CN102488596A - Wheelchair horizontality regulating mechanism - Google Patents
Wheelchair horizontality regulating mechanism Download PDFInfo
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- CN102488596A CN102488596A CN2011103626812A CN201110362681A CN102488596A CN 102488596 A CN102488596 A CN 102488596A CN 2011103626812 A CN2011103626812 A CN 2011103626812A CN 201110362681 A CN201110362681 A CN 201110362681A CN 102488596 A CN102488596 A CN 102488596A
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- gravity wheel
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Abstract
The invention provides a wheelchair horizontality regulating mechanism. The regulating mechanism comprises a gravity center wheel, two crank arm push rods, two connecting lines, and a support shaft, wherein the gravity center wheel and the support shaft are in cross connection, and the gravity center wheel is connected with the two crank arm push rods through the connecting lines. In the regulating mechanism, the gravity center wheel regulation mechanism is used to always keep the stretch force for the vertically downward gravity center when the wheelchair climbs or gets down the stairs; the mobile and stretchable crank arm push rods at the head part allow the front part or the rear part of the seat to be lifted to regulate the horizontality of the wheelchair; and the horizontality regulation of the seat and the stair climbing and getting downstairs of the wheelchair are synchronous, and the regulation amplitude is in proportion to the wheelchair inclination. The invention adopts simple mechanical parts to realize automatic regulation, no additional power is needed for driving, no manual intervention control is needed, and the advantages of low cost, simple structure, and easiness in realization, are achieved.
Description
Technical field
The present invention relates to the wheelchair technical field.Particularly relate to the mechanism that the wheelchair level in a kind of the going is regulated.
Background technology
For realizing effectively regulating and keep the wheelchair level to realize the target of wheelchair smoothly and steadily climbing up and down stairs, many solutions and corresponding wheelchair product have been arranged both at home and abroad.For example, caterpillar, planet gear type, crank-type, the off-centre operation formula, the legs and feet formula, and the utilization of various hybrid technology.Make a general survey of these wheelchair products, costliness, heaviness, complex structure etc. mostly exist such-and-such defective.
Summary of the invention
The objective of the invention is solving many deficiencies that seat horizontal adjustment scheme exists in order to overcome existing stair climbing wheel chair product; The solution of level when providing a kind of simple for structure, with low cost, safe and effective and not needing the automatic adjusting wheelchair stair activity of manual intervention.
For achieving the above object, the technical scheme that the present invention adopts is: based on the wheelchair level governor motion of center of gravity wheel, be made up of center of gravity wheel, former and later two push rods of cranking arm, two connecting lines and back shaft; Center of gravity wheel and back shaft interconnection, the center of gravity wheel is connected with two push rods of cranking arm through connecting line.
Said center of gravity wheel is made up of support bar and the wheel that is installed on the support bar bottom; The head of support bar has aperture, bottom to have to uphold mechanism, link that the middle part has to be fixedly connected with back shaft; Aperture is fixedly connected an end of two connecting lines; Uphold mechanism and keep enough bullets to stretch power, guarantee that center of gravity is taken turns solid landing under the expansion force effect and do not occurred dangling in wheelchair is advanced so that the center of gravity wheel produces enough expansion forces to ground; The support bar bottom is heavier, makes the center of gravity wheel can only do on ground longitudinally after being connected and installed with back shaft and rolls.
Crank arm before the said push rod of cranking arm comprises push rod with after crank arm two of push rods, the push rod of cranking arm is made up of for two sections upper arm and underarm, the elbow of cranking arm between tail and the last underarm of cranking arm of the cranking arm of upper arm and underarm movable riveted joint formation upper arm, underarm; The movable respectively bottom that is riveted on wheelchair seat bracing frame front and back of the head of cranking arm, riveted joint place can keep the rotation of upper arm certain angle; The suitable position of underarm activity respectively is riveted on the bracing frame of wheelchair front and back, and the upper arm and the underarm of the push rod of cranking arm after the riveted joint are the curved boom shape, and riveted joint place can keep the rotation of underarm certain angle.
Said connecting line has two, respectively from the aperture of center of gravity wheel support bar head and front and back respectively the suitable position of one the push rod of cranking arm be fixedly connected; Connecting line makes to crank arm after connection is installed and keeps suitable pulling force between push rod and the center of gravity wheel support bar, and the push rod of when pulling force increases, cranking arm can extend thereupon.
Said back shaft is fixedly installed on the wheelchair bracing frame, and there is the link that is fixedly connected with the center of gravity wheel center, makes the center of gravity wheel can only do on ground longitudinally after back shaft and center of gravity wheel support bar are connected and installed and rolls.
Adjustment process of the present invention is described below:
The present invention requires the seat portion branch support of wheelchair and the bracing frame of wheelchair to be flexible connection, can realize the adjusting requirement of rising and descending with the front and back two parts that satisfy seat.
Center of gravity wheel of the present invention presents the feeling lightness in the head and heaviness in the feet structure, so that effectively keep the center of gravity wheel vertically downward in the wheelchair traveling process, carries out the ground surface consistent with the wheelchair direct of travel.Therefore, when wheelchair was done level and gone, the center of gravity wheel was just done the rolling of Light Condition.The pulling force of connecting line is regulated under the felicity condition between center of gravity is taken turns and cranked arm; When even if there is the less gradient on the road surface that wheelchair goes; The still basic rolling that keeps doing Light Condition of center of gravity wheel that is to say that wheelchair goes at level road; Perhaps when the less road traveling of the gradient, the center of gravity wheel does not produce tangible regulating action to the wheelchair level.
The with good grounds ground level of center of gravity wheel of the present invention changes the ability of upholding and shrinking automatically; The center of gravity wheel not only effectively keeps vertically downward when guaranteeing in advancing, to run into the wheelchair run-off the straight of gradient road surface, and the length that can also adjust the center of gravity wheel automatically is to guarantee center of gravity wheel solid landing and do not occur dangling under the effect of support bar expansion force.The flexible ability of center of gravity wheel plays help to seamlessly transitting of wheelchair horizontal adjustment simultaneously.
When wheelchair is done upward slope or cat ladder, low slope, high back before front and back wheel forms.When the gradient on slope acquired a certain degree, center of gravity wheel its head under gravity and tire function of friction moved forward, through connecting line form to after the push rod pulling force forward of cranking arm, the push rod of cranking arm after this pulling force impels is stretched elongated.After the push rod of cranking arm be elongated the result and raise the seat rear that is attached thereto to make the seat face adjust to level.The opportunity that center of gravity wheel head moves forward and the opportunity of wheelchair climbing are synchronous, that is to say, be synchronous the opportunity of opportunity that seat rear is upwards raised and wheelchair climbing.The stroke that center of gravity wheel head moves forward is proportional with the gradient on slope, and also to take turns the stroke that head moves forward proportional with center of gravity for the stroke of raising of seat rear.
When wheelchair was done descending or gone downstairs, front and back wheel formed low early and high after slope.When the gradient on slope acquired a certain degree, center of gravity wheel its head back under gravity and tire function of friction moved, and forms the push rod pulling force backwards of preceding cranking arm through connecting line, and the push rod of cranking arm before this pulling force impels is stretched elongated.Before the push rod of cranking arm be elongated the result and raise the seat front portion that is attached thereto to make the seat face adjust to level.The opportunity that center of gravity wheel head back moves and the opportunity of wheelchair descending are synchronous, that is to say that be synchronous the opportunity of opportunity that upwards raise the seat front portion and wheelchair descending.The stroke that center of gravity wheel head back moves is proportional with the gradient on slope, and seat is forward to be raised stroke also to take turns the stroke that head back moves proportional with center of gravity.
The invention has the beneficial effects as follows:
Level when 1, the present invention realizes wheelchair climb and fall or stair is regulated target and is only adopted simple mechanical part, has that impost is less, with low cost, simple for structure, the advantage of easy realization.The present invention both can be applicable to common wheelchair and also can be applicable to electric wheelchair.
2, the present invention regulates the driving that does not rely on and utilize any additionaling power in the operation of wheelchair level; Adjustment process is to be accomplished automatically by governor motion fully; Do not need manual intervention control; Simplified manually-operated complexity greatly, also simplified the complexity of control system greatly to the horizontal adjustment design to horizontal adjustment.
3, the invention enables the level adjustment of wheelchair climb and fall and seat to remain synchronously; The up-down adjustment amplitude of seat and the inclined degree of wheelchair remain proportional relation; To the regulating effect of wheelchair level obviously with effectively, the safe coefficient during to the wheelchair stair activity improve effect obviously with effectively.
4, the present invention have seat front and rear part that horizontal adjustment causes on lift and the decline process in the characteristics that seamlessly transit; The impulse type of the wheelchair self of stair activity jolted produces cushioning effect to a certain degree, this ride comfort degree during to the wheelchair stair activity improve effect obviously with effectively.
5, structural principle of the present invention can be expanded other relevant fields that is applied to.For example: the horizontal adjustment robot, the toter of harbour, harbour, station, factory, supermarket, warehouse and family's carrying heavy goods, and the interim toter that moves of hospital patient or the like.
Description of drawings
Fig. 1 is an organizational structure sketch map of the present invention.
Fig. 2 installs the situation sketch map after being connected for governor motion of the present invention with wheelchair.
Fig. 3 is the working condition sketch map of the present invention under wheelchair cat ladder state.
Fig. 4 is the working condition sketch map of the present invention under wheelchair is gone downstairs state.
Fig. 5 is a variation combined situation of the present invention.
Fig. 6 is that the present invention is at the ruuning situation sketch map of wheelchair under Fig. 5 variation situation upstairs, when going downstairs.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further description.Each illustrated scenario only is the principle delineation of basic thought of the present invention, and the specific embodiment that can adopt according to thought of the present invention is not limited in this.
As shown in Figure 1.Fig. 1 explanation is based on the automatic governor motion preferred construction of the wheelchair level scheme of center of gravity wheel.The automatic governor motion of wheelchair level that the present invention is based on center of gravity wheel by center of gravity wheel 1, after crank arm push rod 21 and before crank arm push rod 22, connecting line 31 and 32, back shaft 4 constitute.Center of gravity wheel 1 and back shaft 4 interconnections, center of gravity wheel 1 through connecting line 31 with 32 with after the push rod 21 of cranking arm be connected with the push rod 22 of before cranking arm.
Said center of gravity wheel 1 is made up of support bar 11 and the wheel 12 that is installed on support bar 11 bottoms.The head of support bar 11 has aperture 13, bottom to have to uphold mechanism 15, link 14 that the middle part has to be fixedly connected with back shaft 4.Aperture 13 is fixedly connected an end of two connecting lines 31 and 32.Uphold mechanism 15 and keep enough bullets to stretch power so that center of gravity wheel 1 produces enough expansion forces to ground, guarantee in wheelchair is advanced center of gravity take turns 1 under the expansion force effect solid landing and do not occur dangling.Support bar 11 bottoms are heavier, make center of gravity wheel 1 can only do longitudinally on ground after being connected and installed with back shaft 4 and roll.
Crank arm after the said push rod of cranking arm comprises push rod 21 with before crank arm 22 two of push rods; After the push rod 21 of cranking arm form for 212 two sections by upper arm 211 and underarm; Upper arm 211 and underarm 212 movable riveted joints formation upper arm 211 crank arm 2111, the elbow 2113 of cranking arm between tail 2112 and the last underarm of cranking arm of underarm 212; The 2111 movable respectively bottoms that are riveted on wheelchair seat bracing frame rear portion of cranking arm; Riveted joint place can keep the rotation of upper arm 211 certain angles, and the tail 2112 of cranking arm has an aperture 2114 to be fixedly connected an end of connecting line separately.The movable respectively suitable position that is riveted on wheelchair front and back bracing frame in the middle part 2115 of underarm 212, the upper arm 211 of the push rod 21 of cranking arm behind the riveted joint back is the curved boom shape with underarm 212, and riveted joint place can keep the rotation of underarm 212 certain angles.Equally, the preceding push rod 22 of cranking arm is made up of for 222 two sections upper arm 221 and underarm, upper arm 221 and underarm 222 movable riveted joints formation upper arm 221 crank arm 2211, the elbow 2213 of cranking arm between tail 2212 and the last underarm of cranking arm of underarm 222.Crank arm 2211 respectively activity be riveted on the forward bottom of wheelchair seat bracing frame, riveted joint place can keep the rotation of upper arm 221 certain angles.The tail 2212 of cranking arm has an aperture 2214 to be fixedly connected an end of connecting line separately.The movable respectively suitable position that is riveted on wheelchair front and back back shaft 4 in the middle part 2215 of underarm 222, the upper arm 221 of the push rod 22 of cranking arm before the riveted joint back is the curved boom shape with underarm 222, and riveted joint place can keep the rotation of underarm 222 certain angles.
Said connecting line has 32 two of connecting line 31 and connecting lines; The aperture 13 that connecting line 31 and connecting line 32 are taken turns 1 support bar, 11 heads from center of gravity respectively and the front and back tail aperture 2114 of cranking arm is fixedly connected with 2214, makes center of gravity wheel 1 and former and later two 21 and 22 formation of cranking arm be connected.Connecting line 31 and connecting line 32 make crank arm push rod 21 and the push rod 22 of cranking arm take turns the suitable pulling force of maintenance between 1 support bar 11 with center of gravity install connecting the back, and crank arm after when pulling force increases push rod 21 and the push rod 22 of before cranking arm can extend thereupon.
Said back shaft 4 is fixedly installed on the wheelchair bracing frame, and there is the link 41 that is fixedly connected with the center of gravity wheel center, and back shaft 4 is taken turns with center of gravity and made center of gravity wheel wheel 12 can only do rolling longitudinally on ground after 1 support bar 11 is connected and installed.
Referring to Fig. 2.This figure explanation the present invention is based on the automatic governor motion of wheelchair level of center of gravity wheel and with wheelchair the situation after being connected is installed.
Referring to Fig. 3.The automatic governor motion of wheelchair level that this figure explanation the present invention is based on the center of gravity wheel is connected the working condition of back under wheelchair cat ladder state with the wheelchair installation.When wheelchair is done upward slope or cat ladder, low slope, high back before front and back wheel forms.When the gradient on slope acquired a certain degree, center of gravity wheel its head under the force action of gravity and tire frictional force moved forward, and formed the rear portion push rod pulling force forward of cranking arm through connecting line, and this pulling force impels the rear portion push rod of cranking arm to be elongated.The push rod of cranking arm is elongated the result and raises the seat rear that is attached thereto to make the seat face adjust to level.
Referring to Fig. 4.The automatic governor motion of wheelchair level that this figure explanation the present invention is based on the center of gravity wheel is connected the working condition of back under the wheelchair downstairs movement state with the wheelchair installation.When wheelchair was done descending or gone downstairs, front and back wheel formed low early and high after slope.When the gradient on slope acquired a certain degree, center of gravity wheel its head back under the force action of gravity and tire frictional force moved, and formed the front portion push rod pulling force backwards of cranking arm through connecting line, and this pulling force impels the front portion push rod of cranking arm to be elongated.The push rod of cranking arm is elongated the result and raises the seat front portion that is attached thereto to make the seat face adjust to level.
Referring to Fig. 5.This figure explanation the present invention is based on the variation combined situation of the automatic governor motion of wheelchair level of center of gravity wheel.The variation structure that the present invention is based on the automatic governor motion of wheelchair level of center of gravity wheel is not limited only to this.Among this figure, the push rod of cranking arm has had the part various structure, and change has taken place for the junction point position and the previous examples of its installation direction and connecting line.Under this structure, connecting line is that the elbow place of cranking arm with the transfer bar mechanism of cranking arm is as junction point.
Referring to Fig. 6.The situation that is connected and installed of this figure explanation the present invention and wheelchair under Fig. 5 makes a variation structure situation and wheelchair go upstairs, ruuning situation when going downstairs.
Claims (5)
1. based on the wheelchair level governor motion of center of gravity wheel, it is characterized in that governor motion is made up of center of gravity wheel, former and later two push rods of cranking arm, two connecting lines and back shaft; Center of gravity wheel and back shaft interconnection, the center of gravity wheel is connected with two push rods of cranking arm through connecting line.
2. the wheelchair level governor motion based on center of gravity wheel according to claim 1 is characterized in that said center of gravity wheel is made up of support bar and the wheel that is installed on the support bar bottom; The head of support bar has aperture, bottom to have to uphold mechanism, link that the middle part has to be fixedly connected with back shaft; Aperture is fixedly connected an end of two connecting lines; Uphold mechanism and keep enough bullets to stretch power, guarantee that center of gravity is taken turns solid landing under the expansion force effect and do not occurred dangling in wheelchair is advanced so that the center of gravity wheel produces enough expansion forces to ground; The support bar bottom is heavier, makes the center of gravity wheel can only do on ground longitudinally after being connected and installed with back shaft and rolls.
3. the wheelchair level governor motion based on the center of gravity wheel according to claim 1; It is characterized in that cranking arm before the said push rod of cranking arm comprises push rod with after crank arm two of push rods; The push rod of cranking arm is made up of for two sections upper arm and underarm, the elbow of cranking arm between tail and the last underarm of cranking arm of crank arm head, the underarm of upper arm and underarm movable riveted joint formation upper arm; The movable respectively bottom that is riveted on wheelchair seat bracing frame front and back of the head of cranking arm, riveted joint place can keep the rotation of upper arm certain angle; The suitable position of underarm activity respectively is riveted on the bracing frame of wheelchair front and back, and the upper arm and the underarm of the push rod of cranking arm after the riveted joint are the curved boom shape, and riveted joint place can keep the rotation of underarm certain angle.
4. wheelchair level governor motion of taking turns based on center of gravity according to claim 1 is characterized in that said connecting line has two, is fixedly connected from the aperture of center of gravity wheel support bar head and the suitable position of each push rod of cranking arm of one of front and back respectively; Connecting line makes to crank arm after connection is installed and keeps suitable pulling force between push rod and the center of gravity wheel support bar, and the push rod of when pulling force increases, cranking arm can extend thereupon.
5. the wheelchair level governor motion based on the center of gravity wheel according to claim 1; It is characterized in that said back shaft is fixedly installed on the wheelchair bracing frame; There is the link that is fixedly connected with the center of gravity wheel center, makes the center of gravity wheel can only do on ground longitudinally after back shaft and center of gravity wheel support bar are connected and installed and rolls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103626812A CN102488596A (en) | 2011-11-16 | 2011-11-16 | Wheelchair horizontality regulating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103626812A CN102488596A (en) | 2011-11-16 | 2011-11-16 | Wheelchair horizontality regulating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102488596A true CN102488596A (en) | 2012-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103626812A Pending CN102488596A (en) | 2011-11-16 | 2011-11-16 | Wheelchair horizontality regulating mechanism |
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| CN (1) | CN102488596A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105213119A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | A kind of stair-climbing wheel chair |
| CN105250088A (en) * | 2015-11-17 | 2016-01-20 | 南京康尼机电股份有限公司 | Intelligent seat |
| CN106580577A (en) * | 2016-12-07 | 2017-04-26 | 卢碧娴 | Intelligent seat posture control device |
| CN111407541A (en) * | 2020-03-23 | 2020-07-14 | 西安星球通智能装备技术有限公司 | Wheelchair with prevent empting function |
| CN113599097A (en) * | 2021-08-10 | 2021-11-05 | 上海交通大学 | Obstacle crossing device of electric wheelchair and electric wheelchair |
-
2011
- 2011-11-16 CN CN2011103626812A patent/CN102488596A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105213119A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | A kind of stair-climbing wheel chair |
| CN105250088A (en) * | 2015-11-17 | 2016-01-20 | 南京康尼机电股份有限公司 | Intelligent seat |
| CN105250088B (en) * | 2015-11-17 | 2017-05-31 | 南京康尼机电股份有限公司 | A kind of Intelligent seat |
| CN106580577A (en) * | 2016-12-07 | 2017-04-26 | 卢碧娴 | Intelligent seat posture control device |
| CN106580577B (en) * | 2016-12-07 | 2018-06-01 | 卢碧娴 | Intelligent chair appearance control device |
| CN111407541A (en) * | 2020-03-23 | 2020-07-14 | 西安星球通智能装备技术有限公司 | Wheelchair with prevent empting function |
| CN113599097A (en) * | 2021-08-10 | 2021-11-05 | 上海交通大学 | Obstacle crossing device of electric wheelchair and electric wheelchair |
| CN113599097B (en) * | 2021-08-10 | 2022-09-09 | 上海交通大学 | Obstacle crossing device of electric wheelchair and electric wheelchair |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Liu Jizhong Document name: Notification of Publication of the Application for Invention |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120613 |