CN102697611B - Multifunctional stair climbing wheelchair - Google Patents
Multifunctional stair climbing wheelchair Download PDFInfo
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- CN102697611B CN102697611B CN201210206338.3A CN201210206338A CN102697611B CN 102697611 B CN102697611 B CN 102697611B CN 201210206338 A CN201210206338 A CN 201210206338A CN 102697611 B CN102697611 B CN 102697611B
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Abstract
The invention discloses a multifunctional stair climbing wheelchair, which comprises a chair part, a switching mechanism and an auxiliary standing mechanism, wherein the switching mechanism is used for switching between roller transmission and crawler wheel transmission of the multifunctional stair climbing wheelchair; a crawler wheel further comprise a bracket, a support wheel, a first gear and a second gear which are meshed with each other, a third gear, a fourth gear which is integrated and meshed with the second gear, a fifth gear which is integrated and meshed with the third gear, and a crawler gear which is meshed with outer teeth of the fourth gear and the fifth gear and is positioned on the outer side of the support wheel; the maximum angular speed of the crawler wheel is shown in the description. Switching between roller transmission and the crawler wheel transmission of the multifunctional stair climbing wheelchair can be realized; and meanwhile, the auxiliary standing mechanism is used for assisting a user in standing, and the angle of the chair part is controlled, so that the levelness can be ensured in ascending and descending processes, and the safety and comfort of the stair climbing wheelchair are enhanced.
Description
Technical field
The present invention relates to machinery and control technology field, particularly relate to a kind of multi-functional stair-climbing wheel chair.
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 significantly.
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 multi-functional stair-climbing wheel chair 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 multi-functional stair-climbing wheel chair is provided.
Another object of the present invention is in prior art, the adaptability of traditional stair-climbing wheel chair to stair is poor, can not meet the demand of user to comfortableness and reliability, the defects such as user sitting is uncomfortable provide a kind of step of aiding upright mechanism of multi-functional stair-climbing wheel chair.
In order to solve the problem, the invention provides a kind of multi-functional stair-climbing wheel chair to assist, comprise: a kind of multi-functional stair-climbing wheel chair, comprise: 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 multi-functional stair-climbing wheel chair transmits and Athey wheel transmits: and aiding upright mechanism, described aiding upright organization establishes is in described chair subordinate side, and stand for auxiliary user: wherein, the switching mechanism of described multi-functional stair-climbing wheel chair is five-rod, controlled by 2 linear electric motors, there are 8 movable devices and 11 lower pairs, its degree of freedom is 2: the Athey wheel of described multi-functional stair-climbing wheel chair comprises support further: support wheel, described support wheel is arranged on the bracket: be arranged on described support wheel side, and intermeshing first gear between two, second gear, 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 multi-functional stair-climbing wheel chair, and the other end of described switching construction is fixedly connected with the second fixing point on described multi-functional stair-climbing wheel chair.
Optional, one end of the first lever of switching mechanism is described and the fixed point connection: referred to the other end of the first lever with one end of the second pole of switching mechanism is active connection: described the second pole on the other side of the switching mechanism and described in the fourth stem connection at one end of the first linear motor activity: described the first bend of the 2nd it is the third pole of the endpoint type shaft connection: described the fourth pole mentioned in the other end of the fifth pole active connection: referred to the other end of the fifth pole and described the third pole fixed connection: described the sixth rod fixed set it at the end of the third pole, referred to the other end of the sixth rod and described the seventh connection pole on one end of the second linear motor activity: described in the rod at the other end of the seventh and eighth pole at one end of the activity described connections: referred to the other end of the eighth rod and the fixed set active connection at one end of the second fixed point bar: the second bending part described the eighth rod it is the third pole of the endpoint type shaft connection.
Optionally, described aiding upright mechanism comprises the first pole that parallelogram is arranged, second pole, 3rd pole, and the 4th pole: described first pole be arranged in parallel with described 3rd pole: described second pole be arranged in parallel with described 4th pole: one end of described second pole is flexibly connected with the point on described first pole: the other end of described second pole is flexibly connected with the end points of described 3rd pole: one end of described 4th pole is flexibly connected with the end points on the first pole: the other end of described 4th pole is flexibly connected with the point on described 3rd pole: arrange the 5th pole closing between described 4th fixing point one end and described second pole of described 3rd pole, and the 3rd linear electric motors are set on described 5th pole: the 6th pole between described 3rd fixing point and the strong point closing on described 4th fixing point arranges the 4th linear electric motors.
Optionally, described 3rd pole is L-shaped.
For realizing the another object of the present invention, the invention provides a kind of method of aiding upright mechanism when realizing auxiliary standing function of described multi-functional stair-climbing wheel chair, said method comprising the steps of:
Perform step S1: driven by described 3rd linear electric motors, described 3rd linear electric motors extend, then the junction point of described second pole and described first pole with another end points of the second pole for the center of circle, and with the length of described second pole for radius moves:
Perform step S2: because described first pole, the second pole, the 3rd pole, the 4th pole form parallelogram, so described second pole has the identical characteristics of motion with described 4th pole: described first pole is rotated around the junction point F point of described first pole and described 4th pole, described first pole is also parallel with described 3rd pole all the time, makes chair portion support the back of user all the time:
Perform step S3: extended by the driving of described 3rd linear electric motors, thus realize the auxiliary standing function of multi-functional stair-climbing wheel chair.
Optionally, the aiding upright mechanism of described multi-functional stair-climbing wheel chair comprises further when realizing auxiliary standing function:
Perform step S4: described 4th linear electric motors drive, described 3rd linear electric motors are without stretching motion, described 3rd pole rotates clockwise certain angle around described 4th fixing point, and then when realizing climbing building and obstacle detouring, chair portion can keep the function of level and adjusting seat center of gravity.
Optionally, the size of described angle is decided by the angle of stair and barrier.
In sum, the switching mechanism of multi-functional stair-climbing wheel chair of the present invention 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 realize with this switching that roller transmits and Athey wheel transmits, utilize the aiding upright mechanism with parallelogram sturcutre to assist user to stand, and when can realize climbing building and obstacle detouring, seat can keep the function of level and adjusting seat center of gravity simultaneously.
Accompanying drawing explanation
Figure 1 shows that the perspective view of the multi-functional stair-climbing wheel chair of the present invention:
Figure 2 shows that the theory structure schematic diagram of the switching mechanism of the multi-functional stair-climbing wheel chair of the present invention:
Figure 3 shows that the structural principle schematic diagram of the aiding upright mechanism of the multi-functional stair-climbing wheel chair of the present invention:
Figure 4 shows that the schematic diagram of the present invention's multi-functional stair-climbing wheel chair adjustment level and center of gravity:
The schematic diagram at Figure 5 shows that the present invention's multi-functional stair-climbing wheel chair second Athey wheel initial stage upstairs:
Figure 6 shows that the schematic diagram during multi-functional stair-climbing wheel chair first Athey wheel of the present invention and the second Athey wheel are upstairs:
Figure 7 shows that the present invention's multi-functional stair-climbing wheel chair second Athey wheel completes the schematic diagram upstairs:
Figure 8 shows that the Athey wheel structural representation of the multi-functional stair-climbing wheel chair of the present invention:
Figure 9 shows that multi-functional stair-climbing wheel chair of the present invention meets the structural representation hindering and prepare to cross:
Figure 10 shows that multi-functional stair-climbing wheel chair of the present invention meets the structural representation that barrier crosses process:
Figure 11 shows that multi-functional stair-climbing wheel chair of the present invention meets the structural representation hindering the process of crossing 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 multi-functional stair-climbing wheel chair of the present invention.Described multi-functional stair-climbing wheel chair 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 is consulted in combination, Figure 2 shows that the theory structure schematic diagram of the switching mechanism of the multi-functional stair-climbing wheel chair of the present invention.In the present invention, when described multi-functional stair-climbing wheel chair 1 moves on level land time, adopt roller transmission means: when described multi-functional stair-climbing wheel chair 11 at stair activity time adopt the mode of Athey wheel transmission.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 multi-functional stair-climbing wheel chair 1: the other end of described switching construction 11 is fixedly connected with the second fixing point 14 on described multi-functional stair-climbing wheel chair 1.
Please continue to refer to Fig. 2, the switching mechanism 11 of multi-functional stair-climbing wheel chair 1 of the present invention 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: the first kink 1111 of described second bar 111 is connected 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: the second kink 1181 of described 8th bar 118 is connected in the end points J point spindle-type of described 3rd bar 114.
Please continue to refer to Fig. 2 in detail, and the operation principle of the switching mechanism 11 of multi-functional stair-climbing wheel chair 1 of the present invention is described in detail.When the switching mechanism 11 of multi-functional stair-climbing wheel chair 1 of the present invention 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: namely, and 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.
Please continue to refer to Fig. 1, and Fig. 3 is consulted in combination, Figure 3 shows that the structural principle schematic diagram of the aiding upright mechanism of the multi-functional stair-climbing wheel chair of the present invention.The aiding upright mechanism 12 of described multi-functional stair-climbing wheel chair 1 is fixedly installed on the wheelchair frame (not shown) of described multi-functional stair-climbing wheel chair 1 by the 3rd fixing point 15 and the 4th fixing point 16.Described aiding upright mechanism 12 comprises the first pole 121, second pole 122, the 3rd pole 123 of parallelogram setting, and the 4th pole 124.Wherein, described first pole 121 be arranged in parallel with described 3rd pole 123: described second pole 122 be arranged in parallel with described 4th pole 124.Described 3rd pole 123 is L-shaped.One end of described second pole 122 is flexibly connected with the some E on described first pole 121: the other end of described second pole 122 is flexibly connected with the end points C of described 3rd pole 123.One end of described 4th pole 124 is flexibly connected with the end points F on the first pole 121: the other end of described 4th pole 124 is flexibly connected with the some B on described 3rd pole 123.5th pole 125 is set closing between described 4th fixing point 16 one end and described second pole 122 of described 3rd pole 123, and the 3rd linear electric motors 126a is set on described 5th pole 125.The 6th pole 127 between described 3rd fixing point 15 and the strong point 17 closing on described 4th fixing point 16 arranges the 4th linear electric motors 126b.
Please continue to refer to Fig. 3 in detail, and the operation principle of the aiding upright mechanism of multi-functional stair-climbing wheel chair of the present invention is described in detail.The aiding upright mechanism 12 of multi-functional stair-climbing wheel chair 1 of the present invention comprises the following steps when realizing auxiliary standing function:
Perform step S21: driven by described 3rd linear electric motors 126a, described 3rd linear electric motors 126a extends, then the junction point E of described second pole 122 and described first pole 121 with another end points C of the second pole 122 for the center of circle, and with the length of described second pole 122 for radius moves.That is, described second pole 122 rotates counterclockwise around another end points of described second pole 122 with the junction point E of described first pole 121.
Perform step S22: because described first pole 121, second pole 122, the 3rd pole 123, the 4th pole 124 form parallelogram, so described second pole 122 has the identical characteristics of motion with described 4th pole 124.Described first pole 121 is rotated with the junction point F point of described 4th pole 124 around described first pole 121, and described first pole 121 is also parallel with described 3rd pole 123 all the time, makes chair portion 10 support the back of user all the time.
Perform step S23: extended by the driving of described 3rd linear electric motors 126a, thus realize the auxiliary standing function of multi-functional stair-climbing wheel chair 1.
Please continue to refer to Fig. 1, and Fig. 4 is consulted in combination, and the present invention can keep the function of level and adjusting seat center of gravity to realize the seat when climbing building and obstacle detouring, further comprising the steps:
Perform step S24: described 4th linear electric motors 126b drives, now, described 3rd linear electric motors 126a is without stretching motion, described 3rd pole 123 rotates clockwise certain angle around described 4th fixing point 16, the size of described angle is decided by the angle of stair and barrier, and then when realizing climbing building and obstacle detouring, chair portion 10 can keep the function of level and adjusting seat center of gravity.
Please continue to refer to Fig. 1, and combine and consult Fig. 5, Fig. 6, and Fig. 7, the schematic diagram at Figure 5 shows that the present invention's multi-functional stair-climbing wheel chair second Athey wheel initial stage upstairs.Figure 6 shows that the schematic diagram during multi-functional stair-climbing wheel chair first Athey wheel of the present invention and the second Athey wheel are upstairs.Figure 7 shows that the present invention's multi-functional stair-climbing wheel chair second Athey wheel completes the schematic diagram upstairs.When described multi-functional stair-climbing wheel chair 1 runs into stair, adjust described second Athey wheel 18b by described switching mechanism 11 and tilt, until fit completely in described second Athey wheel 18b and stair face.Subsequently, described second Athey wheel 18b and described first Athey wheel 18a is rotated further.After described first Athey wheel 18a to be steadily adjusted to by described switching mechanism 11 and to fit with stair face, described second Athey wheel 18b and described first Athey wheel 18a upstairs simultaneously.When by sensor, the horizontal manned chair (not shown) of described multi-functional stair-climbing wheel chair 1 detects that the process of going upstairs terminates time, described second Athey wheel 18b is steadily adjusted to level by described switching mechanism 11 again, move forward, until described first Athey wheel 18a is also adjusted to level.That is, complete described in go upstairs process.
Apparently, described in the process of going downstairs, similar with the process of going upstairs, explain no longer in detail herein.
Refer to Fig. 8, Figure 8 shows that the Athey wheel structural representation of the multi-functional stair-climbing wheel chair of the present invention.Athey wheel 18a, 18b of described multi-functional stair-climbing wheel chair 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 support 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. 8, and Fig. 9, Figure 10, Figure 11 are consulted in combination, Figure 9 shows that multi-functional stair-climbing wheel chair of the present invention meets the structural representation hindering and prepare to cross.Figure 10 shows that multi-functional stair-climbing wheel chair of the present invention meets the structural representation that barrier crosses process.Figure 11 shows that multi-functional stair-climbing wheel chair of the present invention meets the structural representation hindering the process of crossing that is near completion.
When multi-functional stair-climbing wheel chair 1 of the present invention runs into protrusion barrier 2 and prepares to cross, described Athey wheel 18b adjusts state, enumerate ground, described multi-functional stair-climbing wheel chair 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
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 multi-functional stair-climbing wheel chair and angular acceleration a are respectively
In the process of multi-functional stair-climbing wheel chair 1 throwing over barrier 2 of the present invention, 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.
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:
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 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.
In sum, the switching mechanism of multi-functional stair-climbing wheel chair of the present invention 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 realize with this switching that roller transmits and Athey wheel transmits, utilize the aiding upright mechanism with parallelogram sturcutre to assist user to stand simultaneously, and in the process of stair activity, obstacle detouring, by controlling chair portion angle, ensure that described multi-functional stair-climbing wheel chair level in the process of stair activity, increase safety and the comfortableness of multi-functional stair-climbing wheel chair.
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 (6)
1. a multi-functional stair-climbing wheel chair, is characterized in that, described multi-functional stair-climbing wheel chair 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 multi-functional stair-climbing wheel chair transmits and Athey wheel transmits; And,
Aiding upright mechanism, described aiding upright organization establishes in described chair subordinate side, and is stood for auxiliary user;
Wherein, the Athey wheel of described multi-functional stair-climbing wheel chair comprises 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;
One end of described switching mechanism is flexibly connected with the first fixing point be arranged on described multi-functional stair-climbing wheel chair, and the other end of described switching construction is fixedly connected with the second fixing point on described multi-functional stair-climbing wheel chair;
One end of first bar of described switching mechanism is flexibly connected with the 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 the second bar of described switching mechanism is flexibly connected with first linear electric motors one end on the 4th bar; First kink of described second bar connects in the end points place spindle-type of the 3rd bar; The other end of described 4th bar is flexibly connected with one end of the 5th bar; The other end of described 5th bar is fixedly connected with described 3rd bar; One end of 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 the 7th bar; The other end of described 7th bar is flexibly connected with one end of the 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.
2. multi-functional stair-climbing wheel chair as claimed in claim 1, is characterized in that, described aiding upright mechanism is fixedly installed on described chair subordinate side by the 3rd fixing point and the 4th fixing point; Described aiding upright mechanism comprises the first pole that parallelogram arranges, the second pole, the 3rd pole, and the 4th pole; Described first pole and described 3rd pole be arranged in parallel; Described second pole and described 4th pole be arranged in parallel; One end of described second pole is flexibly connected with the point on described first pole; The other end of described second pole is flexibly connected with the end points of described 3rd pole; One end of described 4th pole is flexibly connected with the end points on the first pole; The other end of described 4th pole is flexibly connected with the point on described 3rd pole; 5th pole is set closing between described 4th fixing point one end and described second pole of described 3rd pole, and the 3rd linear electric motors are set on described 5th pole; The 6th pole between described 3rd fixing point and the strong point closing on described 4th fixing point arranges the 4th linear electric motors.
3. multi-functional stair-climbing wheel chair as claimed in claim 2, is characterized in that, described 3rd pole is L-shaped.
4. multi-functional stair-climbing wheel chair as claimed in claim 2, is characterized in that, the aiding upright mechanism of described multi-functional stair-climbing wheel chair comprises the following steps when realizing auxiliary standing function:
Perform step S1: driven by the 3rd linear electric motors, described 3rd linear electric motors extend, then the junction point of the second pole and the first pole with another end points of the second pole for the center of circle, and with the length of described second pole for radius moves;
Perform step S2: because the first pole, the second pole, the 3rd pole, the 4th pole form parallelogram, so described second pole has the identical characteristics of motion with described 4th pole; Described first pole is rotated around the junction point F point of described first pole and described 4th pole, and described first pole is also parallel with described 3rd pole all the time, makes chair portion support the back of user all the time;
Perform step S3: extended by the driving of described 3rd linear electric motors, thus realize the auxiliary standing function of multi-functional stair-climbing wheel chair.
5. multi-functional stair-climbing wheel chair as claimed in claim 4, is characterized in that, the aiding upright mechanism of described multi-functional stair-climbing wheel chair comprises further when realizing auxiliary standing function:
Perform the step S4: the four linear electric motors to drive, described 3rd linear electric motors are without stretching motion, described 3rd pole rotates clockwise certain angle around the 4th fixing point, and then when realizing climbing building and obstacle detouring, chair portion can keep the function of level and adjusting seat center of gravity.
6. multi-functional stair-climbing wheel chair as claimed in claim 5, is characterized in that, the size of described angle is decided by the angle of stair and barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210206338.3A CN102697611B (en) | 2012-06-20 | 2012-06-20 | Multifunctional stair climbing wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210206338.3A CN102697611B (en) | 2012-06-20 | 2012-06-20 | Multifunctional stair climbing wheelchair |
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| Publication Number | Publication Date |
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| CN102697611A CN102697611A (en) | 2012-10-03 |
| CN102697611B true CN102697611B (en) | 2015-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210206338.3A Expired - Fee Related CN102697611B (en) | 2012-06-20 | 2012-06-20 | Multifunctional stair climbing wheelchair |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102715991A (en) * | 2012-07-09 | 2012-10-10 | 上海电机学院 | Wheelchair capable of crossing obstacles and assisting in standing and auxiliary standing method |
| CN103010282A (en) * | 2012-12-19 | 2013-04-03 | 周秀莹 | Stair climbing auxiliary vehicle wheel |
| CN103230324B (en) * | 2013-05-08 | 2015-08-19 | 河北工业大学 | A kind of base plate mechanism of composite wheel leg type wheelchair |
| CN104323894B (en) * | 2014-10-25 | 2017-02-15 | 管中林 | Multifunctional wheelchair wheel |
| CN112472434A (en) * | 2020-11-27 | 2021-03-12 | 宁波工程学院 | Novel auxiliary standing wheelchair |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3730287A (en) * | 1971-05-17 | 1973-05-01 | Nasa | Vehicle for use in planetary exploration |
| US5137102A (en) * | 1986-08-25 | 1992-08-11 | Retec Pr, Inc. | Combination wheelchair and walker apparatus |
| CN102429787A (en) * | 2011-09-15 | 2012-05-02 | 上海电机学院 | Horizontal manned wheelchair |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2139576A (en) * | 1983-05-13 | 1984-11-14 | Mavispace Ltd | Stair climbing devices |
-
2012
- 2012-06-20 CN CN201210206338.3A patent/CN102697611B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3730287A (en) * | 1971-05-17 | 1973-05-01 | Nasa | Vehicle for use in planetary exploration |
| US5137102A (en) * | 1986-08-25 | 1992-08-11 | Retec Pr, Inc. | Combination wheelchair and walker apparatus |
| CN102429787A (en) * | 2011-09-15 | 2012-05-02 | 上海电机学院 | Horizontal manned wheelchair |
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| CN102697611A (en) | 2012-10-03 |
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