CN101073526A - Electric walking non-obstructive wheel chair - Google Patents
Electric walking non-obstructive wheel chair Download PDFInfo
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- CN101073526A CN101073526A CN 200710108017 CN200710108017A CN101073526A CN 101073526 A CN101073526 A CN 101073526A CN 200710108017 CN200710108017 CN 200710108017 CN 200710108017 A CN200710108017 A CN 200710108017A CN 101073526 A CN101073526 A CN 101073526A
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Abstract
The invention is concerned with the electrical wheelchair bases on the theory of machine leg (-) simulates human movement-walking and climbing stars. It includes the seat rack (-), the backrest rack (-), the front-wheel drive (-), the back-wheel drive (-), and the machine leg (-) and follows the power system.
Description
The present invention is a kind of electric walking non-obstructive wheel chair, and it is can be all transitable on level land and stair, specializes in the barrier free wheelchair of going downstairs and going on a journey and ride instead of walk on the invalids.
Before the present invention makes, what invalids was used mostly is the wheelchair that can only walk on the level land, be difficult to solve them through the stair difficult problem of going on a journey up and down, though the patented technology of present domestic existing barrier free wheelchair, but because this technology is to depend merely on the manpower pulling, thereby effort comparatively, be difficult to continuously about on the tier building, and the technology that adopts with the present invention is different.
The objective of the invention is to design convenient, laborsaving, the safe and reliable barrier free wheelchair of a kind of application, ride instead of walk and go up the difficult problem of coming in and going out and nursing downstairs with the walking that solves invalids.
Structure content of the present invention is realized by following technical scheme: its structure is to be made of seat, back rest, front-wheel, trailing wheel and pedipulator.Back rest is positioned at the seat rear, and front-wheel is positioned at both sides, seat front lower place, and trailing wheel is positioned at both sides, the seat back lower place, and pedipulator is positioned at two bottom sides behind the seat.
Seat is to take the main body of installing with parts, the top is provided with handrail about it, both sides, seat rear portion are provided with the moving dress of axis hole and back rest, establish clutch location tooth plate again above this axis hole, so that select former and later two angles according to different application functions between back rest and the seat; Both sides, seat front lower place are provided with the foot plate; Sole rear, the left and right sides is provided with front-wheel assembling cover, and with the dress that preceding moves in turn; The seat below is provided with underframe, respectively establishes the moving dress of a pedipulator assembled shaft and bent axle pilot hole and pedipulator and bent axle before and after the both sides, underframe rear, and in position is provided with the assembly fixture of motor and drive disk assembly; In addition because of stair belong to the step road surface, and the gradient is bigger, and is safe in utilization for ensureing, establishes front leg strut on appropriate location below the underframe, so that snub in case of necessity or suspend midway.
The frame body of back rest for relying on for the occupant back, its both sides, back upper place are provided with the drawing and pulling type handle, so that get off to regulate the height of handle according to level land, the different service condition of stair; Frame both sides, back rest middle and lower part are provided with the moving dress of back rest pilot hole at pilot hole and seat rear portion, establish clutch location axis in addition above this pilot hole, with the tooth plate fit applications that is positioned at the seat rear portion, so that regulate the different angles of back rest.The dress that moves in turn behind the trailing wheel assembling cover and two is established in back rest two frame lower ends.
Front-wheel is a pair of deflecting roller, in overlapping by the moving front-wheel assembling that is loaded on the seat front lower place of steering spindle separately.
Trailing wheel is a drivewheel of the present invention, moving being loaded on about the back rest lower end in two trailing wheels assembling covers, its power can adopt motor-driven, also can adopt handwheel voluntarily or other people promote.
Pedipulator is to finish the critical piece that the present invention climbs up and down on stair, steady safety when guaranteeing that it is walked on step road surfaces such as stair and nothing are jolted and are impacted and downslide inertia, its method of operation has adopted the bionic principle of simulating human walking, its structure be by about each upper supporting leg, supporting leg, pull bar, draft arm and bent axle constitute down, and are provided with motor and drive disk assembly; The moving dress of connecting shaft is established with following supporting leg upper end in the upper supporting leg lower end, establishes the moving dress in axis hole and pull bar lower end in addition on the following supporting leg appropriate location below this connecting shaft; The moving dress of pedipulator assembled shaft at axis hole and underframe rear portion is established in the appropriate location, top in the upper supporting leg, and pedipulator is installed in the underframe both sides; Draft arm is supporting leg and the active leading parts of pull bar about the pulling, an axis hole is respectively established at its two ends and middle part, wherein the axis hole of a middle part and an end moves dress with upper supporting leg upper end and pull bar upper end respectively, make draft arm and supporting leg up and down and pull bar form the movable frame of four limits interlock, the eccentric shaft of draft arm other end axis hole and bent axle is moving to be adorned; The central shaft of bent axle is moving to be loaded in the bent axle pilot hole at underframe rear, and gear and motor interlock are established in the central shaft middle part, and motor adopts storage battery power supply.
So far, pedipulator just can following supporting leg lower end as on the ground fulcrum, be the activity of power pulling pedipulator with the motor, and cooperate with trailing wheel and to drive the present invention and finish the stroke with forward-reverse of rising and falling up and down at stair.In the stair walking process, need earlier the axis of back rest to be mentioned, back rest is transferred to the layback angle, two trailing wheels are also along with reach simultaneously, the wheelchair center of gravity is dropped on the trailing wheel, the front and back weight balancing, consider the big and safety factors of the gradient of stair in addition, when last going downstairs, need and hold the level that handle is grasped wheelchair, and put down front leg strut to ensure safety by care-giver's monitoring; That level walking can be divided into is electronic, handwheel promotes three kinds of modes of operation with other people voluntarily.
Description of drawings:
Fig. 1 is an appearance structure sketch map of the present invention.
Fig. 2 is a principle of the invention structural representation.
Fig. 3 is a seat structural representation of the present invention.
Fig. 4 is a back rest structural representation of the present invention.
Fig. 5 is a pedipulator structural representation of the present invention.
Fig. 6 is the up operation principle sketch maps of stair of the present invention.
Fig. 7 is a stair downlink working principle schematic of the present invention.
Be described in detail structure content of the present invention, operation principle in conjunction with the accompanying drawings and manipulate method below by embodiment.
Structure content:
(referring to Fig. 1, Fig. 2) its structure is to be made of seat (1), back rest (2), front-wheel (3), trailing wheel (4), pedipulator (5), seat (1) is to take the basis of installing with parts, back rest (2) is positioned at seat (1) rear, front-wheel (3) is positioned at seat (1) both sides, front lower place, trailing wheel (4) is positioned at seat (1) both sides, the back lower place, and pedipulator (5) is positioned at seat (1) back two bottom sides.
(referring to Fig. 3) seat (1) is made of seat (1), handrail (6), sole (7) and underframe (11), handrail (6) is established in top, seat (1) both sides, sole (7) is established in the both sides, front lower place, front-wheel assembling cover (8) is established at two soles (7) rear, back rest pilot hole (9) is established at seat (1) rear portion, and clutch location tooth plate (10) is established in pilot hole (9) top; Underframe (11) is established in seat (1) below, and a pedipulator assembled shaft (12) and bent axle pilot hole (13) are respectively established in both sides before and after underframe (11) rear portion; Collapsible front leg strut (33) is established in appropriate location, underframe (11) below, and its effect is its to be launched to put down up and down the time at stair, in order in case of emergency by its snub or suspend on stair midway.
(referring to Fig. 4) back rest (2) is made of back rest (2), handle (14), axis (15); Handle (14) is a drawing and pulling type, moving back rest (2) back upper place that is loaded on; Axis (15) top is provided with handle, moving being loaded in the guide groove of back rest (2) middle and lower part, rear, and its effect is and tooth plate (10) fit applications that the angle of finishing back rest (2) changes and localized work; Establishing axis hole (9) in addition on the frame of the back rest (2) below axis (15) also adorns with seat (1) is moving by the pilot hole (9) at seat (1) rear; Two ends are established trailing wheel (4) assembling cover (16) and the moving dress of two trailing wheels (4) about back rest (2) below.
(referring to Fig. 2) two front-wheels (3) are steering-type, overlap in (8) by the moving front-wheel assembling that is loaded on seat (1) both sides, front lower place of its steering spindle.
The moving dress of the trailing wheel assembling cover (16) of (referring to Fig. 2, Fig. 4) two trailing wheels (4) and back rest (2) lower end, trailing wheel (4) be a drivewheel, it can be used as power with motor, but also handwheel automatic and other people mode such as promote and walk.
(referring to Fig. 3, Fig. 5) pedipulator (5) by about each upper supporting leg (17), supporting leg (18), pull bar (19), draft arm (20) and bent axle (21), motor (22) constitute down; The moving dress of connecting shaft (23) is established in upper supporting leg (17) lower end and following supporting leg (18) upper end, other establishes connecting shaft (24) and the moving dress in pull bar (19) lower end in the appropriate location of the following supporting leg (18) of connecting shaft (23) below, axis hole (12) is established by moving underframe (11) both sides, rear portion that are loaded on of pedipulator assembled shaft (12) in appropriate location, the middle top of upper supporting leg (17); One end of draft arm (20) and middle part are established axis hole (25), (26) respectively) move dress with the upper end and upper supporting leg (17) upper end of pull bar (19), make draft arm (20) and form four limit linked frames up and down between supporting leg (17), (18) and the pull bar (19), draft arm (20) other end is established axis hole (27) and the moving dress of the eccentric shaft (27) of bent axle (21); The central shaft of bent axle (21) is established gear (28) and motor (22) interlock in addition by moving underframe (11) rear portion that is loaded on of bent axle pilot hole (13) on the central shaft of bent axle (21); So far by motor (22) pulling bent axle (21), again by bent axle (21) pulling draft arm (20) thus can make pedipulator (5) finish the present invention's rising and falling up and down and the work of front and back advance and retreat on stair.Motor employing accumulator used in the present invention (30) is powered and is packed on the appropriate location of underframe (11); Level walking drive motors switch is located at handrail (6) the place ahead, is convenient to occupant's automatic control, and pedipulator (5) drive motors (22) switch should be located on the handle (14), so that handle for the care-giver.Stair upstream or downstream no matter in addition, because the gradient of stair and patient's safety need, all must guard operation by the care-giver, earlier handle (14) is drawn high before entering the stair walking, mention axis (15) again back rest (2) is transferred to the layback angle, also reach thereupon of trailing wheel (4) simultaneously, making seat (1) change into single by four-wheel support before and after original front-wheel (3) and the trailing wheel (4) is that two of fulcrum is taken turns support by trailing wheel (4), the front and back weight that makes wheelchair is balance roughly, so that the care-giver grasps the level angle of seat (1), and put down front leg strut (33) and get final product snub in order in case of necessity it being contacted with ground.
The up operation principle of (referring to Fig. 6) stair:
A, trailing wheel (4) back are to stair, and when contacting with orlop stair facade, starter motor (22) makes its running.
B, pedipulator (5) begin to prop, and eject to the back upper place, and wheelchair is risen to the back upper place.
C, when pedipulator (5) props up time-out fully, trailing wheel (4) is delivered to stair plane, upper strata, should put down front leg strut (33) this moment, makes itself and lower floor's plane contact.
D, because the continuation of bent axle (21) rotation, pedipulator (5) beginning is shunk to the back upper place and is mentioned.
E, directly cause down supporting leg (18) and march toward stair plane, upper strata, be in on the first floor ladder plane with trailing wheel (4) again, and front leg strut (33) still is supported on down on the layer plane.
F, bent axle (21) continue rotation in the same way, make pedipulator (5) begin again to prop and with wheelchair to last layer jack-up again, front leg strut (33) is also outstanding in time layer plane, climb so layer by layer, until arriving the purpose floor, when trailing wheel (4) enters purpose floor level land, pack up front leg strut (33) earlier, move front-wheel (3) to this layer level land again.
(referring to Fig. 7) stair downlink working principle
A, with wheelchair forward direction the superiors stair, when trailing wheel (4) during, earlier front leg strut (33) is put down and makes itself and surperficial contact of lower floor's stair near the superiors stair edges, starter motor (22) makes its antiport.
B, bent axle (21) drive pedipulator (5) beginning and stretch to the front lower place.
C, following supporting leg (18) lower end have been extended to lower floor stair plane.
D drives pedipulator (5) and begins contraction and drive wheelchair layer landing downwards owing to bent axle (21) continuous operation.Front leg strut (33) is also simultaneously to lower floor body plane landing again.
E, pedipulator (5) shrink fully and make trailing wheel (4) also drop to lower floor stair plane.Front leg strut (33) also will be fallen simultaneously and descend layer plane again.
F, pedipulator (5) begin again to below stretching, extension again.Landing so layer by layer directly causes and arrives the purpose floor.Before arriving this floor, when the following supporting leg (18) of pedipulator (5) is stretched over the orlop level land, pack up front leg strut (33) earlier, pedipulator (5) is shunk, front-wheel (3), trailing wheel (4) are landed simultaneously.
The present invention and prior art contrast have following characteristics:
1, it not only can be applied to level road, also can use at stair, has effectively solved invalids and has gone out up and down The difficult problem of row and nursing.
2, simple and reasonable, stair activity adopts the bionics techniques of motor machine leg (5) simulating human walking, Handiness is laborsaving, the advance and retreat of rising and falling stability and safety, no downslide inertia.
Claims (2)
1, a kind of electric walking non-obstructive wheel chair is to be made of seat (1), back rest (2), front-wheel (3), trailing wheel (4), pedipulator (5) and dynamical system; Back rest (2) is positioned at seat (1) rear, and front-wheel (3) is positioned at seat (1) both sides, front lower place, and trailing wheel (4) is positioned at seat (1) both sides, the back lower place, and pedipulator (5) is positioned at seat (1) bottom rear; The pedipulator (5) that it is characterized in that it is to be made of upper supporting leg (17), following supporting leg (18), pull bar (19), draft arm (20), bent axle (21); The moving dress of connecting shaft (23) is established in upper supporting leg (17) lower end and following supporting leg (18) upper end, on following supporting leg (18) appropriate location below the connecting shaft (23), establish connecting shaft (24) and the moving dress in pull bar (19) lower end in addition, axis hole (12) is established also by moving underframe (11) rear that is loaded on of pedipulator assembled shaft (12) in the appropriate location, top in the upper supporting leg (17), one end of draft arm (20) and middle part are respectively established axis hole (25), (26) and are moved dress with pull bar (19) upper end and upper supporting leg (17) upper end respectively, and draft arm (20) other end is established axis hole (27) and the moving dress of the eccentric shaft (27) of bent axle (21); The central shaft of bent axle (21) is loaded on the underframe (11) by bent axle pilot hole (13) is moving.
2, electric walking non-obstructive wheel chair according to claim 1 is characterized in that collapsible front leg strut (33) is established in its underframe (11) below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101080179A CN101073526B (en) | 2007-05-06 | 2007-05-06 | Electric walking non-obstructive wheel chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101080179A CN101073526B (en) | 2007-05-06 | 2007-05-06 | Electric walking non-obstructive wheel chair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101073526A true CN101073526A (en) | 2007-11-21 |
| CN101073526B CN101073526B (en) | 2011-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101080179A Expired - Fee Related CN101073526B (en) | 2007-05-06 | 2007-05-06 | Electric walking non-obstructive wheel chair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101073526B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803980A (en) * | 2010-04-09 | 2010-08-18 | 常州市河海亿谷机电科技有限公司 | Barrier free wheelchair |
| CN101869522B (en) * | 2009-04-27 | 2012-02-29 | 胡达广 | Step-striding device used on wheelchair |
| CN102525753A (en) * | 2010-11-15 | 2012-07-04 | 滕美君 | Bionic walking and stair climbing trolley |
| CN102764185A (en) * | 2012-07-05 | 2012-11-07 | 常熟市平方轮椅有限公司 | Electric wheelchair |
| CN107307948A (en) * | 2017-08-11 | 2017-11-03 | 赵程宇 | A kind of blind person's multifunction nursing accessible vehicles |
| WO2019127263A1 (en) * | 2017-12-28 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| TWI681767B (en) * | 2018-08-16 | 2020-01-11 | 中華民國照護型機器人發展協會 | Vehicle capable of climbing stairs |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1185311A (en) * | 1997-02-27 | 1998-06-24 | 卢维团 | Wheeled chair capable of going upstairs and downstairs |
| CN1424007A (en) * | 2001-12-12 | 2003-06-18 | 徐树光 | Obstacleless wheel chair |
| CN201055482Y (en) * | 2007-05-06 | 2008-05-07 | 姜晓东 | Electric walking type non-obstacle wheelchair |
-
2007
- 2007-05-06 CN CN2007101080179A patent/CN101073526B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101869522B (en) * | 2009-04-27 | 2012-02-29 | 胡达广 | Step-striding device used on wheelchair |
| CN101803980A (en) * | 2010-04-09 | 2010-08-18 | 常州市河海亿谷机电科技有限公司 | Barrier free wheelchair |
| CN101803980B (en) * | 2010-04-09 | 2011-07-13 | 常州市河海亿谷机电科技有限公司 | Barrier free wheelchair |
| CN102525753A (en) * | 2010-11-15 | 2012-07-04 | 滕美君 | Bionic walking and stair climbing trolley |
| CN102525753B (en) * | 2010-11-15 | 2015-04-22 | 滕美君 | Bionic walking and stair climbing trolley |
| CN102764185A (en) * | 2012-07-05 | 2012-11-07 | 常熟市平方轮椅有限公司 | Electric wheelchair |
| CN102764185B (en) * | 2012-07-05 | 2014-10-01 | 常熟市平方轮椅有限公司 | Electric wheelchair |
| CN107307948A (en) * | 2017-08-11 | 2017-11-03 | 赵程宇 | A kind of blind person's multifunction nursing accessible vehicles |
| WO2019127263A1 (en) * | 2017-12-28 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| TWI681767B (en) * | 2018-08-16 | 2020-01-11 | 中華民國照護型機器人發展協會 | Vehicle capable of climbing stairs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101073526B (en) | 2011-08-31 |
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Granted publication date: 20110831 Termination date: 20170506 |