CN102697610B - Double-crawler-wheel obstacle crossing wheelchair - Google Patents

Abstract

A double-crawler-wheel obstacle crossing wheelchair comprises a chair part and a switching mechanism which is used for switching the roller transmission and the crawler wheel transmission of the double-crawler-wheel obstacle crossing wheelchair, wherein the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel, which are connected with each other through a connection bracket, the maximal angular speed of the crawler wheels is described in the specification, wherein omega represents the angular speed, m represents the mass of a multifunctional climbing wheelchair, h represents a gravity core height of the multifunctional climbing wheelchair, L represents the contact length between the crawler wheel and the floor, J represents the rotation inertness of the multifunctional climbing wheelchair, alpha represents an angle between a bottom line of the crawler wheel and the floor, and r represents an angle between a connection line of the gravity core of the multifunctional climbing chair and a front landing point and the crawler wheel. The structural error of a four-bar mechanism is compensated by applying a five-bar mechanism, so that the switching mechanism of the double-crawler-wheel obstacle crossing wheelchair realizes high-precision movement output, or completes a complicated movement principle; and the obstacles are crossed by adopting the double-crawler-wheel way, so that the obstacle crossing stability can be guaranteed.

Description

Two Athey wheel obstacle detouring wheelchair

Technical field

The present invention relates to machinery and control technology field, particularly relate to a kind of two Athey wheel obstacle detouring wheelchair.

Background technology

Wheelchair is their requisite walking-replacing tool for elderly and infirm.But, just cannot cross over when traditional wheelchair runs into bank.Wherein, the biggest obstacle of upper and lower stair these handicapped crowds just.In 200 years countries in order to solve the problem of these house stair activities, being thought of as these houses and installing elevator additional, but due to each side reason, causing this plan stranded.

At present, external mode of crossing over stair for solving the person that takes wheelchair is transporting equipment-stairs-movers of the emergency evacuation by building, is temporarily fixed on stairs-mover, uses stair activity by wheelchair.Replace after finishing using, operation sequence is loaded down with trivial details again.Although person's stair activity of taking wheelchair can be solved, just cannot stair activity at the building not being equipped with stairs-mover.

Domestic and international stair-climbing wheel chair uses four-bar mechanism or planetary wheeling mechanism to realize stair activity usually.For planet wheel-type stair-climbing wheel chair, structure is simple, and does not topple over when utilizing self-locking mechanism to ensure stair activity.But the adaptability of this stair-climbing wheel chair to stair is poor, the demand of user to comfortableness and reliability can not be met.

For additional crawler belt wheel-type stair-climbing wheel chair, adopt the mode of additional Athey wheel when stair activity, ensure that the seriality of stair activity process.But described additional crawler belt wheel-type stair-climbing wheel chair, when each installation Athey wheel, need complete under other people help, and complex operation, structure bulky, carries inconvenience, limits the place of wheelchair stair activity largely.

For Athey wheel and wheel combination type stair-climbing wheel chair, this wheelchair uses four bar structures, by lifting wheel to realize the conversion of wheel and Athey wheel.But described stair-climbing wheel chair adopts four bar structures, only has one degree of freedom, therefore high-precision operation output can not be realized or complete the more complicated characteristics of motion.

Therefore for prior art Problems existing, this case designer is by means of being engaged in the industry experience for many years, and active research improves, so there has been a kind of two Athey wheel obstacle detouring wheelchair of invention.

Summary of the invention

The present invention be directed in prior art, adopt the traditional adaptability of stair-climbing wheel chair to stair poor, the demand of user to comfortableness and reliability can not be met, and high-precision operation can not be realized export or complete the defects such as the more complicated characteristics of motion a kind of two Athey wheel obstacle detouring wheelchair is provided.

In order to solve the problem, the invention provides a kind of two Athey wheel obstacle detouring wheelchair, comprising: chair portion, described chair portion is used for user and takes; Switching mechanism, described switching mechanism is arranged on described chair subordinate, and for the switching between the roller of described pair of Athey wheel obstacle detouring wheelchair transmits and Athey wheel transmits, described Athey wheel transmission has the first Athey wheel and the second Athey wheel that are connected by connection bracket, and described first Athey wheel and described second Athey wheel comprise support further; Support wheel, described support wheel is arranged on the bracket; Be arranged on described support wheel side, and intermeshing first gear, the second gear between two, and the 3rd gear; Integral and intermeshing 4th gear with described second gear shape; Integral and intermeshing 5th gear with described 3rd gear shape, and engage each other with described 4th gear and described 5th gear external tooth and be positioned at the crawler belt gear outside described support wheel, the maximum angular rate of described Athey wheel is in formula, ω is angular velocity, m is multi-functional stair-climbing wheel chair quality, h is the height of C.G. of multi-functional stair-climbing wheel chair, L is Athey wheel and earth surface length, J is the rotary inertia of multi-functional stair-climbing wheel chair, and α is the angle between Athey wheel bottom line and ground, and r is multi-functional stair-climbing wheel chair center of gravity and the line of front earth point and the angle of Athey wheel.

Optionally, one end of described switching mechanism is flexibly connected with the first fixing point be arranged on described pair of Athey wheel obstacle detouring wheelchair, and the other end of described switching construction is fixedly connected with the second fixing point on described pair of Athey wheel obstacle detouring wheelchair.

Optionally, one end of the first bar of described switching mechanism is flexibly connected with described first fixing point; The other end of described first bar is flexibly connected with one end of the second bar of described switching mechanism; The other end of described switching mechanism second bar is flexibly connected with first linear electric motors one end on described 4th bar; First kink of described second bar connects in the end points place spindle-type of described 3rd bar; The other end of described 4th bar is flexibly connected with described 5th bar; The other end of described 5th bar is fixedly connected with described 3rd bar; One end of described 6th bar is fixedly installed on described 3rd bar; The other end of described 6th bar is flexibly connected with one end of the second linear electric motors on described 7th bar; The other end of described 7th bar is flexibly connected with one end of described 8th bar; The other end of described 8th bar is flexibly connected with the one end of the bar being fixedly installed on the second fixing point; Second kink of described 8th bar connects in the end points spindle-type of described 3rd bar.

Optionally, the switching mechanism of described pair of Athey wheel obstacle detouring wheelchair comprises the following steps in handoff procedure:

Perform step S1: described first linear electric motors drive, and extend laterally growth;

Perform step S2: the one end differing from described junction point of the second bar be flexibly connected with described first linear electric motors is with the first fixing point for the center of circle, and the length between 2 is radius clockwise movement; That is, the first bar rotates clockwise around A point, and described second bar is under the promotion of described first linear electric motors, and along with the first bar rotates, and the end points C point promoting the 3rd bar moves up and down;

Perform step S3: described 8th bar one end differing from the second fixing point around described bar under the driving of the second direct current generator is rotated, and under the promotion of described 8th bar, make the end points J point of described 3rd bar move up and down.

Perform step S4: move up and down in process at the end points C point of described 3rd bar, J point, realize the lifting of Athey wheel, so realize roller transmit and Athey wheel transmit between switching.

In sum, the switching mechanism of of the present invention pair of Athey wheel obstacle detouring wheelchair uses five-rod to compensate the structural failure of four-bar mechanism, realize high-precision movement output or complete the more complicated characteristics of motion, and adopting two caterpillar manner obstacle detouring, ensureing the stationarity of obstacle detouring.

Accompanying drawing explanation

Figure 1 shows that the perspective view of the two Athey wheel obstacle detouring wheelchair of the present invention;

Figure 2 shows that the theory structure schematic diagram of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention;

Figure 3 shows that the motor process principle schematic of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention;

Figure 4 shows that the motor process initial stage schematic diagram of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention;

Figure 5 shows that the schematic diagram in the motor process of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention;

Figure 6 shows that the Athey wheel structural representation of the two Athey wheel obstacle detouring wheelchair of the present invention;

Figure 7 shows that the schematic diagram hindering and prepare to cross met by of the present invention pair of Athey wheel obstacle detouring wheelchair;

Figure 8 shows that the schematic diagram that barrier crosses process met by of the present invention pair of Athey wheel obstacle detouring wheelchair;

Figure 9 shows that of the present invention pair of Athey wheel obstacle detouring wheelchair is met and hinder the schematic diagram crossed that is near completion.

Detailed description of the invention

By describe in detail the invention technology contents, structural feature, reached object and effect, coordinate accompanying drawing to be described in detail below in conjunction with embodiment.

Refer to Fig. 1, Figure 1 shows that the perspective view of the two Athey wheel obstacle detouring wheelchair of the present invention.Described pair of Athey wheel obstacle detouring wheelchair 1, comprises chair portion 10, and described chair portion 10 is taken for user; Switching mechanism 11 between roller transmission and Athey wheel transmit, described switching mechanism 11 is arranged on described chair portion 10 times, and for described help the roller of vertical Climbing building device 1 transmit and Athey wheel transmit between switching, and aiding upright mechanism 12, described aiding upright mechanism 12 is arranged on the downside of described chair portion 10, and stands for auxiliary user.

Please continue to refer to Fig. 1, and Fig. 2, Fig. 3, Fig. 4, Fig. 5 are consulted in combination, Figure 2 shows that the theory structure schematic diagram of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention.Figure 3 shows that the motor process theory structure schematic diagram of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention.Figure 4 shows that the motor process initial stage schematic diagram of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention.Figure 5 shows that the schematic diagram in the motor process of the switching mechanism of the two Athey wheel obstacle detouring wheelchair of the present invention.In the present invention, described pair of Athey wheel obstacle detouring wheelchair 1 adopts pair mode of Athey wheel transmission when upper and lower stair and obstacle detouring.Wherein, the switching between described roller transmission means and Athey wheel transmission means is realized the elevating control of described Athey wheel by described switching mechanism 11.One end of described switching mechanism 11 is flexibly connected with the first fixing point 13 be arranged on described pair of Athey wheel obstacle detouring wheelchair 1; The other end of described switching construction 11 is fixedly connected with the second fixing point 14 on described pair of Athey wheel obstacle detouring wheelchair 1.

Please continue to refer to Fig. 2, Fig. 3, Fig. 4, Fig. 5, the switching mechanism 11 of of the present invention pair of Athey wheel obstacle detouring wheelchair 1 is five-rod, is controlled by 2 linear electric motors, and have 8 movable devices and 11 lower pairs, its degree of freedom is 2.Particularly, one end A point of the first bar 110 of described switching mechanism 11 is flexibly connected with described first fixing point 13; The other end B point of described first bar 110 is flexibly connected with one end of the second bar 111 of described switching mechanism 11; The other end D point of described switching mechanism 11 second bar 111 is flexibly connected with first linear electric motors 113a one end on described 4th bar 112; First kink 1111 of described second bar 111 connects in the end points place C point spindle-type of described 3rd bar 114; The other end E point of described 4th bar 112 is flexibly connected with described 5th bar 115; The other end of described 5th bar 115 is fixedly connected with described 3rd bar 114; One end of described 6th bar 116 is fixedly installed on described 3rd bar 114; The other end of described 6th bar 116 is flexibly connected with the one end of the second linear electric motors 113b on described 7th bar 117; The other end of described 7th bar 117 is flexibly connected with one end of described 8th bar 118; The other end of described 8th bar 118 is flexibly connected with the one end of the bar 119 being fixedly installed on the second fixing point 14; Second kink 1181 of described 8th bar 118 connects in the end points J point spindle-type of described 3rd bar 114.

Please continue to refer to Fig. 2, Fig. 3, Fig. 4, Fig. 5 in detail, and the operation principle of the switching mechanism 11 of of the present invention pair of Athey wheel obstacle detouring wheelchair 1 is described in detail.When the switching mechanism 11 of of the present invention pair of Athey wheel obstacle detouring wheelchair 1 switches between roller transmission and Athey wheel transmission, comprise the following steps:

Perform step S11: described first linear electric motors 113a drives, and extends laterally growth.Now, one end B point differing from described junction point of the second bar 111 be flexibly connected with described first linear electric motors 113a is with the A point of the first fixing point 13 for the center of circle, and the length of AB is radius clockwise movement; That is, the first bar 110 rotates clockwise around A point.Described second bar 111 is under the promotion of described first linear electric motors 113a, and along with the first bar 111 rotates, and the end points C point promoting the 3rd bar 114 moves up and down.

Perform step S12: one end K point that differ from second fixing point 14 of described 8th bar 118 around described bar 119 under the driving of the second direct current generator 113b rotates, and under the promotion of described 8th bar 118, make the end points J point of described 3rd bar 114 move up and down.

Perform step S13: move up and down in process at the end points C point of described 3rd bar 114, J point, realize the lifting of Athey wheel, so realize roller transmit and Athey wheel transmit between switching.

Refer to Fig. 6, Figure 6 shows that the Athey wheel structural representation of the two Athey wheel obstacle detouring wheelchair of the present invention.Athey wheel 18a, 18b of described pair of Athey wheel obstacle detouring wheelchair 1 include support 180; Support wheel 181, described support wheel 181 is arranged on described support 180; Be arranged on described support wheel 181 side, and intermeshing first gear 182, second gear 183 between two, and the 3rd gear 184; One is formed and intermeshing 4th gear 185 with described second gear 183; Form one and intermeshing 5th gear 186 with described 3rd gear 184, and engage each other with described 4th gear 185 and described 5th gear 186 external tooth and be positioned at the crawler belt gear 187 outside described support wheel 181.Wherein, described Athey wheel 18a is connected by connection bracket 188 with described Athey wheel 18b.In the motor process of described Athey wheel 18a, 18b, described external motor (not shown) drives the first gear 181 between described second gear 183 and described 3rd gear 184 to rotate; Described first gear 181 also drives described second gear 183 to rotate with described 3rd gear 184; Described second gear 183 is with described 3rd gear 184 and then drive described 4th gear 185 to rotate with described 5th gear 186, drives the rotation of described crawler belt gear 187 with this.

Please continue to refer to Fig. 6, and Fig. 7, Fig. 8, Fig. 9 are consulted in combination, Figure 7 shows that the schematic diagram hindering and prepare to cross met by of the present invention pair of Athey wheel obstacle detouring wheelchair.Figure 8 shows that the schematic diagram that barrier crosses process met by of the present invention pair of Athey wheel obstacle detouring wheelchair.Figure 9 shows that the schematic diagram hindering the process of crossing that is near completion met by of the present invention pair of Athey wheel obstacle detouring wheelchair.

When of the present invention pair of Athey wheel obstacle detouring wheelchair 1 runs into protrusion barrier 2 and prepares to cross, described Athey wheel 18b adjusts state, enumerate ground, described pair of Athey wheel obstacle detouring wheelchair 1 is with barrier in speed v 2, L is the contact length on described Athey wheel 18b and ground, when center of gravity is positioned at the left side of barrier 2 fulcrum O, the t and increasing gradually in time of the angle α now between described Athey wheel 18b bottom line and ground

$\sin \mathrm{\α}=\frac{h_0}{L-\mathrm{vt}}$

In formula: h ₀for the height of barrier 2, due to h ₀<<L, therefore α value is less, sin α=α, now the angular velocity omega of two Athey wheel obstacle detouring wheelchair 1 and angular acceleration a are respectively

$\mathrm{\&omega;}=\frac{\mathrm{d\&alpha;}}{\mathrm{dt}}=\frac{{\mathrm{vh}}_o}{{(1-\mathrm{vt})}^2}$

$a=\frac{{\mathrm{d\&alpha;}}^2}{d{t}^2}=\frac{{2v}^2{h}_o}{{(1-\mathrm{vt})}^3}$

In the process of of the present invention pair of Athey wheel obstacle detouring wheelchair 1 throwing over barrier 2, described function stair-climbing wheel chair 1 continues to climb up barrier 2 with speed v, center of gravity exceedes fulcrum O, under the effect of gravity and movement velocity, described function stair-climbing wheel chair 1 does plane motion, rotates, while move forward around described fulcrum O, now position of centre of gravity is gradually away from the fulcrum O of barrier 2, and center of gravity is got square to fulcrum O and increased gradually.

If h is the height of C.G. of described function stair-climbing wheel chair 1, L ₁for the distance of earth point before described function stair-climbing wheel chair 1 center of gravity to Athey wheel 18b.According to dynamic differential equation, described function stair-climbing wheel chair 1 can be obtained around the Changing Pattern of the angular acceleration a put with α.

J×a＝mg×cosα×(vt-L ₁+h×tanα)

In formula: J is the rotary inertia of function stair-climbing wheel chair 1.

When described function stair-climbing wheel chair 1 moves forward, now first the front end of described function stair-climbing wheel chair 1 lands, described function stair-climbing wheel chair 1 has larger inertia, just impacts ground with larger impulsive force, causes the strong collision on function stair-climbing wheel chair 1 and ground.Enumerate ground, before supposing described Athey wheel 18a, touchdown point is A point, and its speed is U _aif the speed of collision rift is V _a, impact inertia I when can set up ground connection cake and collision on the ground before described function stair-climbing wheel chair 1 according to theorem of impulse.

$I^2={2m}^2\&times;{\mathrm{\&omega;}}^2{\left[\frac{I}{m\&times;{\mathrm{\&omega;}}^2\&times;\cos \mathrm{\&alpha;}-0.5\&times;L}\right]}^2+2\mathrm{mJ}{\mathrm{\&omega;}}^2$

When described function stair-climbing wheel chair 1 collides with ground, due to acceleration and inertia, described function stair-climbing wheel chair 1 overturns around front earth point A by rotating to transfer to suddenly around fulcrum O, thus the inertia angle c that generation one is additional.

Enumerate ground, if the dynamic analysis of described function stair-climbing wheel chair 1 when to climb next inclination angle be the barrier 2 of g, known described function stair-climbing wheel chair 1 height of C.G. is the line kA of h, center of gravity k and front earth point A and the angle of Athey wheel 18a is r angle.According to principle of conservation of energy, the relation of angular velocity when additional inertance angle c and collision can be set up:

$c=\arcsin [\frac{J\&times;{\mathrm{\&omega;}}^2}{2\mathrm{mg}\sqrt{h^2+L^2}}-\sin (\mathrm{\&alpha;}+r)]-(\mathrm{\&alpha;}+r)$

From described analysis, when described function stair-climbing wheel chair 1 is gone downstairs, often climb down one-level step and be just equivalent to described function stair-climbing wheel chair 1 and cross over an obstacle, produce an additional inertia angle simultaneously.As a+c+r<90 °, because action of gravity falls back again barrier 2 after described function stair-climbing wheel chair 1 turns forward, barrier 2 is made to produce vibration to described function stair-climbing wheel chair 1 and impact.That is, often just there are two Secondary Shocks across during next stage step in described function stair-climbing wheel chair 1.As a+c+r>90 °, now center of gravity exceedes critical state, and described function stair-climbing wheel chair 1 will turn over forward just around front earth point A, tumbles downstairs.Apparently, prevent described function stair-climbing wheel chair 1 from tumbling downstairs, then need the movement velocity controlling described function stair-climbing wheel chair 1.Significantly, the angular velocity of described function stair-climbing wheel chair 1 is larger, and inertia angle is also larger.When described function stair-climbing wheel chair 1 is in critical state, its maximum angular rate is in formula, ω is angular velocity, m is two Athey wheel obstacle detouring wheelchair quality, h is the height of C.G. of two Athey wheel obstacle detouring wheelchair, L is Athey wheel and earth surface length, J is the rotary inertia of two Athey wheel obstacle detouring wheelchair, and α is the angle between Athey wheel bottom line and ground, and r is two Athey wheel obstacle detouring wheelchair center of gravity and the line of front earth point and the angle of Athey wheel.

In sum, the switching mechanism of of the present invention pair of Athey wheel obstacle detouring wheelchair uses five-rod to compensate the structural failure of four-bar mechanism, realize high-precision movement output or complete the more complicated characteristics of motion, and adopting two caterpillar manner obstacle detouring, ensureing the stationarity of obstacle detouring.

Those skilled in the art all should be appreciated that, without departing from the spirit or scope of the present invention, can carry out various modifications and variations to the present invention.Thus, if when any amendment or modification fall in the protection domain of appended claims and equivalent, think that these amendment and modification are contained in the present invention.

Claims (4)

1. a two Athey wheel obstacle detouring wheelchair, it is characterized in that, described pair of Athey wheel obstacle detouring wheelchair comprises:

Chair portion, described chair portion is used for user and takes;

Switching mechanism, described switching mechanism is arranged on described chair subordinate, and for the switching between the roller of described pair of Athey wheel obstacle detouring wheelchair transmits and Athey wheel transmits, described Athey wheel transmission has the first Athey wheel and the second Athey wheel that are connected by connection bracket, and described first Athey wheel and described second Athey wheel comprise support further; Support wheel, described support wheel is arranged on the bracket; Be arranged on described support wheel side, and intermeshing first gear, the second gear between two, and the 3rd gear; Integral and intermeshing 4th gear with described second gear shape; Integral and intermeshing 5th gear with described 3rd gear shape, and engage each other with described 4th gear and described 5th gear external tooth and be positioned at the crawler belt gear outside described support wheel, the maximum angular rate of described first Athey wheel is in formula, ω is angular velocity, m is two Athey wheel obstacle detouring wheelchair quality, h is the height of C.G. of two Athey wheel obstacle detouring wheelchair, L is Athey wheel and earth surface length, J is the rotary inertia of two Athey wheel obstacle detouring wheelchair, and α is the angle between Athey wheel bottom line and ground, and r is two Athey wheel obstacle detouring wheelchair center of gravity and the line of front earth point and the angle of Athey wheel.

2. two Athey wheel obstacle detouring wheelchair as claimed in claim 1, it is characterized in that, one end of described switching mechanism is flexibly connected with the first fixing point be arranged on described pair of Athey wheel obstacle detouring wheelchair, and the other end of described switching construction is fixedly connected with the second fixing point on described pair of Athey wheel obstacle detouring wheelchair.

3. two Athey wheel obstacle detouring wheelchair as claimed in claim 1, it is characterized in that, one end of the first bar of described switching mechanism is flexibly connected with one first fixing point; The other end of described first bar is flexibly connected with one end of the second bar of described switching mechanism; The other end of described switching mechanism second bar is flexibly connected with first linear electric motors one end on the 4th bar of switching mechanism; First kink of described second bar connects in the end points place spindle-type of the 3rd bar of switching mechanism; The other end of described 4th bar is flexibly connected with the 5th bar of switching mechanism; The other end of described 5th bar is fixedly connected with described 3rd bar; One end of 6th bar of switching mechanism is fixedly installed on described 3rd bar; The other end of described 6th bar is flexibly connected with one end of the second linear electric motors on the 7th bar of switching mechanism; The other end of described 7th bar is flexibly connected with one end of the 8th bar of switching mechanism; The other end of described 8th bar is flexibly connected with the one end of the bar being fixedly installed on the second fixing point; Second kink of described 8th bar connects in the end points spindle-type of described 3rd bar.

4. two Athey wheel obstacle detouring wheelchair as claimed in claim 3, it is characterized in that, the switching mechanism of described pair of Athey wheel obstacle detouring wheelchair comprises the following steps in handoff procedure:

Perform step S1: described first linear electric motors drive, and extend laterally growth;

Perform step S2: the one end differing from described junction point of the second bar be flexibly connected with described first linear electric motors is with the first fixing point for the center of circle, and the length between 2 is radius clockwise movement; That is, the first bar rotates clockwise around A point, and described second bar is under the promotion of described first linear electric motors, and along with the first bar rotates, and the end points C point promoting the 3rd bar moves up and down;

Perform step S3: described 8th bar one end differing from the second fixing point around described bar under the driving of the second direct current generator is rotated, and under the promotion of described 8th bar, make the end points J point of described 3rd bar move up and down;

Perform step S4: move up and down in process at the end points C point of described 3rd bar, J point, realize the lifting of Athey wheel, so realize roller transmit and Athey wheel transmit between switching.