03 A climbing stairs device and climbing stairs method thereof

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CN1565914A true CN1565914A (en) 2005-01-19
CN1326740C CN1326740C (en) 2007-07-18

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CNB2004800020160A CN100460258C (en) 2003-06-18 2004-06-03 A device capable of automatically moving up/down steps and method for moving up/down steps

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CN103963813A (en) * 2014-04-03 2014-08-06 浙江理工大学 Novel multipurpose electric carrier stair climbing vehicle
CN105667563A (en) * 2016-03-18 2016-06-15 大连修治科技有限公司 Electric goods carrying stair climbing device
CN106826750A (en) * 2017-02-09 2017-06-13 苏柏科技有限公司 A kind of security robot and its benching tunneling method
CN107320251A (en) * 2017-07-04 2017-11-07 杨桂华 A kind of gynemetrics folds moving bearing device

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CN101825902A (en) * 2010-04-30 2010-09-08 天津朗誉科技发展有限公司 Intelligent electric motor car and control method thereof
CN107095769B (en) * 2017-05-17 2019-05-24 上海理工大学 Stair climbing type multifunctional rehabilitation instrument

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DE3422255A1 (en) * 1984-06-15 1985-12-19 Norbert Geisler Chassis for a wheelchair
DE19518087A1 (en) * 1995-02-16 1996-11-28 Expresso Deutschland Goods delivery and distribution trolley
CN2262516Y (en) * 1996-02-27 1997-09-17 杨茂盛 Dual-purpose hand cart for going-up stairs, driven by manpower or power
CN2254855Y (en) * 1996-03-14 1997-05-28 陈永兴 Hand cart for upstairs use

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103963813A (en) * 2014-04-03 2014-08-06 浙江理工大学 Novel multipurpose electric carrier stair climbing vehicle
CN105667563A (en) * 2016-03-18 2016-06-15 大连修治科技有限公司 Electric goods carrying stair climbing device
CN106826750A (en) * 2017-02-09 2017-06-13 苏柏科技有限公司 A kind of security robot and its benching tunneling method
CN106826750B (en) * 2017-02-09 2019-06-07 苏柏科技有限公司 A kind of security robot and its benching tunneling method
CN107320251A (en) * 2017-07-04 2017-11-07 杨桂华 A kind of gynemetrics folds moving bearing device

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CN1326740C (en) 2007-07-18
CN1723145A (en) 2006-01-18
CN100460258C (en) 2009-02-11

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