WO2004110846A1 - Dispositif et procede pour monter des escaliers - Google Patents

Dispositif et procede pour monter des escaliers Download PDF

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Publication number
WO2004110846A1
WO2004110846A1 PCT/CN2004/000595 CN2004000595W WO2004110846A1 WO 2004110846 A1 WO2004110846 A1 WO 2004110846A1 CN 2004000595 W CN2004000595 W CN 2004000595W WO 2004110846 A1 WO2004110846 A1 WO 2004110846A1
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WO
WIPO (PCT)
Prior art keywords
main
bracket
sub
support
auxiliary
Prior art date
Application number
PCT/CN2004/000595
Other languages
English (en)
Chinese (zh)
Inventor
Dajian Wang
Original Assignee
Dajian Wang
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CNB031376207A priority Critical patent/CN1326740C/zh
Priority claimed from CNB031376207A external-priority patent/CN1326740C/zh
Application filed by Dajian Wang filed Critical Dajian Wang
Priority to CNB2004800020160A priority patent/CN100460258C/zh
Publication of WO2004110846A1 publication Critical patent/WO2004110846A1/fr

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Classifications

    • 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
    • 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

Definitions

  • the present invention relates to an automatic transportation device and a transportation method, and more particularly, to a transportation device capable of automatic vertical lifting and horizontal movement and a working method thereof.
  • BACKGROUND OF THE INVENTION Existing vehicles that can climb a building basically change a moving round wheel into a planetary wheel structure, and some are also equipped with power.
  • the recent Chinese utility model 96205557. 3 is an example.
  • the reason why this type of invention lacks market recognition is that an important drawback is the lack of stability when going up and down the stairs. Especially in the state of carrying people, it is difficult to give people a sense of security and comfort.
  • the main technical problem to be solved by the present invention is to provide a device with a new structure that can automatically go up and down the steps. It relies on the expansion and contraction of the legs and the expansion of the structural frame to reach itself and is alternately moved by the carrier in a vertical and horizontal manner. Finish up and down the steps.
  • a device capable of automatically stepping up and down according to the present invention has a structural frame and wheels mounted on the frame, and is equipped with power equipment and a driving circuit and a battery installed in a machine for driving an electromagnetic switch.
  • the main frame is equipped with a main front leg and a main rear leg
  • the sub frame is equipped with a sub front leg and a sub rear leg. These legs can be controlled to be vertically extended and retracted.
  • the main bracket and the sub-bracket are connected horizontally and backwardly;
  • the main bracket is equipped with two rows of front-back horizontal main brackets Track,
  • the sub-bracket is equipped with two rows of front and rear horizontal sub-bracket rails;
  • the sides of the carrier frame have side wings, and the flanks' cover above the main and sub-brackets;
  • the carrier frame is equipped with four rows of rolling wheels, respectively falling on the main bracket On the track and the sub-bracket track, and has the ability to roll along the track;
  • a bracket telescopic mechanism is connected between the main bracket and the sub-bracket;
  • Moving mechanism an electronic control system including a microcontroller, a sensor, and a control switch for realizing the control function.
  • the present invention solves its main technical problems and also adopts the following technical solutions to achieve.
  • the electronic control system controls the device operation according to the following steps:
  • step C) Detect and judge that the front part of the sub-bracket has extended N steps, delay ⁇ T seconds, and turn to execute step E); D) It is detected that the telescopic mechanism of the bracket has reached the maximum extension limit or the anti-collision switch action;
  • step A the main support leg is extended to the longest in the upper step mode, and the main support leg is first dropped to the ground in the lower step mode, and then extended to a predetermined height ⁇ , So that the wheels of the device can be a little distance from the ground; adjusting the height of the device in step W) means that the main rear leg extends to the longest in the up-step mode, and the length of the main front leg extends to the top of the main bracket The plane is basically kept horizontal.
  • the legs of the main bracket contract and stop when the extended length of the main rear legs reaches a predetermined height ⁇ .
  • N is an integer not less than 1 set in the program, and it is related to the length of the outrigger extension. It is determined by: when the lower edge of the wheel reaches the outrigger The distance between the most protruded planes is S1 mm, M is the largest integer quotient of S1 divided by 190, N is equal to M minus 1; in steps D) and N), ⁇ seconds depends on the extension of the sub-bracket. Speed out Experimentally determined.
  • the aforementioned main bracket and auxiliary bracket are each composed of two pairs of rectangular side brackets.
  • Each pair of side brackets has two columns, one side crossbar and one side crossbar. The lengths of these side crossbars are equal.
  • Each of the posts is fixed with one of the aforementioned telescopic legs, and the legs extend to restrict the length of the side crossarms; a pair of front and bottom crossarms and a pair of back and bottom crossarms are used to connect the two side brackets to form Sub-bracket; one main front cross arm, one main rear cross arm, and one rear upper cross arm at the rear to connect two pairs of side brackets to form the main bracket; the geometric boundaries of the main bracket and the sub bracket are Cuboid; crossbar on the main support side and crossarm on the sub support side are at the same level.
  • the length of the side crossarm is restricted by the extended length of the legs as follows: Set the maximum length of the extended legs and the shortest extension mechanism of the bracket, from the plane of the lower edge of the wheel to the plane of the farthest point where the legs protrude. The distance between them is S1 mm. S1 should not be less than 380 mm. The distance between the front end of the auxiliary front leg and the rear end of the main rear leg determined by the sidearm is S2 mm, and M is the maximum integer of S1 divided by 190. Quotient, then S2 is less than M times 240.
  • This proportion is mainly based on the design standards of general residential staircases in the construction industry, and An appropriate margin is taken into consideration, so that the device of the present invention can be adapted to residential stairs and other steps with a slope not greater than the standard conditions that meet the standard conditions.
  • bracket rails and rolling wheel sets There are two ways to install the aforementioned bracket rails and rolling wheel sets.
  • the upper part of the lower cross arm, the four-row rolling wheel set is fixed at the bottom of the carrier; the other is: the main support rail and the auxiliary support rail are installed on the main support side and the cross support respectively
  • the rolling wheel sets are respectively installed at the lower part of the side wings, and two rows of rolling wheel sets are installed under the side wings of each side.
  • the width of the sub-bracket is smaller than the main bracket
  • the carrier is mounted in the sub-bracket
  • the sub-bracket is sleeved in the main bracket
  • the sub-bracket The lower edge of the side crossarm is higher than the upper edge of the main front crossarm.
  • the auxiliary front leg is outside the main support frame and the auxiliary rear leg is inside the main support frame.
  • the other is that the width of the auxiliary support is larger than the main support.
  • the carrier is installed in the main bracket, and the sub bracket is set outside the main bracket.
  • the upper edge of the auxiliary rear crossarm is lower than the lower edge of the main support side lower crossarm.
  • the main rear leg is outside the auxiliary support frame. The legs are within the frame of the sub-bracket.
  • the aforementioned sensors are a front detector installed under the auxiliary front lower cross arm and a rear detector installed under the auxiliary rear lower cross arm;
  • the control switch includes a system switch and a detection switch;
  • the system switch includes a device start / stop switch and an up / down switch
  • the lower step mode selection switch is installed on the structure frame where it is easy for the user to operate.
  • the detection switch is an anti-collision switch installed under the sub-front lower crossarm, a main travel switch installed on or near the main support rail, and a Sub-travel switches on or near the sub-bracket track; Signals of sensors and detection switches are input to the electronic control system, and output signals of the electronic control system control the telescoping of the legs, the movement of the telescopic mechanism of the stent, and the movement of the moving mechanism of the carrier through the driving circuit.
  • the specific circuits in the electronic control system can use the combination of existing technologies.
  • the aforementioned carrier includes a carrier platform, a machine grab and a bottom plate; the forward movement of the carrier depends on the action of the carrier moving mechanism; the drive circuit, the battery, and the electronic control system are installed in the machine.
  • the aforementioned horizontal forward-backward sliding connection can be adopted and is not limited to the following forms.
  • One of them is a dovetail groove method. Dovetail grooves and dovetail convex grooves are nested between the left and right connecting sides of the main bracket and the auxiliary bracket. ;
  • the other is the link mechanism method, two sub-link mechanisms are installed between the main bracket and the left and right connecting sides of the sub-frame, the two ends of the link mechanism are respectively connected to the rear of the main bracket and the sub-frame The front.
  • main front legs There are two main front legs, main rear legs, auxiliary front legs, and auxiliary rear legs. Each of the legs can work independently or mechanically.
  • the present invention has obvious advantages and beneficial effects. It can be known from the above technical solutions that the device provided by the present invention automatically completes the movement of up and down steps in a motion mode combining vertical lifting and horizontal movement, which is a very safe and stable movement process for the object being carried.
  • this device can help them to safely and comfortably go up and down the stairs, especially to meet the stair size and slope conditions of residential buildings designed according to standards, which can make Those old, weak, sick, and disabled who live upstairs are more convenient to go outdoors or have public places with steps. It can be seen that it is actually a new, progressive, and practical new design. If the power equipment that drives the wheels is added and the universal wheel axle is used, the device will have the ability of flat ground movement and small radius turning. Specific embodiments of the present invention are given in detail by the following examples and their drawings.
  • FIG. 1 is a perspective view of the appearance of a wide main support structure according to the present invention.
  • FIG. 1 is a perspective view of the appearance of a narrow sub-bracket structure of the present invention.
  • FIG. 3 is a perspective view of a structure in which a narrow auxiliary bracket of the present invention is sleeved in a wide main bracket.
  • FIG. 4 is a perspective view of the appearance of a wide main support structure with a main support track installed at the bottom of the present invention.
  • FIG 5 is an external perspective view of a narrow sub-bracket structure with a sub-bracket track at the bottom of the present invention.
  • FIG. 6 is a perspective view of a structure in which a narrow sub-bracket with a bracket rail at the bottom is set in a wide main bracket.
  • Figure 7B is a side view of a carrier with a rolling wheel at the bottom.
  • Fig. 7C is a top view of a carrier with a rolling wheel at the bottom.
  • Figure 8A is a front view of a carrier with rolling wheels mounted under the wings.
  • Figure 8B is a side view of a carrier with rolling wheels mounted under the wings.
  • Fig. 8C is a top view of a carrier with rolling wheels mounted under the wings.
  • FIG. 9A is a front view of the present invention with a bracket track installed at the bottom of a wide main bracket and a narrow sub-bracket.
  • FIG. 9B is a side view of the present invention with a bracket track installed at the bottom of a wide main bracket and a narrow sub-bracket.
  • FIG. 10A is a front view of the present invention with a rack rail mounted on the upper part of a wide main rack and a narrow sub-bracket.
  • Fig. 10B is a side view of the present invention with a stent soft track provided on the upper part of a wide main support and a narrow sub-support.
  • Fig. 11 is a top view of a non-supporting frame with a support rail mounted on the upper part of a wide main support and a narrow sub-support.
  • Fig. 12 is a top view of a non-supporting rack without a top crossbar with a support rail installed at the bottom of a wide main support and a narrow sub-support.
  • Figure 13 is a diagram of a hydraulic system.
  • Figure 14 is a schematic diagram of the electrical system.
  • Fig. 15 is a diagram showing the process of step-up.
  • FIG. 16 is a flowchart of the step-down process.
  • Fig. 17 is a schematic right side schematic view of the main and auxiliary brackets on one side using a link mechanism to realize horizontal forward and backward sliding connection.
  • FIG. 18 is a right side view of the main and auxiliary brackets on the other side using a link mechanism to achieve horizontal forward and backward sliding connection.
  • FIG. 3F is a perspective view of a structure in which a wide auxiliary bracket of the present invention is fitted outside a narrow main bracket.
  • FIG. 6F is a perspective view of a structure in which a wide auxiliary bracket with a bottom-mounted bracket track is fitted outside a narrow main bracket.
  • FIG. 10FA is a front view of the present invention with a rack rail mounted on the upper part of a wide auxiliary rack and a narrow main rack.
  • Fig. 10FB is a side view of the present invention with a rack rail mounted on the upper part of a wide auxiliary rack and a narrow main rack.
  • FIG. 11F is a top view of a non-bearing rack with a rack rail mounted on the upper part of a wide auxiliary rack and a narrow main rack.
  • Art block 4.
  • Wheel axle 6.
  • Main support rail 17. Main support side cross bar 18. Main support side cross bar
  • Sub-bracket track 27 Sub-bracket side lower cross arm 28. Sub-bracket side upper cross arm
  • High pressure relay 404 Low pressure relay 411. Main win three-position four-way valve 412. Main leg hydraulic lock 4111. Main front leg switching valve 4112. Main rear leg switching valve
  • Front detector 521 Front detector 522. Rear detector 53. Anti-collision switch
  • the retractable legs and the pillars are combined into one to form separate auxiliary front legs 23, auxiliary rear legs 24, a lower crossarm 27 on the auxiliary support side and an upper crossarm 28 on the auxiliary support side.
  • the side brackets of the sub-bracket 20 constitute ⁇ , which are independent side brackets of the main bracket 10 composed of the main front leg 13, the main rear leg 14, the main support side lower cross 17 and the main support side upper cross 18.
  • the grooved main support rail and the grooved secondary support rail are selected to cooperate with the rolling wheel set of the carrier.
  • the distance between the maximum projected length plane of each leg and the plane of the lower edge of wheel 8 is 575 mm.
  • the part belonging to the sub-bracket is filled with diagonal stripes, and the part belonging to the carrier is filled with mesh stripes.
  • FIG. 1, FIG. 2, and FIG. 3 The installation relationship of the narrow sub-bracket 20 in the wide main bracket 10 is clearly shown in the figure: the auxiliary front leg 23 is outside the frame of the main bracket 10, and the auxiliary rear leg 24 In the frame of the main frame 10, the main front crossarm 11 is lower than the sub frame side crossarm 27. In the same plane, the movement range of the auxiliary rear leg 24 is within the main frame 10, and the autonomous rear crossarm 12 reaches the main Between the front crossarms 11.
  • Each leg uses the same specification double-acting single-piston rod hydraulic cylinder to ensure their telescopic function.
  • the installation relationship of the wide auxiliary bracket 20 fitted outside the narrow main bracket 10 is clearly shown in the figure: the main rear leg 14 is outside the frame of the sub bracket 20, and the main front leg 13 is inside the frame of the sub bracket 20
  • the auxiliary rear lower cross arm 22 is lower than the main lower side cross arm 17.
  • the movement range of the auxiliary rear leg 24 is between the main rear lower cross arm 12 and the main front lower cross arm 11.
  • FIG. 4, FIG. 5, and FIG. 6 In the case of 20 sets of narrow auxiliary brackets ⁇ ⁇ wide main bracket 10, in order to maintain the level of the lower grooved track, the main front crossarm 11 must be installed Pad 3, sub-front cross arm 21, sub-back cross arm 22 and main back cross arm 12 are at the same level, two rows of grooved sub-bracket rails 26 are installed on the left and right outer sides, and two rows of groove-shaped main brace rails are installed on the inside. 16.
  • the auxiliary rear lower cross arm 22 is pressed below the grooved main support rail 16 and the main front lower cross arm 11 is pressed under the grooved secondary support rail 26.
  • the main cross-side crossbar 17, the main cross-side crossbar 18, the sub-support side cross-bar 27 and the sub-support side cross-arm 28 are all the same length. Please refer to FIG. 9A and FIG. 9B. Select the maximum extension length of the hydraulic cylinder minus the distance from the bottom edge of the wheel 8 to the lowest end of the leg.
  • the difference S1 is 575 millimeters, and the largest integer quotient of S1 divided by 190 is Three times 3, 240 is 720 millimeters.
  • the minimum distance S2 from the front end of the auxiliary front leg 23 to the rear end of the main rear leg 14 formed by the length of these crossarms is 710 mm.
  • the level of the lower channel track is to install pads 3 on the auxiliary rear crossarm 22, the auxiliary front lower crossarm 21, the main front lower crossarm 11 and the main rear lower crossarm 12 at the same level.
  • a row of grooved sub-bracket rails 26, two rows of groove-shaped main brace rails 16 are installed inside, the groove-shaped main brace rail 16 is pressed on the lower rear cross arm 22, and the grooved sub-bracket rail 26 is pressed on the main front lower cross arm 11 .
  • carrier 30 includes a scroll wheel 31, a nacelle 32, a support platform 33, the bottom plate 34 and side flaps 39.
  • the nacelle 32 is covered by a bearing platform 33 and a bottom plate 34 below.
  • the wheel bracket 35 of the rolling wheel 31 is fixed below the bottom plate 34 (in the case of an upper mounted rolling wheel, the wheel bracket 35 of the rolling wheel 31 is fixed below the wing 39 ⁇
  • the carrier moving mechanism 7 is a hydraulic cylinder.
  • the top of the cylinder liner is connected to the stopper fixed at the forefront of the carrier.
  • the cylinder liner is fixed below the bottom plate 34 and the rod end is not fixed.
  • the maximum extension length of the bracket is the same.
  • the machine grab 32 is internally fixed with: an electric control system 50, a driving circuit 55, a battery 56, and a hydraulic system 40.
  • the hydraulic system 40 is the power equipment of the embodiment and includes a hydraulic pump, a hydraulic control valve, and a fuel tank Wait for the equipment that drives the hydraulic cylinder.
  • the carrier frame is dropped on the trough-shaped track to form a complete device of the present invention.
  • the dovetail four grooves 15 are horizontally installed between the main front leg 13 and the main rear leg 14, and the dovetail convex groove 25 is installed horizontally between the auxiliary front leg 23 and the auxiliary rear leg 24.
  • a front detector 521 is installed under the sub-front crossarm 21, and a rear detector 522 is installed under the sub-rear crossarm 22.
  • Both the front detector 521 and the rear detector 522 are level detectors, which are used for up and down When stepping, the extended length of the front and rear legs can ensure that the tilt angle of the entire device is not greater than 5 degrees.
  • an anti-collision switch 53 is installed on the lower part of the two sub-front legs 23, respectively, an anti-collision switch 53 is installed, a main travel switch 541 is installed on the rear part of a grooved main support rail 16, and a sub is installed on the front of a grooved sub-support rail 26.
  • the wheel 8 is mounted on the axle 4, and the axle 4 is mounted on the main bracket 10.
  • the telescopic mechanism 6 of the bracket is located above the front and rear crossarms.
  • a double-acting single-piston rod cylinder with two ends fixed to the stopper is selected.
  • One end stopper is fixed on the auxiliary front lower crossbar 21 and the other end stopper is fixed.
  • an auxiliary cross-arm 9 is added between the two main rear legs 14 and the auxiliary cross-arm 9 is at the same level as the carrier moving mechanism 7.
  • the wheel 8 can be installed under the dovetail groove between the main and auxiliary brackets. After the assembly of the main and auxiliary brackets is completed, the carrier frame is dropped on the groove-shaped track to form a complete device of the present invention. This condition does not affect the installation position of other equipment.
  • FIG. 13 in this embodiment, a hydraulic system of the prior art is used as the power equipment for up and down steps.
  • the drive circuit 552 is specifically controlled.
  • the power switch 581 When the power switch 581 is turned on the electric control system 50, the device enters a state of up and down steps.
  • the mode switch 582 When the mode switch 582 is in the middle position when the mode is up and down, the control system is in standby.
  • the contacts at both ends of the mode switch 582 represent the up-step mode and the down-step mode, respectively.
  • the high pressure relay 403, the low pressure relay 404, the main stroke switch 541, the auxiliary stroke switch 542, and two mutually collision-proof switches 53 provide the input switching signals to the microcontroller 51.
  • the front detector 521 and the rear detector 522 An input digital signal is supplied to the microcontroller 51 through an A / D conversion circuit 57.
  • the corresponding output signal of the microcontroller 51 controls the start and stop of the hydraulic pump 45 through the control drive circuit 552, the three-way four-way valve 411 of the main leg, the four-way three-way valve 421 of the auxiliary leg, the telescopic valve 431 of the bracket, the moving valve 441 of the carriage, Main front leg switch valve 4111 and The operation of the main rear leg switching valve 4112, wherein the valve 411, the valve 421, and the valve 431 each have two electromagnetic coils.
  • the power switch 581 and the mode switch 582 are installed at positions convenient for operation, for example, the upper surface of the carrier side wing 39.
  • the microcontroller 51 When the power switch 581 is turned on, the microcontroller 51 is powered on and standby, and the hydraulic pump 45 is started at the same time.
  • the microcontroller 51 detects that the mode switch 582 gives a low level signal, it sends a control signal to drive the main leg three-position four-way valve 411 to operate, and the oil circuit is connected to make the four main leg hydraulic cylinders extend without load. And land, and then continue to reach the limit to make the device reach the maximum height (step 601).
  • the oil circuit pressure continues to rise, which causes the high pressure relay 403 to act.
  • the microcontroller 51 detects that this signal is low level, the main leg three-position four-way valve 411 is closed, the bracket telescopic valve 431 is driven, the oil circuit is connected to make the bracket telescopic hydraulic cylinder extend, and the auxiliary bracket is extended forward (step 602).
  • the delay time T seconds is to leave enough space for the main support legs to fall on the same step.
  • the microcontroller 51 detects that the signal is low level, it closes the three-way four-way valve 421 of the auxiliary leg, stops the auxiliary cylinder hydraulic cylinder from extending, and then drives the carrier moving valve 441 to connect the oil path to make the carrier move hydraulic pressure.
  • the cylinder extends and pushes the carrier forward.
  • the sub-travel switch 542 is actuated.
  • the microcontroller 51 detects that the signal is low, it stops driving the coil of the carrier moving valve 441. Under the action of the spring in the valve, the carrier moving valve 441 returns to the original position, so that the carrier moving hydraulic cylinder communicates with the oil return pipe. Way (step 607).
  • the microcontroller 51 then drives the three-position four-way valve 411 of the main leg to contract the main leg hydraulic cylinder. After contracting to the limit, by virtue of the high pressure relay 403 acting, the microcontroller 51 receives the low level signal, closes the three-position four-way valve 411 of the main leg, drives the telescopic valve 431 of the bracket, shrinks the telescopic hydraulic cylinder of the bracket, and pulls the main cylinder. The bracket is forwarded, and simultaneously the rod end of the moving cylinder of the carrier is retracted (step 608 w 609).
  • the main travel switch 541 When the main support is moved forward to the determined position of the carrier, the main travel switch 541 is actuated due to contact with the scroll wheel.
  • the microcontroller 51 receives the level signal, closes the support telescopic valve 431, and drives the main leg three-position four-way valve 411. Make the main outrigger hydraulic cylinder extend without load. When the main legs landed, the extended lengths of the front and rear main legs were not consistent. The tendency of the hydraulic cylinder to continue to extend causes the low-pressure relay 404 to act.
  • the microcontroller 51 receives the low-level signal of this circuit, closes the three-way four-way valve 411 of the main leg, and drives the three-way four-way valve 421 of the auxiliary leg to make the auxiliary branch
  • the leg hydraulic cylinder retracts (step 610w 611).
  • the low pressure relay 404 is activated.
  • the microcontroller 51 receives the low-level signal, closes the three-position four-way valve 421 of the auxiliary leg, and drives the telescopic valve 431 of the support to extend the auxiliary support forward. At this time, the microcontroller 51 starts to read the data of the rear detector 522 When a jump occurs in the data, after a preset delay time T seconds, the microcontroller 51 closes the stent telescopic valve 431 to stop the sub-stent from extending forward.
  • the device of the present invention further completes the landing of the auxiliary legs, the forward movement of the carrier, the contraction of the main legs, and the forward movement of the main supports. Step action (step 616 ⁇ 619).
  • the microcontroller 51 reads the data of the front detector 521 and the back detector 522 at this time, and compares their sizes. If the difference between the two is within the allowable error range, it means that the device has reached the flat ground, and step 624 is performed; otherwise Perform the following actions: Landing of the main leg, contraction of the sub leg. Then, the main leg is extended with a load, and the microcontroller 51 reads the data of the rear detector 522. When the data indicates that the main rear leg has been extended to the limit, the three-way four-way valve 411 of the main leg is closed, and then turned Step 612 (step 620 w 623) is performed.
  • the microcontroller 51 sends out a control signal, retracts the outriggers, and completes the entire step-up process (step 624 ⁇ 625).
  • the microcontroller 51 When the load on the main leg rises, the microcontroller 51 continuously reads the data of the front detector 521 and the rear detector 522, and finds that the extension lengths of the main front leg and the main rear leg are inconsistent and exceed the allowable error. Control the main front leg on / off valve 4111 or the main rear leg on / off valve 4112, and make corresponding adjustments.
  • the microcontroller 51 detects that the lower step signal given by the mode switch 582 is at a low level, it sends out a control signal to drive the three-position four-way valve 411 of the main leg to operate, and the oil circuit is connected to make the four main leg hydraulic cylinders extend without load. And landed, and then continued to extend with the load, the microcontroller 51 continuously read the data of the front detector 521 and the rear detector 522, and when the wheel of the device slightly left the ground, it reached the minimum limit value specified in the program in advance (Hereinafter referred to as the low limit), close the main leg three-position four-way valve 411 (step 7 01).
  • step 623 of FIG. 15 described above the main leg band The load rises; in step 72 3, the load drops on the main leg (the hydraulic cylinder of the main leg contracts), and stops when the main rear leg drops to the lower limit.
  • a common link mechanism is used to replace the aforementioned dovetail groove to form a horizontal back-and-forth sliding connection between the main bracket and the sub-bracket.
  • Arthurbabs replaced the legs with legs.
  • the rear lower end and the front lower end of the link mechanism are respectively fixed on the main rear leg 14 and the auxiliary front leg 2 3, and the link can rotate around the fixed axis.
  • the upper and rear ends of the link mechanism can slide up and down in the grooves on the main rear leg 14 and the auxiliary front leg 23, respectively, and are secured to the legs to ensure the effect of radial force. It will not come out of the groove.
  • the upper cross-arms mentioned above are the general term for the main cross-arm 18, the sub-support cross-arm 28 and the rear upper cross-arm 19;
  • the auxiliary leg is a general term for the auxiliary front leg 23 and the auxiliary rear leg 24.
  • the foregoing is only a preferred embodiment of the present invention, and does not limit the present invention in any form, especially the structural form of the main and auxiliary legs, the horizontal forward and backward sliding connection between the main support and the auxiliary support, and Both the support telescopic mechanism and the carrier moving mechanism can be implemented in various ways. Any simple modifications, equivalent changes, and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

L'invention porte sur un dispositif de transport et sur son procédé de fonctionnement. Ce dispositif de transport permet de monter et descendre des escaliers selon un mode qui combine des déplacements verticaux et horizontaux. Le dispositif comprend un châssis structural composé d'un cadre principal (10), d'un cadre auxiliaire (20) et d'un cadre de support (30). Le cadre principal et le cadre auxiliaire, qui sont tous les deux cuboïdes, mais ont des largeurs différentes, sont encastrés l'un dans l'autre et raccordés de façon à effectuer un mouvement de va-et-vient horizontalement. Le cadre principal et le cadre auxiliaire ont chacun quatre pieds que l'on peut étendre ou rétracter sur une longueur égale, chaque cadre étant pourvu de deux rails horizontaux orientés vers l'arrière et vers l'avant. Quatre jeux de roues sont renfermés dans le cadre de support et sont placés dans les rails de façon à se déplacer le long de ceux-ci. Un mécanisme télescopique (6) est raccordé entre le cadre principal et le cadre auxiliaire, et un mécanisme mobile (7), qui déplace le cadre de support est monté dans le châssis structural. Le dispositif comprend également un système de commande électrique (50) du microcontrôleur et comprend des capteurs, des commutateurs de commande, des roues, un équipement électrique, un circuit de commande et des batteries.
PCT/CN2004/000595 2003-06-18 2004-06-03 Dispositif et procede pour monter des escaliers WO2004110846A1 (fr)

Priority Applications (2)

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CNB031376207A CN1326740C (zh) 2003-06-18 2003-06-18 自动行走并能上下台阶的装置及上下台阶方法
CNB2004800020160A CN100460258C (zh) 2003-06-18 2004-06-03 一种能自动上下台阶的装置及上下台阶方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102397037A (zh) * 2010-09-08 2012-04-04 燕成祥 上下楼梯清洁设备

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DE3422255A1 (de) * 1984-06-15 1985-12-19 Norbert 3410 Northeim Geisler Fahrwerk fuer einen rollstuhl
DE19518087A1 (de) * 1995-02-16 1996-11-28 Expresso Deutschland Verteiler- bzw. Zustellerwagen
CN2254855Y (zh) * 1996-03-14 1997-05-28 陈永兴 爬梯车

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3422255A1 (de) * 1984-06-15 1985-12-19 Norbert 3410 Northeim Geisler Fahrwerk fuer einen rollstuhl
DE19518087A1 (de) * 1995-02-16 1996-11-28 Expresso Deutschland Verteiler- bzw. Zustellerwagen
CN2254855Y (zh) * 1996-03-14 1997-05-28 陈永兴 爬梯车

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102397037A (zh) * 2010-09-08 2012-04-04 燕成祥 上下楼梯清洁设备

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