CN102319154A - Stair climbing wheel chair - Google Patents

Abstract

The invention relates to a stair climbing wheel chair, which comprises a wheel chair bottom frame, a chair, planet wheels, universal wheels, a motive power source and a control system, wherein the chair is arranged on the wheel chair bottom frame, the planet wheels comprise a planet wheel frame and planet wheel small wheels arranged on the planet wheel frame, the two planet wheels are arranged at the front part of the wheel chair bottom frame through a planet wheel main shaft, the number of the universal wheels are two, the two universal wheels are arranged at the back part of the wheel chair bottom frame, the motive power source is arranged under the chair, the position of the control system is suitable for operators to conveniently operate, and the control system can control the planet wheels to generate the actions of advancing on the ground and climbing or going down stairs at different moments. The stair climbing wheel chair has the advantages that the stability is good, the safety is high, the time and the labor are saved, and the stair climbing wheel chair is convenient for various user groups with action inconvenience to be used.

Description

stair climbing wheelchair

technical field

The invention relates to the technical field of design and manufacture of special vehicles, in particular to a wheelchair for climbing stairs.

Background technique

In our life, many multi-storey buildings are not equipped with elevators. In addition, there are steps in public places such as hospitals, parks, schools, and subway stations. Special crowds bring a lot of inconvenience. In order to solve the practical problem that these special groups have difficulties in going up and down stairs and steps, there are currently many schemes for stair climbing wheelchairs. The existing stair climbing wheelchairs can be divided into continuous stair climbing wheelchairs and intermittent stair climbing wheelchairs. The principle can be divided into crawler type, track type, wheel type and walking type wheelchair. The "climbing wheelchair vehicle" disclosed in Chinese patent document CN101703440A is a crawler-type stair-climbing wheelchair. Harbin Institute of Technology has a plan for orbital stair climbing in the process of design perfection, and the ASIMO walking robot developed by Japan's Honda Technology Research Industry Company also belongs to this type.

However, there are certain problems in the existing research schemes:

(1) Crawler-type stair-climbing wheelchairs are heavy and inflexible in movement, and the crawlers are easy to cause damage to the stairs;

(2) The track-type stair-climbing wheelchair needs an independent special track, and the system is complicated, the cost is high, and it takes up a lot of space;

(3) Two-wheeled wheelchairs are expensive and not suitable for general public consumption;

(4) The control system of the walking wheelchair is quite complicated and the cost is high.

Contents of the invention

In order to solve the above problems, the present invention provides a stair-climbing wheelchair, in order to improve the safety and reliability of the stair-climbing wheelchair, so that people with limited mobility can go up and down stairs conveniently, expand their range of activities, and improve their quality of life.

The technical scheme that the present invention takes is:

A wheelchair for climbing stairs, comprising a wheelchair chassis, a seat, a planetary wheel, a universal wheel, a power source and a control system, the seat is arranged on the wheelchair chassis, and the planetary wheel comprises a planetary wheel carrier and is arranged on a planetary wheel There are two planetary wheels on the wheel frame, the planetary wheels are arranged in front of the wheelchair chassis through the planetary wheel main shaft, the universal wheels are two, and the power source is arranged at the rear of the wheelchair chassis. Under the seat, the position of the control system is suitable for the user to operate conveniently. It is characterized in that it also includes a first transmission device and a second transmission device. The control system can control the planetary wheel to produce the following two different actions at different times:

- the power source transmits power to the planetary wheel through the first transmission device to make the planetary wheel rotate;

- The power source transmits power to the planetary wheel through the second transmission device to make the planetary wheel revolve around the main shaft of the planetary wheel.

Further, the first transmission device includes a gear reduction box, the gear reduction box is connected to the power source, and the gear reduction box includes a first shaft of the reduction box, a second shaft of the reduction box, a worm, a worm wheel, a pinion and a slip gear , wherein the worm meshes with the worm gear, the worm gear and the pinion are fixed on the first shaft of the reduction box, the sliding gear is arranged on the second shaft of the reduction box, and the sliding gear can move on the second shaft of the reduction box to realize the connection with the pinion The second shaft of the reduction box is coaxial with the main shaft of the planetary gear.

Further, a spring is arranged in the gear reduction box, one end of the spring is fixed in the gear reduction box, and the other end of the spring is arranged on the sliding gear, and the elastic force of the spring makes the sliding gear locate at the position meshed with the pinion, The control system includes a clutch device arranged on the gear reduction box, through which the deformation of the spring is adjusted by the clutch device so that the sliding gear and the pinion gear can be meshed and separated.

Further, the second transmission device includes a sprocket reduction box, a driving sprocket and a chain arranged on the sprocket reduction box, and a driven sprocket arranged on the planetary gear, and the sprocket reduction box and the power source Connected, the chain is installed on the driving sprocket and the driven sprocket.

Further, a linear push rod motor and a seat adjustment link are arranged under the seat, and the linear push rod motor can push the seat adjustment link to adjust the inclination of the seat.

Further, the linear push rod motor is arranged on one side under the seat, and an auxiliary support is arranged on the other side under the seat, and the auxiliary support includes a gas spring with a self-locking function.

Further, a pair of guide wheels are set at the rear of the wheelchair chassis near the universal wheels, and the inclination of the guide wheels to the ground is the same as that of the stairs. When the stair-climbing wheelchair moves horizontally on the ground, the The guide wheel is not in contact with the ground, and when the stair-climbing wheelchair climbs the stairs, the guide wheel contacts with the stairs to guide the universal wheels to roll on the stairs.

Further, the planetary gear includes a sun gear and a transition gear fixedly arranged on the planet gear carrier, the sun gear is coaxial with the main shaft of the planet gear, and meshes with the transition gear, and the transition gear is small with the planet gear The pinions of the planetary wheels provided on the wheel mesh with each other.

Further, the planetary wheel is a three-star wheel, and every time the three-star wheel rotates 120 degrees, one stair step can be climbed.

The positive effect of the stair climbing wheelchair of the present invention is:

The combination of planetary gear and chain transmission realizes the function of climbing stairs, which solves the limitations of factors such as ground adhesion coefficient and planetary wheel diameter when climbing stairs with only wheel sets; at the same time, an adjustable seat is used to control the straight line according to the slope of the stairs. The push rod motor is used to adjust the seat position to keep the seat level all the time, which improves the stability and safety of the wheelchair when climbing stairs.

Description of drawings

Accompanying drawing 1 is the three-dimensional structural representation of stair climbing wheelchair of the present invention;

Accompanying drawing 2 is the partial structural representation of wheelchair in accompanying drawing 1;

Accompanying drawing 3 is the schematic diagram of the principle of the gear transmission part;

Accompanying drawing 4 is the front view of three-star wheel;

Accompanying drawing 5 is the top view of three-star wheel;

Accompanying drawing 6 is A-A sectional view among accompanying drawing 5;

Accompanying drawing 7 is B-B sectional view among accompanying drawing 5;

Accompanying drawing 8 is a schematic diagram of the internal structure of the gear box;

Accompanying drawing 9 is the internal structure diagram of the gear box after operating the clutch.

The labels in the accompanying drawings are respectively:

1. Cart handle; 2. Seat underframe; 3. Seat bracket;

4. Battery; 5. Universal wheel; 6. Gas spring;

7. Seat adjustment link; 8. Guide wheel; 9. Linear push rod motor;

10. Stepping motor; 11. Sprocket reducer; 12. Driving sprocket;

13. Clutch device; 14. Driven sprocket; 15. Planetary small wheel;

16. Planetary gear carrier; 17. Gear reduction box; 18. Chain;

19. Pedal; 20. DC motor; 21. Calf pad;

22. Seat baffle; 23. Controller bracket; 24. Controller;

25. Bracket locking knob; 26. Wheelchair armrest; 27. Pad;

28. Backrest; 29. Worm; 30. Worm gear;

31. Pinion gear; 32. Slip gear; 33. Central gear;

34. Transition gear; 35. Planetary pinion; 36. Planetary main shaft;

37. Connecting rod; 38. Connecting rod; 39. Auxiliary support;

40. Connecting rod; 41. Connecting rod; 42. Motor seat;

43. Gearbox connector; 44. Gearbox end cover; 45. Gearbox connector;

46. Seat bracket; 47. Seat bracket; 48. Seat bracket;

49. Controller rocker; 50. Spring; 51. The first shaft of the gearbox;

52. The second shaft of the gearbox; 53. The planetary gear; 54. The seat.

Detailed ways

The specific implementation of the stair climbing wheelchair of the present invention will be described in detail below in conjunction with the accompanying drawings.

In order to make the present invention easy to understand, some directional terms are used in this specification. It should be noted that the directional terms mentioned in this specification, such as "upper", "lower", "front", "rear", "one side", "another side", etc., refer to the accompanying drawings. The direction refers to the user sitting in the wheelchair, and the directional terms used are used to illustrate and understand the present invention, but not to limit the protection scope of the present invention.

Referring to accompanying drawings 1 and 2, a stair-climbing wheelchair includes a trolley handle 1, a pedal 19, etc. shared by existing wheelchairs, and also includes a wheelchair chassis 2, a seat 54, planetary wheels 53, and universal wheels 5. , power source and control system, seat 54 comprises calf pad 21, seat baffle plate 22, wheelchair armrest 26, pad 27 and backrest 28, and described seat 54 is located on the wheelchair chassis 2 by seat support 3, Seat support 3 is made of seat support part 46, seat support part 47 and seat support part 48, and planetary gear 53 comprises planetary wheel carrier 16 and the planetary wheel pinion 15 that is arranged on planetary wheel carrier 16, and the front of wheelchair The wheels are two planetary wheels 53 arranged in front of the wheelchair chassis 2 through the planetary wheel spindle 36, the rear wheels of the wheelchair are two universal wheels 5 arranged at the rear of the wheelchair chassis 2, and the power source is arranged under the seat. , the power source is a DC motor 20, and a 12V battery 4 is installed under the seat 54 to provide electric energy. The position of control system is suitable for user's convenient operation, comprises controller 24, and controller 24 is installed on seat 54 front by controller bracket 23 and bracket locking knob 25, or is installed on the left side or the right side of seat 54; The lever 49 can adjust the position of the controller 24 to facilitate the operation of the user.

The wheelchair user can control the wheelchair to walk on the ground through the control system. The power source transmits power to the planetary wheel 15 through the first transmission device to make the planetary wheel 15 rotate, and the rotation of the planetary wheel 15 drives the universal wheel 5, thereby the wheelchair is advanced on the ground (referring to accompanying drawing 1,2,4,6). The planetary gear 53 includes a sun gear 33 and a transition gear 34 fixedly arranged on the planet gear carrier 16. The sun gear 33 is coaxial with the planet gear main shaft 36 and can be directly installed on the planet gear main shaft 36. The sun gear 33 meshes with the transition gear 34 , the transition gear 34 meshes with the planetary pinion 35 provided on the planetary pinion 15; thus a set of gear transmission is formed, through the first transmission device, walking on the ground can be realized (see accompanying drawing 3). The first transmission device includes a gear reduction box 17, and the gear reduction box 17 includes a reduction box connector 43, a reduction box end cover 44, and a reduction box connector 45. The gear reduction box 17 is connected with the DC motor 20, and the gear reduction box 17 includes a reduction gear box. The first shaft 51 of the gearbox, the second shaft 52 of the reduction box, the worm 29, the worm wheel 30, the pinion 31 and the slip gear 32, and the first connection part 43 of the reduction case, the end cover 44 of the reduction case, the second connection part 45 of the reduction case etc., inside the gear reduction box 17, the worm 29 meshes with the worm wheel 30, the worm wheel 30 and the pinion 31 are fixed on the first shaft 51 of the reduction box, the sliding gear 32 is arranged on the second shaft 52 of the reduction box, and the sliding gear 32 It can move on the second shaft 52 of the reduction box to achieve engagement and separation with the pinion 31. The clutching process is through a spring 50 (see Figures 8 and 9) inside the gear reduction box 17, and one end of the spring 50 is fixed on the gear reduction gear. In the box 17, the other end of the spring 50 is arranged on the sliding gear 32, and the elastic force of the spring 50 makes the sliding gear 32 be arranged at a position meshed with the pinion 31, and the control system includes a clutch device arranged on the gear reduction box 17 13. Adjust the deformation of the spring 50 through the clutch device 13 to make the sliding gear 32 and the pinion 31 mesh and separate. When the sliding gear 32 meshes with the pinion 31, the DC motor 20 rotates to drive the gear mechanism to operate to make the planetary wheel 15 rotate, so that the wheelchair can move on the ground.

Referring to accompanying drawing 3, when slip gear 32 is separated from pinion 31, wheelchair stops advancing. At this time, the control system can control the second transmission device to transmit power to the planetary gear 53 so that the planetary gear 53 revolves around the planetary gear main shaft 36 . Planetary gear 53 just produces the action of overall rolling like this, realizes going up and down stairs. The second transmission device comprises a sprocket reduction box 11, the sprocket reduction box 11 is connected with the stepping motor 10, the stepping motor 10 is installed on the motor base 42, and the driving sprocket arranged on the sprocket reduction box 11 12, chain 18 and the driven sprocket 14 that is arranged on the planetary wheel, and chain 18 is installed on the driving sprocket 12 and the driven sprocket 14. When the stepper motor 10 rotates the driven sprocket 14 through the sprocket reduction box 11, the planetary gear 53 revolves around the planetary gear main shaft 36. Here, a three-star gear is used (see accompanying drawings 4, 5, 6, 7), three Planetary wheel steamboat 15 is provided with every 120 degree on three-star wheel frame, and when three-star wheel turns over 120 degree, finishes rising or descending a stair step. This enables the wheelchair to go up and down the stairs. When going up and down the stairs, the whole wheelchair produces an inclination of the same angle as the inclination of the stairs. At this time, the universal wheel 5 also goes up and down the stairs, and a stuck phenomenon may occur between the universal wheel 5 and the stair steps. Therefore, a pair of guide wheels 8 are set near the position of the universal wheel 5 at the rear of the wheelchair chassis, and the inclination of the guide wheels 8 and the ground is the same as that of the stairs. The wheel set can not be in contact with the ground, and when the stair-climbing wheelchair climbs the stairs, the guide wheel 8 is in contact with the stairs to guide the universal wheel 5 to roll on the stairs. Therefore, the universal wheel 5 will not be stuck with the stair steps.

Referring to accompanying drawing 2, when stair-climbing wheelchair goes up and down stairs, whole wheelchair can produce inclination, can make the user produce uneasiness and fear psychology. Linear push rod motor 9 and seat adjustment connecting rod 7 are set below the seat, seat adjustment connecting rod 7 is made up of connecting rod 37, connecting rod 38, connecting rod 40 and connecting rod 41, and linear push rod motor 9 can push seat The chair adjusts the connecting rod 7 to adjust the inclination of the seat. The linear push rod motor 9 is arranged on one side under the seat, and the other side is provided with an auxiliary support 39. The auxiliary support 39 includes a gas spring 6 with a self-locking function. When the seat reaches a horizontal position, the gas spring 6 is self-locking. , after finishing going up and down the stairs, open the gas spring 6 and put the seat flat again, so that the wheelchair can move on the ground. In order to make the wheelchair more portable, the structural parts of the wheelchair can be made of hollow metal tubes, and hollow steel tubes or aluminum tubes can be selected.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be considered Be the protection scope of the present invention.

Claims (9)

1. a kind of stair-climbing wheelchair comprises wheelchair underframe (2), seat (54), planetary wheel (53), universal wheel (5), power source and control system, and described seat (54) is located at On the wheelchair chassis (2), the planetary wheels (53) include a planetary wheel carrier (16) and a planetary wheel (15) arranged on the planetary wheel carrier (16), and the planetary wheels (53) are two One, is arranged on the front of wheelchair underframe (2) by planetary wheel main shaft (36), described universal wheel (5) is two, is arranged on the rear of wheelchair underframe (2), and power source is arranged on seat ( 54) Below, the position of the control system is suitable for the user to operate conveniently. It is characterized in that: it also includes a first transmission device and a second transmission device. The control system can control the planetary gear (53) to generate the following two different Actions: - The power source transmits power to the planetary wheel (15) through the first transmission device to make the planetary wheel (15) rotate; - The power source transmits power to the planetary wheel (53) through the second transmission device to make the planetary wheel (53) revolve around the planetary wheel main shaft (36). 2. The stair climbing wheelchair according to claim 1, characterized in that: said first transmission device comprises a gear reduction box (17), and the gear reduction box (17) is connected with a power source, and said gear reduction box (17) ) includes the first shaft (51) of the reduction box, the second shaft (52) of the reduction box, the worm (29), the worm wheel (30), the pinion (31) and the sliding gear (32), wherein the worm (29) and The worm gear (30) meshes, the worm gear (30) and the pinion (31) are fixed on the first shaft (51) of the reduction box, the slip gear (32) is arranged on the second shaft (52) of the reduction case, and the slip gear ( 32) It can move on the second shaft (52) of the reduction box to realize engagement and separation with the pinion (31), and the second shaft (52) of the reduction box is coaxial with the main shaft of the planetary wheel (36). 3. The stair climbing wheelchair according to claim 2, characterized in that: a spring (50) is provided in the gear reduction box (17), and one end of the spring (50) is fixed in the gear reduction box (17), The other end of spring (50) is arranged on the sliding gear (32), and the elastic force of spring (50) makes sliding gear (32) be positioned at the position that is engaged with pinion (31), and described control system includes being arranged on gear The clutch device (13) on the reduction box (17) realizes engagement and separation of the sliding gear (32) and the pinion gear (31) through the deformation of the clutch device (13) regulating spring (50). 4. The stair climbing wheelchair according to claim 1, characterized in that: said second transmission device comprises a sprocket reduction box (11), a driving sprocket (12) arranged on the sprocket reduction box (11) and Chain (18) and the driven sprocket (14) arranged on the planetary wheel (53), the sprocket reduction box (11) is connected with the power source, and the chain (18) is installed on the driving sprocket (12) and driven sprocket (14). 5. The stair climbing wheelchair according to any one of claims 1 to 4, characterized in that: a linear push rod motor (9) and a seat adjustment link (7) are arranged below the seat (54), The linear push rod motor (9) can promote the seat adjustment link (7) to adjust the inclination of the seat (54). 6. The stair climbing wheelchair according to claim 5, characterized in that: the linear push rod motor (9) is arranged on one side below the seat (54), and on the other side below the seat (54). An auxiliary support (39) is arranged on the side, and the auxiliary support (39) includes a gas spring (6) with a self-locking function. 7. The stair-climbing wheelchair according to any one of claims 1 to 4, characterized in that: a pair of guide wheels (8) are set near the universal wheels (5) at the rear of the wheelchair chassis (2) ), the inclination of the guide wheel (8) to the ground is the same as the inclination of the stairs, when the stair-climbing wheelchair moves horizontally on the ground, the guide wheel (8) does not contact the ground, when the stair-climbing wheelchair climbs the stairs , the guide wheel (8) is in contact with the stairs to guide the universal wheel (5) to roll on the stairs. 8. The stair climbing wheelchair according to any one of claims 1 to 4, characterized in that: said planetary gear (53) comprises a sun gear (33) and a transition gear fixedly arranged on the planetary gear carrier (16) (34), the central gear (33) is coaxial with the planetary main shaft (36), and meshes with the transition gear (34), and the transition gear (34) is connected to the planetary wheel (15) The set planet gear pinions (35) are meshed. 9. The stair climbing wheelchair according to any one of claims 1 to 4, characterized in that: the planetary wheel (53) is a three-star wheel, and the three-star wheel climbs one stair step every time it rotates 120 degrees.

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