CA3082692A1 - Staircase climbing machine - Google Patents

Abstract

The disclosure provides a stand-alone staircase climbing machine capable of moving up and down a staircase with smooth motion, comprising: a first and a second actuation members connected to each other and capable of moving to-and- fro relative to each other, wherein movement of the two actuation members is actuated by an actuator built in-between them; and rod-like legs capable of being rotated or lifted during climbing motion so as to prevent hitting stairs, wherein each actuation member is able to stand on the staircase individually by a plurality of rod- like legs positioned near edges of the actuation member, and the plurality of rod-like legs are configured to make a bottom plane of the actuation member raise above and make the bottom plane be parallel to a slope of the staircase.

Description

STAIRCASE CLIMBING MACHINE
TECHNICAL FIELD
[0001] The disclosure relates to the field of devices for staircase climbing, and particularly to a machine which climbs stairs with smooth motion.
BACKGROUD OF THE PRESENT INVENTION

[0002] The background description provided herein is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventors, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.

[0003] For stand-alone stair climbing machines, there are two common types of design in their climbing mechanism. The most common one is to use a robot designed to climb by stepping. Another typical design involves the use of tank-tracks.
Regarding the first case, using robot technology is not only uneconomical but also over-engineered as it does not make good use of the regularity of the staircases. For the latter case, the machine could be too bulky.

[0004] Recently there is a Chinese patent CN208576623U for a stand-alone stair climbing machine. However, in that design, there are two important deficiencies.
Firstly, in that patent, the climbing motion path is rocking, moving in a zigzag path.
Secondly, as illustrated in Figure 14 in that patent CN208576623U, the stability of the mechanical equilibrium during the climbing motion is not taken into consideration. When such a bulky machine is standing on just one single stair, any loading on top of it and any movement of itself will easily upset the balance and drop down. In fact, the center of gravity in that Figure 14 is already close to the edge of its support. Hence, its real application is seriously hindered by its limited mechanical stability.

[0005] It is an urgent need to develop new staircase climbing machine to satisfy the need of market.
SUMMARY OF PRESENT INVENTION

[0006] Certain aspects of the present disclosure are directed to a machine which Date Recue/Date Received 2020-06-08 climbs stairs with smooth motion to carry a load upstairs and downstairs. The staircase climbing machine disclosed in the present disclosure is well situated in-between the above two common types of design in the prior art by utilizing the regularity of the stairs. It takes advantage of the regularity of the stairs to eliminate the sophistic designs of robot and at the same time keep the machine slim enough. In an application example, this stair climbing machine is like a skateboard lying aside a staircase and helps to carry a suitcase upstairs and downstairs. Therefore, it is economical and useful for any buildings with a staircase but without an elevator.

[0007] In the present disclosure, firstly, a plate-like structure with a low-lying center of gravity is used; secondly, during climbing motion, this machine always has two legs standing on the staircase with a span of at least two stairs so that the overall center of gravity is safely situated within the range of two stairs. So, the present design has reliable mechanical stability during climbing. As a conclusion, the problems in the prior art are well solved in the present design.

[0008] The technical solution adopted by the disclosure is as follows:

[0009] A stand-alone staircase climbing machine capable of moving up and down a staircase with smooth motion is provided, and the staircase climbing machine comprises: a first and a second actuation members connected to each other and capable of moving to-and-fro relative to each other, wherein movement of the two actuation members is actuated by an actuator built in-between them; and rod-like legs capable of being rotated or lifted during climbing motion so as to prevent hitting stairs, wherein each actuation member is able to stand on the staircase individually by a plurality of rod-like legs positioned near edges of the actuation member, and the plurality of rod-like legs are configured to make a bottom plane of the actuation member raise above and make the bottom plane be parallel to a slope of the staircase;
wherein a climbing motion is performed by a relative to and fro movement between the first and second actuation members; a mechanism of the climbing motion is that when the first actuation member is stayed stationary on the staircase, the second actuation member is actuated one stair upward relative to the first actuation member with the movement of the second actuation member parallel to the slope of the staircase; after that, the second actuation member stops and stays on the staircase and then, in turn, the first actuation member moves upward similarly; and the climbing motion is repeated and the staircase climbing machine climbs the staircase.

Date Recue/Date Received 2020-06-08

[0010] In certain embodiments, the first and second actuation members are two actuation plates in a shape of a thick long plate; during operation, planes of the actuation plates lie parallel to the slope of the staircase; the two actuation plates are overlapped and connected by linear bearings in-between them, and the linear bearings lie along a direction of the slope of the staircase to ensure the two actuation plates be capable of sliding to and fro relative to each other along the slope of the staircase; the two actuation plates are further connected by a linear actuator built in-between them, and the linear actuator lies along the direction of the slope of the staircase to ensure the two actuation plates be actuated to and fro relative to each other along the slope of the staircase; and lengths of the two actuation plates are not equal, and a difference in their lengths is such that one plate should cover at least one more stair than the other plate.

[0011] In certain embodiments, the two actuation plates are capable of standing on the staircase by the rod-like legs stemming downward at front edges and rear edges of the two actuation plates; the rod-like legs are capable of being rotated by motors in a vertical sectional plane of the staircase, the rod-like legs hence are capable of preventing hitting the staircase during the climbing motion by rotating upward in a backward direction; and the rod-like legs are further capable of being lifted upward by a vertical actuation.

[0012] In certain embodiments, widths of the actuation plates are less than widths of the stairs; an upper one of the two actuation plates has a length that covers two stairs while a lower one of the two actuation plates has a length that covers three stairs;
alternatively, the upper one covers three stairs while the lower one covers two stairs;
and there is a small variation of half-stair coverage in the lengths of the actuation plates; the linear bearings lie between the two actuation plates along two edges of the actuation plates in a direction of lengths of the actuation plates; the linear actuator lies between the actuation plates along a center line of the actuation plates in the direction of the lengths of the actuation plates; and the rod-like legs are built at each corner of the two actuation plates, stemming downward onto the staircase, and each one is rotatable by a motor built at the corners of the actuation plates.

[0013] Further areas of applicability of the present disclosure will become apparent from the detailed description provided hereinafter. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.

Date Recue/Date Received 2020-06-08 DESCRIPTION OF THE DRAWINGS

[0014] In order to make the technical solutions in the disclosure or in the prior art described more clearly, the drawings associated to the description of the embodiments or the prior art will be illustrated concisely hereinafter.
Obviously, the drawings described below are only some embodiments according to the disclosure.
Numerous drawings therein will be apparent to one of ordinary skill in the art based on the drawings described in the disclosure without creative efforts.

[0015] FIG. la is a lateral view showing a staircase climbing machine;

[0016] FIG. lb is a perspective view showing the staircase climbing machine of FIG. la;

[0017] FIG. 2a is a simplified lateral view showing actuation plates and legs of the staircase climbing machine;

[0018] FIG. 2b is a simplified front view showing the actuation plates and legs of the staircase climbing machine of FIG. 2a;

[0019] FIG. 3 is a top view and a longitudinal sectional view showing a linear actuator and bearings of the staircase climbing machine; and

[0020] FIG. 4a to FIG. 4g are schematic diagram showing step by step climbing motion of the staircase climbing machine.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0021] In order to make the objects, technical solution and advantages of the present disclosure more clear, the present disclosure will be further described in detail with reference to the accompanying drawings and embodiments below. It should be understood that embodiments described here are only for explaining the present disclosure and the disclosure, however, should not be constructed as limited to the embodiment as set forth herein.

[0022] Referring to the drawings, like numbers, if any, indicate like components throughout the views. As used in the description herein and throughout the claims that follow, the meaning of "a", "an", and "the" includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on"
unless the context clearly dictates otherwise. Moreover, titles or subtitles may be used in the Date Recue/Date Received 2020-06-08 specification for the convenience of a reader, which shall have no influence on the scope of the present disclosure. Additionally, some terms used in this specification are more specifically defined below.

[0023] The terms used in this specification generally have their ordinary meanings in the art, within the context of the disclosure, and in the specific context where each term is used. Certain terms that are used to describe the disclosure are discussed below, or elsewhere in the specification, to provide additional guidance to the practitioner regarding the description of the disclosure. For convenience, certain terms may be highlighted, for example using italics and/or quotation marks.
The use of highlighting has no influence on the scope and meaning of a term; the scope and meaning of a term is the same, in the same context, whether or not it is highlighted. It will be appreciated that same thing can be said in more than one way.
Consequently, alternative language and synonyms may be used for any one or more of the terms discussed herein, nor is any special significance to be placed upon whether or not a term is elaborated or discussed herein. Synonyms for certain terms are provided. A
recital of one or more synonyms does not exclude the use of other synonyms.
The use of examples anywhere in this specification including examples of any terms discussed herein is illustrative only, and in no way limits the scope and meaning of the disclosure or of any exemplified term. Likewise, the disclosure is not limited to various embodiments given in this specification.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. In the case of conflict, the present document, including definitions will control.

[0025] As used herein, "plurality" means two or more.

[0026] As used herein, the terms "comprising," "including," "carrying,"
"having,"
"containing," "involving," and the like are to be understood to be open-ended, i.e., to mean including but not limited to.

[0027] The structures of the machine

[0028] The machine structures are designed for a series of stages that enables its stair climbing motion. In the first stage, the machine is deemed to be static.
It rests on a staircase. The main body of the machine is in the shape of a long rectangular plate, one that ensemble a typical skateboard. It has some rod-like mechanical legs components (named as legs in the following) stemming vertically downward from its Date Recue/Date Received 2020-06-08 edges and corners. So, the machine resembles a skateboard lying on the staircase but having vertical legs rather than wheels, which enable a stable stand.

[0029] To carry out the climbing motion of the machine, the main body of the machine is composed of two overlapping plates connected by linear bearings.
The plates can slide relative to each other, enabled by the linear bearings. One plate is on top of the other. The upper one is named as "upper actuation plate", and the lower one as "lower actuation plate". The upper actuation plate is for carrying the loadings.
The lower actuation plate acts as a support for the upper actuation plate.
Both of them have legs stemming from their front and rear edges, standing vertically on the stairs, to which the load of the machine is transferred. The detailed structures of the plates and legs are described as follow.

[0030] The two plates are positioned above the staircase, at the same inclination of the staircase. The length of the plates, in other words, the numbers of stairs that are covered by the range of the plates, is the most crucial point of the design.
The preferred design adopted is to cover three stairs. There are two possible designs: i) the length of the upper actuation plate covers two stairs while the lower actuation plate covers three stairs; ii) vice versa. The first case is discussed in the following.
Minor variations of these lengths are allowed, as long as the difference in length is less than half of the run of the staircase. The widths of the two plates determine the width of the machine. The width of the machine should not be too large, in case it blocks the passage of the staircase, yet it should be wide enough to carry the loaded objects. The appropriate width is to be less than the width of the run of the staircase.
Therefore, the areal shape of the machine is like a skateboard.

[0031] Each plate is supported by vertical legs at the front and the rear edges. It can either be two broad legs at these edges or four rod-like legs at the four corners. In the following, we describe the case that both plates have four legs at each corner. For the upper actuation plate, its length covers two stairs. Its four legs at its corners stand on the middle position of two successive stairs. For the lower actuation plate, it also has four legs at its corners. Its two rear legs stand on the same stair as the rear legs of the upper actuation plate stand. To prevent interference of the two pairs of legs positioned on the same stair, one of the pairs can be positioned at more inner or more backward position than the other. The two front legs of the lower actuation plate stand on one stair ahead of the two front legs of upper actuation plate. All the legs stand vertically. They make an angle with the plates and this angle is equal to the Date Recue/Date Received 2020-06-08 inclination of the staircase.

[0032] The actuations of the machine

[0033] Secondly, the actuations of the machine that give the climbing motion will now described. There are two actuations: the actuation of the actuation plates and that of the legs.

[0034] For the two actuation plates, a linear actuator moves them to and fro relative to each other. This linear actuator is best to be embedded inside one of the plates;
preferably it is built inside the upper actuation plate. When the upper actuation plate moves upstairs, the lower actuation plate should stand still on the staircase by its legs.
Then the actuator initiates the motion of the upper actuation plate along the static lower actuation plate in the upward direction. There are linear bearings connecting the two plates for their relative sliding motion. The linear actuator can be a belt drive actuator, piezoelectric actuator or solenoidal actuator. In the following, the details of the structure are elaborated with adoption of a belt drive actuator. The belt drive actuator is installed along the central line on the bottom surface of the upper actuation plate. Opposite to it is the upper surface of the lower actuation plate. On this surface, there is a solid protrusion that hooks up with the belt of the belt drive actuator in the upper actuation plate. Hence the motor of the belt drive actuator can drive the lower actuation plate to and fro relative to the upper actuation plate.

[0035] All of the legs of the plates can rotate up and down in the vertical sectional plane of the staircase. They can stand vertically and can rotate upward until they are parallel to the plate. Hence, all the legs can rotate a fixed angle equal to the inclination of the staircase. This is the key design to enable the climbing motion of the plates. When a plate is going to climb a staircase in a straight inclined path, its legs should rotate upward in the backward direction to prevent hitting the stairs.
Their rotations can be actuated by motors installed at the corners of the plates; it can be a simple motor, a servo motor or a rotary solenoid.

[0036] The motions of the machine

[0037] The mechanism of the motion of climbing a staircase will now described.

The characteristic of this motion is that the machine can move in a straight path without rocking. This is realized by i) the motion that one plate standing still and the other plate slides on it and then repeats alternatively; ii) the special design that the legs can rotate upward to prevent hitting the stairs when the plate moves forward. The details of the motion are as follow. Firstly, in a static situation, the machine lies on the Date Recue/Date Received 2020-06-08 start of a staircase with its legs standing vertically. The upper actuation plate covers the first two stairs. Its rear legs are standing on the first stair and its front legs are standing on the second stair. The lower actuation plate covers three stairs.
Its rear legs are also standing on the first stair while its front legs are standing on the third stair.
Then loading is added onto the upper actuation plate. The machine starts to move upstairs. The legs of the upper actuation plate rotate upward in the backward direction until parallel to the plate. Now the upper actuation plate is supported by the static lower actuation plate. Then the linear actuator moves the upper actuation plate forward until it reaches the third stair and the legs rotate back so as to stand on the stairs again. In this way, the upper actuation plate together with the loadings is moved one stair upward. Next, with the upper actuation plate now standing still, the lower actuation plate is moved upward similarly by the linear actuator until it reaches the fourth stair. Therefore, in this cycle, the whole machine moves one stair upward. By repeating this cycle the machine can move upstairs.

[0038] The machine and components illustrated by the figures

[0039] In order to describe abovementioned structure more clearly in detail, the overall design and application are illustrated in FIG. la and FIG. lb. This staircase climbing machine can carry luggage upstairs.

[0040] The main body of the machine is made up of two overlapping long rectangular plates, the upper actuation plate 110 and the lower actuation plate 210 as in FIG. 2a. The two plates are connected by two linear bearings 310 along the long edges of the plates as in FIG. 2b. There are front leg pairs 111, 211 and rear leg pairs 112, 212 at each corner of the plates, standing vertically on the stairs. The length of the upper actuation plates covers about two stairs. The length of the lower actuation plates covers about three stairs. The widths of the plates 110 and 210 are about the width of a skateboard so that the areal shape of the machine is like a skateboard. The width of the upper actuation plate 110 is larger than the width of the lower actuation plate 210 so that the leg pairs 111 and 112 of the upper actuation plate 110 can pass through the lower actuation plate 210, as shown in FIG. 2b. The lengths of the legs 111, 112, 211 and 212 are designed such that the machine is inclined at the same angle of the staircase and keeping a clearance between the lower actuation plate and the staircase. Each leg can be rotated by a motor in the plates. The vertical legs can be rotated upward in the backward direction until parallel to the plate. In the static situation before moving as in FIG. 2a, the upper actuation plate 110 has its rear leg Date Recue/Date Received 2020-06-08 pair 112 standing on the first stair and its front leg pair 111 standing on the second stair; the lower actuation plate 210 has its rear leg pair 212 also standing on the first stair and its front leg pair 211 standing on the third stair. FIG. 3 shows the linear actuator. There is a linear actuator 320 installed in the upper actuation plate 110 to actuate the to and fro relative motion between the upper actuation plate 110 and the lower actuation plate 210. It is installed along the center line at the bottom surface of the upper actuation plate 110. Its motor 321 is housed near the rear edge of the upper actuation plate 110. There is a protrusion block 215 on the upper surface of the lower actuation plate 210. It hooks up with the linear actuator 320 in the upper actuation plate 110.

[0041] The climbing motion of this embodiment is illustrated in FIG. 4a to FIG. 4g and described as follow. FIG. 4a to FIG. 4g show the motion step by step.
Before starting the climbing motion, the machine is standing on the start of the staircase as shown in FIG. 4a. The upper actuation plate 110 is standing with its front legs 111 standing on the second stair and its rear legs 112 standing on the first stair. To start the motion, the legs 111 and 112 are rotated up in the backward direction until parallel to the upper actuation plate 110 as shown in FIG. 4b. Then the upper actuation plate 110 is actuated upward along the static lower actuation plate 210 until reaching the third stair as shown in FIG. 4c. The legs 111 and 112 are then rotated back to stand on the stairs as shown in FIG. 4d. Now the upper actuation plate 110 is advanced by one stair. Next, the lower actuation plate standing on the first and third stairs starts to move upward. The legs 211 and 212 are rotated up in the backward direction until parallel to the lower actuation plate 210 as shown in FIG. 4e. Then the lower actuation plate 210 is actuated upward along the static upper actuation plate 110 until reaching the fourth stair as shown in FIG. 4f The legs 211 and 212 are then rotated back to stand on the stairs as shown in FIG. 4g. In this way, the machine is moved one stair upward. Repeating the cycle the machine can climb the staircase.

[0042] The foregoing description of the exemplary embodiments of the disclosure has been presented only for the purposes of illustration and description and is not intended to be exhaustive or to limit the invention to the precise forms disclosed.
Many modifications and variations are possible in light of the above teaching.

[0043] The embodiments were chosen and described in order to explain the principles of the invention and their practical application so as to activate others skilled in the art to utilize the invention and various embodiments and with various Date Recue/Date Received 2020-06-08 modifications as are suited to the particular use contemplated. Alternative embodiments will become apparent to those skilled in the art to which the present invention pertains without departing from its spirit and scope. Accordingly, the scope of the present disclosure is defined by the appended claims rather than the foregoing description and the exemplary embodiments described therein.
Date Recue/Date Received 2020-06-08

Claims (4)

We claim:

1. A stand-alone staircase climbing machine capable of moving up and down a staircase with smooth motion, comprising:
a first and a second actuation members connected to each other and capable of moving to-and-fro relative to each other, wherein movement of the two actuation members is actuated by an actuator built in-between them; and rod-like legs capable of being rotated or lifted during climbing motion so as to prevent hitting stairs, wherein each actuation member is able to stand on the staircase individually by a plurality of rod-like legs positioned near edges of the actuation member, and the plurality of rod-like legs are configured to make a bottom plane of the actuation member raise above and make the bottom plane be parallel to a slope of the staircase;
wherein a climbing motion is performed by a relative to and fro movement between the first and second actuation members; a mechanism of the climbing motion is that when the first actuation member is stayed stationary on the staircase, the second actuation member is actuated one stair upward relative to the first actuation member with the movement of the second actuation member parallel to the slope of the staircase; after that, the second actuation member stops and stays on the staircase and then, in turn, the first actuation member moves upward similarly; and the climbing motion is repeated and the staircase climbing machine climbs the staircase.

2. The staircase climbing machine according to claim 1, wherein, the first and second actuation members are two actuation plates in a shape of a thick long plate;
during operation, planes of the actuation plates lie parallel to the slope of the staircase;
the two actuation plates are overlapped and connected by linear bearings in-between them, and the linear bearings lie along a direction of the slope of the staircase to ensure the two actuation plates be capable of sliding to and fro relative to each other along the slope of the staircase;
the two actuation plates are further connected by a linear actuator built in-between them, and the linear actuator lies along the direction of the slope of the staircase to ensure the two actuation plates be actuated to and fro relative to each other along the slope of the staircase; and lengths of the two actuation plates are not equal, and a difference in their lengths is such that one plate should cover at least one more stair than the other plate.

3. The staircase climbing machine according to claim 2, wherein, the two actuation plates are capable of standing on the staircase by the rod-like legs stemming downward at front edges and rear edges of the two actuation plates; the rod-like legs are capable of being rotated by motors in a vertical sectional plane of the staircase, the rod-like legs hence are capable of preventing hitting the staircase during the climbing motion by rotating upward in a backward direction; and the rod-like legs are further capable of being lifted upward by a vertical actuation.

4. The staircase climbing machine according to claim 3, wherein, widths of the actuation plates are less than widths of the stairs;
an upper one of the two actuation plates has a length that covers two stairs while a lower one of the two actuation plates has a length that covers three stairs;

alternatively, the upper one covers three stairs while the lower one covers two stairs;
and there is a small variation of half-stair coverage in the lengths of the actuation plates;
the linear bearings lie between the two actuation plates along two edges of the actuation plates in a direction of lengths of the actuation plates;
the linear actuator lies between the actuation plates along a center line of the actuation plates in the direction of the lengths of the actuation plates; and the rod-like legs are built at each corner of the two actuation plates, stemming downward onto the staircase, and each one is rotatable by a motor built at the corners of the actuation plates.