CN102113945B - Wheel chair robot based on transformable crawler belt mechanism - Google Patents
Wheel chair robot based on transformable crawler belt mechanism Download PDFInfo
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- CN102113945B CN102113945B CN200910249025A CN200910249025A CN102113945B CN 102113945 B CN102113945 B CN 102113945B CN 200910249025 A CN200910249025 A CN 200910249025A CN 200910249025 A CN200910249025 A CN 200910249025A CN 102113945 B CN102113945 B CN 102113945B
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Abstract
The invention relates to a robot capable of riding instead of walk, in particular to a wheel chair robot based on a transformable crawler belt mechanism. The wheel chair robot based on a transformable crawler belt mechanism comprises a seat support frame and transformable crawler mechanisms, wherein the transformable crawler mechanisms are symmetrically installed on two sides of the seat support frame and have same structure; each transformable crawler belt mechanism comprises a crawler, a driving wheel, a driving arm, a tensile force control arm, a travelling motor, a tensile force control arm motor, a driving arm motor and a plurality of guide pulleys, wherein one end of the driving arm is connected with the driving wheel, and the other end of the driving arm is connected with the guide pulleys; the seat support frame is provided with the driving arm motor and the travelling motor; one end of the tensile force control arm is connected with the seat support frame, and the other end of the tensile force control arm is connected with the guide pulley; the guide pulley is linked with the other end of the tensile force control arm; the seat support frame is provided with the tensile force control arm motor; the guide pulleys are arranged below the seat support frame; and each guide pulley is connected with the driving wheel by the crawler. The wheel chair robot has an obstacle detouring function and has the advantages of balanced obstacle detouring process and better stability.
Description
Technical field
The present invention relates to the robot of riding instead of walk, specifically a kind of wheelchair robot based on the deformable pedrail mechanism.
Background technology
Along with the growth in Chinese society population life-span and the aggravation of aging degree, increasing old people need be with the walking-replacing tool of wheelchair as oneself when trip.Though the present electric wheelchair or the appearance of intelligent wheel chair have been saved the occupant or have been helped pusher's physical demands, have also made things convenient for occupant's use; Yet because China town dweller major part all stays in the residential building that does not have lift facility; Manual or automatic wheelchair in use all can receive the restriction of stair activity; This has also influenced old people or people with disability's trip needs to a great extent, has also restricted the development and the application of electric wheelchair simultaneously.
Along with the continuous development of social material civilization and spiritual civilization, to improving constantly of old people or people with disability's quality of life attention rate, the problem that it is inconvenient that old people or people with disability go on a journey is just becoming more and more outstanding.Developing the wheelchair with stair activity function will bring great convenience for old people or people with disability.
Summary of the invention
In order to solve the problem of the wheelchair trip inconvenience that present old people or people with disability take, the object of the present invention is to provide a kind ofly to have stair activity, obstacle detouring and the wheelchair robot based on the deformable pedrail mechanism of locomotive function on the level land.This wheelchair robot can be used for the walking-replacing tool of old people or people with disability's daily routines.
The objective of the invention is to realize through following technical scheme:
The present invention includes the seat bracing frame and symmetry is installed in seat bracing frame both sides, deformed caterpillar mechanism that structure is identical; Wherein deformed caterpillar mechanism comprises crawler belt, driving wheel, actuating arm, tensile force control arm, movable motor, tensile force control arm motor, actuating arm motor and a plurality of directive wheel; One end of said actuating arm is connected with driving wheel; But other end relative swing ground is connected with directive wheel on being installed in the seat bracing frame, on the seat bracing frame, is provided with actuating arm motor that drives the actuating arm swing and the movable motor that drives the driving wheel rotation; But be connected to an end relative swing of said tensile force control arm with the seat bracing frame; The other end is provided with directive wheel; The other end interlock of this directive wheel and tensile force control arm is provided with the tensile force control arm motor that drives the swing of tensile force control arm on the seat bracing frame; The front lower place of said seat bracing frame is provided with directive wheel, is connected through crawler belt between each directive wheel and the driving wheel.
Wherein: said seat bracing frame is equipped with first, first two ends respectively with the deformed caterpillar mechanism of both sides in the 3rd directive wheel key be connected, the output shaft that is installed in the actuating arm motor on the seat bracing frame drives first rotation through worm and gear; The other end of said actuating arm links to each other with the 3rd directive wheel, and the driving wheel that actuating arm one end connects is radius with the actuating arm, around first swing; The top of the 3rd directive wheel is provided with second pinch roller that is installed on the seat bracing frame, and crawler belt is by passing through between the 3rd directive wheel and second pinch roller; The both sides of said seat bracing frame are respectively equipped with second; One end of the tensile force control arm in the deformed caterpillar mechanism of both sides is connected with second of both sides respectively; The tensile force control arm other end is provided with first directive wheel, first directive wheel with the tensile force control arm be radius, around second swing; The said output shaft that is installed in the tensile force control arm motor on the seat bracing frame drives second rotation through worm and gear; The torsion torque sensor that detects track tensioning force is installed on second; The swinging track of tensile force control arm is provided with first pinch roller that is installed on the seat bracing frame, and crawler belt is passed through by the below of first pinch roller and the top of first directive wheel; The directive wheel of said seat bracing frame front lower place is second directive wheel, and second directive wheel in the both sides deformed caterpillar mechanism is connected through the 4th, and crawler belt is walked around by the bottom of second directive wheel; Driving wheel in the deformed caterpillar mechanism of said both sides is connected through the 3rd, and the seat bracing frame is provided with two and drives the movable motors that driving wheel rotates respectively; Said actuating arm motor is one, and tensile force control arm motor is two.
Advantage of the present invention and good effect are:
1. the present invention has realized the control to track tensioning force through the pendulum angle of adjustment actuating arm and tensile force control arm, just gets crawler belt and has the adaptive capacity that " protruding " shape ground is produced " recessed " deformation shape.
2. the present invention is through the swing of actuating arm and tensile force control arm, and obstacles such as step, stair, slope can be crossed by robot, obstacle detouring process balance, and have stability preferably.
3. the present invention guarantees that wheelchair has bigger supporting surface in the process of stair activity, thereby has guaranteed that the occupant has stability and safety preferably.
4. the present invention is simple to operate flexibly, does not need other people auxiliary, is fit to the elderly and the disabled and uses.
Description of drawings
Fig. 1 is the positive perspective view of the present invention;
Fig. 2 is the perspective view at the back side of the present invention;
Fig. 3 is a structure principle chart of the present invention;
Fig. 4 a is applied to one of sketch map of the process of going upstairs for invention;
Fig. 4 b for the invention be applied to the process of going upstairs sketch map two;
Fig. 4 c for the invention be applied to the process of going upstairs sketch map three;
Fig. 4 d for the invention be applied to the process of going upstairs sketch map four;
Fig. 4 e for the invention be applied to the process of going upstairs sketch map five;
Fig. 4 f for the invention be applied to the process of going upstairs sketch map six;
Fig. 4 g for the invention be applied to the process of going upstairs sketch map seven;
Fig. 4 h for the invention be applied to the process of going upstairs sketch map eight;
Wherein: 1 is the seat bracing frame, and 2 is deformed caterpillar mechanism, and 3 is crawler belt, and 4 is driving wheel, and 5 is actuating arm; 6 is the tensile force control arm, and 7 is movable motor, and 8 is tensile force control arm motor, and 9 is the actuating arm motor, and 10 is first directive wheel; 11 is second directive wheel, and 12 is the 3rd directive wheel, and 13 is first pinch roller, and 14 is second pinch roller, and 15 is first; 16 is second, and 17 is the 3rd, and 18 is torsion torque sensor, and 19 is the 4th.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description.
Shown in Fig. 1～3; The present invention includes seat bracing frame 1 and symmetry is installed in seat bracing frame 1 both sides, deformed caterpillar mechanism 2 that structure is identical; Wherein deformed caterpillar mechanism 2 comprises crawler belt 3, driving wheel 4, actuating arm 5, tensile force control arm 6, movable motor 7, tensile force control arm motor 8, actuating arm motor 9 and the first～three directive wheel 10～12; It is to be installed in the 3rd directive wheel 12 keys on the seat bracing frame 1 and that passed in the deformed caterpillar mechanism 2 with both sides by seat bracing frame 1 through bearing respectively to be connected that the chair back of seat bracing frame 1 is equipped with first 15, the first 15 two ends at the back; Actuating arm motor 9 is installed on the seat bracing frame 1 through motor cabinet, and the output shaft of actuating arm motor 9 drives first 15 through worm and gear and rotates.One end of actuating arm 5 is connected with driving wheel 4, and the other end links to each other with the 3rd directive wheel 12, and the driving wheel 4 that actuating arm 5 one ends connect is radius, swings around first 15 with actuating arm 5.The wheel shaft that above the 3rd directive wheel 12, is provided with second pinch roller, 14, the second pinch rollers 14 is installed on the seat bracing frame 1, and crawler belt 3 is by passing through between the 3rd directive wheel 12 and second pinch roller 14.Driving wheel 4 in the both sides deformed caterpillar mechanism 2 is connected through the 3rd 17, and seat bracing frame 1 is provided with two and drives the movable motor 7 that two side drive wheel 4 are rotated respectively.
Side-lower at the 3rd directive wheel 12; Be provided with through bearing and be installed in second 16 on the seat bracing frame 1; One end of tensile force control arm 6 is connected with an end of second 16; The other end is provided with first directive wheel, 10, the first directive wheels 10 and is radius, swings around second 16 with tensile force control arm 6; Second 16 the other end is connected with the torsion torque sensor 18 that detects track tensioning force.Tensile force control arm motor 8 is installed on the seat bracing frame 1 through motor cabinet, and the output shaft of tensile force control arm motor 8 drives second 16 through worm and gear and rotates.Tensile force control arm motor 8 is two, is installed in the both sides of seat bracing frame 1 respectively.Wheel shaft being provided with first pinch roller, 13, the first pinch rollers 13 on the swinging track of tensile force control arm 6 is installed on the seat bracing frame 1, and crawler belt 3 is passed through by the below of first pinch roller 13 and the top of first directive wheel 10.
Seat bracing frame 1 front lower place is provided with second directive wheel 11, and second directive wheel 11 in the both sides deformed caterpillar mechanism 2 is connected through the 4th 19, and crawler belt 3 is walked around by the bottom of second directive wheel 11.
Operation principle of the present invention is:
The fixed-site of second and third directive wheel 12,13 of the present invention, the fixed-site of first and second pinch roller 13,14, actuating arm 5 is around 12 swings of the 3rd directive wheel, and tensile force control arm 6 is around second 16 swing, and the length of actuating arm 5 and tensile force control arm 6 is fixed.Two movable motors 7 drive driving wheel 4 rotations of both sides respectively, are used to drive the wheelchair robot and move; Two tensile force control arm motors 8 are used to drive tensile force control arm 6 swings of both sides; Actuating arm 5 swings of actuating arm motor 9 drive both sides.First directive wheel 10 is swung around second 16 with tensile force control arm 6 jointly.The tensile force of the 18 pairs of crawler belts of two torsion torque sensors on second 16 of the both sides detects; In wheelchair robot motion process, in real time the tensile force of crawler belt is controlled simultaneously, can be made crawler belt 3 have the adaptive capacity that " protruding " shape ground is produced " recessed " deformation shape.When walking on the plane, two movable motor 7 work, the driving wheel 4 that drives both sides rotates, and makes the wheelchair robot ambulation.When climbing building or obstacle detouring, shown in Fig. 4 a～4h, be initial position with shown in Figure 3; 9 work of actuating arm motor drive first 15 rotation, make actuating arm 5 around first 15 counter-clockwise swing; Cause the tensile force of crawler belt 3 to increase, and then cause the moment of torsion that acts on second 16 to increase; Two tensile force control arm motor 8 work drive second 16 rotation, make tensile force control arm 6 around second 16 counter-clockwise swing, and the moment of torsion that acts on second 16 is controlled, and reach the purpose that reduces track tensioning force.The swing extreme position of actuating arm 5 is that the lower surface of crawler belt 3 and the wheel shaft line of second and third directive wheel 11,12 parallel, and tensile force control arm 6 approaches to parallel with the wheel shaft line of second and third directive wheel 11,12 at this moment.On stair; Make actuating arm 5 swing to the inclination angle that different angles is the may command seat through actuating arm motor 9; Different phase at stair activity; Through the pendulum angle of continuous adjustment actuating arm 5 and tensile force control arm 6, the carrier of wheelchair can remain level or slightly swing back in the process of stair activity state.
Claims (9)
1. wheelchair robot based on the deformable pedrail mechanism; It is characterized in that: comprise that seat bracing frame (1) and symmetry are installed in seat bracing frame (1) both sides, deformed caterpillar mechanism (2) that structure is identical; Wherein deformed caterpillar mechanism (2) comprises crawler belt (3), driving wheel (4), actuating arm (5), tensile force control arm (6), movable motor (7), tensile force control arm motor (8), actuating arm motor (9) and a plurality of directive wheel; One end of said actuating arm (5) is connected with driving wheel (4); But other end relative swing ground is connected with directive wheel on being installed in seat bracing frame (1), on seat bracing frame (1), is provided with actuating arm motor (9) that drives actuating arm (5) swing and the movable motor (7) that drives driving wheel (4) rotation; Said tensile force control arm (6) but end relative swing ground be connected with seat bracing frame (1); The other end is provided with directive wheel; The other end interlock of this directive wheel and tensile force control arm (6) is provided with the tensile force control arm motor (8) that drives tensile force control arm (6) swing on seat bracing frame (1); The front lower place of said seat bracing frame (1) is provided with directive wheel, is connected through crawler belt (3) between each directive wheel and the driving wheel (4).
2. by the said wheelchair robot of claim 1 based on the deformable pedrail mechanism; It is characterized in that: said seat bracing frame (1) is equipped with first (15); The two ends of first (15) respectively with the deformed caterpillar mechanism (2) of both sides in the 3rd directive wheel (12) key be connected, the output shaft that is installed in the actuating arm motor (9) on the seat bracing frame (1) drives first (15) through worm and gear and rotates; The other end of said actuating arm (5) links to each other with the 3rd directive wheel (12), and the driving wheel (4) that actuating arm (5) one ends connect is radius, swings around first (15) with actuating arm (5).
3. by the said wheelchair robot of claim 2 based on the deformable pedrail mechanism; It is characterized in that: the top of said the 3rd directive wheel (12) is provided with second pinch roller (14) that is installed on the seat bracing frame (1), and crawler belt (3) is by passing through between the 3rd directive wheel (12) and second pinch roller (14).
4. by the said wheelchair robot of claim 1 based on the deformable pedrail mechanism; It is characterized in that: the both sides of said seat bracing frame (1) are respectively equipped with second (16); One end of the tensile force control arm (6) in the both sides deformed caterpillar mechanism (2) is connected with second (16) of both sides respectively; Tensile force control arm (6) other end is provided with first directive wheel (10), and first directive wheel (10) is radius, swings around second (16) with tensile force control arm (6); The said output shaft that is installed in the tensile force control arm motor (8) on the seat bracing frame (1) drives second (16) through worm and gear and rotates.
5. by the said wheelchair robot of claim 4, it is characterized in that: the torsion torque sensor (18) that detects track tensioning force is installed on said second (16) based on the deformable pedrail mechanism.
6. by the said wheelchair robot of claim 4 based on the deformable pedrail mechanism; It is characterized in that: the swinging track of said tensile force control arm (6) is provided with first pinch roller (13) that is installed on the seat bracing frame (1), and crawler belt (3) is passed through by the below of first pinch roller (13) and the top of first directive wheel (10).
7. by the said wheelchair robot of claim 1 based on the deformable pedrail mechanism; It is characterized in that: the directive wheel of said seat bracing frame (1) front lower place is second directive wheel (11); Second directive wheel (11) in the both sides deformed caterpillar mechanism (2) is connected through the 4th (19), and crawler belt (3) is walked around by the bottom of second directive wheel (11).
8. by the said wheelchair robot of claim 1 based on the deformable pedrail mechanism; It is characterized in that: the driving wheel (4) in the said both sides deformed caterpillar mechanisms (2) is connected through the 3rd (17), and seat bracing frame (1) is provided with two and drives the movable motor (7) that driving wheel (4) rotates respectively.
9. by the said wheelchair robot based on the deformable pedrail mechanism of claim 1, it is characterized in that: said actuating arm motor (9) is one, and tensile force control arm motor (8) is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910249025A CN102113945B (en) | 2009-12-30 | 2009-12-30 | Wheel chair robot based on transformable crawler belt mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910249025A CN102113945B (en) | 2009-12-30 | 2009-12-30 | Wheel chair robot based on transformable crawler belt mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102113945A CN102113945A (en) | 2011-07-06 |
| CN102113945B true CN102113945B (en) | 2012-08-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910249025A Expired - Fee Related CN102113945B (en) | 2009-12-30 | 2009-12-30 | Wheel chair robot based on transformable crawler belt mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102113945B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103126858A (en) * | 2013-03-19 | 2013-06-05 | 哈尔滨工业大学 | Intelligent walk-assisting robot |
| CN108524118B (en) * | 2018-03-09 | 2020-07-17 | 定远县中林机械技术有限公司 | All-round initiative balanced electronic wheelchair car |
| CN115723874B (en) * | 2022-11-28 | 2024-04-12 | 广东电网有限责任公司 | Stable cat ladder's intelligent electric wire netting quadruped robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2461518Y (en) * | 2001-02-16 | 2001-11-28 | 郭永利 | Wheel chair able to crawl stairs |
| CN2464305Y (en) * | 2001-02-16 | 2001-12-12 | 郭永利 | Wheel chair capable of going up stairs |
| CN201101646Y (en) * | 2007-11-05 | 2008-08-20 | 刘玉通 | Tape type electric wheelchair |
| CN201578463U (en) * | 2009-12-30 | 2010-09-15 | 中国科学院沈阳自动化研究所 | Wheelchair robot based on deformable crawl belt mechanisms |
-
2009
- 2009-12-30 CN CN200910249025A patent/CN102113945B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2461518Y (en) * | 2001-02-16 | 2001-11-28 | 郭永利 | Wheel chair able to crawl stairs |
| CN2464305Y (en) * | 2001-02-16 | 2001-12-12 | 郭永利 | Wheel chair capable of going up stairs |
| CN201101646Y (en) * | 2007-11-05 | 2008-08-20 | 刘玉通 | Tape type electric wheelchair |
| CN201578463U (en) * | 2009-12-30 | 2010-09-15 | 中国科学院沈阳自动化研究所 | Wheelchair robot based on deformable crawl belt mechanisms |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2006-25822A 2006.02.02 |
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| Publication number | Publication date |
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| CN102113945A (en) | 2011-07-06 |
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Granted publication date: 20120829 Termination date: 20171230 |