CN102697612A - Stair climbing wheelchair capable of crossing obstacles and method for controlling ascending and descending thereof - Google Patents

Abstract

The invention discloses a stair climbing wheelchair capable of crossing obstacles. The stair climbing wheelchair comprises a chair part, a switching mechanism and an auxiliary standing mechanism, wherein the switching mechanism is arranged below the chair part, and is used for switching between roller transmission and the crawler wheel transmission of the stair climbing wheelchair capable of crossing obstacles; the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel which are connected with each other through a connecting bracket; and the auxiliary standing mechanism is arranged on the lower side of the chair part, and is used for assisting a user in standing. In the horizontal moving process of the stair climbing wheelchair capable of crossing obstacles, the first crawler wheel is positioned in front of the second crawler wheel; and in a stair climbing process, the second crawler wheel is positioned in front of the first crawler wheel. Due to the adoption of the stair climbing wheelchair capable of crossing obstacles, switching between roller transmission and crawler wheel transmission can be realized; and meanwhile, the auxiliary standing mechanism is used for assisting a user in standing, so that the safety and comfort of the stair climbing wheelchair capable of crossing obstacles are enhanced, and the ascending, descending and obstacle crossing stability is ensured.

Description

But a kind of obstacle detouring stair-climbing wheel chair and the control method of upward going downstairs thereof

Technical field

The present invention relates to machinery and control technology field, but relate in particular to a kind of obstacle detouring stair-climbing wheel chair and go up control method downstairs.

Background technology

Wheelchair is their requisite walking-replacing tool for old person.But, just can't cross over when traditional wheelchair runs into bank.Wherein, upper and lower stair these handicapped crowds' biggest obstacle just., be thought of as these houses and install elevator additional, but, cause this plan stranded in order to solve the problem of these house stair activities in 200 years countries owing to the each side reason.

At present, external is the transporting equipment-stairs-mover by the emergency evacuation of building for solving the mode that the person that takes the wheelchair crosses over stair, is about to wheelchair and is temporarily fixed on the stairs-mover, uses stair activity.Replace after finishing using, operation sequence is loaded down with trivial details again.Though can solve the person's stair activity of taking the wheelchair, just can't stair activity at the building that are not equipped with stairs-mover.

Stair-climbing wheel chair uses four-bar mechanism or planetary wheeling mechanism to realize stair activity usually both at home and abroad.For planetary gear type stair-climbing wheel chair, simple in structure, and do not topple over when utilizing self-locking mechanism to guarantee stair activity.But this stair-climbing wheel chair is relatively poor to the adaptability of stair, can not satisfy the demand of user to comfortableness and reliability.

For adding Athey wheel type stair-climbing wheel chair, when stair activity, adopt the mode that adds Athey wheel, guaranteed the seriality of stair activity process.But the said Athey wheel type stair-climbing wheel chair that adds needs help to accomplish down at other people when Athey wheel being installed at every turn, and complex operation, and the structure heaviness is carried inconvenience, has limited the place of wheelchair stair activity largely.

For Athey wheel and wheel combination type stair-climbing wheel chair, this wheelchair uses four bar structures, through the conversion of up-down wheel with realization wheel and Athey wheel.But said stair-climbing wheel chair adopts four bar structures, and one degree of freedom is only arranged, so can not realize high-precision operation output or accomplish more complicated motion rule.

So to the problem that prior art exists, this case designer relies on the industry experience for many years of being engaged in, the active research improvement is so but had a kind of obstacle detouring stair-climbing wheel chair of invention and gone up control method downstairs.

Summary of the invention

The present invention be directed in the prior art; Adopt traditional stair-climbing wheel chair relatively poor to the adaptability of stair; Can not satisfy the demand of user, but and can not realize high-precision operation output or accomplish more defective such as complicated motion rule a kind of obstacle detouring stair-climbing wheel chair is provided comfortableness and reliability.

Another object of the present invention is that traditional stair-climbing wheel chair is relatively poor to the adaptability of stair, can not satisfy the demand of user to comfortableness and reliability in the prior art, but a kind of control method downstairs that goes up of obstacle detouring stair-climbing wheel chair is provided.

In order to address the above problem; But the present invention provides a kind of obstacle detouring stair-climbing wheel chair; Comprise: chair portion, said chair portion is used for user and takes: switching mechanism, said switching mechanism are arranged on said chair subordinate; But and be used in the roller transmission of said obstacle detouring stair-climbing wheel chair and the switching between the Athey wheel transmission; Said Athey wheel transmission has through connecting first Athey wheel and second Athey wheel that support connects, and said first Athey wheel and said second Athey wheel further comprise support: support wheel, and said support wheel is arranged on the said support: be arranged on said support wheel one side; And intermeshing in twos first gear, second gear; And the 3rd gear: be integral and intermeshing the 4th gear: be integral and intermeshing the 5th gear with said the 3rd gear shape, and be meshing with each other with said the 4th gear and said the 5th gear external tooth and be positioned at the crawler belt gear in the said support wheel outside with said second gear shape: and the auxiliary mechanism of standing, the said auxiliary mechanism of standing is arranged on said chair subordinate side; And be used for assisting user to stand: wherein; But said obstacle detouring stair-climbing wheel chair is in the horizontal movement process, before said first Athey wheel is arranged in said second Athey wheel: climbing the building motor process, before said second Athey wheel is positioned at said first Athey wheel.

Be realization the present invention's another purpose, but the present invention provides a kind of control method downstairs that goes up of said obstacle detouring stair-climbing wheel chair, but said obstacle detouring stair-climbing wheel chair adopts the mode of user faces downwards to move, and may further comprise the steps when running into stair:

Execution in step S1: at first adjust said second Athey wheel and tilt, fit fully until said second Athey wheel and stair face through said switching mechanism:

Execution in step S2: after said second Athey wheel and said stair face were fitted fully, said second Athey wheel and said first Athey wheel continued to move along the stair face:

Execution in step S3: when said first Athey wheel steadily be adjusted to by said switching mechanism fit with the stair face after, said second Athey wheel and said first Athey wheel are gone upstairs simultaneously:

Execution in step S4: but when said obstacle detouring stair-climbing wheel chair: chair portion when finishing to the process of going upstairs through sensor; Said second Athey wheel steadily is adjusted to level through said switching mechanism again; Move forward, also be adjusted to level until said first Athey wheel:

Execution in step S5: the said process of going upstairs is accomplished.

Optional, but one of said switching mechanism end flexibly connect with first fixing point that is arranged on the said obstacle detouring stair-climbing wheel chair, but the other end of said switching construction is fixedly connected with second fixing point on the said obstacle detouring stair-climbing wheel chair.

Optional, an end of first bar of said switching mechanism flexibly connects with said first fixing point: the other end of said first bar flexibly connects with an end of second bar of said switching mechanism: the other end of said switching mechanism second bar flexibly connects with first linear electric motors, one end on said the 4th bar: first kink of said second bar is connected in the end points place of said the 3rd bar axle type: the other end of said the 4th bar flexibly connects with said the 5th bar: the other end of said the 5th bar is fixedly connected with said the 3rd bar: an end of said the 6th bar is fixedly installed on said the 3rd bar: the end flexible connection of second linear electric motors on the other end of said the 6th bar and said the 7th bar: the end flexible connection of the other end of said the 7th bar and said the 8th bar: the end flexible connection of the other end of said the 8th bar and the bar that is fixedly installed on second fixing point: second kink of said the 8th bar is connected in the end points axle type of said the 3rd bar.

Optional; The said auxiliary mechanism of standing comprises first pole, second pole, the 3rd pole that parallelogram is provided with; And the 4th pole: said first pole and said the 3rd pole laterally arrange: said second pole and said the 4th pole laterally arrange: the point on an end of said second pole and said first pole flexibly connects: the end points of the other end of said second pole and said the 3rd pole flexibly connects: an end of said the 4th pole and the flexible connection of the end points on first pole: the some flexible connection on the other end of said the 4th pole and said the 3rd pole: between closing on of said the 3rd pole said the 4th fixing point one end and said second pole, the 5th pole is set, and the 3rd linear electric motors are being set on said the 5th pole: at said the 3rd fixing point and close on the 6th pole between the strong point of said the 4th fixing point the 4th linear electric motors are set.

Optional, said the 3rd pole is L-shaped.

In sum; But the structural failure of the switching mechanism of obstacle detouring stair-climbing wheel chair according to the invention utilization five-rod compensation four-bar mechanism; Realize high-precision motion output or accomplish more complicated motion rule; And, utilize the auxiliary user of the auxiliary mechanism of standing to stand simultaneously, and can realize upper and lower stably building and obstacle detouring with parallelogram sturcutre with this switching that realizes roller transmission and Athey wheel transmission.

Description of drawings

But shown in Figure 1 for the perspective view of the present invention's obstacle detouring stair-climbing wheel chair:

But shown in Figure 2 is the theory structure sketch map of the switching mechanism of the present invention's obstacle detouring stair-climbing wheel chair:

But shown in Figure 3 is the structural principle sketch map of the auxiliary mechanism of standing of the present invention's obstacle detouring stair-climbing wheel chair:

But the sketch map of regulating level and center of gravity for the present invention's obstacle detouring stair-climbing wheel chair shown in Figure 4;

But shown in Figure 5 for the Athey wheel structural representation of the present invention's obstacle detouring stair-climbing wheel chair:

But shown in Figure 6ly be the go upstairs sketch map at initial stage of the present invention's obstacle detouring stair-climbing wheel chair second Athey wheel:

But shown in Figure 7 is obstacle detouring stair-climbing wheel chair first Athey wheel according to the invention and second Athey wheel sketch map during upstairs:

Shown in Figure 8 is but that the present invention's obstacle detouring stair-climbing wheel chair second Athey wheel is accomplished the sketch map after going upstairs:

But shown in Figure 9 the chance for obstacle detouring stair-climbing wheel chair according to the invention hinders the sketch map that preparation is crossed:

Shown in Figure 10 is but that obstacle detouring stair-climbing wheel chair chance barrier according to the invention is crossed the sketch map of process:

Shown in Figure 11 hindering is near completion crosses the process sketch map for but obstacle detouring stair-climbing wheel chair according to the invention is met.

The specific embodiment

By the technology contents, the structural feature that specify the invention, reached purpose and effect, will combine embodiment and conjunction with figs. to specify below.

See also Fig. 1, but shown in Figure 1 for the perspective view of the present invention's obstacle detouring stair-climbing wheel chair.But said obstacle detouring stair-climbing wheel chair 1; Comprise chair portion 10, said chair portion 10 is used for user and takes: the switching mechanism 11 between the roller transmission is transmitted with Athey wheel, said switching mechanism 11 are arranged on said chair portion 10 times; And be used for the switching between the said roller transmission that helps upright Climbing building device 1 is transmitted with Athey wheel; And the auxiliary mechanism 12 of standing, the said auxiliary mechanism 12 of standing is arranged on said chair portion 10 downsides, and is used for auxiliary user and stands.

Please continue to consult Fig. 1, and combine to consult Fig. 2, but the theory structure sketch map of the switching mechanism for the present invention's obstacle detouring stair-climbing wheel chair shown in Figure 2.In the present invention, but when said obstacle detouring stair-climbing wheel chair 1 moves on the level land, adopt the roller transmission means: but adopt the Athey wheel transmission manner at stair activity the time when said obstacle detouring stair-climbing wheel chair 11.Wherein, the switching between said roller transmission means and the Athey wheel transmission means is controlled through the up-down of 11 pairs of said Athey wheels of said switching mechanism and is realized.But one of said switching mechanism 11 end be arranged on said obstacle detouring stair-climbing wheel chair 1 on 13 flexible connections of first fixing point: but the other end of said switching construction 11 is fixedly connected with second fixing point 14 on the said obstacle detouring stair-climbing wheel chair 1.

Please continue to consult Fig. 2, but the switching mechanism 11 of obstacle detouring stair-climbing wheel chair 1 according to the invention is a five-rod, by 2 linear electric motors controls, has 8 movable devices and 11 lower pairs, its degree of freedom is 2.Particularly, an end A point of first bar 110 of said switching mechanism 11 and said first fixing point 13 flexibly connect: the other end B point of said first bar 110 flexibly connects with an end of second bar 111 of said switching mechanism 11: the first linear electric motors 113a, the one end flexible connection on the other end D point of said switching mechanism 11 second bars 111 and said the 4th bar 112: first kink 1111 of said second bar 111 is connected in the C of the end points place of said the 3rd bar 114 a point type: the other end E point of said the 4th bar 112 and 115 flexible connections of said the 5th bar: the other end of said the 5th bar 115 is fixedly connected with said the 3rd bar 114: an end of said the 6th bar 116 is fixedly installed on said the 3rd bar 114; The end of the second linear electric motors 113b on the other end of said the 6th bar 116 and said the 7th bar 117 flexibly connects; The other end of said the 7th bar 117 flexibly connects with an end of said the 8th bar 118: the other end of said the 8th bar 118 flexibly connects with an end of the bar that is fixedly installed on second fixing point 14 119: second kink 1181 of said the 8th bar 118 is connected in the end points J of said the 3rd bar 114 point axle type.

Please continue to consult Fig. 2, but and the operation principle of the switching mechanism 11 of obstacle detouring stair-climbing wheel chair 1 according to the invention is detailed.When but the switching mechanism 11 of obstacle detouring stair-climbing wheel chair 1 according to the invention switches between roller transmission and Athey wheel transmission, may further comprise the steps:

Execution in step S11: the said first linear electric motors 113a drives, and extends laterally growth.At this moment, an end B who the differs from said junction point o'clock A point with first fixing point 13 of second bar 111 that flexibly connects with the said first linear electric motors 113a is the center of circle, and the length of AB is that radius moves clockwise: promptly, first bar 110 clockwise rotates around the A point.Said second bar 111 is under the promotion of the said first linear electric motors 113a, and along with first bar 111 rotates, and the end points C point that promotes the 3rd bar 114 moves up and down.

Execution in step S12: said the 8th bar 118 end K point that differs from second fixing point 14 around said bar 119 under the driving of the second direct current generator 113b rotates, and under the promotion of said the 8th bar 118, makes the end points J point of said the 3rd bar 114 move up and down.

Execution in step S13: in the end points C of said the 3rd bar 114 point, J point move up and down process, realize the up-down of Athey wheel, and then realize the switching between roller transmission and the Athey wheel transmission.

Please continue to consult Fig. 1, and combine to consult Fig. 3, but the structural principle sketch map of the auxiliary mechanism of standing for the present invention's obstacle detouring stair-climbing wheel chair shown in Figure 3.But but the auxiliary mechanism 12 of standing of said obstacle detouring stair-climbing wheel chair 1 is fixedly installed on the wheelchair frame (not shown) of said obstacle detouring stair-climbing wheel chair 1 through the 3rd fixing point 15 and the 4th fixing point 16.First pole 121 that the said auxiliary mechanism 12 of standing comprises that parallelogram is provided with, second pole 122, the 3rd pole 123, and the 4th pole 124.Wherein, said first pole 121 laterally arranges with said the 3rd pole 123: said second pole 122 laterally arranges with said the 4th pole 124.Said the 3rd pole 123 is L-shaped.Some E on one end of said second pole 122 and said first pole 121 flexibly connects: the end points C of the other end of said second pole 122 and said the 3rd pole 123 flexibly connects.End points F on one end of said the 4th pole 124 and first pole 121 flexibly connects: the some B on the other end of said the 4th pole 124 and said the 3rd pole 123 flexibly connects.Between closing on of said the 3rd pole 123 said the 4th fixing point 16 1 ends and said second pole 122, the 5th pole 125 is set, and on said the 5th pole 125, the 3rd linear electric motors 126a is set.At said the 3rd fixing point 15 and close on the 6th pole 127 between the strong point 17 of said the 4th fixing point 16 the 4th linear electric motors 126b is set.

Please continue to consult Fig. 3, but and the operation principle of the auxiliary mechanism of standing of obstacle detouring stair-climbing wheel chair according to the invention is detailed.But the auxiliary mechanism 12 of standing of obstacle detouring stair-climbing wheel chair 1 according to the invention may further comprise the steps when realizing that auxiliary station renders meritorious service ability:

Execution in step S21: drive by said the 3rd linear electric motors 126a; Said the 3rd linear electric motors 126a elongation; The junction point E of then said second pole 122 and said first pole 121 is the center of circle with another end points C of second pole 122, and is the radius motion with the length of said second pole 122.That is, said second pole 122 rotates counterclockwise around another end points of said second pole 122 with the junction point E of said first pole 121.

Execution in step S22: because said first pole 121, second pole 122, the 3rd pole 123, the 4th pole 124 constitute parallelogrames, so said second pole 122 has the identical characteristics of motion with said the 4th pole 124.Said first pole 121 is rotated around the junction point F point of said first pole 121 with said the 4th pole 124, and said first pole 121 and parallel with said the 3rd pole 123 all the time makes chair portion 10 support the back of user all the time.

Execution in step S23: through driving and the elongation of said the 3rd linear electric motors 126a, thereby but the auxiliary station that realizes obstacle detouring stair-climbing wheel chair 1 renders meritorious service ability.

Please continue to consult Fig. 1, and combine to consult Fig. 4, the function that seat can keep level and regulate the seat center of gravity when the present invention climbed building and obstacle detouring in order to be implemented in further may further comprise the steps:

Execution in step S24: said the 4th linear electric motors 126b drives; At this moment; Said the 3rd linear electric motors 126a does not have stretching motion; Said the 3rd pole 123 clockwise rotates certain angle around said the 4th fixing point 16, and the size of said angle is decided by the angle of stair and barrier, and then the function that chair portion 10 can keep level and regulate the seat center of gravity when realizing climbing building and obstacle detouring.

See also Fig. 5, but shown in Figure 5 for the Athey wheel structural representation of the present invention's obstacle detouring stair-climbing wheel chair.But the Athey wheel 18a of said obstacle detouring stair- climbing wheel chair 1,18b include support 180: support wheel 181; Said support wheel 181 is arranged on the said support 180: be arranged on said support wheel 181 1 sides; And intermeshing in twos first gear 182, second gear 183; And the 3rd gear 184: be integrally formed and intermeshing the 4th gear 185: be integrally formed and intermeshing the 5th gear 186 with said the 3rd gear 184, and be meshing with each other with said the 5th gear 186 external tooths with said the 4th gear 185 and be positioned at the crawler belt gear 187 in said support wheel 181 outsides with said second gear 183.Wherein, said Athey wheel 18a connects through connecting support 188 with said Athey wheel 18b.In the motor process of said Athey wheel 18a, 18b; Said external motor (not shown) drives first gear, 181 rotations between said second gear 183 and said the 3rd gear 184: said first gear 181 also drives said second gear 183 and rotates with said the 3rd gear 184: said second gear 183 is with said the 3rd gear 184 and then drive said the 4th gear 185 and 186 rotations of said the 5th gear, drives the rotation of said crawler belt gear 187 with this.

Please continue to consult Fig. 1, and combine to consult Fig. 6, Fig. 7, and Fig. 8, but shown in Figure 6ly be the go upstairs sketch map at initial stage of the present invention's obstacle detouring stair-climbing wheel chair second Athey wheel.But shown in Figure 7 is obstacle detouring stair-climbing wheel chair first Athey wheel according to the invention and second Athey wheel sketch map during upstairs.Shown in Figure 8 is but that the present invention's obstacle detouring stair-climbing wheel chair second Athey wheel is accomplished the sketch map after going upstairs.When but said obstacle detouring stair-climbing wheel chair 1 runs into stair; But said obstacle detouring stair-climbing wheel chair 1 adopts the mode of user faces downwards to move; And at first tilt through the said second Athey wheel 18b of said switching mechanism 11 adjustment, fit fully until said second Athey wheel 18b and stair face.Wherein, in the horizontal movement process, before the said first Athey wheel 18a is arranged in the said second Athey wheel 18b: climbing the building motor process, before the said second Athey wheel 18b is positioned at the said first Athey wheel 18a.Subsequently, said second Athey wheel 18b and the said first Athey wheel 18a continue to move along the stair face.When the said first Athey wheel 18a steadily be adjusted to by said switching mechanism 11 fit with the stair face after, said second Athey wheel 18b and the said first Athey wheel 18a go upstairs simultaneously.When but the manned chair of the level of said obstacle detouring stair-climbing wheel chair 1 (not shown) finishes to the process of going upstairs through sensor; The said second Athey wheel 18b steadily is adjusted to level through said switching mechanism 11 again; Move forward, also be adjusted to level until the said first Athey wheel 18a.That is, accomplish the said process of going upstairs.

Apparently, said process of going downstairs, similar with the process of going upstairs, illustrated in detail no longer here.

Please continue to consult Fig. 5, and combine to consult Fig. 9, Figure 10, Figure 11, but shown in Figure 9 the chance for obstacle detouring stair-climbing wheel chair according to the invention hinders the sketch map that preparation is crossed.Shown in Figure 10 is but that obstacle detouring stair-climbing wheel chair chance barrier according to the invention is crossed the sketch map of process.But the sketch map that hinders the process of crossing that is near completion of meeting for obstacle detouring stair-climbing wheel chair according to the invention shown in Figure 11.

When but obstacle detouring stair-climbing wheel chair 1 according to the invention runs into protrusion barrier 2 and prepares to cross; Said Athey wheel 18b adjustment state; Enumerate ground, but said obstacle detouring stair-climbing wheel chair 1 with the last barrier 2 of speed v, L is the contact length on said Athey wheel 18b and ground; When center of gravity was positioned at the left side of barrier 2 fulcrum O, the angle between this moment said Athey wheel 18b bottom line and the ground is t and increasing gradually in time

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

In the formula: h ₀Be the height of barrier 2, because h ₀<<l, so the α value is less, sin α=α, but the angular velocity omega and the angular acceleration a of obstacle detouring stair-climbing wheel chair 1 are respectively at this moment

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

$a=\frac{d{\mathrm{\&alpha;}}^2}{{\mathrm{<figure-callout\; id="2"\; label="dt"\; filenames="HDA00001792943000051.png,HDA00001792943000052.png"\; state="\{\{state\}\}">dt</figure-callout>}}^2}=\frac{2v^2{h}_o}{{(1-\mathrm{vt})}^3}$

But in the process of obstacle detouring stair-climbing wheel chair 1 throwing over barrier 2 according to the invention, said function stair-climbing wheel chair 1 continues to climb up barrier 2 with speed v, and center of gravity surpasses fulcrum O; Under the effect of gravity and movement velocity; Said function stair-climbing wheel chair 1 is done plane motion, around said fulcrum O rotate on one side, move forward on one side; Position of centre of gravity is gradually away from the fulcrum O of barrier 2 at this moment, and center of gravity is got square to fulcrum O and increased gradually.

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

J×a＝mg×cosα×(vt-L ₁+h×tanα)

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

When said function stair-climbing wheel chair 1 moves forward; This moment, the front end of said function stair-climbing wheel chair 1 at first landed; Said function stair-climbing wheel chair 1 has bigger inertia, just impacts ground with bigger impulsive force, causes the strong collision on function stair-climbing wheel chair 1 and ground.Enumerate ground, suppose that the preceding touchdown point of said Athey wheel 18a is the A point, its speed is U _A, the speed of establishing after the collision is V _A, the impact inertia I in the time of can setting up said function stair-climbing wheel chair 1 preceding ground connection cake and collision on the ground according to theorem of impulse.

$I^2={2\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA00001792943000051.png,HDA00001792943000052.png"\; state="\{\{state\}\}">m</figure-callout>}}^2\&times;{\mathrm{\&omega;}}^2{\left[\frac{I}{m\&times;{\mathrm{\&omega;}}^2\&times;\cos \mathrm{\&alpha;}-0.5\&times;L}\right]}^2+2\mathrm{mJ}{\mathrm{\&omega;}}^2$

When said function stair-climbing wheel chair 1 bumped with ground, because acceleration and inertia, said function stair-climbing wheel chair 1 transferred to suddenly around preceding earth point A upset by rotating around fulcrum O, thereby produces an additional inertia angle c.

Enumerate ground, the dynamic analysis when establishing said function stair-climbing wheel chair 1 to climb next inclination angle being the barrier 2 of g, known said function stair-climbing wheel chair 1 height of C.G. is h, the line kA of center of gravity k and preceding earth point A and the angle of Athey wheel 18a are the r angle.According to principle of conservation of energy, the relation of angular velocity in the time of can setting up additional inertia angle c with collision:

$c=\arcsin [\frac{J\&times;{\mathrm{\&omega;}}^2}{2\mathrm{<figure-callout\; id="2"\; label="mg\; h"\; filenames="HDA00001792943000051.png,HDA00001792943000052.png"\; state="\{\{state\}\}">mg</figure-callout>}\sqrt{h^{}}\sqrt{{}^2+L^2}}-\sin (\mathrm{\&alpha;}+r)]-(\mathrm{\&alpha;}+r)$

Can know from said analysis, when said function stair-climbing wheel chair 1 is gone downstairs, whenever climb down the one-level step and just be equivalent to obstacle of said function stair-climbing wheel chair 1 leap, produce an additional inertia angle simultaneously.When a+c+r 90 ° the time, and said function stair-climbing wheel chair 1 turn forward the back because action of gravity falls back again barrier 2, make 2 pairs of said function stair-climbing wheel chairs 1 of barrier produce vibration and impact.That is twice impact just appears when, said function stair-climbing wheel chair 1 is whenever striden the next stage step.As a+c+r>90 ° times, this moment, center of gravity surpassed critical state, and said function stair-climbing wheel chair 1 will turn over forward around preceding earth point A just, tumbles downstairs.Apparently, prevent that said function stair-climbing wheel chair 1 from tumbling downstairs, and then need control the movement velocity of said function stair-climbing wheel chair 1.Significantly, the angular velocity of said function stair-climbing wheel chair 1 is big more, and the inertia angle is also big more.When said function stair-climbing wheel chair 1 is in critical state; Its maximum angular rate is in

formula; ω is an angular velocity, but m is an obstacle detouring stair-climbing wheel chair quality, but h is the height of C.G. of obstacle detouring stair-climbing wheel chair; L is Athey wheel and ground contact length; But J is the rotary inertia of obstacle detouring stair-climbing wheel chair, and α is the angle between Athey wheel bottom line and the ground, but r is the line of obstacle detouring stair-climbing wheel chair center of gravity and preceding earth point and the angle of Athey wheel.

In sum; But the structural failure of the switching mechanism of obstacle detouring stair-climbing wheel chair according to the invention utilization five-rod compensation four-bar mechanism; Realize high-precision motion output or accomplish more complicated motion rule; And, utilize the auxiliary user of the auxiliary mechanism of standing to stand simultaneously, and guarantee upper and lower stably building and obstacle detouring with parallelogram sturcutre with this switching that realizes roller transmission and Athey wheel transmission.

Those skilled in the art all should be appreciated that, under the situation that does not break away from the spirit or scope of the present invention, can carry out various modifications and modification to the present invention.Thereby, if when any modification or modification fall in the protection domain of appended claims and equivalent, think that the present invention contains these modifications and modification.

Claims (9)

1. but an obstacle detouring stair-climbing wheel chair is characterized in that, but said obstacle detouring stair-climbing wheel chair comprises:

Chair portion, said chair portion is used for user and takes:

Switching mechanism; Said switching mechanism is arranged on said chair subordinate; But and be used in the roller transmission of said obstacle detouring stair-climbing wheel chair and the switching between the Athey wheel transmission; Said Athey wheel transmission has through connecting first Athey wheel and second Athey wheel that support connects, and said first Athey wheel and said second Athey wheel further comprise support: support wheel, and said support wheel is arranged on the said support: be arranged on said support wheel one side; And intermeshing in twos first gear, second gear; And the 3rd gear: be integral and intermeshing the 4th gear: be integral and intermeshing the 5th gear with said the 3rd gear shape, and be meshing with each other with said the 4th gear and said the 5th gear external tooth and be positioned at the crawler belt gear in the said support wheel outside with said second gear shape: and

The auxiliary mechanism of standing, the said auxiliary mechanism of standing is arranged on said chair subordinate side, and is used for assisting user to stand:

Wherein, but said obstacle detouring stair-climbing wheel chair is in the horizontal movement process, before said first Athey wheel is arranged in said second Athey wheel: climbing the building motor process, before said second Athey wheel is positioned at said first Athey wheel.

2. but obstacle detouring stair-climbing wheel chair as claimed in claim 1 is characterized in that, but said obstacle detouring stair-climbing wheel chair adopts the mode of user faces downwards to move, and may further comprise the steps when running into stair:

Execution in step S1: at first adjust said second Athey wheel and tilt, fit fully until said second Athey wheel and stair face through said switching mechanism:

Execution in step S2: after said second Athey wheel and said stair face were fitted fully, said second Athey wheel and said first Athey wheel continued to move along the stair face:

Execution in step S3: when said first Athey wheel steadily be adjusted to by said switching mechanism fit with the stair face after, said second Athey wheel and said first Athey wheel are gone upstairs simultaneously:

Execution in step S4: but when said obstacle detouring stair-climbing wheel chair chair portion through sensor when the process of going upstairs finishes; Said second Athey wheel steadily is adjusted to level through said switching mechanism again; Move forward, also be adjusted to level until said first Athey wheel:

Execution in step S5: the said process of going upstairs is accomplished.

3. but like the described obstacle detouring stair-climbing wheel chair of the arbitrary claim of claim 1～2; It is characterized in that; But one of said switching mechanism end flexibly connects with first fixing point that is arranged on the said obstacle detouring stair-climbing wheel chair, but the other end of said switching construction is fixedly connected with second fixing point on the said obstacle detouring stair-climbing wheel chair.

4. but like the described obstacle detouring stair-climbing wheel chair of the arbitrary claim 1 of claim 1～2; It is characterized in that an end of first bar of said switching mechanism flexibly connects with said first fixing point: an end of the other end of said first bar and second bar of said switching mechanism flexibly connects: the other end of said switching mechanism second bar flexibly connects with first linear electric motors, one end on said the 4th bar: first kink of said second bar is connected in the end points place of said the 3rd bar axle type: the other end of said the 4th bar flexibly connects with said the 5th bar: the other end of said the 5th bar is fixedly connected with said the 3rd bar: an end of said the 6th bar is fixedly installed on said the 3rd bar: the end flexible connection of second linear electric motors on the other end of said the 6th bar and said the 7th bar: the end flexible connection of the other end of said the 7th bar and said the 8th bar: the end flexible connection of the other end of said the 8th bar and the bar that is fixedly installed on second fixing point: second kink of said the 8th bar is connected in the end points axle type of said the 3rd bar.

5. but like the described obstacle detouring stair-climbing wheel chair of the arbitrary claim 1 of claim 1～2; It is characterized in that; The said auxiliary mechanism of standing comprises first pole, second pole, the 3rd pole that parallelogram is provided with; And the 4th pole: said first pole and said the 3rd pole laterally arrange: said second pole and said the 4th pole laterally arrange: the point on an end of said second pole and said first pole flexibly connects: the end points of the other end of said second pole and said the 3rd pole flexibly connects: an end of said the 4th pole and the flexible connection of the end points on first pole: the some flexible connection on the other end of said the 4th pole and said the 3rd pole: between closing on of said the 3rd pole said the 4th fixing point one end and said second pole, the 5th pole is set, and the 3rd linear electric motors are being set on said the 5th pole: at said the 3rd fixing point and close on the 6th pole between the strong point of said the 4th fixing point the 4th linear electric motors are set.

6. but obstacle detouring stair-climbing wheel chair as claimed in claim 5 is characterized in that, said the 3rd pole is L-shaped.

7. but like the described obstacle detouring stair-climbing wheel chair of the arbitrary claim of claim 1～2, it is characterized in that, but the auxiliary mechanism of standing of said obstacle detouring stair-climbing wheel chair may further comprise the steps when realizing that auxiliary station renders meritorious service ability:

Execution in step S1: by said the 3rd linear motor driving, the elongation of said the 3rd linear electric motors, the junction point of then said second pole and said first pole is the center of circle with another end points of second pole, and is that radius moves with the length of said second pole:

Execution in step S2: owing to said first pole, second pole, the 3rd pole, the 4th pole constitute parallelogram; So said second pole has the identical characteristics of motion with said the 4th pole: said first pole is rotated around the junction point F of said first pole and said the 4th pole point; Said first pole is also parallel with said the 3rd pole all the time, makes chair portion support the back of user all the time:

Execution in step S3: through the driving and the elongation of said the 3rd linear electric motors, thereby but the auxiliary station that realizes the obstacle detouring stair-climbing wheel chair renders meritorious service ability.

8. but obstacle detouring stair-climbing wheel chair as claimed in claim 7 is characterized in that, but the auxiliary mechanism of standing of said obstacle detouring stair-climbing wheel chair further comprises when realizing that auxiliary station renders meritorious service ability:

Execution in step S4: said the 4th linear motor driving; Said the 3rd linear electric motors do not have stretching motion; Said the 3rd pole clockwise rotates certain angle around said the 4th fixing point, and then the function that chair portion can keep level and regulate the seat center of gravity when realizing climbing building and obstacle detouring.

9. but obstacle detouring stair-climbing wheel chair as claimed in claim 8 is characterized in that the size of said angle is decided by the angle of stair and barrier.

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