CN102614055B - Wheel/track coupled type self-balancing barrier-free wheelchair - Google Patents
Wheel/track coupled type self-balancing barrier-free wheelchair Download PDFInfo
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- CN102614055B CN102614055B CN201210110195.6A CN201210110195A CN102614055B CN 102614055 B CN102614055 B CN 102614055B CN 201210110195 A CN201210110195 A CN 201210110195A CN 102614055 B CN102614055 B CN 102614055B
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Abstract
The invention relates to a wheel/track coupled type self-balancing barrier-free wheelchair. The wheel/track coupled type self-balancing barrier-free wheelchair consists of an upper machine frame, a lower machine frame, a main machine frame, a lower limb machine frame, an auxiliary wheel frame, an auxiliary wheel, a gravity balance mechanism and a wheel/track changing structure moving platform, wherein the upper machine frame and the lower machine frame are connected with the upper end of the main frame in a shaft driving manner and can automatically rotate around the upper end shaft of the main frame through adjustment of the gravity balance mechanism; and the lower limb machine frame is moveably connected with the lower machine frame and can automatically rotate around the outer side of the lower machine frame. By adoption of the wheel/track coupled type moving platform, the wheelchair has excellent obstacle crossing capability when climbing stairs or barriers. The wheel/track coupled type self-balancing barrier-free wheelchair has a reasonable structure, is convenient to operate and provides great convenience for travelling and daily life of people with the lower limbs disabled.
Description
Technical field
The present invention is a kind of wheel/carry out manifold type self-balancing barrier free wheelchair, belongs to a kind of barrier free wheelchair that can safe and stable operation on level land, stair and scraggly road surface.
Background technology
Self-balancing barrier free wheelchair is that the multiple technologies such as a kind of transporting something containerized actuation mechanism, dynamic decision and planning, behavior control are in the integrated system of one.Wherein, star-like wheeled barrier free wheelchair and crawler type no-obstruct wheelchair are the most representative.Barrier free wheelchair is old people and patients with paralyzed lower limbs indispensable walking-replacing tool in daily life; the wheelchair of superior performance; especially intelligent barrier free wheelchair can make them in completing part daily routines, regains viability, strengthens and reintegrates social confidence.
Star-like wheeled barrier free wheelchair is comparatively general in the world at present, also be a kind of obstacle detouring wheelchair pattern of most study, it is the good wheelchair of current stair climbing effect, can adapt to a certain extent multiple landform, but this star-like wheeled barrier free wheelchair can produce larger jolting in the time ascending stair, feels very uncomfortable for wheelchair user.And the wheeled wheelchair that application is generally used, its obstacle performance is not strong again, if use the wheeled wheelchair stair (if Yi Zhuan building in front of the door not wheelchair access) of ascending, general way is to lay dull and stereotypedly at whole stair, and this is obviously unpractical.Another kind of way is the auxiliary body etc. that the stair of ascending are installed on wheeled wheelchair, will cause like this mechanism of wheelchair quite complicated, and wheelchair also can be very heavy.In addition, crawler-type wheel chair can carry out stair climbing stably, be applicable to most indoor and outdoor obstacle terrain, simple easily operation, barrier free wheelchair with respect to other kinds is safer stable, carry out stair climbing, but the movement velocity of crawler-type wheel chair on level land is slow without special messenger is auxiliary, weight is large, makes crawler-type wheel chair in aspect inconveniences such as turning and carryings.
Summary of the invention
For the defect that overcomes that existing barrier free wheelchair is unstable when speeling stairway or the climbing barrier thing, reliability is not high, speed is slow etc., the invention provides a kind of safe, convenient, wheelchair of speeling stairway or climbing barrier thing stably, user without any need for just freely on level land, stairway step, slope " walking " of help, provide great convenience by the daily life of giving disabled.
The technical scheme that this patent technical solution problem adopts is: wheel/shoe manifold type self-balancing barrier free wheelchair, to be formed by upper spider, lower bearing bracket, mainframe, lower limb frame, auxiliary wheel carrier, jockey pulley, gravity balance mechanism, wheel/caterpillar structure-variable mobile platform, upper spider, lower bearing bracket connect with the moving load of upper shaft of mainframe, adjusting by gravity balance mechanism can be around mainframe upper end pitching certain angle, the moving load of lower limb frame and lower bearing bracket connects, can be around lower bearing bracket outboard shafts automatic rotation.The moving load of auxiliary wheel carrier is connected on lower bearing bracket, jockey pulley is arranged on auxiliary wheel carrier, gravity balance mechanism is arranged between mainframe and upper and lower frame, the moving load of wheel/shoe manifold type mobile platform and mainframe connects, adopt wheel/shoe manifold type mobile platform, make wheelchair in the time climbing up and over stair or barrier, there is good obstacle climbing ability.
Upper spider is made up of upper spider chair cushion, upper spider axle, head frames, head support cushion, handrail, handle, chair cushion is fixed on upper spider axle, two handrails are arranged on the front end of upper spider axle, in the time of speeling stairway of wheelchair, barrier or level walking, upper user can be held handrail, to improve its stability.For make old people or quadriplegia patient use more comfortable when wheelchair, loosen, one head supporting mechanism is installed on upper spider top, head supporting mechanism comprises head frames and head support cushion two parts, head frames connects with the moving load of upper spider axle, can move up and down along connector, thus the particular location of adjusting head support cushion.Upper spider connects with the moving load of mainframe, can rotate a certain angle around the upper shaft of mainframe, main frame is erected fixation, upper spider, lower bearing bracket, two electric pushrods are connected on mainframe by certain crawl load, and control chamber and wheel caterpillar structure-variable mobile platform are all fixedly connected on mainframe.Lower bearing bracket comprises lower bearing bracket axle and lower bearing bracket chair cushion two parts, lower bearing bracket axle one end connects with the moving load of mainframe, the other end connects with the moving load of lower limb frame, and old people or quadriplegia patient can regulate lower limb frame with the angle between lower bearing bracket according to the actual needs of oneself voluntarily.Lower limb frame is made up of lower limb frame axle, pedal, knee pad, and pedal and knee pad can pass through its position of lower limb frame axle up-down adjustment.
Adopt wheel/shoe manifold type mobile platform, by the wheeled mapping device of mutually changing with crawler-type mobile, driving device, resilient track forms, its wheeled mapping device of mutually changing with crawler-type mobile is by drivewheel, support wheel, push rod, 6 connectors, 6 connector forks, support wheel fork, connecting rod, crank forms, 6 connectors and 6 connector forks, crank, connecting rod forms a crank and rocker mechanism, the moving load of 6 connectors and push rod connects, on wheelchair, while going downstairs, ARM panel in control chamber is by programme-control push rod throw crank rocker structure, make support wheel launch certain angle, thereby realize mobile platform conversion to crawler-type mobile by wheel type mobile.When level walking, the resilient track of mobile platform does not launch, and driving device turns round to drive wheelchair walking by controlling two drivewheels, regulates the speed discrepancy of drivewheel, can realize the turning action of wheelchair; When upper and lower stair, ARM panel control jockey pulley in control chamber lifts automatically, by the wheeled mapping device of mutually changing with crawler-type mobile, resilient track is launched, seat is heightened to suitable position, drive resilient track according to certain rotating speed operation by driving device control drivewheel, thereby realize the upper and lower stair motion of wheelchair.Resilient track is attached on drivewheel, and driving device is arranged on the mainframe lower end axle between two mobile platforms, is made up of motor, decelerator and shaft coupling.
Gravity balance mechanism is made up of two electric pushrods, two angular transducers and a control chamber, ARM panel and motor are equipped with in control chamber inside, two electric pushrod bottoms are connected on mainframe by a crawl load, and the other end is connected with the bottom axle of upper spider and lower bearing bracket respectively.Two angular transducers are contained in respectively the centre position, bottom of lower bearing bracket right-hand axis and the centre position, rear portion of upper spider right-hand axis.
The control flow of gravity balance mechanism is:
The first step is inputted the wheelchair center balance angle value of setting in ARM panel;
Second step, in the process of the upper and lower stair of wheelchair, angular transducer records the angle of inclination of lower bearing bracket and upper spider right-hand axis in real time, inclination numerical value is sent to ARM panel by angular transducer, ARM panel by with the comparison of initial setting angle value, ARM panel calculates the amount of movement of electric pushrod;
The 3rd step, ARM panel is controlled the amount of movement of electric pushrod again to promote or pull back lower bearing bracket and upper spider, and lower bearing bracket and upper spider are rotated a certain angle respectively around the upper shaft of mainframe, makes the center of gravity of wheelchair reach poised state.
Beneficial effect:
1. the present invention takes turns/carries out manifold type mobile platform and adopts 6 connectors and connector fork, crank, connecting rods to form a crank and rocker mechanism at 6 to have realized wheeled and crawler-type mobile and mutually change, made the advantage organic unity of wheel type mobile and crawler-type mobile;
2. gravity balance mechanism adopts angular transducer and controller to realize the control to electric pushrod thrust, to reach the object of controlling whole wheelchair center of gravity, solve a center of gravity control difficult problem for wheelchair generation in the time carrying out crawler-type mobile, ensured the safety of wheelchair at stair activity;
3. wheel/shoe mapping device of mobile platform of the present invention is simple in structure, easy to use, has overcome barrier free wheelchair in the past and has taken turns/carry out mapping device complex structure, defect that control system is loaded down with trivial details.
Brief description of the drawings
Fig. 1 is overall structure figure of the present invention.
Fig. 2 is seat portion subsystem frame structure chart of the present invention.
Fig. 3 is barrier free wheelchair mobile platform drivewheel appearance assumption diagram of the present invention.
Fig. 4 is that the mutual transfer principle figure of mechanism is taken turns/carried out to barrier free wheelchair mobile platform of the present invention.
Fig. 5 is the wheeled crawler type overall structure figure that turns of barrier free wheelchair mobile platform of the present invention.
Schematic appearance when Fig. 6 is barrier free wheelchair level walking of the present invention.
Fig. 7 is barrier free wheelchair of the present invention schematic appearance while going upstairs.
Fig. 8 is barrier free wheelchair of the present invention schematic appearance while going downstairs.
Fig. 9 is operational mode switching figure of the present invention.
In figure: 1, upper spider, 2, gravity balance mechanism, 3, mainframe, 4, wheel/caterpillar structure-variable mobile platform, 5, jockey pulley, 6, lower limb frame, 7, auxiliary wheel carrier, 8, lower bearing bracket, 9, head support cushion, 10, head frames, 11, handle, 12, upper spider axle, 13, electric pushrod, 14, mainframe axle, 15, control chamber, 16, lower bearing bracket axle, 17, pedal, 18, lower limb frame axle, 19, knee pad, 20, lower bearing bracket chair cushion, 21, handrail, 22, upper spider chair cushion, 23, torus, 24, wheel hub, 25, motor, 26, support wheel, 27, support wheel fork, 28, pad, 29, connecting rod, 30, crank, 31, decelerator, 32, push rod, 33, 6 connectors, 34, resilient track.
Detailed description of the invention
Shown in 1, illustrate that by reference to the accompanying drawings overall structure of the present invention forms.This takes turns/carries out manifold type self-balancing barrier free wheelchair by upper spider 1, gravity balance mechanism 2, mainframe 3, wheel/caterpillar structure-variable mobile platform 4, jockey pulley 5, lower limb frame 6, auxiliary wheel carrier 7, lower bearing bracket 8 forms, upper spider 1 and lower bearing bracket 8 all connect with the moving load of mainframe 3, adjusting by gravity balance mechanism 2 can be around the certain angle of mainframe 3 automatic rotations, lower limb frame 6 connects with the moving load of lower bearing bracket 8, can be around the certain angle of lower bearing bracket 8 automatic rotations, wheel/caterpillar structure-variable mobile platform 4 connects with the moving load of mainframe 3, jockey pulley 5 is connected on lower bearing bracket 8 by auxiliary wheel carrier 7, in the time of speeling stairway of wheelchair or level walking, help out.
Seat portion subsystem frame structure chart of the present invention and center of gravity Principles of Regulation are described shown in 2 by reference to the accompanying drawings.Upper spider 1 is made up of head support cushion 9, head frames 10, handle 11, upper spider axle 12, handrail 21, upper spider chair cushion 22, head frames 10 connects with the moving load of upper spider axle 12, user can move up and down head supporting bracket 10 according to the concrete condition of oneself, thereby regulates the particular location of head support cushion 9.Lower bearing bracket 8 is made up of lower bearing bracket axle 16 and lower bearing bracket chair cushion 20, upper spider axle 12 and lower bearing bracket axle 16 all connect with the moving load of mainframe axle 14 by a fulcrum, in the time of barrier free wheelchair stair activity, according to the gradient of stair, two electric pushrods 13 in gravity balance mechanism 2 promote respectively upper spider axle 12 and lower bearing bracket axle 20 rotates a certain angle around mainframe axle 14, thereby make wheelchair keep certain balance, play the object of center-of-gravity regulating.Gravity balance mechanism 2 is made up of two electric pushrods 13 and control chamber 15, the adjustable side of two electric pushrods 13 is connected with upper spider axle 12 and lower bearing bracket axle 16 respectively, the other end is connected on mainframe axle 14 by a crawl load, and control chamber 15 is fixedly connected on mainframe axle 14.Old people or quadriplegia patient can regulate lower limb frame 6 with the angle between lower bearing bracket 8 according to the actual needs of oneself voluntarily.Lower limb frame 6 is made up of pedal 17, lower limb frame axle 18, knee pad 19, lower limb frame axle 18 connects with the moving load of lower bearing bracket axle 16, can regulate voluntarily lower limb frame axle 18 with the angle between lower bearing bracket axle 16, lower limb frame axle 18 can move up and down, and user can free adjustment pedal 17 according to the concrete condition of oneself and the position of knee pad 19.
By reference to the accompanying drawings 3, accompanying drawing 4 and accompanying drawing 5 illustrate that mobile platform of the present invention takes turns/carry out mapping device operation principle.The mapping device that wheeled and crawler-type mobile are changed is mutually made up of torus 23, wheel hub 24, motor 25, support wheel 26, support wheel fork 27, pad 28, connecting rod 29, crank 30, decelerator 31, push rod 32,6 connectors 33.6 connectors 33 have six junction points, connect respectively with two push rods 32, two cranks 30, two support wheel forks 27 taking 6 as propping up a crawl load, and 6 connectors 33 form a crank and rocker mechanism with crank 30, connecting rod 29, support wheel fork 27.When level walking, resilient track does not launch, and mobile platform is walked according to wheeled motion, and the wheeled mapping device state of mutually changing with crawler-type mobile as shown in Figure 4.In the time of the upper and lower stair of barrier free wheelchair, control push rod 32 throw crank endplay devices, make support wheel fork 26 outwards launch the angle of, drive resilient track outwards to launch, thereby make mobile platform be converted to crawler type motion by wheeled motion, the wheeled mapping device state of mutually changing with crawler-type mobile as shown in Figure 5.
By reference to the accompanying drawings 6, accompanying drawing 7, accompanying drawing 8 and accompanying drawing 9 illustrate five kinds of motor patterns of the present invention.Motor pattern of the present invention can be divided into: level walking, go upstairs, go downstairs, prepare away stair, totally five kinds, level land is walked in preparation, the switching of five kinds of motor patterns is as shown in Figure 9.When level walking, the resilient track of mobile platform does not launch, and turns round to drive wheelchair walking by controlling two drivewheels, the kinestate of barrier free wheelchair level walking as shown in Figure 6, in addition, regulate the speed discrepancy of drivewheel, can realize the turning action of wheelchair; When the upper and lower stair of barrier free wheelchair, first to lift jockey pulley, by the wheeled mapping device of mutually changing with crawler-type mobile, two support wheels are outwards flicked, now crawler belt launches certain angle, seat is heightened suitable position, drive resilient track according to certain rotating speed operation by driving device control drivewheel, thereby realize the upper and lower stair motion of wheelchair.The motion state diagram of the upper and lower stair of barrier free wheelchair is as shown in accompanying drawing 7, accompanying drawing 8.
Claims (7)
1. wheel/carry out a manifold type self-balancing barrier free wheelchair, is characterized in that: be mainly made up of upper spider, lower bearing bracket, mainframe, lower limb frame, auxiliary wheel carrier, jockey pulley, gravity balance mechanism, wheel/caterpillar structure-variable mobile platform; Wherein, gravity balance mechanism is made up of two electric pushrods, two angular transducers and a control chamber, ARM panel is equipped with in control chamber inside, two electric pushrod bottoms are connected on mainframe by a crawl load, the other end is connected with the bottom axle of upper spider and lower bearing bracket respectively, upper spider, lower bearing bracket connect with the moving load of upper shaft of mainframe, and around mainframe upper shaft luffing angle; The moving load of lower limb frame and lower bearing bracket connects, around lower bearing bracket outboard shafts automatic rotation; The moving load of auxiliary wheel carrier is connected on lower bearing bracket, and jockey pulley is arranged on auxiliary wheel carrier; Gravity balance mechanism is arranged between mainframe and upper and lower frame, and the moving load of wheel/caterpillar structure-variable mobile platform and mainframe connects.
2. according to claim 1 wheel/carry out manifold type self-balancing barrier free wheelchair, is characterized in that: two angular transducers are contained in respectively the centre position, bottom of lower bearing bracket right-hand axis and the centre position, rear portion of upper spider right-hand axis.
3. according to claim 1 wheel/carry out manifold type self-balancing barrier free wheelchair, it is characterized in that: wheel/caterpillar structure-variable mobile platform is made up of wheeled mapping device, driving device, the resilient track of mutually changing with crawler-type mobile, its wheeled mapping device of mutually changing with crawler-type mobile is made up of drivewheel, support wheel, push rod, 6 connectors, 6 connector forks, support wheel fork, connecting rod, cranks, and 6 connectors and 6 connector forks, crank, connecting rods form crank and rocker mechanism; Driving device is made up of motor, decelerator, shaft coupling and push rod, and driving device is arranged on the mainframe lower end axle between two mobile platforms, and the moving load of 6 connectors and push rod connects, and resilient track is attached on drivewheel.
4. according to claim 1 wheel/carry out manifold type self-balancing barrier free wheelchair, is characterized in that: upper spider front end is installed two handrails, upper spider top securement head frames, and head frames is provided with the head support cushion of removable position.
5. according to claim 1 wheel/carry out manifold type self-balancing barrier free wheelchair, is characterized in that: lower limb frame lower end is provided with a pair of pedal, the middle secondary knee pad of installing.
6. according to claim 1 wheel/carry out manifold type self-balancing barrier free wheelchair, is characterized in that: two auxiliary wheel carriers are installed in lower bearing bracket below, and each auxiliary wheel carrier connects a jockey pulley, and auxiliary wheel carrier is with the fulcrum rotation on lower bearing bracket.
7. according to claim 1 wheel/carry out manifold type self-balancing barrier free wheelchair, is characterized in that:
The first step is inputted the wheelchair center balance angle value of setting in ARM panel;
Second step, in the process of the upper and lower stair of wheelchair, angular transducer records the angle of inclination of lower bearing bracket and upper spider right-hand axis in real time, inclination numerical value is sent to ARM panel by angular transducer, ARM panel by with the comparison of initial setting angle value, ARM panel calculates the amount of movement of electric pushrod;
The 3rd step, ARM panel is controlled the amount of movement of electric pushrod again to promote or pull back lower bearing bracket and upper spider, and lower bearing bracket and upper spider are rotated a certain angle respectively around the upper shaft of mainframe, makes the center of gravity of wheelchair reach poised state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210110195.6A CN102614055B (en) | 2012-04-13 | 2012-04-13 | Wheel/track coupled type self-balancing barrier-free wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210110195.6A CN102614055B (en) | 2012-04-13 | 2012-04-13 | Wheel/track coupled type self-balancing barrier-free wheelchair |
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| CN102614055A CN102614055A (en) | 2012-08-01 |
| CN102614055B true CN102614055B (en) | 2014-06-25 |
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| CN201210110195.6A Expired - Fee Related CN102614055B (en) | 2012-04-13 | 2012-04-13 | Wheel/track coupled type self-balancing barrier-free wheelchair |
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| CN104000697A (en) * | 2014-05-08 | 2014-08-27 | 河南科技大学 | Self-balancing wheelchair structure |
| CN104027207B (en) * | 2014-06-25 | 2017-11-03 | 金立新 | Multi-functional accessible life electric wheelchair |
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| CN105342771B (en) * | 2015-11-17 | 2017-08-25 | 南京康尼机电股份有限公司 | A kind of Intelligent seat |
| JP6255591B2 (en) * | 2016-01-29 | 2018-01-10 | 株式会社コスモテック | Electric wheelchair that moves by moving the center of gravity |
| WO2018025172A1 (en) * | 2016-08-02 | 2018-02-08 | B-Free Limited | Hybrid wheeled and tracked moving mechanism |
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| CN106333805B (en) * | 2016-09-22 | 2017-11-14 | 中国石化集团胜利石油管理局胜利医院 | A kind of net cover type medical treatment and nursing wheelchair |
| CN106420202B (en) * | 2016-11-03 | 2018-06-15 | 国家康复辅具研究中心 | Dynamic balancing electric wheelchair |
| CN106859874B (en) * | 2017-02-07 | 2018-07-06 | 晋江万智进出口贸易有限公司 | A kind of intelligent wheel chair that can keep self-balancing |
| JP6915420B2 (en) * | 2017-07-14 | 2021-08-04 | オムロン株式会社 | wheelchair |
| CN107898566A (en) * | 2017-12-25 | 2018-04-13 | 定远县中林机械技术有限公司 | A kind of adaptive stair activity wheelchair |
| CN112370255A (en) * | 2020-11-12 | 2021-02-19 | 安徽医科大学第一附属医院 | Wheel chair |
| CN112587325A (en) * | 2020-12-09 | 2021-04-02 | 合肥工业大学 | Intelligent obstacle avoidance self-balancing wheelchair and control system thereof |
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| WO2003049664A2 (en) * | 2001-12-11 | 2003-06-19 | Quigg Robert T | Stair-climbing wheelchair |
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