CN1723145A - The device of the automatic up/down steps of a kind of energy and up/down steps method - Google Patents
The device of the automatic up/down steps of a kind of energy and up/down steps method Download PDFInfo
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- CN1723145A CN1723145A CN200480002016.0A CN200480002016A CN1723145A CN 1723145 A CN1723145 A CN 1723145A CN 200480002016 A CN200480002016 A CN 200480002016A CN 1723145 A CN1723145 A CN 1723145A
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- support
- main
- arm
- assistant
- main support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
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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
Abstract
A kind ofly adopt the mode of motion that vertical lift and parallel motion combine and realize the control step of the conveying arrangement and the controlled realization up/down steps thereof of up/down steps, this device comprises by main support (10), the structural framing of assistant support (20) and carrier (30) formation: the geometrical boundary of main support and assistant support is cuboid but width is different, sliding block joint before and after mutual sheathing and the employing level between them, main support and assistant support respectively have supporting leg that four controlled collapsing lengths all equate and the horizontal rail that two row fore-and-aft directions respectively are housed, carrier is equipped with four row scroll wheels (31) group, drops on the track respectively and the energy orbital motion; Be connected with support telescoping mechanism (6) between the major and minor support, carrier travel mechanism (7) is housed in the structural framing; This device also comprises electric-control system (50), sensor, master cock, wheel, power plant, driving circuit and the storage battery that contains microcontroller.
Description
The present invention relates to a kind of automatic transportation device and transportation resources, the conveying arrangement and its method of work of the more particularly to a kind of lifting of energy automatic vertical and horizontal movement for the device and method for moving up/down steps technical field of a kind of automatic up/down steps of energy.The car in the existing Neng Pa buildings of background technology is substantially to become the Round shapes wheel of motion to turn to planet gear type structure, and what is had is also equipped with power, and early Chinese utility model 96205557. 3 is one.But why this kind of invention lacks market recognition, and an important defect lacks stationarity when being that up/down steps, especially in the state of manned, it is difficult to give a sense of security and comfort.In existing data, it is not yet found that a kind of device can receiving by the flexible and structural framing of supporting leg, smoothly make itself and by carrier it is complete with vertically and horizontally mode alternating movement ' into the work of up/down steps.Content of the invention technical problem underlying to be solved by this invention is, a kind of device of the automatic up/down steps of the energy of new structure is provided, it is reached itself by a receipts for the flexible and structural framing of supporting leg and is completed the work of up/down steps with vertically and horizontally mode alternating movement by carrier.
Another technical problem to be solved by this invention is to make each several part of the structure of this device act according to Program Coordination there is provided the method for the automatic up/down steps of this device, more smoothly completes the work of up/down steps.The present invention is solved its technical problem underlying and realized using following technical scheme.According to a kind of device of the automatic up/down steps of energy proposed by the present invention, wheel with structural framing and on framework, equipped with power-equipment and mounted in machine rob in be used to drive the drive circuit of electromagnetic switch, battery, its structural framing is by main support, assistant support and carrier are constituted, main support is equipped with main front leg strut and main rear support leg, assistant support is equipped with secondary front leg strut and secondary rear support leg, these supporting legs can controlled vertical elongation and retract, and their maximal dilation length is all equal, they extend and structural framing is raised and is reduced when retracting respectively；Connection is slid back and forth using level between main support and assistant support；Main support is equipped with the main support track of two row anterior-posterior horizontals, and assistant support is equipped with the assistant support track of two row anterior-posterior horizontals；The both sides of carrier respectively have a flank, flank ' it is covered in the top of major and minor support；Carrier is equipped with four row scroll wheel groups, respectively falls on main support track and assistant support track, and possess the ability rolled along track；Support telescoping mechanism is connected between main support and assistant support；Structural framing is built with carrier travel mechanism；With the electric-control system containing microcontroller, sensor and the controlling switch for realizing control action.
The present invention is solved its technical problem underlying and also realized simultaneously using following technical scheme.According to the method for moving up/down steps of the device of the automatic up/down steps of energy proposed by the present invention, after artificial selection top bar pattern or pattern of getting out of a predicament or an embarrassing situation, electric-control system controls described device to act according to the following steps：
A) up/down steps prepare；
B) driving arm telescoping mechanism stretches out, and assistant support level is protracted；
C) detection judges that assistant support front portion has extended through N number of step, and delay Δ Τ seconds turns to and performs E) step；D) detect support telescoping mechanism and stretch out limit or anti-collision switch action up to maximum；
■ E) stop driving arm telescoping mechanism, assistant support is stopped extension；
F) assistant support supporting leg lands；
G) carrier travel mechanism acts, and carrier is moved forward；
H) main support supporting leg is contracted to most short；
I) driving arm telescoping mechanism shrinks, and main support level is moved forward；
J) main support supporting leg lands；
K) assistant support supporting leg is contracted to most short；
L) driving arm telescoping mechanism stretches out, and assistant support level is protracted；
M) detection judges that assistant support rear portion has extended through a step, and delay Δ Τ seconds turns to and performs 0) step;) support telescoping mechanism is detected up to maximum stretching limit or anti-collision switch action；
0) stop driving arm telescoping mechanism, assistant support is stopped extension；
P) assistant support supporting leg lands；
Q) carrier travel mechanism acts, and carrier is moved forward；
R) main support supporting leg is contracted to most short；
S) driving arm telescoping mechanism shrinks, and main support level is moved forward；
T) judge whether the forward and backward bottom of assistant support is contourIf contour, X is turned to) step；
U) main support supporting leg lands；
V) assistant support supporting leg is contracted to most short；
W) adjusting apparatus height, then turns to perform L) step；
X) supporting leg is withdrawn；
Y) tenth skill.' the present invention solve its technical problem can also further be realized using following technical measures：
For foregoing rate-determining steps, in A) in step, during top bar pattern, main support supporting leg extend out to most long, and during pattern of getting out of a predicament or an embarrassing situation, main support supporting leg first lands, then extend again to a predetermined height Δ Η so that the wheel of device may exit off a little distance in ground；In W) the tune device in step highly refers to, during top bar pattern, main rear support leg extend out to most long, the length that main front leg strut stretches out makes the upper plane of main support be kept substantially level, during pattern of getting out of a predicament or an embarrassing situation, the supporting leg of main support shrinks, and the extension elongation for reaching main rear support leg stops when being predetermined height Δ Η, and the length that main front leg strut stretches out makes the upper plane of main support be kept substantially level；In C) in step, N is an integer for being not less than 1 set in a program, and relevant with specific supporting leg extension elongation, its determination method is：The distance between solstics plane stretched out when lower edge plane to the supporting leg of wheel is S1 millimeters, and when M is S1 divided by 190 maximum integer business, N subtracts 1 equal to M;In D) and N) in step, Δ depends on the stretching speed of assistant support for Τ seconds, is determined by experiment.
Foregoing main support and assistant support are respectively connected and composed by two pairs of rectangle side stands, each pair of side stand is with cross-arm on cross-arm under two columns, a sides and a side, the length of these side cross-arms is all equal, every column is respectively and fixedly provided with a foregoing telescopic supporting leg, and supporting leg extension elongation constrains the length of side cross-arm；Two pairs of side stands are connected with lower cross-arm after a front lower cross-arm of pair and a pair, assistant support is constituted；With lower cross-arm after main front lower cross-arm, master, one rear portion it is rear on cross-arm connect two pairs of side stands, composition main support；The geometrical boundary of main support and assistant support is cuboid；Cross-arm is in same level height with cross-arm on assistant support side on main support side.
The length of foregoing side cross-arm is as follows by the constraint of supporting leg extension elongation：If supporting leg stretch out maximum length, support telescoping mechanism be reduced to it is most short after, the distance between solstics plane stretched out from the lower edge plane of wheel to supporting leg is S1 millimeters, S1 should be not less than 380 millimeters, extremely the distance between main rear support leg rearmost end is S2 millimeters to the secondary front leg strut determined by side cross-arm foremost, M is S1 divided by 190 maximum integer business, then S2 is multiplied by 240 less than M.Such ratio is mainly with reference to typically being lived in building trade ' the design standards of residence stair, and
Consider appropriate surplus so that device of the invention is adapted to meet the residence stairs and other steps in easy flights in the standard conditions of the standard conditions.
Foregoing bracket track and the mounting means of scroll wheel groups have two kinds, Yi Zhongshi：The top of main support track lower cross-arm after being separately fixed at main front lower cross-arm and being main, the top of assistant support Gui Dao Fen Do lower cross-arms after being fixed on secondary front lower cross-arm and being secondary, four row scroll wheel groups are fixed on the bottom of carrier；It is another to be：Main support track and assistant support track are separately mounted to the top of cross-arm on cross-arm and assistant support side on main support side, and scroll wheel groups are separately mounted to the bottom of flank, and two row scroll wheel groups are housed below the flank per side.
Mounting means between foregoing main support, assistant support and carrier has two kinds, Yi Zhongshi：The width of assistant support is less than main support, and carrier falls in assistant support, and assistant support is sleeved in main support, and the lower edge of cross-arm is higher than the upper edge of main front lower cross-arm under assistant support side, and secondary front leg strut is outside main support framework, and secondary rear support leg is in main support framework；It is another to be：The width of assistant support is more than main support, and carrier falls in main support, and assistant support is sleeved on outside main support, and the upper edge of lower cross-arm is less than the lower edge of cross-arm under main support side after pair, and main rear support leg is outside assistant support framework, and main front leg strut is in the framework of assistant support.
Foregoing sensor is mounted in the preceding detector below secondary front lower cross-arm and the rear detector after pair below lower cross-arm；Controlling switch includes system switching and detection switch；System switching opened including device/guard's valve and up/down step pattern selecting switch, the position of person's operation easy to use on structural framing；Detection switch is mounted in the anti-collision switch below secondary front lower cross-arm, the main travel switch on main support track or near it and the secondary travel switch on assistant support track or near it；Sensor and the signal of detection switch input electric-control system, the output signal of electric-control system control the flexible of the supporting leg, the action of support telescoping mechanism and carrier travel mechanism to move ^ by drive circuit.Physical circuit in electric-control system can use the combination of existing technologies.
Foregoing carrier, which contains carrying platform, machine, to be robbed and bottom plate；It is the action for relying on carrier travel mechanism that carrier, which is moved forward,；During drive circuit, battery, electric-control system are arranged on as machine.
Foregoing level slides back and forth connection and can use and be not limited to following form, and one of them is dovetail groove mode, corresponding between left and right connection side of the main support with assistant support that dovetail groove nested against one another and dovetail tongue are housed；Two wherein are linkage modes, and two slave connecting rod mechanisms are arranged between main support and the left and right connection side of assistant support, and the two ends point Do of linkage is connected to the rear portion of main support and the front portion of assistant support.
Foregoing main front leg strut, main rear support leg, secondary front leg strut and secondary rear support leg respectively has two；Wherein each supporting leg can separately be worked, the telescopic section of the main front leg strut and main rear support leg, the secondary front leg strut in left side or right side and secondary rear support leg on two main front leg struts, two main rear support legs, two secondary front leg struts, two secondary rear support legs, left side or right side can also be connected respectively using mechanical system, so as to make two supporting legs using a transmission mechanism while stretching out or retracting.The present invention has clear advantage and beneficial effect compared with prior art.From above technical scheme, device provided by the present invention is to be vertically moved up or down and move horizontally the action that the motor pattern being combined is automatically performed up/down steps, and this is a kind of very safe and stable motion process for the object of carried.When carrying platform is designed into seat, for the people of those moving difficulties, this device can help their safety and cosily up/down steps, the stair size and gradient situation of the residence building designed according to standard can particularly be met, those old, weak, sick, residual persons lived upstairs can be made more easily to arrive public place activity that is outdoor or having step, it is seen that its actually new and innovative, progressive, practical new design.If being further added by the power-equipment of drive wheel, using universal wheel shaft, the present apparatus will be provided with the ability of level land motion and minor-circle turn.
The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Fig. 1 is the wide main bracket structure stereoscopic figure of the present invention.
Fig. 1 is the narrow assistant support constructional appearance stereogram of the present invention.
Fig. 3 is that the narrow assistant support of the present invention is sleeved on the structural perspective in wide main support.
Fig. 4 is that the bottom of the present invention is equipped with the wide main bracket structure stereoscopic figure of main support track.
Fig. 5 is that the bottom of the present invention is equipped with the narrow assistant support constructional appearance stereogram of assistant support track.
Fig. 6 is the structural perspective that narrow assistant support of the bottom equipped with bracket track is sleeved in wide main support.The front view of carrier of the figure portion equipped with scroll wheel.
Fig. 7 B are the Side views of carrier of the bottom equipped with scroll wheel.
Fig. 7 C are the top views of carrier of the bottom equipped with scroll wheel.
Fig. 8 A are the front views of the carrier equipped with scroll wheel under flank.
Fig. 8 B are the side views of the carrier equipped with scroll wheel under flank.
Fig. 8 C are the top views of the carrier equipped with scroll wheel under flank.
Fig. 9 A are the front views of the invention that the narrow assistant support bottom of wide main support is equipped with bracket track.
Fig. 9 B are the side views of the invention that the narrow assistant support bottom of wide main support is equipped with bracket track.
Figure 10 A are the front views of the invention that the narrow assistant support top of wide main support is equipped with bracket track.
Figure 10 B are the side views of the invention that the narrow assistant support top of wide main support is equipped with the soft road of support.
Figure 11 is the narrow assistant support top of wide main support equipped with bracket track without carrier top view.
Figure 12 is the narrow assistant support bottom of wide main support equipped with bracket track without the supreme cross-arm top view of carrier.Figure 13 is hydraulic scheme.
Figure 14 is Principle of Electrical System figure.
Figure 15 is top bar process u journey figures.
Figure 16 is 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 side realizes that level slides back and forth the right side of connection regarding schematic diagram with a kind of linkage.
Figure 18 is that the major and minor support of opposite side realizes that level slides back and forth the right side of connection regarding schematic diagram with a kind of linkage.
Fig. 3 F are that the wide assistant support of the present invention is sleeved on the structural perspective outside narrow main support.
Fig. 6 F are that the wide assistant support of bottom dress bracket track is sleeved on the structural perspective outside narrow main support.Figure 10 FA are the front views of the invention that the narrow main support top of wide assistant support is equipped with bracket track.
Figure 10 FB are the side views of the invention that the narrow main support top of wide assistant support is equipped with bracket track.
Figure 11 F are the narrow main support top of wide assistant support equipped with bracket track without carrier top view.In figure：3. the support telescoping mechanism of 4. wheel shaft of Arts blocks 6.
7. the auxiliary cross-arm of wheel 9. of carrier travel mechanism 8.
10. main support 11. leads lower cross-arm after front lower cross-arm 12. is led
13. the main main dovetail groove of rear support leg 15. of front leg strut 14.
16. cross-arm on the main support side of cross-arm 18. under the main support side of main support track 17.
19. after upper cross-arm
20, lower cross-arm after the secondary front lower pair of cross-arm 22. of assistant support 21.
23. the secondary secondary dovetail tongue of rear support leg 25. of front leg strut 24.
26. cross-arm on the assistant support side of cross-arm 28. under the assistant support side of assistant support track 27.
30. the machine of 31. scroll wheel of carrier 32. is robbed
33. the wheel support of 34. bottom plate of carrying platform 35.
39. flank
40. the filter of 45. hydraulic pump of hydraulic system 46.
47. the check valve of 48. direct acting type overflow valve of fuel tank 49.
The main victory main back leg switch valve of the main foreleg switch valve 4112. of the main leg hydraulic lock 4111. of three-position four-way valve 412. of 403. high pressure relay, 404. low-pressure relay 411.
The 421. secondary leg hydraulic locks of secondary leg three-position four-way valve 422.
The carrier of 431. support flexible valve 441. moves valve
50. the ^1 controllers of electric-control system 51.
The anti-collision switch of detector 53. after detector 522. before 521.
The 541. main secondary drive circuits of travel switch 55. of travel switch 542.
The 552. control batteries of drive circuit 56.
57. the mode switch embodiment of 581. power switch of A/D change-over circuits 582. is below in conjunction with accompanying drawing and preferred embodiment, to according to it is proposed by the present invention can automatic up/down steps device and method for moving up/down steps its embodiment, structure, feature and its effect, describe in detail as after.
In embodiment, telescopic supporting leg and column are united two into one, formed You the side stand of the assistant support 20 that cross-arm 28 is constituted on cross-arm 27 under the secondary front leg strut 23, secondary rear support leg 24, assistant support side of Fen Do independences and assistant support side, under φ main front leg struts 13 independently, main rear support leg 14, main support side on cross-arm 17 and main support side the main support 10 that cross-arm 18 is constituted side stand.Coordinated from flute profile main support track and flute profile assistant support track with carrier scroll wheel groups.The maximum extension elongation plane of each supporting leg to the distance between the lower edge plane of wheel 8 is 575 millimeters.To make to see that figure is facilitated, the part for wherein belonging to assistant support is filled with oblique striped, the part for belonging to carrier is filled with Wang Zhuan Tiao Pattern.
Refer to shown in Fig. 1, Fig. 2, Fig. 3, the installation relation that narrow assistant support 20 is sleeved in wide main support 10 is explicitly indicated that in figure：Secondary front leg strut 23 is outside the framework of main support 10, secondary rear support leg 24 is in the framework of main support 10, main front lower cross-arm 11 is less than cross-arm 27 under assistant support side, at grade, the moving range of secondary rear support leg 24 is in main support 10, and autonomous rear lower cross-arm 12 is between main front lower cross-arm 11.Each supporting leg selects the two-action single-rod hydraulic cylinder of same specification, ensures their Telescopic.
Refer to shown in Fig. 3 F, the installation relation that wide assistant support 20 is sleeved on outside narrow main support 10 is explicitly indicated that in figure：Main rear support leg 14 is outside the framework of assistant support 20, main front leg strut 13 is in the framework of assistant support 20, cross-arm 22 is less than cross-arm 17 under main support side down after pair, at grade, and the moving range of secondary rear support leg 24 descends cross-arm 12 between main front lower cross-arm 11 after master.
Refer to shown in Fig. 4, Fig. 5, Fig. 6, in the case of in the wide main supports 10 of narrow 20 sets of ^ ^ of assistant support, to keep the level of bottom channel suspending rail, cushion block 3 to be housed on main front lower cross-arm 11, secondary front lower cross-arm 21, it is secondary after lower cross-arm 22 and it is main after lower cross-arm 12 be in same level height, two row flute profile assistant support tracks 26 are installed on the outside of left and right, inner side is installed by two row flute profile main support tracks 16, lower cross-arm 22 is crushed on below flute profile main support track 16 after pair, and main front lower cross-arm 11 is crushed on below flute profile assistant support track 26.Cross-arm 17 under main support side, the length of cross-arm 28 is all equal on cross-arm 27 and assistant support side under cross-arm 18, assistant support side on main support side.Refer to shown in Fig. 9 A, Fig. 9 B, the maximum extension elongation of selection hydraulic cylinder subtracts the distance of bottom edge to the bottom of supporting leg of wheel 8, difference S1 is 575 millimeters, S1 divided by 190 maximum integer business is 3,3 times of 240 are 720 millimeters, choose the front end from secondary front leg strut 23 that the length of these cross-arms constituted to the minimum range S2 between the rear end of main rear support leg 14 be 710 millimeters.
Refer to shown in Fig. 6 F, in the case where wide assistant support 20 is sleeved on outside narrow main support 10, to keep
The level of bottom channel suspending rail, after pair cushion block 3 is filled on lower cross-arm 22, lower cross-arm 12 is in same level height after secondary front lower cross-arm 21, main front lower cross-arm 11 and master, two row flute profile assistant support tracks 26 are installed on the outside of left and right, inner side is installed by two row flute profile main support tracks 16, flute profile main support track 16 is pressed in after pair above lower cross-arm 22, and flute profile assistant support track 26 is pressed in above main front lower cross-arm 11.
Refer to Fig. 7 A, Fig. 7 B, figure K, Fig. 8 λ, Fig. 8 Β, figure8Shown in C, carrier 30 includes scroll wheel 31, cabin 32, carrying platform 33, bottom plate 34 and flank 39.Cabin 32 has carrying platform 33 to cover above, has bottom plate 34 below, the wheel support 35 of scroll wheel 31 is fixed on below bottom plate 34（When top fills scroll wheel, the wheel support 35 of scroll wheel 31 is fixed on λ carriers travel mechanism 7 below flank 39 and selects hydraulic cylinder, cylinder sleeve top is connected with being fixed on the block of carrier foremost, and cylinder sleeve is fixed on below bottom plate 34, rod end does not fix.The maximum extension elongation of carrier travel mechanism 7 is identical with the maximum extension elongation of assistant support.Machine is robbed in 32 and is fixed with：Electric-control system 50, drive circuit 55, battery 56 and hydraulic system 40.Hydraulic system 40 is the power-equipment of embodiment, includes the equipment of the driving hydraulic cylinder such as hydraulic pump, hydraulic control valve, fuel tank action.
Refer to Fig. 9 Α, Fig. 9 Β, Figure 10 Α, Figure 10 Β, figure U and Figure 12 shown in,（To make to see that figure is facilitated, hydraulic system 40 is omitted in figure) in the narrow assistant support situation of wide main support, after the completion of major and minor support assembling, carrier let-down constitutes complete device of the invention on flute profile Rail roads.Wherein：The groove 15 of dovetail four is horizontally arranged between main front leg strut 13 and main rear support leg 14, and dovetail tongue 25 is horizontally arranged between secondary front leg strut 23 and secondary rear support leg 24.Detector 521 before being installed below secondary front lower cross-arm 21, detector 522 after being installed after pair below lower cross-arm 22, preceding detector 521 and rear detector 522 select object position detection device, for in up/down steps, the extension elongation of forward and backward supporting leg to can ensure that the angle of inclination of whole device is not more than 5 degree.Anti-collision switch 53 is respectively provided with the bottom of two secondary front leg struts 23, main travel switch 541 is filled at the rear portion of a flute profile main support track 16, in the secondary travel switch 542 of anterior dress of a flute profile assistant support track 26.Wheel 8 is installed on the wheel shaft 4, and wheel shaft 4 is arranged on main support 10.Support telescoping mechanism 6 is located at the top of forward and backward lower cross-arm, the double acting single-piston rod liquid village cylinder on block is fixed on from two ends, one end block is fixed on secondary front lower cross-arm 21, and other end block is fixed on after master on lower cross-arm 12, and right position is placed in the middle.To enable carrier travel mechanism 7 to promote carrier 30 to move forward, auxiliary cross-arm 9 is added between two main rear support legs 14, auxiliary cross-arm 9 is in same level height with carrier travel mechanism 7.
Refer to Figure 10 FA, Figure 10 FB, shown in Figure 11 F, in the wide assistant support situation of narrow main support, wheel 8 can be arranged on below the dovetail groove between major and minor support.After the completion of major and minor support assembling, carrier let-down constitutes complete device of the invention on channel suspending rail, that is,.This situation does not influence the installation site of miscellaneous equipment.
Refer to shown in Figure 13, the present embodiment selects the hydraulic system of prior art as the power-equipment of up/down steps.
Refer to the electrical schematic diagram of apparatus of the present invention shown in Figure 14.Drive circuit 55 is specially control drive circuit 552 in embodiment.When power switch 581 invests electric-control system 50, device enters up/down steps state.In up/down steps state, when mode switch 582 is in an intermediate position, control system is standby, and the Jie Dian minute Do at the two ends of mode switch 582 represent top bar pattern and 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 provide the switching signal of input to microcontroller 51, and preceding detector 521 and rear detector 522 provide the data signal of input by A/D change-over circuits 57 to microcontroller 51.The corresponding output signal of microcontroller 51 is by controlling drive circuit 552 to control the start and stop of hydraulic pump 45, main leg three-position four-way valve 411, secondary leg three-position four-way valve 421, support flexible valve 431, carrier to move valve 441, the main and of foreleg switch valve 4111
The action of main back leg switch valve 4112, wherein, valve 411, wealthy 421 and valve 431 respectively have two magnet coils.Power switch 581 and mode switch 582 are arranged on the position for being easy to operate one by one for example, the upper surface of carrier flank 39.
Refer to shown in Figure 15, and combine the top bar method that Figure 14 and Figure 13 illustrates the present invention.When power switch 581 is put into, microcontroller 51 power up it is standby, while start hydraulic pump 45.When microcontroller 51, which detects mode switch 582, provides top bar signal for low level, sending control signal drives main leg three-position four-way valve 411 to act, connecting oil circuit makes four main non-loaded stretchings of landing leg hydraulic cylinder and lands, then proceed to extend out to the limit, device is reached maximum height（Step 601).
Due to hydraulic cylinder can not continue stretch out and hydraulic pump is not stopped, make oil circuit pressure continue raise, cause high pressure relay 403 to act.When microcontroller 51 detects this road signal for low level, main leg three-position four-way valve 411 is closed, driving arm flexible valve 431, connection oil circuit stretches out support telescopic hydraulic cylinder, promotes assistant support extension（Step 602).
Microcontroller 51 starts the data of detector 521 before reading, when data occur twice（575 divided by 190 maximum integer business is 3, N=3- 1) after transition, by time delay T second set in advance, microcontroller 51 closed support flexible valve 431, made assistant support stop protracting.Next, microcontroller ' 51 drive pair leg three-position four-way valve 421, connecting oil circuit makes the non-loaded stretching of secondary landing leg hydraulic cylinder and lands.If transition twice does not occur for the data of preceding detector 521 and anti-collision switch 53 has been acted, or because the support telescopic hydraulic cylinder length that reaches capacity causes oil circuit pressure to increase, low-pressure relay 404 is caused to act, to all microcontroller 51 be performed and stop the operation of assistant support extension, and land secondary supporting leg（Step 603-606).Wherein, time delay T seconds, be to fall to reserve enough positions on same step to main support supporting leg.
When secondary supporting leg continues to stretch out, due to load, necessarily causing oil circuit pressure to raise, act low-pressure relay 404.When microcontroller 51 detects this road signal for low level, secondary leg three-position four-way valve 421 is closed, stops secondary landing leg hydraulic cylinder and stretches out, carrier movement valve 441 is then driven, connecting oil circuit stretches out carrier mobile hydraulic cylinder, promotes the reach of ^ carriers.When carrier is moved to the determination position on assistant support, secondary travel switch 542 is acted.When microcontroller 51 detects this road signal for low level, stop the coil that driving carrier moves valve 441, in the presence of valve inner spring, carrier movement valve 441 return to primitive age position makes carrier mobile hydraulic cylinder connect return line（Step 607).
Microcontroller 51 then drives main leg three-position four-way valve 411, shrinks main landing leg hydraulic cylinder.It is contracted to after the limit, acted by high pressure relay 403, microcontroller 51 receives the road low level signal, close main leg three-position four-way valve 411, driving arm flexible valve 431, support telescopic hydraulic cylinder is shunk, main support is pulled forward, while driving the rod end of carrier mobile hydraulic cylinder to retract（Step 608 w 609).
When main support moves forward to the determination position of carrier, main travel switch 541 is acted due to contact scroll wheel, and microcontroller 51 receives Gai Shi level signals, closes support flexible valve 431, main leg three-position four-way valve 411 is driven, makes the non-loaded stretching of main landing leg hydraulic cylinder.During main supporting leg landing, the extension elongation of forward and backward main supporting leg is inconsistent.The trend that hydraulic cylinder continues to stretch out causes low-pressure relay 404 to act, and microcontroller 51 receives the road low level signal, closes main leg three-position four-way valve 411, and drive pair leg three-position four-way valve 421 shrinks secondary landing leg hydraulic cylinder（Step 610 w 611).
Secondary landing leg hydraulic cylinder is contracted to after the limit, and low-pressure relay 404 is acted.Microcontroller 51 receives the road low level signal, close secondary leg three-position four-way valve 421, driving arm flexible valve 431, assistant support is set to protract, now microcontroller 51 starts the data of detector 522 after reading, after a transition occurs for data, by time delay T seconds set in advance, microcontroller 51 closes support flexible valve 431, assistant support is stopped extension.If transition does not occur for the data of rear detector 522 and anti-collision switch 53 has been acted, or due to branch
The frame telescopic hydraulic cylinder length that reaches capacity causes oil circuit pressure to increase, and causes low-pressure relay 4 04 to act, and all microcontroller 51 will be made to perform the operation for stopping assistant support extension（Step 612 is 615).
According to preceding step（The detailed descriptions of 606 w 6 09), under the programme-control of microcontroller 51, device of the invention further completes that the landing of secondary supporting leg, carrier reach, main supporting leg are shunk, main support moves forward this several steps action（Step 616 ^ 619).
Microcontroller 51 now reads the data of preceding detector 52 1 and rear detector 522, and compares their size, if both differences are in the range of tolerance, illustrate that device has arrived at level land, performs Bu Sudden 624;Otherwise following action is performed：Main supporting leg landing, secondary supporting leg shrink.Then, main supporting leg bringing onto load stretches out, the data of detector 522 after microcontroller 51 is read, when the main rear support leg of the as shown by data has extend out to the limit, main leg three-position four-way valve 411 is closed, turns again to perform Bu Sudden 612 (step 620 w 623).
When device has arrived at level land, microcontroller 51 sends control signal, withdraws the supporting leg stretched out, completes whole top bar processes（Step 624 ^ 625).
When main supporting leg bringing onto load rises, microcontroller 51 constantly reads the data of preceding detector 521 and rear detector 522, it was found that the extension elongation of main front leg strut and main rear support leg it is uncoordinated and more than allowable error when, control main foreleg switch valve 4111 or main back leg switch valve 4112, it is adjusted correspondingly, 4 slow-witted horizontalities of the card device in uphill process.
Refer to shown in Figure 16, and combine the method for getting out of a predicament or an embarrassing situation that Figure 15, Figure 14 and Fig. 13 illustrates the present invention.When microcontroller 51, which detects mode switch 582, provides signal of getting out of a predicament or an embarrassing situation for low level, sending control signal drives main leg three-position four-way valve 411 to act, connecting oil circuit makes four main non-loaded stretchings of landing leg hydraulic cylinder and lands, then bringing onto load continues to stretch out, microcontroller 51 constantly reads the data of preceding detector 521 and rear detector 522, when the wheel ground slightly away of device, least restrictive height value previously given in a program is reached（Hereinafter referred to as lower bound）When, close the main (Bu Sudden 7 01 of leg three-position four-way valve 411).
The step of follow-up step (702 ^ 725) is with above-mentioned Figure 15（（602 625) implementation process base mesh it is same, difference therein is step 723 and step 623.In above-mentioned Figure 15 step 623, main supporting leg bringing onto load rises；Become in step 72 3 and decline into main supporting leg bringing onto load（Main landing leg hydraulic cylinder shrinks）, when main rear support leg, which declines, reaches lower bound, that is, stop.
Refer to shown in Figure 17 and Figure 18, the level for replacing foregoing dovetail groove mode to be formed between main support and assistant support with a kind of common linkage slides back and forth connection, to keep to realize that the column connected is replaced with supporting leg in the sense coherent of context and other each figures, figure.The rear portion lower end of linkage and front lower ends are separately fixed on main rear support leg 14 and secondary front leg strut 23, and connecting rod can be rotated around fixing axle.The rear upper end and nock Fen Do of linkage can slide up and down in the groove on main rear support leg 14 and secondary front leg strut 23, and by being fastenedly connected with supporting leg, it is ensured that it will not deviate from the presence of radial load from groove.
Cross-arm 18 on main support side with the above upper cross-arm, on assistant support side cross-arm 28 and rear upper cross-arm 19 general name；Main supporting leg is the general name of main front leg strut 13 and main rear support leg 14；Secondary supporting leg is the general name of secondary front leg strut 23 and secondary rear support leg 24.It is described above, only it is presently preferred embodiments of the present invention, any formal limitation not is made to the present invention, the structure type of particularly major and minor supporting leg, level between main support and assistant support slides back and forth connection, and support telescoping mechanism and carrier travel mechanism, can be by being embodied in various ways.The every single modification of technical spirit made to above example any, equivalent variations and modification according to the present invention, in the range of still falling within technical solution of the present invention.
Claims (1)
- Claims1st, the device of the automatic up/down steps of a kind of energy,(Wheel with structural framing and on framework（8), equipped with power-equipment and mounted in machine gun（32) being used in drives the drive circuit of electromagnetic switch（55), battery（56), it is characterised in that：Structural framing is by main support（10), assistant support（And carrier 20)（30) constitute；Main support（10) main front leg strut is housed（13) with main rear support leg（14), assistant support（20) equipped with secondary front leg strut（23) with secondary rear support leg（24), these supporting legs controlled vertical elongation and can retract, and their maximal dilation length is all equal, and they extend and structural framing is raised and is reduced when retracting respectively；Main support（And assistant support 10)（20) connection is slid back and forth using level between；Main support（10) the main support track of two row anterior-posterior horizontals is housed（16), assistant support（20) the assistant support track of two row anterior-posterior horizontals is housed(26);Carrier（30) both sides respectively have flank（39), flank（39) it is covered in the top of major and minor support；Carrier（30) four row scroll wheels are housed（31) group, respectively falls in main support track（16) with assistant support track（26) on, and possesses the ability rolled along track；Main support（And assistant support 10)（20) support telescoping mechanism is connected between（6);Structural framing is built with carrier travel mechanism（7);Contain microcontroller with realize control action（51) electric-control system（50), sensor and controlling switch.2nd, the device of the automatic up/down steps of energy according to claim 1, it is characterised in that wherein described main support（And assistant support 10)（20) respectively connected and composed by two pairs of rectangle side stands, each pair of side stand is with cross-arm on cross-arm under two columns, a sides and a side, the length of these side cross-arms is all equal, every column is respectively and fixedly provided with a foregoing telescopic supporting leg, and supporting leg extension elongation constrains the length of side cross-arm；Two pairs of side stands are connected with lower cross-arm (22) after a front lower cross-arm of pair (21) and a pair, assistant support is constituted(20);With a main front lower cross-arm（11), lower cross-arm after a master（12), one rear portion it is rear on cross-arm（19) two pairs of side stands are connected, main support is constituted（10);Main support（And assistant support 10)（20) geometrical boundary is cuboid；Cross-arm on main support side（18) with cross-arm on assistant support side（28) in same level height.3rd, the device of the blunt automatic up/down steps of energy according to described in claim 2 of, it is characterised in that the length of wherein described side cross-arm is as follows by the constraint of supporting leg extension elongation：If supporting leg stretches out maximum length, support telescoping mechanism（6) be reduced to it is most short after, from wheel（8) the distance between solstics plane that lower edge plane to supporting leg stretches out is S1 millimeters, and S1 should be not less than 380 millimeters, the secondary front leg strut determined by side cross-arm（23) foremost to main rear support leg（14) the distance between rearmost end is S2 millimeters, and M is S1 divided by 190 maximum integer business, then S2 is multiplied by 240 less than M.4th, the device of the automatic up/down steps of energy according to claim 1, it is characterised in that wherein described main support（10), assistant support（And carrier 20)（30) mounting means between has two kinds, Yi Zhongshi：Assistant support（20) width is less than main support（10), carrier（30) fall mounted in assistant support（20) in, assistant support（20) it is sleeved on main support（10) in, cross-arm under assistant support side（27) upper edge of the lower edge higher than main front lower cross-arm (11), secondary front leg strut（23) in main support（10) outside framework, secondary rear support leg（24) in main support（10) in framework；It is another to be：Assistant support（20) width is more than main support（10), carrier（30) fall mounted in main support（10) in, assistant support（20) it is sleeved on main support（10) outside, the upper edge of lower cross-arm (22) is less than the lower edge of cross-arm (17) under main support side, main rear support leg after pair（14) in assistant support（20) outside framework, main front leg strut（13) in assistant support（20) in framework.5th, the device of the blunt automatic up/down steps of energy according to described in claim 1 of, it is characterised in that wherein described Bracket track and the mounting means of scroll wheel groups have two kinds, Yi Zhongshi：Main support track（16) it is separately fixed at main front lower cross-arm（11) with the top of lower cross-arm (12) after master, assistant support track 6) top of lower cross-arm (22) after secondary front lower cross-arm (21) and pair is separately fixed at, four scroll wheels (31) group is fixed on carrier（30) bottom；It is another to be：Main support track（16) ^ assistant supports track（26) top of cross-arm (28) on cross-arm (18) and assistant support side on main support side, scroll wheel are separately mounted to（31) group is separately mounted to flank（39) bottom, the flank per side（39) lower section is equipped with two row scroll wheel (31) groups. '6th, the device of the automatic up/down steps of energy according to claim 1, it is characterised in that wherein described sensor is mounted in the preceding detector of secondary front lower cross-arm (21) below（521) cross-arm and after pair is descended(22) rear detector below（ 522 ) ；Controlling switch includes system switching and detection switch；System switching opened including device/guard's valve and up/down step pattern selecting switch, the position of person's operation easy to use on structural framing；Detection switch is mounted in the anti-collision switch below secondary front lower cross-arm (21)（53), installed in main support track（16) the main travel switch on or near it（541) and installed in assistant support track（26) the secondary travel switch on or near it（ 542 );Sensor and the signal of detection switch input electric-control system（50), electric-control system（50) output signal controls the flexible of the supporting leg, support telescoping mechanism by drive circuit(6) action and carrier travel mechanism（7) act.7th, just according to the device of the automatic up/down steps of energy described in claim 1, it is characterised in that wherein described carrier（30) carrying platform is contained（31), (32) and bottom plate as machine（ 34 );Carrier（30) move forward is to rely on carrier travel mechanism（7) action；Drive circuit（55), battery（56), electric-control system（50) robbed installed in machine in (32).8th, ability W occupies the device of the automatic up/down steps of energy described in claim 1, it is characterised in that wherein described level slides back and forth connection and can use and be not limited to following form, and one of them is dovetail groove mode, in main support（And assistant support 10)（20) correspondence is equipped with dovetail groove nested against one another between left and right connection side（15) with dovetail tongue（25);Two wherein are linkage modes, and two slave connecting rod mechanisms are arranged on main support（And assistant support 10)（20) between left and right connection side, the two ends of linkage are connected to main support（10) rear portion and assistant support（20) front portion.9th, the method for moving up/down steps of the device of the automatic up/down steps of a kind of energy, it is characterised in that：During upper and lower step after artificial selection top bar pattern or pattern of getting out of a predicament or an embarrassing situation, electric-control system（50) control device is acted according to the following steps：A) up/down steps prepare；B) driving arm telescoping mechanism（6) stretch out, make assistant support（20) level is protracted；C) detection judges assistant support（20) anterior to have extended through N number of step, delay Δ Τ seconds turns to and performs E) step；D support telescoping mechanism) is detected（6) limit or anti-collision switch are stretched out up to maximum（53) act；E driving arm telescoping mechanism) is stopped（6) assistant support, is made（2G) stop extension；F) assistant support（20) supporting leg landing；G) carrier travel mechanism（7) act, make carrier（30) move forward；H) main support（10) supporting leg is contracted to most short；I) driving arm telescoping mechanism（6) shrink, make main support（10) level moves forward；J) main support（10) supporting leg landing； K) assistant support（20) supporting leg is contracted to most short；L) driving arm telescoping mechanism（6) stretch out, make assistant support（20) level is protracted；Μ) detection judges assistant support（20) rear portion has extended through a step, and delay Δ Τ seconds turns to and holds Chu 0) step；Ν) detect support and stretch ^ mechanisms (6) up to maximum stretching limit or anti-collision switch（53) act；0) driving arm telescoping mechanism is stopped（6) assistant support UQ, is made) stop extension；Ρ) assistant support（20) supporting leg landing；Q) carrier travel mechanism (7) acts, and carrier (30) is moved forward;R) main support（10) supporting leg is contracted to most short；S) driving arm telescoping mechanism（6) shrink, make main support（10) level moves forward；Τ) judge assistant support（20) whether forward and backward bottom is contourIf contour, X is turned to) step；U) main support（10) supporting leg landing；V) assistant support（20) supporting leg is contracted to most short；) adjusting apparatus height, then turn to perform L) step；X) branch euro is withdrawn；Υ) tenth skill.10th, the method for moving up/down steps of the device of the automatic up/down steps of energy according to claim 9, it is characterised in that：In Α) in step, during top bar pattern, main support supporting leg extend out to most long, and during pattern of getting out of a predicament or an embarrassing situation, main support supporting leg first lands, and then extends again to a predetermined height Δ Η so that the wheel of device（8) it may exit off a little distance in ground；In W) adjusting apparatus in step highly refers to：During top bar pattern, main rear support leg（14) it extend out to most long, main front leg strut（13) length stretched out makes the upper plane of main support be kept substantially level, during pattern of getting out of a predicament or an embarrassing situation, and the supporting leg of main support shrinks, and reaches main rear support leg（14) length stretched out stops when being predetermined height Δ Η, main front leg strut（13) length stretched out makes the upper plane of main support be kept substantially level；In C) in step Sudden, Ν is an integer for being not less than 1 set in a program, and relevant with specific supporting leg extension elongation, its determination method is：Work as wheel（8) the distance between solstics plane that lower edge plane to supporting leg stretches out is S1 millimeters, when Μ is S1 divided by 190 maximum integer business, and Ν is equal to Μ Minus 1;In D) and Ν) in step, Δ depends on assistant support in Τ seconds（20) stretching speed, is determined by experiment.
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 |
| CN03137620.7 | 2003-06-18 | ||
| PCT/CN2004/000595 WO2004110846A1 (en) | 2003-06-18 | 2004-06-03 | A climbing stairs device and climbing stairs method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1723145A true CN1723145A (en) | 2006-01-18 |
| CN100460258C CN100460258C (en) | 2009-02-11 |
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ID=40433707
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031376207A Expired - Fee Related 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 Expired - Fee Related CN100460258C (en) | 2003-06-18 | 2004-06-03 | A device capable of automatically moving up/down steps and method for moving up/down steps |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031376207A Expired - Fee Related 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN1326740C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963813B (en) * | 2014-04-03 | 2017-01-18 | 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 |
| 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 |
| CN107095769B (en) * | 2017-05-17 | 2019-05-24 | 上海理工大学 | Stair climbing type multifunctional rehabilitation instrument |
| CN107320251B (en) * | 2017-07-04 | 2018-11-30 | 李云霞 | A kind of gynemetrics's folding moving bearing device |
| CN111660310B (en) * | 2020-06-14 | 2021-09-28 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3422255A1 (en) * | 1984-06-15 | 1985-12-19 | Norbert 3410 Northeim 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 |
-
2003
- 2003-06-18 CN CNB031376207A patent/CN1326740C/en not_active Expired - Fee Related
-
2004
- 2004-06-03 CN CNB2004800020160A patent/CN100460258C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1326740C (en) | 2007-07-18 |
| CN100460258C (en) | 2009-02-11 |
| CN1565914A (en) | 2005-01-19 |
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