CN112190408B - Stair climbing aid and stair climbing method thereof - Google Patents
Stair climbing aid and stair climbing method thereof Download PDFInfo
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- CN112190408B CN112190408B CN202011261574.6A CN202011261574A CN112190408B CN 112190408 B CN112190408 B CN 112190408B CN 202011261574 A CN202011261574 A CN 202011261574A CN 112190408 B CN112190408 B CN 112190408B
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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
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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
- A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
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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
- A61G5/10—Parts, details or accessories
- A61G5/104—Devices for lifting or tilting the whole wheelchair
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
本发明公开了一种爬楼梯的助行器及其爬楼方法，其中爬楼梯的助行器包括控制器、上盖板、下盖板、升降机构和移动机构；所述上盖板和下盖板之间通过移动机构连接，所述上盖板设有至少两对驱动轮，每个驱动轮均连接有驱动电机；所述升降机构包括升降电机、升降丝杆和剪叉式支撑脚，所述升降丝杆通过第三轴承座安装于下盖板，所述剪叉式支撑脚的上端连接有第一轴承座，此第一轴承座通过第一丝杆法兰与升降丝杆连接，所述升降电机通过第一同步带机构与升降丝杆连接；所述移动机构、升降电机和驱动电机均与控制器连接。本发明可根据台阶不同的高度、宽度进行程序事先设定，以满足各类楼梯需求，适应能力广，灵活性和机动性好。
The present invention discloses a stair climbing aid and a stair climbing method thereof, wherein the stair climbing aid comprises a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism; the upper cover plate and the lower cover plate are connected by a moving mechanism, the upper cover plate is provided with at least two pairs of driving wheels, each driving wheel is connected to a driving motor; the lifting mechanism comprises a lifting motor, a lifting screw and a scissor-type supporting foot, the lifting screw is installed on the lower cover plate through a third bearing seat, the upper end of the scissor-type supporting foot is connected to a first bearing seat, the first bearing seat is connected to the lifting screw through a first screw flange, the lifting motor is connected to the lifting screw through a first synchronous belt mechanism; the moving mechanism, the lifting motor and the driving motor are all connected to the controller. The present invention can be pre-programmed according to different heights and widths of steps to meet the needs of various types of stairs, with wide adaptability, good flexibility and maneuverability.
Description
Technical Field
The invention relates to auxiliary equipment technology, in particular to a walking aid for climbing stairs and a stair climbing method thereof.
Background
With the improvement of living standard and the development of medical technology, the life of human beings is continuously prolonged, the problem of aging population is more and more prominent, the frequent occurrence of traffic accidents and the occurrence of natural disasters also generate some handicapped people, and the handicapped people climb stairs to become living barriers of the handicapped people. At present, elevators cannot be fully popularized, and stairs are commonly used in low-rise houses and duplex-structure houses, especially in vast rural areas, which are all stairs. How to solve the problem that the elderly and disabled need to go upstairs and downstairs is an urgent need to be solved at present.
The stair climber developed at present has a plurality of types, and is generally divided into a planetary wheel type, a crawler type and a leg foot type according to the working mode adopted when the stair climbs. But still suffer from the following drawbacks:
1. the planetary wheel type stair climbing machine adopts a working mode that a planetary wheel support revolves around a planetary wheel main shaft, and a planetary wheel rotates around a planetary wheel shaft so as to climb a step. The more the planet wheels are, the higher the stair climbing height is, and the stronger the stability is, but the increase of the structure volume of the planet wheel body can lead to the increase of the weight of the whole stair climbing walker, the realization of carrying or other works is affected, the price is high, and the stair climbing walker is limited by the environment and can be used only in certain occasions.
2. The crawler type stair climbing machine has the advantages of small gravity center fluctuation, good stability, simple control system and large sitting posture change in the moving process of the crawler type stair climbing machine, occupies a large space due to the fact that the crawler is too large in size, is difficult to turn, and usually needs other people to assist.
3. The leg foot type stair climbing machine is characterized in that the leg foot type stair climbing machine simulates actions of a person when the person goes upstairs through bionics, one step or a plurality of steps climb, a plurality of mechanical leg feet are sequentially lifted to support a seat to climb stairs, the leg foot type stair climbing machine is stable in stair climbing movement and can well adapt to steps with different sizes, but the control difficulty is high, the operation is complicated, and the movement is slow when the person runs on a flat ground.
In conclusion, most of the existing ladder climbing walker has the defects of complex structure, low adaptability to turning and going downstairs, poor flexibility and mobility and the like, is high in manufacturing cost, and is not applied to actual life of a household.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a walking aid for climbing stairs. The walking aid for climbing stairs has the advantages of simple structure, strong adaptability, good flexibility and maneuverability.
It is also an object of the present invention to provide a stair climbing method for a walker for stair climbing.
The stair climbing aid comprises a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism, wherein the upper cover plate and the lower cover plate are connected through the moving mechanism, the upper cover plate is provided with at least two pairs of driving wheels, each driving wheel is connected with a driving motor, the lifting mechanism comprises a lifting motor, a lifting screw rod and a scissor type supporting leg, the lifting screw rod is arranged on the lower cover plate, the upper end of the scissor type supporting leg is connected with a first bearing seat, the first bearing seat is connected with the lifting screw rod through a first screw rod flange, the lifting motor is connected with the lifting screw rod through a first synchronous belt mechanism, and the moving mechanism, the lifting motor and the driving motor are all connected with the controller.
Preferably, the scissor type supporting legs comprise at least one pair of supporting rods, wherein the middle parts of two supporting rods in each pair of supporting rods are connected through thrust ball bearings, and the upper ends of the two supporting rods in each pair of supporting rods are connected with corresponding first bearing seats;
The scissors fork supporting legs comprise 2 pairs of supporting rods, the 2 pairs of supporting rods are arranged in parallel, 2 supporting rods parallel to each other in the 2 pairs of supporting rods are connected with the supporting seat, the other 2 supporting rods parallel to each other in the 2 pairs of supporting rods are connected with the sliding rods, and the pulleys are mounted on the sliding rods.
Preferably, the walker for climbing stairs further comprises a connecting support and a first universal ball, wherein the connecting support is connected with the upper cover plate through an adjusting screw, the adjusting screw is sleeved with a spring, and the first universal ball is mounted at the lower end of the connecting support.
Preferably, the moving mechanism comprises a horizontal motor and a horizontal screw rod, the horizontal screw rod is arranged on the lower cover plate through a second bearing seat, the horizontal screw rod is provided with a second screw rod flange, the second screw rod flange is connected with the upper cover plate through a flange connecting piece, the horizontal motor is connected with the horizontal screw rod through a second synchronous belt mechanism, and the horizontal motor is connected with the controller.
Preferably, the upper cover plate is provided with a supporting wheel, the lower cover plate is provided with a guide rail for guiding the supporting wheel, and the supporting wheel is in rolling connection with the lower cover plate.
Preferably, a wheelchair is arranged on the upper cover plate.
Preferably, the stair climbing walker further comprises a swivel chair mechanism, wherein the swivel chair mechanism comprises a support frame and a swivel chair, front legs of the support frame are arranged on the upper cover plate, the support frame is provided with a support plate, the swivel chair is arranged on the support plate through a gear transmission mechanism, the gear transmission mechanism is connected with a rotating motor, each rear leg of the support frame is provided with a push rod mechanism, and the lower end of each push rod mechanism is provided with a second universal ball.
Preferably, the push rod mechanism comprises at least 2 electric push rods, each electric push rod is connected in sequence, the electric push rod positioned at the uppermost part is connected with the rear leg of the support frame, and the lower end of the electric push rod positioned at the lowermost part is provided with a second universal ball;
in the electric push rods which are connected in sequence, a connecting frame is arranged on the rod body of the second electric push rod in the direction from bottom to top, and a second universal ball is arranged at the lower end of the connecting frame.
A stair climbing method based on the stair climbing walker comprises the following modes:
Ascending stairs mode:
(1-1) before going up stairs, setting the lifting height of the scissor-fork type supporting feet according to the size of the stairs;
The controller controls the lifting motor to rotate positively, and the lifting motor drives the scissor type supporting legs to be unfolded, so that the upper cover plate and the lower cover plate are lifted;
(1-3) when the bottom end of the Mecanum wheel is equal to the height of the previous step surface, the lifting motor is stopped, the controller controls the horizontal motor to rotate positively, the horizontal motor drives the upper cover plate to move forward through the horizontal screw rod and the flange connecting piece so as to enable the Mecanum wheel to contact the previous step surface, the driving motor is controlled to rotate positively, the driving motor drives the Mecanum wheel to rotate, the upper cover plate moves forward again, and the controller stops after the end face of the upper cover plate is close to the vertical face of the previous step;
The controller controls the lifting motor to reversely rotate, the lifting motor drives the scissor-fork supporting legs to shrink and fold, then controls the translation motor to reversely rotate, and the translation motor enables the lower cover plate to be retracted into the upper cover plate through the translation screw rod;
(1-5) sequentially repeating the steps (1-2) - (1-4) to finish ascending stairs;
Descending stairs mode:
(2-1) setting the lifting height of the scissor-fork type supporting feet according to the size of the stairs before going down the stairs;
(2-2) the controller controls the horizontal motor to rotate reversely, the horizontal motor drives the lower cover plate to extend out of the upper cover plate through the horizontal screw rod, then controls the lifting motor to rotate positively to enable the scissor type supporting feet to be unfolded, and the base and the pulley at the lower end of the scissor type supporting feet are contacted with the next step surface;
(2-3) the controller controls the driving motor to rotate reversely, and the driving motor drives the Mecanum wheel to rotate so as to drive the upper cover plate to move, so that the lower cover plate returns to the upper cover plate again;
(2-4) controlling the lifting motor to reversely rotate so as to enable the scissor-fork supporting feet to shrink and fold again;
(2-5) sequentially repeating the steps (2-2) - (2-4) to finish going downstairs;
the horizontal walking mode is that the scissor type support is in a contracted and folded state,
When the whole walker advances linearly, the controller controls each driving motor to rotate forward at the same speed;
when the whole walker moves back along the straight line, the controller controls each driving motor to rotate reversely at the same speed;
When the whole walker needs to turn, the controller controls each driving motor to rotate at different speeds, so that each driving motor drives each corresponding Mecanum wheel to rotate at different speeds, and the whole walker can turn at 0-360 degrees.
Preferably, in the ascending stair mode and the descending stair mode, the second universal ball at the lower end of the lowest electric putter and/or the second universal ball at the lower end of the connecting frame are kept in contact with the step surface.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts a scissor type supporting leg structure, which can be set in advance according to different heights and widths of steps, so as to meet the requirements of various stairs and has wide adaptability.
2. The invention is mainly composed of a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism, wherein the upper cover plate can bear heavy objects and people with inconvenient actions in the process of climbing stairs, and has good flexibility and maneuverability.
3. The invention is mainly composed of a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism, and has compact overall structure, small volume and convenient use, and can stably climb up and down stairs.
4. The invention adopts the driving wheel and the driving motor to form, and each driving motor independently controls the corresponding driving wheel to rotate, which is convenient for the walker to go forward and backward in a straight line and is also convenient for steering, thus being applicable to indoor and outdoor operation and having more advantages for the stepped route of the set route.
5. The wheelchair or swivel chair is arranged on the upper cover plate, so that comfort is ensured when people are carried conveniently.
Drawings
Fig. 1 is a schematic view of a first view angle structure of a walker for climbing stairs according to a first embodiment of the invention.
Fig. 2 is a schematic view of a second view angle structure of a walker for climbing stairs according to the first embodiment of the invention.
Fig. 3 is a side view of a stair climbing walker according to a first embodiment of the present invention.
Fig. 4 is a front view of a walker for climbing stairs according to a first embodiment of the invention.
Fig. 5 is a top view of a stair climbing walker according to a first embodiment of the present invention.
Fig. 6 is a schematic view of a stair climbing process of the walker for climbing stairs according to the first embodiment of the invention. In fig. 6 a to 6 e are schematic diagrams of the process from the initial stairs to the previous stairs.
Fig. 7 is a schematic view of a first view of a walker for climbing stairs according to a second embodiment of the invention.
Fig. 8 is a schematic structural view of a second view of a stair climbing walker according to the second embodiment of the present invention.
Fig. 9 is a schematic structural view of a stair climbing walker according to a third embodiment of the present invention.
Fig. 10 is a schematic view of a stair climbing walker according to the third embodiment of the present invention with parts removed.
Fig. 11 is a side view of a stair climbing walker according to a third embodiment of the present invention.
Fig. 12 is a schematic view of a stair climbing process of the walker for climbing stairs according to the third embodiment of the present invention. In fig. 12a to fig. 12 i are schematic views of the process from the initial stairs to the previous stairs.
Wherein 1 is an upper cover plate, 2 is a lower cover plate, 3 is a lifting mechanism, 4 is a moving mechanism, 5 is a Mecanum wheel, 6 is a driving motor, 7 is a lifting motor, 8 is a lifting screw, 9 is a scissor type supporting leg, 10 is a third bearing seat, 11 is a first bearing seat, 12 is a first screw flange, 13 is a first swivel mechanism, 14 is a worm gear reduction box, 15 is a coupling, 16 is a supporting rod, 17 is a thrust ball bearing, 18 is a supporting seat, 19 is a pulley, 20 is a sliding rod, 21 is a connecting support, 22 is a first universal ball, 23 is an adjusting screw, 24 is a spring, 25 is a fixing nut, 26 is an adjusting nut, 27 is a horizontal motor, 28 is a horizontal screw, 29 is a second bearing seat, 30 is a second screw flange, 31 is a flange connecting piece, 32 is a second swivel mechanism, 33 is a supporting wheel, 34 is a guide rail, 35 is a wheelchair, 36 is a mounting bracket, 37 is a swivel chair, 38 is a supporting bracket, 40 is a supporting plate, 41 is a gear transmission mechanism, 42 is a rotating motor, 43 is a push rod mechanism, 44 is a second universal ball, 45 is a push rod, and 46 is connected.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Example 1
The stair climbing aid shown in the figures 1 to 5 comprises a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism, wherein the upper cover plate is connected with the lower cover plate through the moving mechanism, the upper cover plate is provided with at least two pairs of driving wheels, each driving wheel is connected with a driving motor, the lifting mechanism comprises a lifting motor, a lifting screw rod and a scissor type supporting leg, the lifting screw rod is arranged on the lower cover plate through a third bearing seat, the upper end of the scissor type supporting leg is connected with a first bearing seat, the first bearing seat is connected with the lifting screw rod through a first screw rod flange, the lifting motor is connected with the lifting screw rod through a first synchronous belt mechanism, and the moving mechanism, the lifting motor and the driving motor are all connected with the controller.
Specifically, the driving wheel adopts a Mecanum wheel to ensure friction force and simultaneously facilitate the steering of the whole walker. In the embodiment, 2 pairs of Mecanum wheels are adopted, the 2 pairs of Mecanum wheels are respectively arranged at the front end and the rear end of the upper cover plate, and the 2 Mecanum wheels in each pair are respectively arranged at the left side and the right side of the upper cover plate. The driving motor is connected with the Mecanum wheel through the worm gear reduction box and the coupler, so that the device is convenient to install and ensures stable power transmission.
In order to improve the stability of the overall lifting of the upper cover plate and the lower cover plate, the lifting mechanism is provided with 2 groups, and the 2 groups of lifting mechanisms are respectively arranged on two sides of the lower cover plate. I.e. the moving mechanism is mounted in the middle of the lower cover plate, while the 2 sets of lifting mechanisms are symmetrically arranged relative to the axis of the moving mechanism. When the lifting motor is started, the lifting screw rod rotates, so that the scissor-fork type supporting legs are unfolded or contracted and folded.
The scissor type supporting legs comprise at least one pair of supporting rods, the middle parts of two supporting rods in each pair of supporting rods are connected through thrust ball bearings, the upper ends of the two supporting rods in each pair of supporting rods are connected with corresponding first bearing seats, the lower end of one supporting rod in each pair of supporting rods is connected with a supporting seat, and the lower end of the other supporting rod is provided with a pulley. The bracing piece adopts suitable quantity to guarantee the intensity of whole fork supporting legs, in this embodiment, every fork supporting leg that cuts adopts 2 pairs, namely cut fork supporting legs and include 2 pairs of bracing pieces, this 2 pairs of bracing pieces parallel arrangement, 2 spinal branch vaulting poles that are parallel in this 2 pairs of bracing pieces all are connected with the supporting seat, and another 2 spinal branch vaulting poles that are parallel in this 2 pairs of bracing pieces all are connected in the slide bar, the pulley is installed in the slide bar. As shown in fig. 1 to 5, in the 1 pair of support rods, the middle parts of the 2 support rods are connected through thrust ball bearings, so that the 2 support rods can move relatively, i.e. the support legs can be unfolded or contracted and folded. Each scissor type supporting leg adopts 2 pairs of supporting rods, and the 2 pairs of supporting rods are arranged in parallel. In order to ensure the synchronism of 2 pairs of support rods, 2 parallel support rods in 2 pairs of support rods in the same scissor type support leg are connected with the support base, the other 2 parallel support rods in the 2 pairs of support rods are connected with the slide rod, and the pulley is arranged on the slide rod. The number of the pulleys is 2, and the 2 pulleys are arranged at two ends of the sliding rod. The structure is simple and the stability is good.
The stair climbing walker also comprises a connecting support and a first universal ball, wherein the connecting support is connected with the upper cover plate through an adjusting screw, the adjusting screw is sleeved with a spring, and the first universal ball is arranged at the lower end of the connecting support. As shown in fig. 1 and 4, the front end and the rear end of the connecting support are connected with the upper cover plate through adjusting screws, wherein the upper ends of the adjusting screws are arranged on the upper cover plate through fixing nuts, the lower ends of the adjusting screws are sleeved with adjusting nuts, and the adjusting nuts are tightly attached to the outer bottoms of the connecting support. The spring is sleeved on the adjusting screw rod, the upper end of the spring is propped against the fixing nut, and the lower end of the spring is propped against the inner bottom surface of the connecting support. The deformation of the spring can be adjusted by adjusting the degree to which the adjusting nut is screwed into the adjusting screw. The supporting structure formed by the connecting support and the first universal ball plays a role of auxiliary support, and the stable operation of the whole walker is further ensured.
The moving mechanism comprises a horizontal motor and a horizontal screw rod, the horizontal screw rod is installed on the lower cover plate through a second bearing seat, the horizontal screw rod is provided with a second screw rod flange, the second screw rod flange is connected with the upper cover plate through a flange connecting piece, the horizontal motor is connected with the horizontal screw rod through a second synchronous belt mechanism, and the horizontal motor is connected with the controller. The horizontal motor drives the horizontal screw rod to rotate, and then the upper cover plate reciprocates along the axial direction of the horizontal screw rod, so that the actions of going up and down stairs are realized.
The upper cover plate is provided with supporting wheels, the lower cover plate is provided with guide rails for guiding the supporting wheels, and the supporting wheels are in rolling connection with the lower cover plate. The guide rail has 2, and this 2 guide rails set up for horizontal lead screw symmetry, and the supporting wheel sets up in pairs, and 2 supporting wheels in a pair of supporting wheel correspond with 2 guide rails respectively, and the supporting wheel is restricted by the guide rail in the rolling in-process of upper cover plate, and the supporting wheel rolls along the axis direction of guide rail to avoid the supporting wheel to the upward motion of perpendicular to guide rail direction, thereby improve the stability when upper cover plate for lower cover plate horizontal migration. In this embodiment, 3 pairs of supporting wheels are provided, which can further improve the stability of the upper cover plate when it moves horizontally.
A stair climbing method based on the stair climbing walker comprises the following modes:
as shown in fig. 6, the ascending stair mode:
(1-1) before going upstairs, setting the lifting height of the scissor-fork type supporting legs according to the size of the stairs, and then adjusting the degree of screwing the adjusting nut into the adjusting screw so as to adjust the deformation of the spring and provide good auxiliary support for the upper cover plate;
The controller controls the lifting motor to rotate positively, and the lifting motor drives the scissor type supporting legs to be unfolded, so that the upper cover plate and the lower cover plate are lifted;
(1-3) when the bottom end of the Mecanum wheel is equal to the height of the previous step surface, the lifting motor is stopped, the controller controls the horizontal motor to rotate positively, the horizontal motor drives the upper cover plate to move forward through the horizontal screw rod and the flange connecting piece so as to enable the Mecanum wheel to contact the previous step surface, the driving motor is controlled to rotate positively, the driving motor drives the Mecanum wheel to rotate, the upper cover plate moves forward again, and the controller stops after the end face of the upper cover plate is close to the vertical face of the previous step;
The controller controls the lifting motor to reversely rotate, the lifting motor drives the scissor-fork supporting legs to shrink and fold, then controls the translation motor to reversely rotate, and the translation motor enables the lower cover plate to be retracted into the upper cover plate through the translation screw rod;
(1-5) sequentially repeating the steps (1-2) - (1-4) to finish ascending stairs;
Descending stairs mode:
(2-1) before going down stairs, setting the lifting height of the scissor-fork type supporting legs according to the size of the stairs, and then adjusting the degree of screwing the adjusting nut into the adjusting screw so as to adjust the deformation of the spring and provide good auxiliary support for the upper cover plate;
(2-2) the controller controls the horizontal motor to rotate reversely, the horizontal motor drives the lower cover plate to extend out of the upper cover plate through the horizontal screw rod, then controls the lifting motor to rotate positively to enable the scissor type supporting feet to be unfolded, and the base and the pulley at the lower end of the scissor type supporting feet are contacted with the next step surface;
(2-3) the controller controls the driving motor to rotate reversely, and the driving motor drives the Mecanum wheel to rotate so as to drive the upper cover plate to move, so that the lower cover plate returns to the upper cover plate again;
(2-4) controlling the lifting motor to reversely rotate so as to enable the scissor-fork supporting feet to shrink and fold again;
(2-5) sequentially repeating the steps (2-2) - (2-4) to finish going downstairs;
Wherein the downstairs mode of operation is a reverse operation relative to the downstairs mode of operation.
The horizontal walking mode is that the scissor type support is in a contracted and folded state,
When the whole walker advances linearly, the controller controls each driving motor to rotate forward at the same speed;
When the whole walker is in linear backward, the controller controls each driving motor to rotate reversely at the same speed;
When the whole walker needs to turn, the controller controls each driving motor to rotate at different speeds, so that each driving motor drives each corresponding Mecanum wheel to rotate at different speeds, and the whole walker can turn at 0-360 degrees.
The driving motor, the lifting motor and the horizontal motor all adopt stepping motors. The upper cover plate in the embodiment is not provided with other parts, so that a user can stand on the upper cover plate conveniently or stack articles on the upper cover plate, and the walker can be used for climbing stairs. Each synchronous belt mechanism is selected to be of different types according to different sizes.
Example 2
The walking aid for climbing stairs and the stair climbing method thereof are added with the following technical characteristics based on the embodiment 1:
And a wheelchair is arranged on the upper cover plate. Specifically, as shown in fig. 7 and 8, the wheelchair is fixed to the upper surface of the upper cover plate by a mounting bracket. In the process of climbing stairs by the walker, users can sit on the wheelchair directly, and the structure improves the comfort.
The walking aid for climbing stairs and the stair climbing method thereof are added with the following technical characteristics based on the embodiment 1:
As shown in fig. 9-11, the walker for climbing stairs further comprises a swivel chair mechanism, the swivel chair mechanism comprises a support frame and a swivel chair, the front leg of the support frame is installed on the upper cover plate, the support frame is provided with a support plate, the swivel chair is installed on the support plate through a gear transmission mechanism, the gear transmission mechanism is connected with a rotating motor, each rear leg of the support frame is provided with a push rod mechanism, and the lower end of the push rod mechanism is provided with a second universal ball. The swivel chair improves comfort. The swivel chair is arranged on the supporting plate by utilizing the gear transmission mechanism, so that a user can adjust the orientation of the swivel chair according to the walking aid in the upstairs and downstairs processes, and a good visual angle direction is provided for the user.
The push rod mechanism comprises at least 2 electric push rods, each electric push rod is sequentially connected, the electric push rod positioned at the uppermost part is connected with the rear leg of the support frame, and the lower end of the electric push rod positioned at the lowermost part is provided with a second universal ball. Specifically, the rear leg of the support frame has 2, and this embodiment push rod mechanism adopts 2 electric putter, and this electric putter's quantity can be according to the high and the parameter etc. condition of electric putter of support frame and decision. This structure has further guaranteed the stability when whole walker climbs the building. As shown in fig. 9 to 11, the electric putter located above is connected to the rear leg of the support frame through the putter connector, and the base of the electric putter located below is connected to the rod body of the electric putter located above, and this uses 2 electric putters in each putter mechanism to meet the requirements of different height steps, and also to realize the stability of the movement of going upstairs and downstairs.
In the electric push rods which are connected in sequence, a connecting frame is arranged on the rod body of the second electric push rod in the direction from bottom to top, and a second universal ball is arranged at the lower end of the connecting frame. When the rod body of the electric putter at the lowest is in the shrink state, the second universal ball that is located the link and the second universal ball that is located the electric putter of below are in the same height to stability when further improving the support frame and supporting.
As shown in fig. 12, in the ascending and descending modes, the second ball at the lower end of the lowermost electric putter and/or the second ball at the lower end of the link are held in contact with the step surface. In the upstairs and downstairs, at least one second universal ball is contacted with the step surface, so that safety and stability are improved.
The above embodiments are preferred examples of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions made without departing from the technical aspects of the present invention are included in the scope of the present invention.
Claims (6)
1. The stair climbing aid is characterized by comprising a controller, an upper cover plate, a lower cover plate, a lifting mechanism and a moving mechanism, wherein the upper cover plate and the lower cover plate are connected through the moving mechanism, the upper cover plate is provided with at least two pairs of driving wheels, each driving wheel is connected with a driving motor, the lifting mechanism comprises a lifting motor, a lifting screw rod and a scissor type supporting leg, the lifting screw rod is arranged on the lower cover plate, the upper end of the scissor type supporting leg is connected with a first bearing seat, the first bearing seat is connected with the lifting screw rod through a first screw rod flange, the lifting motor is connected with the lifting screw rod through a first synchronous belt mechanism, and the moving mechanism, the lifting motor and the driving motor are all connected with the controller;
The scissor type supporting legs comprise at least one pair of supporting rods, wherein the middle parts of two supporting rods in each pair of supporting rods are connected through thrust ball bearings, and the upper ends of the two supporting rods in each pair of supporting rods are connected with corresponding first bearing seats;
the scissor type supporting legs comprise 2 pairs of supporting rods, the 2 pairs of supporting rods are arranged in parallel, 2 parallel supporting rods in the 2 pairs of supporting rods are connected with the supporting seat, the other 2 parallel supporting rods in the 2 pairs of supporting rods are connected with the sliding rod, and the pulleys are arranged on the sliding rod;
The moving mechanism comprises a horizontal motor and a horizontal screw rod, the horizontal screw rod is arranged on the lower cover plate through a second bearing seat, the horizontal screw rod is provided with a second screw rod flange, the second screw rod flange is connected with the upper cover plate through a flange connecting piece, and the horizontal motor is connected with the horizontal screw rod through a second synchronous belt mechanism;
The swivel chair comprises a support frame and a swivel chair, wherein the front leg of the support frame is arranged on the upper cover plate, the support frame is provided with a support plate, the swivel chair is arranged on the support plate through a gear transmission mechanism, and the gear transmission mechanism is connected with a rotating motor;
The push rod mechanism comprises at least 2 electric push rods, each electric push rod is sequentially connected, the electric push rod positioned at the uppermost part is connected with the rear leg of the support frame, and the lower end of the electric push rod positioned at the lowermost part is provided with a second universal ball;
in the electric push rods which are connected in sequence, a connecting frame is arranged on the rod body of the second electric push rod in the direction from bottom to top, and a second universal ball is arranged at the lower end of the connecting frame.
2. The stair climbing walker according to claim 1, further comprising a connection support and a first universal ball, wherein the connection support is connected with the upper cover plate through an adjusting screw, the adjusting screw is sleeved with a spring, and the first universal ball is mounted at the lower end of the connection support.
3. The stair climbing walker according to claim 1, wherein the upper cover plate is provided with supporting wheels, the lower cover plate is provided with guide rails for guiding the supporting wheels, and the supporting wheels are in rolling connection with the lower cover plate.
4. The stair climbing walker according to claim 1 wherein a wheelchair is mounted on the upper cover plate.
5. A stair climbing method based on the stair climbing aid according to any one of claims 1 to 4, comprising the following modes:
Ascending stairs mode:
(1-1) before going up stairs, setting the lifting height of the scissor-fork type supporting feet according to the size of the stairs;
The controller controls the lifting motor to rotate positively, and the lifting motor drives the scissor type supporting legs to be unfolded, so that the upper cover plate and the lower cover plate are lifted;
(1-3) when the bottom end of the Mecanum wheel is equal to the height of the previous step surface, the lifting motor is stopped, the controller controls the horizontal motor to rotate positively, the horizontal motor drives the upper cover plate to move forward through the horizontal screw rod and the flange connecting piece so as to enable the Mecanum wheel to contact the previous step surface, the driving motor is controlled to rotate positively, the driving motor drives the Mecanum wheel to rotate, the upper cover plate moves forward again, and the controller stops after the end face of the upper cover plate is close to the vertical face of the previous step;
The controller controls the lifting motor to reversely rotate, the lifting motor drives the scissor-fork supporting legs to shrink and fold, then controls the translation motor to reversely rotate, and the translation motor enables the lower cover plate to be retracted into the upper cover plate through the translation screw rod;
(1-5) sequentially repeating the steps (1-2) - (1-4) to finish ascending stairs;
Descending stairs mode:
(2-1) setting the lifting height of the scissor-fork type supporting feet according to the size of the stairs before going down the stairs;
(2-2) the controller controls the horizontal motor to rotate reversely, the horizontal motor drives the lower cover plate to extend out of the upper cover plate through the horizontal screw rod, then controls the lifting motor to rotate positively to enable the scissor type supporting feet to be unfolded, and the base and the pulley at the lower end of the scissor type supporting feet are contacted with the next step surface;
(2-3) the controller controls the driving motor to rotate reversely, and the driving motor drives the Mecanum wheel to rotate so as to drive the upper cover plate to move, so that the lower cover plate returns to the upper cover plate again;
(2-4) controlling the lifting motor to reversely rotate so as to enable the scissor-fork supporting feet to shrink and fold again;
(2-5) sequentially repeating the steps (2-2) - (2-4) to finish going downstairs;
the horizontal walking mode is that the scissor type support is in a contracted and folded state,
When the whole walker advances linearly, the controller controls each driving motor to rotate forward at the same speed;
When the whole walker is in linear backward, the controller controls each driving motor to rotate reversely at the same speed;
When the whole walker needs to turn, the controller controls each driving motor to rotate at different speeds, so that each driving motor drives each corresponding Mecanum wheel to rotate at different speeds, and the whole walker can turn at 0-360 degrees.
6. The stair climbing method according to claim 5, wherein the second ball at the lower end of the lowermost electric putter and/or the second ball at the lower end of the link are held in contact with the step surface in the ascending stair mode and the descending stair mode.
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| CN112190408B true CN112190408B (en) | 2025-03-18 |
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| US6341784B1 (en) * | 1998-11-17 | 2002-01-29 | Otto Bock Orthopaedische Industrie Besitz-Und Verwaltungs-Kommanditgesellschaft | Motor-driven stair climbing device |
| US8418787B2 (en) * | 2011-01-10 | 2013-04-16 | King Fahd University Of Petroleum And Minerals | Stair climbing apparatus |
| CN110151414B (en) * | 2019-05-09 | 2020-07-10 | 哈工大机器人（合肥）国际创新研究院 | Stair climbing wheelchair and stair climbing method |
| CN111437113B (en) * | 2020-05-13 | 2025-01-24 | 安阳工学院 | Intelligent wheelchair for elderly people to climb stairs |
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