CN102895077A - Novel wheel-crawler compound electrically propelled wheelchair - Google Patents
Novel wheel-crawler compound electrically propelled wheelchair Download PDFInfo
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- CN102895077A CN102895077A CN2012104260757A CN201210426075A CN102895077A CN 102895077 A CN102895077 A CN 102895077A CN 2012104260757 A CN2012104260757 A CN 2012104260757A CN 201210426075 A CN201210426075 A CN 201210426075A CN 102895077 A CN102895077 A CN 102895077A
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Abstract
The invention discloses a novel wheel-crawler compound electrically propelled wheelchair, which comprises first side plates, first crawler wheels, front support rods, front wheels, first pin shafts, a first rotating plate, pinions, front axles, gearwheels, transmission shafts, couplings, main crawler belts, second crawler wheels, secondary crawler belts, third crawler wheels, hollow shafts, a long shaft, motor bases, a bottom plate, fixing plates, rear wheels, rear axles, a second rotating plate, second pin shafts, rear support rods, driven shafts, second side plates, a first transverse plate, supports, a first rotating shaft, a first electric expansion link, a second electric expansion link, a second rotating shaft seat, a second rotating shaft, a chair, a third rotating shaft, a third rotating shaft seat, a fourth rotating shaft seat and a fifth rotating shaft seat. A wheel-type walking mode and a crawler walking mode are respectively adopted by the novel electric wheelchair with a function of going upstairs during a process of walking on the flat ground and a process of going upstairs. The switchover between the two walking modes can be controlled by a rider, and moreover, a switching mechanism is simple and practical and is convenient in operation.
Description
Technical field
The present invention relates to a kind of Novel electric wheelchair, particularly novel wheel of stair climbing function-track combined electric wheelchair is switched and had to a kind of running on wheels and crawler travel mode of realizing.
Background technology
Along with the development of aged tendency of population, old people's absolute quantity is increasing with the proportion that accounts for social total population.Many old peoples can occur that legs and feet strength weakens or walking function is degenerated behind the dating, and it is caused difficulty at aspects such as trip and stair activities.From the trip of satisfying this part old people and the requirement of stair activity, can help auxiliary device or the equipment of these old peoples' trips and stair activity in the urgent need to exploitation.
Consider simultaneously old people's trip and the needs of stair activity, domestic more existing have the different electric wheelchair structures of stair climbing function, comprise planet wheel type stair-climbing mechanism, crawler type stair climbing mechanism and, wheel-track combined stairs climbing device.Wherein, the crawler-type traveling when wheel-track combined stairs climbing device is separately implemented at running on wheels on the level land and stair climbing by switching its walking manner has some superiority aspect walking power consumption and the stair climbing safety taking into account.Number of patent application is 200910154542.3 patent of invention " electric stair climbing wheel chair " employing wheel-track combined stairs climbing device, and become the switching that attitude mechanism realizes running on wheels and crawler-type traveling function by a cover, but do not consider the quick turning problem that caterpillar chassis might occur when being afraid of on the stair in the occupant's attitude and position of centre of gravity adjustment and the process of going downstairs to be transitioned into stair by platform, affect its stability in being afraid of the stair process.Further exploitation is applicable to that family uses, and to have simple and practical, easy to operate and stable high novel wheel the-track combined electric wheelchair still very necessary.
Summary of the invention
Technical problem solved by the invention is to provide a kind of running on wheels and crawler travel mode of realizing to switch and have novel wheel of stair climbing function-track combined electric wheelchair.
The technical solution that realizes the object of the invention is: a kind of novel wheel-track combined electric wheelchair comprises the first side plate, the first Athey wheel, front support rod, front-wheel, the first bearing pin, the first flap, pinion, front axle, gear wheel, power transmission shaft, shaft coupling, main crawler belt, the second Athey wheel, secondary crawler belt, the 3rd Athey wheel, hollow axle, major axis, motor cabinet, base plate, fixing head, trailing wheel, hind axle, the second flap, the second bearing pin, back support rod, driven shaft, the second side plate, the first transverse slat, support, the first rotating shaft, the first electric expansion bar, the second electric expansion bar, the second shaft seat, the second rotating shaft, chair, the 3rd rotating shaft, the 3rd shaft seat, the 4th shaft seat, the 5th shaft seat, control box, handrail, the 4th rotating shaft, the 5th rotating shaft, the 4th Athey wheel, motor and decelerator, the second transverse slat;
The quantity of the first side plate is two and is symmetrically distributed in the electric wheelchair both sides, between these two first side plates two fixing heads are set, the two ends of each fixing head are connected on the first different side plates, the lower edge of described two the first side plates base plate that is connected, above-mentioned two the first side plates consist of frame type structure with base plate, two fixing heads;
The quantity of motor and decelerator is two and symmetrical, it is fixedly installed in respectively on two motor cabinets that are connected mutually with base plate, the shaft coupling of the output shaft of each motor and decelerator by correspondence is connected mutually with corresponding power transmission shaft, this power transmission shaft runs through the first side plate and rotates relative to the first side plate under the driving of motor and decelerator, be connected on the power transmission shaft the first Athey wheel and gear wheel, wherein gear wheel is positioned at the outside of the first Athey wheel; The quantity of the first flap is two and symmetrical, and each first flap is enclosed within on the corresponding power transmission shaft and can rotates around it, and described the first flap is positioned at the outside of corresponding gear wheel; The quantity of front axle is two, each front axle runs through corresponding the first flap and can rotate to it, one end of each front axle is installed with a pinion and this pinion is meshed with gear wheel, and the other end of each front axle is fixed with corresponding front-wheel;
The quantity of front support rod is two, the lower end of each front support rod is all by the first bearing pin of correspondence and corresponding the first flap connection, and the first flap corresponding to stretchy rotates around corresponding power transmission shaft, this first flap drives corresponding pinion and rotates around gear wheel simultaneously, the upper end of two front support rods all is enclosed within the 5th rotating shaft and can relatively rotates, the 5th corresponding shaft seat is run through respectively at the two ends of the 5th rotating shaft, and described two the 5th shaft seats all are fixed on the bottom surface of chair;
The quantity of support is two and symmetrical, the bottom of each support all is connected mutually with corresponding the first side plate upper surface, the top of each support all is enclosed within the second rotating shaft and can relatively rotates, the second corresponding shaft seat is run through respectively at the two ends of this second rotating shaft, and described two the second shaft seats all are fixed on the bottom surface of chair; Be provided with the first rotating shaft between two supports, the afterbody of the first electric expansion bar is enclosed within the first rotating shaft and can rotates to it, the external part of this first electric expansion bar is enclosed within the 4th rotating shaft and can rotates to it, the 4th corresponding shaft seat is run through respectively at the two ends of described the 4th rotating shaft, and described two the 4th shaft seats all are fixed on the bottom surface of chair;
Major axis runs through two symmetrical hollow axles and can rotate to it, each hollow axle all successively runs through with its second corresponding side plate and the first side plate and can rotate relative to above-mentioned two side plates, on each hollow axle also cover have the 3rd Athey wheel, the 3rd Athey wheel to be arranged between the second corresponding side plate and the first side plate and be connected on the hollow axle; The quantity of the second Athey wheel is two, and each second Athey wheel all is enclosed within the outside of corresponding hollow axle and is connected mutually with it, and described the second Athey wheel is meshed with the first Athey wheel by corresponding main crawler belt;
The quantity of driven shaft is two, and each driven shaft all runs through corresponding the second side plate and rotating to it, the outside of each driven shaft the 4th Athey wheel that all is connected, and described the 4th Athey wheel is meshed with corresponding the 3rd Athey wheel by corresponding secondary crawler belt; The pole that fixed installation the first transverse slat and the second transverse slat between two the second side plates, the afterbody of the second electric expansion bar are enclosed within the first transverse slat middle part projection upward also can relatively rotate, and the external part of described the second electric expansion bar is enclosed within the second rotating shaft and can rotates around it;
The quantity of the second flap is two and symmetrical, and the equal empty set of each the second flap all arranges a hind axle at an end of major axis on each second flap, and cover has corresponding trailing wheel also can rotate to it on this hind axle; The quantity of back support rod is two, the lower end of each back support rod all is connected with corresponding the second flap by corresponding the second bearing pin, the upper end empty set of each back support rod is at an end of the 3rd rotating shaft, the 3rd corresponding shaft seat is run through respectively at the two ends of described the 3rd rotating shaft, and the 3rd shaft seat is fixed on the backrest reverse side of chair;
The both sides of chair are installed with respectively a handrail, are installed with the control box that each motor is controlled on one of them handrail.
The present invention compared with prior art, its remarkable advantage is: 1) Novel electric wheelchair with stair climbing function of the present invention adopts respectively running on wheels and two kinds of walking manners of crawler travel in level land and stair climbing process, and it is simple and practical and easy to operate to control two kinds of switching and switching mechanisms between the walking manner by the occupant; 2) Novel electric wheelchair with stair climbing function of the present invention is controlled the height of C.G. that seat tilts to adjust the occupant automatically when switching to the crawler travel mode; When going downstairs, can prevent that the chassis from fast upset occuring, and guarantees stair climbing process safety and comfortableness by secondary crawler belt being pressed in stairway step; 3) the Novel electric wheelchair ground suitability with stair climbing function of the present invention is strong, compact conformation and practicality, and convenient and reliable operation, stair climbing is safe, and development prospect is wide.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the tomograph of a kind of novel wheel of the present invention-track combined electric wheelchair.
Fig. 2 is the chassis structure figure of a kind of novel wheel of the present invention-track combined electric wheelchair.
Fig. 3 is the crawler travel structural representation of a kind of novel wheel of the present invention-track combined electric wheelchair.
The specific embodiment
In conjunction with Fig. 1, a kind of novel wheel of the present invention-track combined electric wheelchair comprises the first side plate 1, the first Athey wheel 2, front support rod 3, front-wheel 4, the first bearing pin 5, the first flap 6, pinion 7, front axle 8, gear wheel 9, power transmission shaft 10, shaft coupling 11, main crawler belt 12, the second Athey wheel 13, secondary crawler belt 14, the 3rd Athey wheel 15, hollow axle 16, major axis 17, motor cabinet 18, base plate 19, fixing head 20, trailing wheel 21, hind axle 22, the second flap 23, the second bearing pin 24, back support rod 25, driven shaft 26, the second side plate 27, the first transverse slat 28, support 29, the first rotating shaft 30, the first electric expansion bar 31, the second electric expansion bar 32, the second shaft seat 33, the second rotating shaft 34, chair 35, the 3rd rotating shaft 36, the 3rd shaft seat 37, the 4th shaft seat 38, the 5th shaft seat 39, control box 40, handrail 41, the 4th rotating shaft 42, the 5th rotating shaft 43, the 4th Athey wheel 44, motor and decelerator 45, the second transverse slat 46;
The quantity of the first side plate 1 is two and is symmetrically distributed in the electric wheelchair both sides, between these two the first side plates 1 two fixing heads 20 are set, the two ends of each fixing head 20 are connected on the first different side plates 1, the lower edge of described two the first side plates 1 base plate 19 that is connected, above-mentioned two the first side plates 1 consist of frame type structure with base plate 19, two fixing heads 20;
The quantity of motor and decelerator 45 is two and symmetrical, it is fixedly installed in respectively on two motor cabinets 18 that are connected mutually with base plate 19, the shaft coupling 11 of the output shaft of each motor and decelerator 45 by correspondence is connected mutually with corresponding power transmission shaft 10, this power transmission shaft 10 runs through the first side plate 1 and rotates relative to the first side plate 1 under the driving of motor and decelerator 45, be connected on the power transmission shaft 10 the first Athey wheel 2 and gear wheel 9, wherein gear wheel 9 is positioned at the outside of the first Athey wheel 2; The quantity of the first flap 6 is two and symmetrical, and each first flap 6 is enclosed within on the corresponding power transmission shaft 10 and can rotates around it, and described the first flap 6 is positioned at the outside of corresponding gear wheel 9; The quantity of front axle 8 is two, each front axle 8 runs through corresponding the first flap 6 and can rotate to it, one end of each front axle 8 is installed with a pinion 7 and this pinion 7 is meshed with gear wheel 9, and the other end of each front axle 8 is fixed with corresponding front-wheel 4;
The quantity of front support rod 3 is two, the lower end of each front support rod 3 is all by the first bearing pin 5 of correspondence and corresponding the first flap 6 connections, and the first flap 6 corresponding to stretchy rotates around corresponding power transmission shaft 10, this first flap 6 drives corresponding pinion 7 around gear wheel 9 rotations simultaneously, the upper end of two front support rods 3 all is enclosed within the 5th rotating shaft 43 and can relatively rotates, the 5th corresponding shaft seat 39 is run through respectively at the two ends of the 5th rotating shaft 43, and described two the 5th shaft seats 39 all are fixed on the bottom surface of chair 35;
The quantity of support 29 is two and symmetrical, the bottom of each support 29 all is connected mutually with corresponding the first side plate 1 upper surface, the top of each support 29 all is enclosed within the second rotating shaft 34 and can relatively rotates, the second corresponding shaft seat 33 is run through respectively at the two ends of this second rotating shaft 34, and described two the second shaft seats 33 all are fixed on the bottom surface of chair 35; Be provided with the first rotating shaft 30 between two supports 29, the afterbody of the first electric expansion bar 31 is enclosed within the first rotating shaft 30 and can rotates to it, the external part of this first electric expansion bar 31 is enclosed within the 4th rotating shaft 42 and can rotates to it, the 4th corresponding shaft seat 38 is run through respectively at the two ends of described the 4th rotating shaft 42, and described two the 4th shaft seats 38 all are fixed on the bottom surface of chair 35;
The quantity of driven shaft 26 is two, each driven shaft 26 all runs through corresponding the second side plate 27 and can rotate to it, the outside of each driven shaft 26 the 4th Athey wheel 44 that all is connected, described the 4th Athey wheel 44 is meshed with corresponding the 3rd Athey wheel 15 by corresponding secondary crawler belt 14; Fixed installation the first transverse slat 28 and the second transverse slat 46 between two the second side plates 27, the pole that the afterbody of the second electric expansion bar 32 is enclosed within the first transverse slat 28 middle part projections upward also can relatively rotate, and the external part of described the second electric expansion bar 32 is enclosed within the second rotating shaft 34 and can rotates around it;
The quantity of the second flap 23 is two and symmetrical, and each the second flap 23 equal empty set all arranges a hind axle 22 at an end of major axis 17 on each second flap 23, and cover has corresponding trailing wheel 21 also can rotate to it on this hind axle 22; The quantity of back support rod 25 is two, the lower end of each back support rod 25 all is connected with corresponding the second flap 23 by corresponding the second bearing pin 24, the upper end empty set of each back support rod 25 is at an end of the 3rd rotating shaft 36, the backrest reverse side that corresponding the 3rd shaft seat 37, the three shaft seats 37 are fixed on chair 35 is run through respectively at the two ends of described the 3rd rotating shaft 36;
The both sides of chair 35 are installed with respectively a handrail 41, are installed with the control box 40 that each motor is controlled on one of them handrail 41.
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of novel wheel of the present invention-track combined electric wheelchair can be realized the switching of running on wheels mode and crawler-type traveling mode, and its operation principle is as described below.
Switch to process and the driving principle of running on wheels mode:
In conjunction with Fig. 1 and Fig. 2, when electric wheelchair was the crawler-type traveling mode, when the occupant sends switching command by control box 40, the first electric expansion bar 31 was contracted to the shortest, spurs the 4th rotating shaft 42 and drives the state that chair 35 turns back to chair surface maintenance level; Chair 35 drives two front support rods 3 by the 5th rotating shaft 43 and moves downward simultaneously in rotation process, thereby corresponding the first flap 6 of the first bearing pin 5 promotions, pinion 7 and front-wheel 4 by correspondence rotate 120 ° around corresponding front axle 8 together, two front-wheels 4 are landed and two the first Athey wheels 2 disengaging ground.Meanwhile, chair 35 drives two back support rods 25 by the 3rd rotating shaft 36 and moves upward simultaneously in rotation process, thereby rotate 90 ° around major axis 17 together by the second bearing pin 24 corresponding the second flaps 23 of drive and trailing wheel 21, two trailing wheels 21 on the second flap 23 are all landed and two the second Athey wheels 13 disengaging ground.After landing simultaneously, two front-wheels 4 and two trailing wheels 21 can raise electric wheelchair so that its a pair of main crawler belt 12 and a pair of secondary crawler belt 14 break away from ground, rotated by control box 40 each motor of control and decelerator 45 by the occupant and by corresponding shaft coupling 11 power is passed to corresponding power transmission shaft 10 this moment, thereby driving corresponding gear wheel 9 rotates, drive is rotated with pinion 7 and the corresponding front-wheel 4 of its engagement, advances on the ground in the running on wheels mode thereby drive electric wheelchair.At this moment, the size and Orientation of the turning to of electric wheelchair, the output speed by controlling respectively two motors and decelerator 45 that moves forward and backward is realized.
Switch to process and the driving principle of crawler-type traveling mode:
When electric wheelchair is the running on wheels mode, when the occupant sends switching command by control box 40, the first electric expansion bar 31 Shens are grown to the longest, spur the 4th rotating shaft 42 and chair 35 and rotate and allow the occupant be in the attitude of layback, for the stair climbing function under the crawler-type traveling mode ready; Chair 35 moves upward simultaneously by two front support rods 3 of the 5th rotating shaft 43 drives in rotation process simultaneously, thereby promote corresponding the first flap 6, pinion 7 and front-wheel 4 by the first bearing pin 5 and upwards rotate 120 ° around corresponding front axle 8 together, the height of front-wheel 4 is risen until it breaks away from ground, and an end of the first Athey wheel 2 and main crawler belt 12 land.Meanwhile, chair 35 drives two back support rods 25 by the 3rd rotating shaft 36 and moves downward simultaneously in rotation process, thereby upwards rotate 90 ° around major axis 17 together by the second bearing pin 24 corresponding the second flaps 23 of drive and trailing wheel 21, the height of the trailing wheel 21 on each second flap 23 is risen until it breaks away from ground, and the other end of the second Athey wheel 13 and main crawler belt 12 land.Thus, two front-wheels 4 and two trailing wheels 21 all break away from ground, and the electric wheelchair height descends so that a pair of main crawler belt 12 complete kiss the earths.Rotated by control box 40 each motor of control and decelerator 45 by the occupant and by corresponding shaft coupling 11 power is passed to corresponding power transmission shaft 10 this moment, and corresponding the first Athey wheel 2 drives corresponding the second Athey wheel 13 by corresponding main crawler belt 12 and corresponding the 3rd Athey wheel 15 rotates together thereby drive.Because main crawler belt 12 contacts fully with ground, frictional force drives electric wheelchair by crawler belt and ground begins stair climbing in the crawler travel mode, and the frictional force by main crawler belt 12 and stairway step place in the process of stair climbing and the active force that the crawler belt external tooth is subject to the step sharp corner promote electric wheelchair and creep at stair.
In addition, in the process of stairs, adjust the angle of secondary crawler belt 14 and main crawler belt 12 by the extension elongation of controlling the second electric expansion bar 32, the auxiliary electrical wheelchair comes stairs; In the process of going downstairs, adjust equally the angle of secondary crawler belt 14 and main crawler belt 12 by the extension elongation of controlling the second electric expansion bar 32, thereby the contact condition that guarantees its secondary crawler belt and stairway step prevents that electric wheelchair from the situation of downward overturning occuring in be transitioned into this process of stair by platform.Thus, by the dynamic control to secondary crawler belt 14 attitudes, improve stationarity and the safety of electric wheelchair in stairs and the process of going downstairs.The attitude adjustment process of the secondary crawler belt 14 of electric wheelchair is as follows: when the second electric expansion bar 32 elongates or shortens according to the control command of control box 40, drive is attached thereto the first transverse slat 28 of connecing and secondary crawler belt 14 and drive mechanism thereof and rotates around major axis 17 together, thereby adjust the angle of secondary crawler belt 14 and main crawler belt 12, the guiding electric wheelchair is climbed up first stairway step in the stairs process, contacts the auxiliary electrical wheelchair to stablize to climb down stairway step by secondary crawler belt 14 and stair face in the process of going downstairs.When whole electric wheelchair all was positioned on the stair inclined-plane, secondary crawler belt 14 and main crawler belt 12 angles were adjusted into 180 ° and contact with stairway step simultaneously, thereby are equivalent to increase stability and the safety of track length raising electric wheelchair when stair are walked.
Claims (1)
1. novel wheel the-track combined electric wheelchair, it is characterized in that, comprise the first side plate [1], the first Athey wheel [2], front support rod [3], front-wheel [4], the first bearing pin [5], the first flap [6], pinion [7], front axle [8], gear wheel [9], power transmission shaft [10], shaft coupling [11], main crawler belt [12], the second Athey wheel [13], secondary crawler belt [14], the 3rd Athey wheel [15], hollow axle [16], major axis [17], motor cabinet [18], base plate [19], fixing head [20], trailing wheel [2 little hind axles [22], the second flap [23], the second bearing pin [24], back support rod [25], driven shaft [26], the second side plate [27], the first transverse slat [28], support [29], the first rotating shaft [30], the first electric expansion bar [31], the second electric expansion bar [32], the second shaft seat [33], the second rotating shaft [34], chair [35], the 3rd rotating shaft [36], the 3rd shaft seat [37], the 4th shaft seat [38], the 5th shaft seat [39], control box [40], handrail [41], the 4th rotating shaft [42], the 5th rotating shaft [43], the 4th Athey wheel [44], motor and decelerator [45], the second transverse slat [46];
The quantity of the first side plate [1] is two and is symmetrically distributed in the electric wheelchair both sides, between these two first side plates [1] two fixing heads [20] are set, the two ends of each fixing head [20] are connected on different the first side plates [1], the lower edge of described two the first side plates [1] base plate [19] that is connected, above-mentioned two the first side plates [1] consist of frame type structure with base plate [19], two fixing heads [20];
The quantity of motor and decelerator [45] is two and symmetrical, it is fixedly installed in respectively on two motor cabinets [18] that are connected mutually with base plate [19], the output shaft of each motor and decelerator [45] is connected with corresponding power transmission shaft [10] mutually by corresponding shaft coupling [11], this power transmission shaft [10] runs through the first side plate [1] and rotates relative to the first side plate [1] under the driving of motor and decelerator [45], be connected on the power transmission shaft [10] the first Athey wheel [2] and gear wheel [9], wherein gear wheel [9] is positioned at the outside of the first Athey wheel [2]; The quantity of the first flap [6] is two and symmetrical, and each first flap [6] is enclosed within corresponding power transmission shaft [10] upward and can rotates around it, and described the first flap [6] is positioned at the outside of corresponding gear wheel [9]; The quantity of front axle [8] is two, each front axle [8] runs through corresponding the first flap [6] and can rotate to it, one end of each front axle [8] is installed with a pinion [7] and this pinion [7] is meshed with gear wheel [9], and the other end of each front axle [8] is fixed with corresponding front-wheel [4];
The quantity of front support rod [3] is two, the lower end of each front support rod [3] is all by first bearing pin [5] of correspondence and corresponding the first flap [6] connection, and the first flap [6] corresponding to stretchy rotates around corresponding power transmission shaft [10], this first flap [6] drives corresponding pinion [7] and rotates around gear wheel [9] simultaneously, the upper end of two front support rods [3] all is enclosed within the 5th rotating shaft [43] upward and can relatively rotates, corresponding the 5th shaft seat [39] is run through respectively at the two ends of the 5th rotating shaft [43], and described two the 5th shaft seats [39] all are fixed on the bottom surface of chair [35];
The quantity of support [29] is two and symmetrical, the bottom of each support [29] all is connected mutually with corresponding the first side plate [1] upper surface, the top of each support [29] all is enclosed within the second rotating shaft [34] upward and can relatively rotates, corresponding the second shaft seat [33] is run through respectively at the two ends of this second rotating shaft [34], and described two the second shaft seats [33] all are fixed on the bottom surface of chair [35]; Be provided with the first rotating shaft [30] between two supports [29], the afterbody of the first electric expansion bar [31] is enclosed within the first rotating shaft [30] upward and can rotates to it, the external part of this first electric expansion bar [31] is enclosed within the 4th rotating shaft [42] upward and can rotates to it, corresponding the 4th shaft seat [38] is run through respectively at the two ends of described the 4th rotating shaft [42], and described two the 4th shaft seats [38] all are fixed on the bottom surface of chair [35];
Major axis [17] runs through symmetrical two hollow axles [16] and can rotate to it, each hollow axle [16] all successively runs through with its corresponding the second side plate [27] and the first side plate [1] and can rotate relative to above-mentioned two side plates, on each hollow axle [16] also cover have the 3rd Athey wheel [15], the 3rd Athey wheel [15] to be arranged between corresponding the second side plate [27] and the first side plate [1] and be connected on the hollow axle [16]; The quantity of the second Athey wheel [13] is two, and each second Athey wheel [13] all is enclosed within the outside of corresponding hollow axle [16] and is connected mutually with it, and described the second Athey wheel [13] is meshed with the first Athey wheel [2] by corresponding main crawler belt [12];
The quantity of driven shaft [26] is two, each driven shaft [26] all runs through corresponding the second side plate [27] and can rotate to it, the outside of each driven shaft [26] the 4th Athey wheel [44] that all is connected, described the 4th Athey wheel [44] is meshed with corresponding the 3rd Athey wheel [15] by corresponding secondary crawler belt [14]; Fixed installation the first transverse slat [28] and the second transverse slat [46] between two the second side plates [27], the pole that the afterbody of the second electric expansion bar [32] is enclosed within the first transverse slat [28] middle part projection upward also can relatively rotate, and the external part of described the second electric expansion bar [32] is enclosed within the second rotating shaft [34] upward and can rotates around it;
The quantity of the second flap [23] is two and symmetrical, the equal empty set of each second flap [23] is at an end of major axis [17], on each second flap [23] hind axle [22] is set all, the upper cover of this hind axle [22] has corresponding trailing wheel [21] and can rotate to it; The quantity of back support rod [25] is two, the lower end of each back support rod [25] all is connected with corresponding the second flap [23] by corresponding the second bearing pin [24], the upper end empty set of each back support rod [25] is at an end of the 3rd rotating shaft [36], corresponding the 3rd shaft seat [37] is run through respectively at the two ends of described the 3rd rotating shaft [36], and the 3rd shaft seat [37] is fixed on the backrest reverse side of chair [35];
The both sides of chair [35] are installed with respectively a handrail [41], are installed with the control box [40] that each motor is controlled on one of them handrail [41].
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104260757A CN102895077A (en) | 2012-10-31 | 2012-10-31 | Novel wheel-crawler compound electrically propelled wheelchair |
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| CN2012104260757A CN102895077A (en) | 2012-10-31 | 2012-10-31 | Novel wheel-crawler compound electrically propelled wheelchair |
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| CN102895077A true CN102895077A (en) | 2013-01-30 |
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| CN2012104260757A Pending CN102895077A (en) | 2012-10-31 | 2012-10-31 | Novel wheel-crawler compound electrically propelled wheelchair |
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| CN110294036A (en) * | 2018-03-22 | 2019-10-01 | 广东电网有限责任公司清远供电局 | A kind of track driving mechanism of stair climbing robot |
| CN111714302A (en) * | 2020-07-27 | 2020-09-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN113371083A (en) * | 2021-08-04 | 2021-09-10 | 中国人民解放军国防科技大学 | Wheel-track leg composite driving system and walking device |
| CN113576781A (en) * | 2021-08-09 | 2021-11-02 | 宜宾职业技术学院 | Flat ground walking method of mobile mechanical platform |
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| CN103767841A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel and crawler type dual-purpose wheelchair for both roads and stairs |
| CN103767841B (en) * | 2014-01-27 | 2016-09-21 | 河北工业大学 | A kind of Lun Lvshi road ladder two-use wheel chair |
| CN105877188A (en) * | 2014-10-17 | 2016-08-24 | 北京建筑大学 | Mobile robot seat structure |
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| CN104622650A (en) * | 2015-02-12 | 2015-05-20 | 南京理工大学 | Wheel-track combined electric wheelchair |
| CN104800011A (en) * | 2015-05-07 | 2015-07-29 | 福建农林大学 | Novel multifunctional wheelchair and using method thereof |
| CN104800011B (en) * | 2015-05-07 | 2017-01-18 | 福建农林大学 | Novel multifunctional wheelchair and using method thereof |
| CN105748217A (en) * | 2016-02-01 | 2016-07-13 | 山东科技大学 | Two-section four-track stair climbing wheelchair based on walking wheel swinging and upstairs and downstairs going method |
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| CN105726232B (en) * | 2016-02-01 | 2017-09-08 | 山东科技大学 | The double crawler belt stair-climbing wheel chairs of binodal swung based on road wheel and upper method downstairs |
| CN105877939A (en) * | 2016-03-30 | 2016-08-24 | 张家港市新菲乐医疗设备有限公司 | Automatic stair climbing chair |
| CN106063748A (en) * | 2016-05-25 | 2016-11-02 | 刘运华 | A kind of Cardiological first aid multifunctional wheelchair |
| CN110294036A (en) * | 2018-03-22 | 2019-10-01 | 广东电网有限责任公司清远供电局 | A kind of track driving mechanism of stair climbing robot |
| CN108433897A (en) * | 2018-05-08 | 2018-08-24 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot equipped with trailing wheel elevating mechanism and method for moving up/down steps |
| CN108514479A (en) * | 2018-05-08 | 2018-09-11 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot and method for moving up/down steps |
| CN108514479B (en) * | 2018-05-08 | 2023-09-22 | 深圳市福尔泰医疗科技有限公司 | All-terrain manned robot and step ascending and descending method |
| CN108433897B (en) * | 2018-05-08 | 2023-09-22 | 深圳市福尔泰医疗科技有限公司 | All-terrain manned robot with rear wheel lifting mechanism and step-up and down method |
| CN109018050A (en) * | 2018-06-28 | 2018-12-18 | 南京理工大学 | A kind of weight bearing stair climbing robot |
| CN109646200A (en) * | 2018-12-21 | 2019-04-19 | 杭州铭智云教育科技有限公司 | A kind of hand is from dual-purpose electric wheelchair |
| CN109646200B (en) * | 2018-12-21 | 2021-01-08 | 广东邦哲智能科技有限公司 | Manual-automatic dual-purpose electric wheelchair |
| CN111714302A (en) * | 2020-07-27 | 2020-09-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN111714302B (en) * | 2020-07-27 | 2021-06-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN113371083A (en) * | 2021-08-04 | 2021-09-10 | 中国人民解放军国防科技大学 | Wheel-track leg composite driving system and walking device |
| CN113371083B (en) * | 2021-08-04 | 2022-05-17 | 中国人民解放军国防科技大学 | Wheel-track leg composite driving system and walking device |
| CN113576781A (en) * | 2021-08-09 | 2021-11-02 | 宜宾职业技术学院 | Flat ground walking method of mobile mechanical platform |
| CN113576781B (en) * | 2021-08-09 | 2024-02-09 | 宜宾职业技术学院 | Land leveling walking method of mobile mechanical platform |
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