CN215097914U

CN215097914U - Stair climbing device

Info

Publication number: CN215097914U
Application number: CN202022973753.4U
Authority: CN
Inventors: 郑涛
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-12
Filing date: 2020-12-12
Publication date: 2021-12-10
Anticipated expiration: 2030-12-12

Abstract

The utility model discloses a climb stair device relates to the transport machinery field. The stair climbing device comprises a vehicle body, a translation device, a lifting device, an electric control magnetic sucker, a ground sucker device, a swing rod balance mechanism, a steering engine, a rocker, a balance rod, an iron plate and a ground iron plate; the 2 groups of electric control magnetic suction cups are alternatively adsorbed with the iron plates of the vertical surfaces of the steps under the driving of the combination motion of the translation device and the lifting device, so that the vehicle body can be driven to climb the stairs. The invention aims to solve the problems of large energy consumption, low speed and low stability of the stair climbing device in the prior art.

Description

Stair climbing device

Technical Field

The utility model relates to the field of transport machinery, in particular to a stair climbing device capable of climbing up and down stairs.

Background

In order to solve the problem that a plurality of people are difficult to go up and down stairs, the invention patent of China (a stair climbing device and system) with the publication (announcement) number of 111422273A discloses a stair climbing device which adopts an electromagnetic chuck and a stair upper iron plate for adsorption, and provides a solution for the problem that the traditional stair climbing device is lack of effective anti-falling measures. Fig. 1 is a schematic view of an embodiment of a stair climbing device according to the patent, in the process of climbing stairs, 2 groups of lifting push rod sets 003 extend simultaneously to lift a vehicle body 001 and be higher than a step plane, 2 groups of electric push rods 002 extend and drive 2 groups of electric control magnetic suction cups 004 to adsorb an iron plate on a stair elevation simultaneously, and then 2 groups of lifting push rod sets 003 contract to suspend the vehicle body 001 in the air; then 2 groups of electric push rods 002 contract to drive the car body 001 to move above the plane of the stairs. The effect of rotating motor 005 is before reaching the flat bed or by the flat bed when stepping down the step when climbing stair device, rotates the rotatory 90 degrees angles of motor, makes automatically controlled magnetic chuck 004 adsorption plane towards ground to adsorb with the iron board on ground.

When the vehicle body 001 is suspended, the electric push rod 002 and the electric control magnetic disc 004 with one end adsorbed on the iron plate form a cantilever beam supporting structure, in order to make the structure more stable, the original scheme adopts double push rods as the beam body, and the adsorption surface of the magnetic disc is the maximum stress point; the structure needs to increase the electric energy of the electric control magnetic sucker 004 for realizing safe and reliable support so as to obtain enough magnetic field, and if the stair climbing device takes the storage battery as a power source, the continuous working time of the device is greatly shortened.

And adopt cantilever beam bearing structure not only need increase roof beam body quality and intensity in order to improve bearing capacity, and the cantilever beam is structural simultaneously because of bearing dynamic load, easily produces and rocks, and the device is difficult to increase speed when this stage moves.

The original scheme adopts a mode that 2 groups of suckers simultaneously and gradually adsorb iron plates on each step, and 2 groups of lifting push rod groups 003 simultaneously and gradually lift on the steps instead of a mode that the push rod groups drive 2 groups of suckers respectively, alternately and sequentially according to the step sequence, thereby causing the results of redundant actions, reduced climbing speed and increased energy waste.

The adoption rotates motor 005 and makes automatically controlled magnetic chuck rotate the mode of 90 degrees angles so that adsorb with ground iron board, adsorbs back automobile body and removes the pulling force direction that produces the suction disc and the adsorption plane out of plumb of magnetic disc, makes the atress direction unsatisfactory to need more electric energy to increase the adsorption affinity.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide an automatically controlled magnetic force sucking disc is in turn, adsorb with stair facade iron board, 2 elevating system support steps in turn, imitates the stair device of climbing of the mankind mode of walking up and down stairs promptly.

In order to achieve the purpose, the utility model provides a stair climbing device, which comprises a vehicle body, a translation device and a lifting device; a roller group is arranged below the vehicle body, and the roller group can drive the vehicle body to move or turn on the ground in a reciprocating manner along a linear direction under the driving of a motor; the translation device comprises a translation driving mechanism and a translation movable part, one end of the translation movable part is movably connected with the translation driving mechanism and can reciprocate under the driving of the translation driving mechanism; the lifting device comprises a lifting driving mechanism and a lifting movable part, one end of the lifting movable part is movably connected with the lifting driving mechanism, and the other end of the lifting movable part can reciprocate under the driving of the lifting driving mechanism; 2 groups of translation devices and 2 groups of lifting devices are arranged on the vehicle body, and translation driving mechanisms of the 2 groups of translation devices are fixedly arranged on the vehicle body; the reciprocating direction of the translational movable part connected with the group of translational driving mechanisms is vertical to the vertical surface of the climbing stair; the lifting driving mechanisms of the 2 groups of lifting devices are respectively and fixedly arranged on the 2 groups of translational movable components and can reciprocate along with the translational movable components; the lifting movable parts of the 2 groups of lifting devices can reciprocate along the direction vertical to the plane of the stairs to be climbed; the stair climbing device also comprises 2 groups of electric control magnetic suckers, and the electric control magnetic suckers generate or eliminate magnetic force by controlling the electric energy of the electric control magnetic suckers to be switched on or off; the electric control magnetic suction cup is respectively fixedly connected or hinged with the 2 groups of lifting movable parts through connecting pieces; the adsorption surface of the magnetic sucker is perpendicular to the plane of the stairs when the user climbs the stairs and faces the vertical surface direction of the steps of the stairs.

Preferably, the stair climbing device further comprises a ground sucker device, wherein the ground sucker device comprises a lifting mechanism and an electric control magnetic sucker; one end of the lifting mechanism is fixedly arranged or hinged on the vehicle body, the other end of the lifting mechanism is connected with the electric control magnetic sucker, and the adsorption surface of the electric control magnetic sucker faces the ground; the lifting mechanism is an actuating mechanism which is driven by a motor, an electromagnet, hydraulic pressure and an air pump and can reciprocate towards the ground.

Preferably, the stair climbing device further comprises a swing rod balancing mechanism, wherein the swing rod balancing mechanism comprises a motor, a speed reducer, a connecting rod mechanism and a balancing rod; the swing rod balance mechanism is fixedly arranged at the end, facing the ground, of each group of lifting movable parts, the output shafts of the motor and the speed reducer provide power for the connecting rod structure, and the motor and the speed reducer are fixedly arranged on the lifting movable parts; the balance rod is a rocker of the connecting rod mechanism, one end of the balance rod is connected with the connecting rod structure through a hinge point, the other end of the balance rod extends outwards, and the balance rod can swing between the moving direction of the translational movable part and the direction towards the bottom of the car body under the driving of the motor.

Preferably, the translation device and the lifting device are actuators driven by a motor, hydraulic pressure and an air pump and capable of reciprocating.

Preferably, one end of the translational movable part is movably connected with the translational driving mechanism, and one end of the lifting movable part is movably connected with the lifting driving mechanism in a hinged mode, namely a piston, a screw nut, a ball screw, a belt, a rope and a chain.

Preferably, the stair climbing device comprises 2 groups of translation devices and more than 2 groups of lifting devices.

The stair climbing device comprises the steps of: an iron plate which can be magnetized by a magnet is arranged on the vertical surface of the stair, and the translation device, the lifting device and the electric control magnetic sucker are divided into a group A and a group B according to the connection relation; the translation device and the lifting device of the group A move in a combined manner to enable the electric control magnetic suction cups of the group A to be adsorbed to the iron plate of the step vertical face where the vehicle body is located; then the translation device and the lifting device of the group A move in a combined mode to drive the vehicle body to move towards the next step; the translation device of the group B and the translation device of the group A move in a combined manner to drive the electric control magnetic chuck of the group B to be adsorbed with the iron plate of the next step vertical surface; the electrically controlled magnetic chuck magnetic force of group a is then removed.

Preferably, before the stair climbing device is arranged on a flat layer lower step or an upper flat layer of a step, the iron plate is arranged on the ground of the flat layer of the stair close to the stair, and the electric control magnetic chuck on the ground chuck device is adsorbed with the iron plate; after the electrically controlled magnetic suction cups of the group A or the group B are adsorbed with the iron plates on the vertical surfaces of the stairs, or the stair climbing device reaches the flat layer from the stairs, the magnetic force of the electrically controlled magnetic suction cups on the ground suction cup device is eliminated.

Preferably, when the group of electric control magnetic suction cups are adsorbed on the iron plates on the vertical surfaces of the stairs, the lifting movable part and the lifting driving mechanism move relatively and drive the vehicle body to ascend or descend, the balance rod swings to the direction of the vehicle body and is parallel to the adsorption plane of the electric control magnetic suction cups, so that the stair climbing device is prevented from inclining due to gravity center offset.

Preferably, when the stair climbing device goes up and down stairs, the group A and the group B electric control magnetic suction cups are alternately adsorbed with iron plates on the vertical surfaces of the steps in sequence.

The utility model discloses a 2 absorbent modes in turn of group's sucking disc, the mode that another group sucking disc just released after a set of sucking disc adsorbs promptly has guaranteed to climb the stair device when climbing stair has always the safety protection measure of being close the rigidity fixed with stair.

The utility model discloses a mode that 2 elevating gear of group supported each step in turn has increased the span of crawling manyfold, has improved the practicality of device.

The utility model discloses a 2 the elevating gear of group supports step at different levels in turn, the automobile body border reachs the method that the wheel train landed earlier behind the step of climbing in advance, makes the automobile body all have the ground support in whole climbing in-process below, is used for the manned if the device reforms transform the back, has not only increased factor of safety to make the process of going upstairs and downstairs operate steadily, reduce the user and worry about at will.

The utility model discloses a ground sucking disc device in uses when being higher than the landing floor of stair from top to bottom, the utility model discloses a pendulum rod balance mechanism is single group's elevating gear for the prevention and singly organizes the tilting that the focus offset of automobile body produced when going up and down.

In a word, the utility model discloses climb stair device climbing speed after the improvement and can improve by a wide margin, move more steadily reliably, the energy consumption is also showing and is reducing, can help special crowd to solve climbing stair difficulty problem.

Drawings

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

Fig. 2 is a schematic perspective view of a stair climbing device according to an embodiment of the present invention.

Fig. 3 is a top view of the pendulum rod balance mechanism according to the embodiment of the present invention.

Fig. 4 is a schematic view of the stair climbing device according to the embodiment of the present invention.

The reference numbers are as follows:

the device comprises a vehicle body 001, an electric push rod 002, a lifting push rod group 003, an electric control magnetic suction cup 004, a rotating motor 005, a vehicle body 100, a translation device 110, a lifting device 120, an electric control magnetic suction cup 140, a ground suction cup device 150, a swing rod balance mechanism 160, a steering engine 161, a rocker 162, a balance rod 163, an iron plate 171 and a ground iron plate 172

It should be noted that the attached drawings are used for illustrating the present invention, and not for limiting the present invention. It is noted that the drawings representing structures may not be drawn to scale. Also, in the drawings, the same or similar elements are denoted by the same or similar reference numerals.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings, which are only used for further describing the present invention in detail, and do not limit the scope of the claims of the present invention.

Referring to fig. 2, the stair climbing device according to the embodiment of the present invention includes a vehicle body 100, a translation device 110, and a lifting device 120; a roller group is arranged below the vehicle body, and the roller group can drive the vehicle body 100 to move or turn on the ground in a reciprocating manner along a linear direction under the driving of a motor; the translation device 110 includes a translation driving mechanism and a translation moving part, in this embodiment, the translation device 110 is a screw nut type sliding platform driven by a motor, and the translation moving part is a slider thereon. The lifting device 120 includes a lifting driving mechanism and a lifting moving member, in this example, the lifting device 120 is an electric push rod, and the lifting moving member is a moving push rod thereon. The left side and the right side of the vehicle body 100 are fixedly provided with 2 groups of translation devices 110 in a horizontal mode, 2 groups of lifting devices 120 are respectively arranged on the sliding blocks of the translation devices, and the pushing direction of the push rod faces to the lower side of the vehicle body 100. The 2 groups of electrically controlled magnetic suction cups 140 are respectively and fixedly installed on the push rod through a cross rod, and the suction surface is perpendicular to the running direction of the slide block of the translation device 110. The electrically controlled magnetic chuck 140 generates or is deactivated magnetic force when the power is on or off.

The stair climbing device further comprises a ground sucker device 150, wherein the ground sucker device 150 comprises a lifting mechanism and an electric control magnetic sucker; one end of the lifting mechanism is fixedly arranged or hinged on the vehicle body, the other end of the lifting mechanism is connected with the electric control magnetic sucker, and the adsorption surface of the electric control magnetic sucker faces the ground; the lifting mechanism is an actuator driven by a motor, an electromagnet, hydraulic pressure, and an air pump and capable of reciprocating toward the ground, and the ground suction cup device 150 is installed below the vehicle body 100 in this embodiment.

Referring to fig. 2 and 3, the stair climbing device further includes a swing link balancing mechanism 160, where the swing link balancing mechanism 160 includes a motor, a speed reducer, a link mechanism, and a balancing lever 163; in this embodiment, the motor and the speed reducer are combined to form a steering engine 161, the link mechanism further includes a rocker 162, and the rocker balance mechanism 160 is fixedly mounted on the cross bar below each push rod. The output shaft of the steering engine 161 provides power for the connecting rod structure and is arranged on a rotating shaft of the rocker 162. The balance bar 163 is another rocker of the link structure, and is connected to the link structure through a hinge point, and the balance bar 163 can swing between the moving direction of the translational movable component and the direction toward the bottom of the vehicle body under the driving of the motor.

Referring to fig. 4, the method for climbing stairs of the stair climbing device of the embodiment is as follows: iron plates 171 which can be magnetized by magnets are arranged on the vertical surfaces of the stairs, a translation device, a lifting device and an electric control magnetic suction disc on one side of the vehicle body 100 are arranged into a group A, and the other side of the vehicle body is arranged into a group B; this embodiment is illustrated in an upward stair climbing state, with group a on the left side of the direction of travel of the vehicle body and group B on the right side; the translation device 110 and the lifting device 120 of the group A move in a combined manner, so that the electric control magnetic chuck 140 of the group is adsorbed to the lower iron plate 171; then the translation device 110 and the lifting device 120 of the group A move in a combined manner, namely, the lifting and pushing actions drive the vehicle body 100 to move upwards by one step; when the car body 100 reaches the upper step, i.e. the lowest point of the car body is higher than the level of the step, the lifting devices of the group A fall down and make the rollers 101 fall on the landing. Then the translation device of the group B, the translation device of the group A and the roller 101 move in a combined manner, namely, the vehicle body is driven to translate towards the vertical face of the stair together, so that the electric control magnetic chuck of the group B is driven to adsorb the iron plate of the vertical face of the stair; after the group B of suckers complete the adsorption, the magnetic force of the group A of electric control magnetic suckers is eliminated, and the climbing action of the first-stage step is completed; thus, the A group and the B group alternately act to complete climbing of the whole stair.

It should be noted that the stair climbing device of the present embodiment can not only go upstairs, but also go downstairs, and the specific operation is the reverse action with reference to the above process.

When the stair climbing device goes from a step to a flat layer or goes from the flat layer to the step, a ground iron plate 172 is arranged on the ground of the flat layer of the stair close to the stair; when going downstairs, the electric control magnetic chuck on the ground chuck device 150 firstly adsorbs the ground iron plate 172, after the electric control magnetic chuck of the group A or the group B adsorbs the iron plate 171 on the first-stage step vertical surface under the platform, the magnetic force of the electric control magnetic chuck on the ground chuck device is eliminated, and the chuck is lifted by the lifting mechanism; if the stair climbing device moves from the stairs to the flat layer, the actions are as follows: after the car body reaches the flat layer, the car body moves to the position above the iron plate 172, the electric control magnetic suction cups on the ground suction cup device 150 are adsorbed to the ground iron plate 172, and the adsorption of the electric control magnetic suction cups of the group A or the group B and the iron plate 171 of the stair vertical surface is released immediately.

Referring to fig. 4, the a-group lifting device 120 lifts the car body 100 off the ground, and the a-group electrically controlled magnetic suction cups 140 are attracted to an iron plate 171 of the vertical surface, and although the stair climbing device and the stairs are approximately rigidly connected at this time, the center of gravity of the car body 100 is offset from the car body support point, i.e., the a-group lifting device 120. In order to keep balance of the vehicle body, the torque generated by the gravity center offset needs to be offset by increasing the friction force between the group A of electric control magnetic suction cups and the iron plate, and the increase of the magnetic disc adsorption force needs more electric energy or increases the mass of the suction cups. In this embodiment, the balance bar is used to consume power only when the steering engine is retracted, and the balance bar 163 is extended to the lower part of the gravity center of the vehicle body 100 to support the vehicle, so as to reduce the torque generated by the eccentric center of gravity.

When the stair climbing device goes up and down stairs, the A group and the B group of electric control magnetic suction cups are alternately and sequentially adsorbed with iron plates on the vertical surfaces of all steps, and the 2 groups of lifting mechanisms are also used for alternately supporting all steps to realize the action of climbing stairs.

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

Claims

1. The stair climbing device comprises a vehicle body, a translation device and a lifting device; a roller group is arranged below the vehicle body, and the roller group can drive the vehicle body to move or turn on the ground in a reciprocating manner along a linear direction under the driving of a motor; the translation device comprises a translation driving mechanism and a translation movable part, one end of the translation movable part is movably connected with the translation driving mechanism and can reciprocate under the driving of the translation driving mechanism; the lifting device comprises a lifting driving mechanism and a lifting movable part, one end of the lifting movable part is movably connected with the lifting driving mechanism, and the other end of the lifting movable part can reciprocate under the driving of the lifting driving mechanism; the device is characterized in that 2 groups of translation devices and 2 groups of lifting devices are arranged on the vehicle body, and translation driving mechanisms of the 2 groups of translation devices are fixedly arranged on the vehicle body; the reciprocating direction of the translational movable part connected with the group of translational driving mechanisms is vertical to the vertical surface of the climbing stair; the lifting driving mechanisms of the 2 groups of lifting devices are respectively and fixedly arranged on the 2 groups of translational movable components and can reciprocate along with the translational movable components; the lifting movable parts of the 2 groups of lifting devices can reciprocate along the direction vertical to the plane of the stairs to be climbed; the stair climbing device also comprises 2 groups of electric control magnetic suckers, and the electric control magnetic suckers generate or eliminate magnetic force by controlling the electric energy of the electric control magnetic suckers to be switched on or off; the electric control magnetic suction cup is respectively fixedly connected or hinged with the 2 groups of lifting movable parts through connecting pieces; the adsorption surface of the electric control magnetic sucker is perpendicular to the plane of the stairs when the user climbs the stairs and faces the vertical surface direction of the steps of the stairs.

2. The stair traversing device according to claim 1, further comprising a ground suction cup device comprising a landing gear and an electrically controlled magnetic suction cup; one end of the lifting mechanism is fixedly arranged or hinged on the vehicle body, the other end of the lifting mechanism is connected with the electric control magnetic sucker, and the adsorption surface of the electric control magnetic sucker faces the ground; the lifting mechanism is an actuating mechanism which is driven by a motor, an electromagnet, hydraulic pressure and an air pump and can reciprocate towards the ground.

3. The stair traversing device according to claim 1, further comprising a pendulum bar balancing mechanism, wherein the pendulum bar balancing mechanism comprises a motor and a speed reducer, a link mechanism, a balancing bar; the swing rod balance mechanism is fixedly arranged at the end, facing the ground, of each group of lifting movable parts, the output shafts of the motor and the speed reducer provide power for the connecting rod mechanism, and the motor and the speed reducer are fixedly arranged on the lifting movable parts; the balance rod is a rocker of the connecting rod mechanism, one end of the balance rod is connected with the connecting rod structure through a hinge point, the other end of the balance rod extends outwards, and the balance rod can swing between the moving direction of the translational movable part and the direction facing the vehicle body under the driving of the motor.

4. The stair traversing device according to claim 1, wherein the translating device and the lifting device are actuators driven by a motor, a hydraulic pump or an air pump and capable of reciprocating.

5. The stair traversing device according to claim 1, wherein one end of the translational movable member is movably connected to the translational driving mechanism, and one end of the lifting movable member is movably connected to the lifting driving mechanism in a manner of hinge joint, a piston, a screw nut, a ball screw, a belt, a rope, and a chain.

6. The stair traversing device according to claim 1, wherein the number of the translating device and the lifting device is 2 or more than 2.