CN101268977B - Auxiliary method and device for speeling stairway of wheelchair - Google Patents
Auxiliary method and device for speeling stairway of wheelchair Download PDFInfo
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- CN101268977B CN101268977B CN2007100646061A CN200710064606A CN101268977B CN 101268977 B CN101268977 B CN 101268977B CN 2007100646061 A CN2007100646061 A CN 2007100646061A CN 200710064606 A CN200710064606 A CN 200710064606A CN 101268977 B CN101268977 B CN 101268977B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000012856 packing Methods 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 6
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- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
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Abstract
The invention provides an aiding method and a device which use a wheelchair for climbing stairs, and relates to the mechanical technology of helping old people and disabled people. A folding movable stay plate is installed at one side of the stairs close to the wall, and a moped consisting of a storage battery, a controller, a control module, a driving module, a framework, a shell, a DC electric machine, a reducer and wheels is also arranged at the side of the stairs close to the wall. After the movable stay plate is put down, an inclined plane is formed on the stairs, and the moped is connected with a connecting piece arranged at the back of a backrest of the wheelchair. Under the control of the auxiliary operating staff, the moped pushes the wheelchair to climb the stairs.
Description
Technical field
The present invention relates to the field of mechanical technique of helping the disabled of helping the elderly, is method and device that a kind of auxiliary wheelchair is finished the speeling stairway function.
Background technology
According to the statistics of China committee for the study of problems of the aged, at present China more than 60 years old aging population reached 1.43 hundred million people, surpass 10% of total population; In addition, China's extremity disabled persons is near 9,000,000 people, and the lower limb disability people is about 2,000,000.And the major part among these elderly and the disabled all needs dependance on wheel chair to come auxiliary moving.Though adopted Wheelchair Accessible and elevator to come in and go out with Convenient wheelchair in many new-type buildings, a lot of outdated buildings still must be by about the stair.Because structural restriction, common wheelchair (comprising electric wheelchair) will be finished stair activity needs plural people to be assisted at least, and this has caused very big inconvenience for wheelchair user's daily life.
In order to enlarge the scope of application of wheelchair, how researcher makes and does a lot of work aspect the speeling stairway of wheelchair both at home and abroad, mainly can be divided into two aspects.The first is improved Wheelchair structure, comprises type of drive such as adopting deformed caterpillar, joint wheel, and wherein more representational is iBOT electric wheelchair by the Segway company design of the U.S..This wheelchair adopts wheel construction behind the duplicate rows star, carries out balance by the gyro mechanism of complexity, requires user stair and leaning back dorsad when speeling stairway, as far as possible by balustrade promptly to assist.The wheelchair user must just can stair activity through special training, and manufacturer also still suggestion assist to finish by experienced auxiliary as far as possible.Research on the other hand then concentrates at the balustrade upper mounting rail, and with after guide rail is connected, wheelchair is along the guide rail upstream or downstream under the motor draw with wheelchair.More than two kinds of schemes all have improvement cost high, safety is not high, is difficult to the problem of large scale application.
Summary of the invention
In order to overcome the problem of common wheelchair (comprising electric wheelchair) stair activity, the present invention proposes a kind of speeling stairway of wheelchair householder method and device, this device can be used after stair are simply transformed, can realize the function of going downstairs on the wheelchair easily and safely by the power-assisted dolly there being a people to carry out under the auxiliary situation.
For achieving the above object, the scheme that technical solution problem of the present invention is adopted is:
A kind of householder method of speeling stairway of wheelchair, if existing inclined-plane on the stair, then:
A) connector with common wheelchair or electric wheelchair 24 trailing flanks is connected also fastening with the jaw components 13 of power-assisted dolly 8;
B) the auxiliary operation personnel send control instruction by control rocking bar 3, after the position of rocking bar 3 is detected by noncontacting proximity sensor spare, through A/D converter input control module 5;
C) DSP of main control unit provides speed control signal according to command information, and motor drive module 9 changes the control signal that receives into corresponding motor drive signal again, and drive motors rotates;
D) output shaft of driven by motor decelerator 10 and power wheel 17 rotates, thereby promotes in the wings or tractive wheelchair 24 moves up or down.
Described method, if it does not have the inclined-plane on stair, then:
At first,, the collapsible movable pad of packing up 1 is set, during use, movable pad 1 is put down one by one, make stair become an inclined-plane in stair wall one side, carry out again aforesaid a), b), c), d) step;
Do not have wheelchair 24 through out-of-date, hold up movable pad 1 is folding, make it to lean against wall one side, pass through being convenient for people to.
The auxiliary device of the speeling stairway of wheelchair that a kind of described method is used comprises: the connector of movable pad 1, power-assisted dolly 8 and wheelchair 24 trailing flanks; Its power-assisted dolly 8 is provided with framework 12, is fixed with shell 14 on power-assisted dolly framework 12, and the two ends, front side, bottom of framework 12 are provided with power wheel 17, and the rear side two ends are provided with universal wheel 18; There is support bar the front side of framework 12 horizontal-extending forward, the support bar front end is provided with jaw components 13, jaw components 13 is suitable with the connector of wheelchair 24 trailing flanks, and can adjust flexibly according to different wheelchair width, and the rear side of framework 12 has extended upward cross bar 16;
Shell 14 upper surfaces are installed with controller 2, the panel of controller housing 6 is provided with rocking bar 3, the on and off switch 19 that is used to control forward-reverse, electric weight shows 20, acceleration control key 21, speed shows 22, other function keys 23 are provided with the control module 5, the connection cord 7 that are used for the output motor control signal in the controller housing 6;
Be provided with motor drive module 9 in the shell 14, the motor of auxiliary driving force and decelerator 10 be provided, accumulator 11, clutch wrench 15; Motor drive module 9 is electrically connected with control module 5 through connection cord 7; Clutch wrench 15 is stretched out by shell 14 upper surfaces; The output shaft of decelerator 10 and power wheel 17 are dynamically connected; Accumulator 11 is controller 2, motor drive module 9, motor power supply;
Described each parts connect routinely.
Described auxiliary device, its described stair inclined-plane 1 is the collapsible movable pad of packing up, and is located at stair wall one side, during use, movable pad 1 is put down one by one, makes stair become an inclined-plane; Do not have wheelchair 24 through out-of-date, hold up movable pad 1 is folding, make it to lean against wall one side, pass through being convenient for people to.
Described auxiliary device, the jaw components 13 and the connector of its described power-assisted dolly 8 are applicable to polytype common wheelchair or electric wheelchair.
Described auxiliary device, its described connector is column 31; Jaw components 13 comprises that the direction of 25, two annular claws 25 of two annular claws and the distance between two annular claws 25 depend on the circumstances.
The invention has the beneficial effects as follows, can be under the prerequisite that stair are only simply transformed, by other people the auxiliary function that realizes the wheelchair stair activity, structural safety is reliable, do not need wheelchair user or assist operator are carried out special training, the suitability is strong and be easy to promote.
Description of drawings
Fig. 1 is a speeling stairway of wheelchair auxiliary device appearance assumption diagram, wherein:
Fig. 1 a is a speeling stairway of wheelchair auxiliary device outward appearance front view;
Fig. 1 b is a speeling stairway of wheelchair auxiliary device outward appearance side view;
Fig. 1 c is speeling stairway of wheelchair auxiliary device stereoscopic figure;
Fig. 2 is the A-A sectional structure chart of Fig. 1 speeling stairway of wheelchair auxiliary device;
Fig. 3 is the controller sketch map, wherein:
Fig. 3 a is the controller side view;
Fig. 3 b is the controller vertical view;
Fig. 3 c is the controller axonometric chart;
Fig. 4 is to use the embodiment of the auxiliary speeling stairway of wheelchair of this wheelchair speeling stairway auxiliary device;
Fig. 5 is the sketch map that wheelchair power-assisted dolly jaw components is connected with wheelchair rear portion column.
The specific embodiment
At first, the collapsible movable pad of packing up is installed on stair, or on stair, is made the part inclined-plane.Movable pad can be packed up at ordinary times and stand in a side, and is current to make things convenient for personnel.When wheelchair need pass through, by the paraprofessional personnel backing plate is put down one by one, make stair become an inclined-plane; Secondly, design a novel power-assisted dolly.The jaw components of this dolly front end can be connected with the wheelchair (comprising electric wheelchair) of various models easily and be fastening.The dolly front-wheel adopts two direct current generators to carry out differential and drives, and two trailing wheels are universal wheel.Accumulator is fixed in the dolly housing, is connected with drive motors with controller by cable, for the power-assisted dolly provides the energy.The control rocking bar is installed on the controller, and is connected with dolly by cable.The paraprofessional personnel send to the power-assisted dolly by the button on control rocking bar and the controller panel start/stop, the instruction of forward/backward/turning and acceleration.Behind the command signal of control circuit module reception via the A/D conversion in the controller, being translated into the pwm signal of control motor output under the DSP algorithm controls, is to drive signal through the driver module power amplification again, controls the rotating speed and the direction of motor output.Under the driving force effect of motor, the power-assisted dolly is gone upstairs the wheelchair propelling movement or go downstairs along the inclined-plane that movable pad forms.
The present invention is further described below in conjunction with drawings and Examples.
In Fig. 1 and Fig. 2, speeling stairway of wheelchair auxiliary device of the present invention comprises: movable pad or stair inclined-plane 1, controller 2, rocking bar 3, button 4, control module 5, controller housing 6, connection cord 7, power-assisted dolly 8, driver module 9, direct current generator and decelerator 10, accumulator 11, power-assisted dolly framework 12, jaw components 13, shell 14, clutch control lever 15, push rod 16, power wheel 17, universal wheel 18, on and off switch 19, electric weight shows 20, acceleration control key 21, speed shows 22, other function keys 23, wheelchair 24.Wherein: the connector of stair inclined-plane 1, power-assisted dolly 8 and wheelchair 24 trailing flanks is three parts; Its power-assisted dolly 8 is provided with framework 12, is fixed with shell 14 on power-assisted dolly framework 12, and the two ends, front side, bottom of framework 12 are provided with power wheel 17, and the rear side two ends are provided with universal wheel 18; There is support bar the front side of framework 12 horizontal-extending forward, the support bar front end is provided with jaw components 13, jaw components 13 is suitable with the connector of wheelchair 24 trailing flanks, and can adjust flexibly according to different wheelchair width, and the rear side of framework 12 has extended upward cross bar 16;
Shell 14 upper surfaces are installed with controller 2, the panel of controller housing 6 is provided with rocking bar 3, the on and off switch 19 that is used to control forward-reverse, electric weight shows 20, acceleration control key 21, speed shows 22, other function keys 23 are provided with the control module 5, the connection cord 7 that are used for the output motor control signal in the controller housing 6;
Be provided with motor drive module 9 in the shell 14, the motor of auxiliary driving force and decelerator 10 be provided, accumulator 11, clutch wrench 15; Motor drive module 9 is electrically connected with control module 5 through connection cord 7; Clutch wrench 15 is stretched out by shell 14 upper surfaces; The output shaft of decelerator 10 and power wheel 17 are dynamically connected; Accumulator 11 is controller 2, motor drive module 9, motor power supply;
Described each parts connect routinely.
Control module 5, rocking bar 3, button 4 are installed on controller housing 6 inside together, and controller 2 links to each other with the driver module 9 of power-assisted dolly 8 inside by connection cord 7; Driver module 9, accumulator 11 and direct current generator and decelerator 10 are installed on the dolly framework 12, at dolly framework 12 front ends jaw components 13 are installed; Wheel 17 is connected with decelerator 10, and two universal wheels 18 in back are directly connected on the dolly framework 12.
In Fig. 3, controller 2 is provided with on and off switch 19, electric weight demonstration 20, acceleration control key 21, speed demonstration 22 and other function keys 23, is fixed at ordinary times on the dolly shell 14.
In Fig. 4, be the householder method of speeling stairway of wheelchair, at first put down movable pad 1 by the auxiliary operation personnel, make stair form an inclined-plane, if the existing part inclined-plane 1 of stair does not then need movable pad; Then power-assisted dolly 8 is pushed into wheelchair 24 back, it is also fastening that jaw components 13 is linked to each other with wheelchair 24 rear portion connectors, and the auxiliary operation personnel pull clutch control lever 15 to the gear occlusal position earlier, turn on the power switch 19, confirms that electric weight shows that 20 is normal.After setting the speed that is fit to by acceleration control key 21, the rocking bar 3 on the operation control 2 sends advancement commands.Command signal is sent into control module 5 after the A/D conversion, export control signal under the DSP algorithm controls; Control signal process connection cord 7 enters the driver module 9 of power-assisted dolly 8 inside, through output drive signal after the power amplification, drives direct current generator, decelerator 10 and wheel 17, promotes wheelchair 24 and moves upward.At this moment, the operator can adjust the speed and the direction of power-assisted dolly 8 in real time according to practical situation.
After finishing speeling stairway, can unclamp jaw components 13, power-assisted dolly 8 is separated with wheelchair 24.This moment, the operator can continue to use controller 2 control power-assisted dollies 8 to get back to the appropriate location, also clutch control lever 15 can be pulled to the gear released position, by the push rod 16 manual dollies that promote of power-assisted dolly 8 back.
If use movable pad 1, there is not wheelchair 24 at ordinary times through out-of-date, can make it to lean against wall one side to movable pad 1 folding holding up, pass through being convenient for people to.
See shown in Figure 5ly, be the johning knot composition of jaw components and column 31, wherein, annular claw 25, multi-directional ball joint 26, fast jack panel 27, billiard table bearing 28, claw connecting plate 29, pin 30, wheelchair rear portion column 31.Jaw components comprises two annular claws 25, is fixed in power-assisted dolly 8 front ends, and column 31 is fixed in wheelchair 24 backrest back, and annular claw 25 and column 31 are suitable.During use, at first power-assisted dolly 8 is moved to wheelchair 24 back, adjust the direction in multi-directional ball joint 26, make annular claw 25 just can be inserted in wheelchair rear portion column 31, use pin 30 with annular claw 25 secure lock then, unclamp when the stair activity to prevent it.For making connection more firm, can screw fast jack panel 27, fixedly the multi-directional ball joint 26, and it is no longer freely rotated.After finishing stair climbing task, extract pin 30, and unscrew fast jack panel 27, annular claw 25 is broken away from wheelchair rear portion column 31 get final product.
Claims (2)
1. the householder method of a speeling stairway of wheelchair is characterized in that, if existing inclined-plane on the stair, then:
A) column (31) with common wheelchair or electric wheelchair (24) trailing flank is connected also fastening with the jaw components (13) of power-assisted dolly (8);
B) the auxiliary operation personnel send control instruction by control rocking bar (3), after the position of rocking bar (3) is detected by noncontacting proximity sensor spare, through A/D converter input control module (5);
C) DSP of main control unit provides speed control signal according to command information, and motor drive module (9) changes the control signal that receives into corresponding motor drive signal again, and drive motors rotates;
D) output shaft of driven by motor decelerator (10) and power wheel (17) rotate, thereby promote in the wings or tractive wheelchair (24) moves up or down;
If do not have the inclined-plane on the stair, then:
At first,, the collapsible movable pad of packing up is set, during use, movable pad is put down one by one, make stair become an inclined-plane in stair wall one side, carry out again aforesaid a), b), c), d) step;
Do not have wheelchair (24) through out-of-date, hold up movable pad is folding, make it to lean against wall one side, pass through being convenient for people to.
2. the auxiliary device of the speeling stairway of wheelchair of the method for claim 1 use comprises: the connector of movable pad (1), power-assisted dolly (8) and wheelchair (24) trailing flank; It is characterized in that power-assisted dolly (8) is provided with framework (12), be fixed with shell (14) on the little frame of power-assisted (12), the two ends, front side, bottom of framework (12) are provided with power wheel (17), and the rear side two ends are provided with universal wheel (18); There is support bar the front side of framework (12) horizontal-extending forward, the support bar front end is provided with jaw components (13), jaw components (13) is suitable with the connector of wheelchair (24) trailing flank, and jaw components (13) fixedlys connected with connector is dismountable, and the rear side of framework (12) has extended upward cross bar (16);
Shell (14) upper surface is installed with controller (2), the panel of controller housing (6) is provided with rocking bar (3), the on and off switch (19) that is used to control forward-reverse, electric weight shows (20), acceleration control key (21), speed shows (22), other function keys (23) are provided with the control module (5), the connection cord (7) that are used for the output motor control signal in the controller housing (6);
Be provided with motor drive module (9), the motor that auxiliary driving force is provided and decelerator (10), accumulator (11), clutch wrench (15) in the shell (14); Motor drive module (9) is electrically connected with control module (5) through connection cord (7); Clutch wrench (15) is stretched out by shell (14) upper surface; The output shaft of decelerator (10) is connected with power wheel (17); Accumulator (11) is controller (2), motor drive module (9), motor power supply;
Described movable pad (1) is folding at ordinary times to be packed up, and is located at stair wall one side, during use, movable pad is put down one by one, makes stair become an inclined-plane; Do not have wheelchair (24) through out-of-date, hold up movable pad (1) is folding, make it to lean against wall one side, pass through being convenient for people to;
Described jaw components (13) comprises two annular claws (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100646061A CN101268977B (en) | 2007-03-21 | 2007-03-21 | Auxiliary method and device for speeling stairway of wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007100646061A CN101268977B (en) | 2007-03-21 | 2007-03-21 | Auxiliary method and device for speeling stairway of wheelchair |
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| Publication Number | Publication Date |
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| CN101268977A CN101268977A (en) | 2008-09-24 |
| CN101268977B true CN101268977B (en) | 2010-10-27 |
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| CN2007100646061A Expired - Fee Related CN101268977B (en) | 2007-03-21 | 2007-03-21 | Auxiliary method and device for speeling stairway of wheelchair |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102551969A (en) * | 2010-12-31 | 2012-07-11 | 昆山市工业技术研究院有限责任公司 | Control device for wheelchair |
| CN103932849B (en) * | 2014-04-25 | 2016-05-11 | 东北大学 | A kind of under-driven adaptive formula stair climbing wheelchair |
| CN105748218B (en) * | 2014-12-20 | 2018-05-22 | 财团法人鞋类暨运动休闲科技研发中心 | Cat ladder auxiliary device |
| CN104800011B (en) * | 2015-05-07 | 2017-01-18 | 福建农林大学 | Novel multifunctional wheelchair and using method thereof |
| CN107693235A (en) * | 2016-07-20 | 2018-02-16 | 陈勇波 | A kind of electric wheel chair for climbing stairs |
| CN107757793B (en) * | 2017-08-28 | 2019-03-12 | 湘潭大学 | Wheelchair vehicle using motor |
| CN109794919A (en) * | 2017-11-16 | 2019-05-24 | 杭州萤石网络有限公司 | Driving method, the controller of a kind of mobile robot and mobile robot |
| WO2019113790A1 (en) * | 2017-12-12 | 2019-06-20 | 梁启豪 | Auxiliary tractor and device comprising same |
| CN111297582B (en) * | 2020-03-02 | 2023-07-21 | 国家康复辅具研究中心 | Balanced stair climbing wheelchair and stair climbing method thereof |
| CN112025670A (en) * | 2020-07-29 | 2020-12-04 | 义乌工商职业技术学院 | Multi-joint wheelchair mechanical arm for helping the old and the disabled |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201005884Y (en) * | 2007-03-21 | 2008-01-16 | 中国科学院自动化研究所 | Auxiliary device for wheel chair stairs-climbing |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201005884Y (en) * | 2007-03-21 | 2008-01-16 | 中国科学院自动化研究所 | Auxiliary device for wheel chair stairs-climbing |
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