CN101869522B

CN101869522B - Step-striding device used on wheelchair

Info

Publication number: CN101869522B
Application number: CN2009101385532A
Authority: CN
Inventors: 胡达广
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-04-27
Filing date: 2009-04-27
Publication date: 2012-02-29
Anticipated expiration: 2029-04-27
Also published as: CN101869522A

Abstract

Most of wheelchairs are only suitable for running on the flat ground, and the capability to stride over steps is low. By careful observation, one can see that the steps in public places and in front of business stores only have one step and the height thereof is about 10cm, and only by striding over the step, the range of movement of users can be greatly increased. The invention designs a set of mechanical arm device which can lift up the wheelchair and reach on the steps. The device is composed of a front and a rear mechanical arm, a jockey pulley and the like. The front and the rear mechanical arms are respectively installed with a group of jockey pulleys, wherein the front group is driven wheels and the rear group is driving wheels driven by a motor. When the wheelchair runs to the front edge of the steps, the user starts a power system to drive the front and rear mechanical arms to extend outwards and downwards, so as to lift up the wheelchair slowly and vertically; and the lifting amplitude can reach the height of the steps. As the front jockey pulleys tread on the step surface to lift up the wheelchair, at the time, if the driving motors of the rear group of jockey pulleys of the wheelchair are started, the wheelchair can be driven to run forwards to the steps.

Description

The step-striding device of used on wheelchair

One, technical field

Belong to the aids for the disabled classification

Two, background technology

Wheelchair has brought very big convenience, particularly electric wheelchair for patient and lower limb disability people.Yet blemish in an otherwise perfect thing is that the exhausted major part of electric wheelchair on the market only is adapted at going on the level land, and the ability of their leaping over obstacles is very low very low.Opening these electric wheelchairs when user and going and want to handle affairs on the street crossing in the city or during shopping, office, shop step in front of the door but unfeelingly their retaining in the outside.Slight step lets them hope and sighs.One time was wanted society to go up these places all to leave handicapped only by the state's laws regulations to use this to the wheelchair user be difficulty very.But the range of activity that enlarges the wheelchair user is only hoped the wheelchair of stride over steps.

Our urban environment is observed in carefulness, the shop of periphery in front of the door or the local step overwhelming majority of other public have only one-level and height and not really high, generally about 10cm.All breakthrough being multiplied can be arranged as long as stride across this one-level step wheelchair user's range of activity, capax negotii and quality of life.The use value of wheelchair self also improves greatly.Retrieve relevant patent, claim that patented invention clog-free or even the ability stair climbing is all a lot, but be exactly that almost neither one can the practicability commercialization.Have in these patents and use the having of crawler belt to use wheel of all kinds; Can their design has their own characteristics each but why do not have practicability? Trace it to its cause I feel they all ignore the ratio of height that any is exactly a wheelchair and front and rear wheel wheelbase too big and the ratio of shoulder height is too little in front of the door the front and rear wheel wheelbase of wheelchair and shop, mainly be that forward and backward wheelbase has been lacked very much and added user and take the height situation of seat and will become more abominable.Therefore wheelchair can influence use because of the too many crank safety that tilts is difficult to guarantee behind the first half climb steps of these " patent wheelchairs " or stair.If this situation can obtain improvement to a certain degree when increasing considerably the front and rear wheel wheelbase certainly, use but can lose its motility because the volume of wheelchair increases greatly even be difficult to like this, this is again worthless.I estimate that but above-mentioned reason does not have the reason of the wheelchair of stride over steps to belong in the city just at present.

Three, summary of the invention

Can't this slight step really be crossed over? Not of course not, as long as we change thinking and find ways of addressing this issue surely with regard to one.High these factors of the short relative altitude of the little front and rear wheel wheelbase of the upright projection area of wheelchair be doomed it will be steadily safely climb steps only walk this road of vertical lifting.In order to make the present invention of wheelchair vertical lifting design a cover, be used for a wheelchair vertical lift by the mechanical arm that power set drive.This robot arm device branch is made up of as shown in Figure 1 forearm, postbrachium, preceding jockey pulley and back jockey pulley etc., these two mechanical arms drive synchronization action by different power set.One group of jockey pulley (about each one) respectively is installed at forearm with above the postbrachium; One group of jockey pulley of front (jockey pulley down together before being called for short) is a driven pulley; Next one group of jockey pulley (be called for short back jockey pulley down with) be drivewheel by second driving device of motor-driven as wheelchair, they are to be collected in the suitable local cruising that does not at all influence wheelchair at ordinary times.It is as shown in Figure 2 when wheelchair goes to the step forward position; User starts power set and drives forward and backward arm and be contained in two groups of jockey pulleys above it and outwards stretch out downwards wheelchair vertical lift at leisure; Wheelchair and its four wheels built on stilts be toward rising, and it is as shown in Figure 3 that the amplitude of its rising can reach the height of step.So because preceding jockey pulley is to step on step surface to lift the high wheel that it does not hinder wheelchair to wheelchair to overtake.At this moment start the drive motors of the one group of jockey pulley in wheelchair back, it is as shown in Figure 4 that the driving wheelchair just in time reaches step forward.So just reached steady purpose up the steps.Pack up two mechanical arms and jockey pulley, wheelchair just can freely go on step.In the time will getting out of a predicament or an embarrassing situation, reach wheelchair the forward position of step earlier; Starting the corresponding driving device then puts down the forearm of wheelchair and preceding jockey pulley to previous crops to greatest extent; Put to such an extent that be lower than the about 7-10cm in plane of step, postbrachium is also done an amount of Shen backward with the back jockey pulley and is gone out as shown in Figure 5 simultaneously.What at this moment when wheelchair continues to overtake, at first fall earthward is that the preceding jockey pulley of wheelchair front is as shown in Figure 6; Its drop also significantly reduced when the drop point of wheelchair front extended forward owing to send as an envoy in the downward forward in advance Shen of preceding jockey pulley, and wheelchair inclination at this moment is just in complete acceptable safety range like this.Again to overtake when the trailing wheel of wheelchair is crossed the forward position of step user let wheelchair follow trailing wheel to fall at leisure through brake unit; Jockey pulley is also fallen on the step surface and to bear the later half weight of wheelchair as shown in Figure 6 after when wheelchair is fallen to a certain degree; Start another driving device driving postbrachium this moment and upwards rise (relative wheelchair self) at leisure with the back jockey pulley, therefore wheelchair also can fall to the ground as shown in Figure 7 reposefully.Pack up forward and backward arm and jockey pulley after wheelchair falls earthward and just can recover cruising.

Four, description of drawings:

Fig. 1, front view

Fig. 2, wheelchair arrive step forward position sketch map

Fig. 3, forward and backward arm and jockey pulley are with wheelchair vertical lift sketch map

Fig. 4, wheelchair steadily reach the step sketch map

Fig. 5, when getting out of a predicament or an embarrassing situation before jockey pulley put down sketch map

The trailing wheel of Fig. 6, the wheelchair edge sketch map of walking to get out of a predicament or an embarrassing situation

Fig. 7, back jockey pulley rise and put down sketch map to wheelchair

Forward and backward arm and the jockey pulley sketch map that resets is accomplished in Fig. 8, the action of getting out of a predicament or an embarrassing situation

Among the figure: follow arm before 1 front-wheel, 2, jockey pulleys, 4 forearms, 5 hydraulic jacks, 6 power arms, 7 seats, 8 car shells, 9 vehicle frames, 10 postbrachiums, 11 heels are followed the arm fulcrum before with arm, 12 trailing wheels, 13 back jockey pulleys, 14 back power arms, 15 back swing arm fulcrums, 16 power arm fulcrums, 17 before 3.

Five, the specific embodiment

So step-striding device the right and left of used on wheelchair of the present invention symmetry only just can be explained its operation principle with side view.This device mainly by the jockey pulley of forward and backward each group every group two (about each), support two groups of jockey pulleys forearm 4 and postbrachium 10, power arm 6, follow arm 11 etc. and form.Preceding jockey pulley 3 is installed in respectively on forearm 4, the postbrachium 10 with back jockey pulley 13, and preceding jockey pulley 3 is driven pulleys, and back jockey pulley 13 is that drivewheel is equipped with drive motors on it.Forearm 4 with before follow that arm 2 is hinged to be promoted by oil cylinder 5.Postbrachium 10 and power arm 6, heel are hinged with arm 11, back power arm 14.Three independently power set driving oil cylinder 5, power arm 6 and back power arm 14 are carried out task separately respectively under circuit control.It is as shown in Figure 2 when the wheelchair that apparatus of the present invention are housed sails to the step forward position; User start-up control circuit control power set drive hydraulic jack 5 promote forward forearm 4, preceding jockey pulley 3 and before follow arm 2; Follow before making and follow arm fulcrum 17 swing counterclockwise before arm 2 centers on, preceding follow arm 2 swing to place restrictions on after forearm 4, preceding jockey pulley 3 step under the promotion of hydraulic jack 5 that the first half wheelchair lifts on step.Power arm 6 is swung around power arm fulcrum 16 counter-clockwise direction under the driving of power set simultaneously; Along with cooperating heel again, the swing of the counter-clockwise direction of power arm 6 also stretches out downwards backward at leisure with back jockey pulley 13, just the latter half of built on stilts that also lifts of wheelchair with the synchronous swing postbrachium 10 of arm 11.Dynamical system stops as shown in Figure 3 under the control of control circuit automatically when the increasing degree of wheelchair reaches shoulder height.So because preceding jockey pulley is that jockey pulley does not hinder wheelchair to advance before stepping on the step plane this moment of lifting wheelchair, back jockey pulley 13 does not equally at this moment hinder it to march forward backmost at wheelchair at all.Jockey pulley 13 clockwise rotated the promotion wheelchair forward after this moment, user needed only the drive motor drives that starts back jockey pulley 13, and it is as shown in Figure 4 that wheelchair reaches step like this reposefully.Wheelchair just can be free movable on step after packing up two groups of jockey pulleys.

When ending activity will be got out of a predicament or an embarrassing situation wheelchair capable to the step forward position stop open control circuit control power set drive hydraulic jack 5 promote forward forearm 4, preceding jockey pulley 3 and before follow arm 2; Follow before making and follow arm fulcrum 17 swing counterclockwise before arm 2 centers on; Before follow arm 2 swing to place restrictions on after forearm 4, preceding jockey pulley 3 continue forward under the promotion of hydraulic jack 5 and move downward the lower limit of maximum after stop, jockey pulley 3 has been parked on the position that is lower than the about 7-10cm of step surface before this moment.At this moment control circuit drives the swing of power arm 6 counter-clockwise direction, makes postbrachium 10 and the suitable backward Shen of back jockey pulley 13 go out a bit as shown in Figure 5 through power set again.Wheelchair begins to advance forward, and what fall earthward earlier is preceding jockey pulley 3; So since the amplitude of the actual whereabouts that falls in advance its sixth of the twelve Earthly Branches this moment not during Datong District because it is to stretch out forward, improve as shown in Figure 6 greatly so be equivalent to the very little safety of gradient that the strong point of wheelchair extends wheelchair this moment forward.Further to moving ahead, trailing wheel has arrived the forward position of step to wheelchair, and at this moment user falls the trailing wheel of wheelchair through brake unit at leisure, when trailing wheel drops to a certain degree after jockey pulley 13 begin to touch step surface and bear most weight of wheelchair.Control circuit makes postbrachium 10 and back jockey pulley 13 to rise (wheelchair self relatively) through heel with arm 11 through the 13 power arm fulcrum 15 clockwise directions swings around the back of power set driving back power arm again.Wheelchair is just along with the swing of back power arm 13 is fallen as shown in Figure 7 at leisure on the ground smooth decreasing like this.The trailing wheel of wheelchair falls earthward, and the back user is packed up preceding jockey pulley 3, trailing wheel 13 chairs just can cruising.

Claims

1. the step-striding device of a used on wheelchair; It is characterized in that; Said step-striding device mainly by preceding jockey pulley (3), support before jockey pulley (3) forearm (4), with forearm (4) hinged before follow arm (2), back jockey pulley (13), support the postbrachium (10) of back jockey pulley (13), form with arm (11) and first power set, the control circuit of power arm (6), back power arm (14), execution different task with the hinged heel of postbrachium (10) respectively; Preceding jockey pulley (3) is a driven pulley; Back jockey pulley (13) is a drivewheel; And second power set that drive motors and reduction box become wheelchair are installed on back jockey pulley (13), are picked up built on stilts first power set when ineffective when wheelchair, second power set promotion wheelchair reaches step; Forearm (4) with before follow that arm (2) is hinged to be promoted by hydraulic jack (5); The preceding jockey pulley (3) of this step-striding device is contained in the foremost of wheelchair, and the setting height(from bottom) of simultaneously preceding jockey pulley (3) is higher than step; The forearm (4) of jockey pulley can stretch out forward He downwards when wheelchair is got out of a predicament or an embarrassing situation to greatest extent before preceding jockey pulley (3) and the support, and it highly is lower than step surface 7-10cm to stretch out the back; The back jockey pulley (13) of this step-striding device is contained in wheelchair backmost; Can drive by power arm (6) and stretch out backward and downwards, cooperate preceding jockey pulley (3) and forearm (4) together the wheelchair vertical lift, and after lifting wheelchair, do not hinder the wheel of wheelchair self to reach step again; Back jockey pulley (13) stretches out the support scope that can effectively increase wheelchair backward; When wheelchair is got out of a predicament or an embarrassing situation, bear the latter half of weight of wheelchair, and drive the rise that makes progress of back jockey pulley (13) and the postbrachium (10) that supports the back jockey pulley with arm (11) by back power arm (14) through heel by back jockey pulley (13) and the postbrachium (10) that supports the back jockey pulley; Wheelchair at leisure, reposefully let-down on the ground under the step.