CN103230322A - Front leg mechanism of composite wheel leg type wheelchair - Google Patents
Front leg mechanism of composite wheel leg type wheelchair Download PDFInfo
- Publication number
- CN103230322A CN103230322A CN2013101655203A CN201310165520A CN103230322A CN 103230322 A CN103230322 A CN 103230322A CN 2013101655203 A CN2013101655203 A CN 2013101655203A CN 201310165520 A CN201310165520 A CN 201310165520A CN 103230322 A CN103230322 A CN 103230322A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- wheel
- gear
- execution
- directive wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a front leg mechanism of a composite wheel leg type wheelchair. The front leg mechanism of the composite wheel leg type wheelchair is characterized by mainly comprising a rear connecting plate position and posture adjusting mechanism, a front connecting plate position and posture adjusting mechanism, a power transmission mechanism, a variable transmission mechanism and a control system. The rear connecting plate position and posture adjusting mechanism comprises a box, a rear connecting plate, a spindle, a crank, a guide rod, a sliding block, a guide rod seat, a left screw, a left rack nut, an upper electromagnetic clutch, a left handle, a rear guide wheel, a front guide wheel and a lower shaft. The front connecting plate position and posture adjusting mechanism comprises a front connecting plate, a right screw, a right rack nut, a lower electromagnetic clutch, a right handle and an upper shaft. The power transmission mechanism mainly comprises a spindle, a middle small shaft, a lower small shaft, a front guide wheel, a rear guide wheel, a middle bottom wheel gear and an underneath bottom wheel gear. The variable transmission mechanism mainly comprises a nut, a spring, a middle bottom wheel gear, a friction plate, a rear guide wheel and an upper shaft. The control system mainly comprises a sensing detection module, a driving module and a timing module.
Description
Technical field
The present invention relates to the wheelchair technology, particularly a kind of preceding leg mechanism of wheel-leg combined type wheelchair.This mechanism is conducive to stair climbing and obstacle detouring.
Background technology
At present, the preceding leg mechanism about stair climbing wheelchair mainly contains following technology." electric walking non-obstructive wheel chair " of designs such as Jiang Xiaodong discloses a kind of electric walking non-obstructive wheel chair (referring to patent CNlol073526A), it mainly contains formations such as mounting, back rest, front-wheel, trailing wheel, pedipulator and dynamical system, adopt the bionics techniques of pedipulator simulating human walking during this wheelchair stair activity, the serviceability stability and safety, no downslide inertia, yet this wheelchair needs manpower to promote when stair climbing, waste time and energy, control and handle all more complicated, these problems have limited its promoting the use of in daily life.In " a kind of six sufficient stair climbing wheelchairs " (referring to the patent CNl02755229A) of people such as Gong Daoxiong design, this wheelchair system mainly comprises wheelchair, article three, chair front side lower limb, article three, chair back side lower limb, compositions such as power-supply controller of electric case, described three chair front side lower limbs are made up of hip joint, thigh, knee joint, shank, ankle joint and foot.The foreleg of this wheelchair can be crossed over various obstacles and walk on ups and downs road surface, and seat remains level in the leaping over obstacles process, has guaranteed comfortableness and the safety taken.This wheelchair weak point is to lean against stair to move upward, and front side lower limb motor process complexity is difficult to control and manipulation, and efficient is lower during the operation of level land, because its volume is bigger, is difficult on the ordinary residence and uses simultaneously.Ma Yongwei " " is introducing the two leg walking robot " WL-16RI Jl " that research department and the Japanese robot development Tmsuk of enterprise by the high western pure husband professor of the academic institute of Japanese Waseda University science and engineering develop jointly based on the research of the stair climbing wheelchair of star wheel series in (referring to University Of Tianjin's " master thesis " in 2008) literary composition, it supports a seat by two pedipulators and constitutes, every pedipulator has 6 degree of freedom, can be forward, after, move the side, seat bottom is equipped with gyroscope, on every lower limb pressure transducer is housed, by sensor acquisition information, control it and in time adjust attitude maintenance barycentre steadiness.Extension distance the longest is 1.02 meters before and after WL-16RUI two lower limbs, about the longest 1.36 meters, every lower limb maximum 0.34 meter of amplitude that moves up and down.But it is very high that this wheelchair requires control, operates very complicatedly, and motion amplitude is little when level walking, and is slow in one's movements; In addition, seat is bigger apart from the height on ground, easily causes psychology frightened to user, also has very big distance apart from practical application.People such as Jin Zhenlin provide " a kind of four feet walk device is " in (referring to patent CNl02556200A), introduced a kind of walking devices that contains four lower limbs, it mainly contains frame and forms with the identical pedipulator of four structures that is connected on its four jiaos, described pedipulator has rectangular ring-like, first to drive side chain, the second driving side chain again, and the 3rd drives compositions such as side chain and hemispherical elasticity toes.The motion of this walking mechanism flexibly, the speed of travel is fast, space is big, movement inertia is little, but be difficult to operation when running into obstacle such as stair, step, and range of application is very limited." move Multipurpose wheelchair " in (referring to patent 86210653) what Dong Shangbin designed, a kind of level land, stair operation Multipurpose wheelchair have been introduced, front wheel and rear roller all use a plurality of pocket-wheels to form, also realize going up downstairs around the roller shaft revolution except rotation, this wheelchair belongs to wheels formula stair climbing device, and the range of activity of this stair climbing device is wide, motion flexibly, but stationarity is not high during stair activity, and the center of gravity big rise and fall can make the occupant not feel well.In addition, wheels formula stair climbing device volume is bigger, and lays particular stress on, and is difficult on the ordinary residence stair and uses.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is that a kind of preceding leg mechanism of wheel-leg combined type wheelchair is provided.This mechanism can assist wheelchair stably stair activity, stride ditch and obstacle detouring etc., by manual or electronic control, can realize wheelchair even running and turning flexibly, make the people with disability can independently operate wheelchair and realize stair activity, stride ditch and obstacle detouring, alleviate relatives, nursing or service personal's labor intensity simultaneously.
The technical scheme that the present invention solve the technical problem is: the preceding leg mechanism that designs a kind of wheel-leg combined type wheelchair, it is characterized in that this preceding leg mechanism mainly comprises back connecting plate pose governor motion, preceding connecting plate pose governor motion, power drive mechanism, variable transmission mechanism and control system;
Described back connecting plate pose governor motion comprises casing, back connecting plate, main shaft, crank, guide rod, slide block, guide rod seat, left leading screw, left rack nut, goes up the lower shaft of electromagnetic clutch, left handle, back directive wheel, front jockey wheel and installation front jockey wheel; Being in transmission connection of connecting plate is after the manual adjustments, directly rotate left handle, driving left leading screw rotates, and then left rack nut is moved along left leading screw, the local gear that left side rack nut drives on the crank is swung, then crank drives slide block again and moves along the guide rod that is fixed on the connecting plate of back, and the back connecting plate swings, thereby realizes the adjusting of pose; Being in transmission connection of connecting plate is after the motorized adjustment, to last electromagnetic clutch energising, motor drives main shaft by drive mechanism and rotates, back bevel gear on the main shaft and the preceding bevel gear engagement that is installed on vertical with main shaft little, driving the lower-left gear rotates, the lower-left gear by with the last pinion that is contained on the last little axle, drive again and be contained in the last gear wheel rotation that little axle is gone up and last electromagnetic clutch connects together, last gear wheel again with the left pinion that is contained in left leading screw end, and then drive left leading screw again and rotate, the left rack nut that left side leading screw drives again on it when rotating moves along left rail, drive crank-swinging by the local gear engagement on left rack nut and the crank, crank drives slide block again and moves along the guide rod that is fixed on the connecting plate of back, realizes the adjusting to back connecting plate pose;
Connecting plate pose governor motion comprises preceding connecting plate, right leading screw, right rack nut, following electromagnetic clutch, right handles and the axle of going up that the back directive wheel is installed before described; Being in transmission connection of connecting plate is before the manual adjustments, directly rotate right handles and drive right leading screw rotation, and then right rack nut is moved along right leading screw, the local gear before right rack nut drives on the connecting plate rotates, and then connecting plate swing before driving, realize the adjusting to preceding connecting plate pose; Being in transmission connection of connecting plate is before the motorized adjustment, to electromagnetic clutch energising down, motor drives main shaft by drive mechanism and rotates, back bevel gear on the main shaft and the preceding bevel gear engagement that is installed on vertical with main shaft little, and then drive the bottom right gear rotation that connects together with following electromagnetic clutch be contained in equally on the little axle, the bottom right gear driven is contained in the right middle gear engagement on the little axle, right middle gear drives the upper right gear that is contained on the right leading screw again and rotates, and then the right rack nut that drive is installed on the leading screw moves along right guide rail, connecting plate swing before driving by the local gear engagement on right rack nut and the preceding connecting plate then realizes the adjusting to preceding connecting plate pose;
Described power drive mechanism mainly contains main shaft, be fixed on before on the connecting plate medium and small axle and the following little axle on the connecting plate of back, the front jockey wheel that has friction plate and back directive wheel, have spring and be installed on end middle gear and beneath gear on the directive wheel; It is in transmission connection and is, motor drives main shaft by drive mechanism and rotates, the end on the main shaft, cog and the last mesomerism gear engagement that is installed on the medium and small axle, and then by the directive wheel rotation of end middle gear drive back, end middle gear is again by meshing with descending the following mesomerism gear on the little axle, gear rotates under driving, and then drives the front jockey wheel rotation, realizes the power transmission of front jockey wheel and back directive wheel;
The speed change drive disk assembly of described variable transmission mechanism mainly contains nut, spring, end middle gear, friction plate, back directive wheel and goes up axle; It is in transmission connection and is, back speed change drive disk assembly is installed on the back directive wheel, in the wheel chair sport process, when the back directive wheel contacts with stair, have the end middle gear top nut of spring by adjusting, and then regulate the frictional force between back directive wheel and the friction plate, thereby regulate end middle gear and be delivered to power on the directive wheel of back by friction plate, be implemented in when regulating the wheelchair pose motion of directive wheel or static after keeping; Speed change drive disk assembly before being equipped with equally on the front jockey wheel, preceding speed change drive disk assembly is identical with back speed change drive disk assembly structure;
Described control system mainly comprises sensing detection module, driver module and time block; The power of leg mechanism is provided by the main motor of driver module before whole, and it is in transmission connection and is, main driven by motor main shaft rotates and drives down electromagnetic clutch, goes up electromagnetic clutch, front jockey wheel and back directive wheel by drive mechanism; The sensing detection module mainly comprises front jockey wheel, back directive wheel, position sensor, angular displacement sensor, angular-rate sensor and force transducer, by position, angular displacement, angular velocity and the stressed detection to directive wheel, and to the main frame transmitting data in real time, make the reliable even running of wheelchair; The pose of time block by preceding leg mechanism is regulated in timing connection and the separation of clutch in real time.
Compared with prior art, the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention has the following advantages:
1. climbing the building obstacle climbing ability improves; In the stair climbing motor process, by the continuous adjusting to preceding leg mechanism, can strengthen the power of climbing the building effectively, strengthened the building ability of climbing of wheelchair greatly.
2. control is convenient, simple to operate; The wheel-leg combined type wheelchair that adds the preceding leg mechanism of the present invention is compared with legged Wheelchair structure, motility height when the motion of the road surface of uneven, and control is convenient, and is simple to operate, and slow phenomenon can not occur; Compare with the planet gear type Wheelchair structure, robust motion is better, ride comfort.Wheelchair has been installed after the preceding leg mechanism of the present invention, and the occupant is manual and electric operating separately, can assist wheelchair to realize smoothly and steadily climbing up and down stairs and obstacle detouring, has improved occupant's freedom of action degree, has alleviated relatives or nurse personnel's labor intensity.
3. compact conformation, low cost of manufacture; Leg mechanism can be realized the transmission of doing more physical exercises by single power source before the present invention, compact overall structure, and the pose adjustment movement is flexible, is convenient to realize automatic control, low cost of manufacture, the running precision height, and reliable and stable.
4. positive climbing, safety and comfort; Wheel-leg combined type wheelchair front speeling stairway or the obstacle detouring of the preceding leg mechanism of the present invention are installed, are met people and climb the building custom, improved safety and the comfort level of user.
5. can manual adjustments foreleg attitude, drive leading screw by turning handle and rotate, rack nut is moved, thereby make connecting plate and crank-swinging, the attitude of leg mechanism is regulated before realizing.
6. can motorized adjustment foreleg attitude, by the clutch power on/off is passed to the power on the main shaft on the gear, and then drive leading screw by the series of gears engaged transmission again and rotate, thereby rack nut is moved, reach and make preceding connecting plate and crank-swinging, leg mechanism attitude adjusting before realizing.
Description of drawings
Figure l is the population structure front side sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention;
Fig. 2 is the structural representation that the preceding leg mechanism of a kind of embodiment of leg mechanism is connected with wheelchair before the wheel-leg combined type wheelchair of the present invention;
Fig. 3 is the preceding connecting plate adjustment structure sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention;
Fig. 4 is the back connecting plate adjustment structure sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention;
Fig. 5 is the directive wheel power guiding mechanism sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention;
Fig. 6 is the directive wheel speed change drive disk assembly structural representation of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention;
Fig. 7 is the population structure rear side sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention;
Fig. 8 is the stair activity process pose sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention; Wherein,
Fig. 8 (1) is the process of the going upstairs pose sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention; Wherein,
Fig. 8 (1a) is that leg mechanism is prepared the sketch map of climbing the building near step before the wheel-leg combined type wheelchair of the present invention;
Fig. 8 (1b) is the sketch map that front jockey wheel in the leg mechanism is crossed step before the wheel-leg combined type wheelchair of the present invention;
Fig. 8 (1c) is that front jockey wheel has rolled up step in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention, and back directive wheel is crossed the sketch map of step;
Fig. 8 (1d) is that the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention is translated into the pose sketch map on the step.
Fig. 8 (2) is the pose sketch map of going downstairs of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention; Wherein,
Fig. 8 (2a) is that leg mechanism is prepared sketch map downstairs near step before the wheel-leg combined type wheelchair of the present invention.
Fig. 8 (2b) is the sketch map that front jockey wheel is crossed over step in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention.
Fig. 8 (2c) is that front jockey wheel has been crossed step in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention, and back directive wheel is crossed over the sketch map of step.
Fig. 8 (2d) be before the wheel-leg combined type wheelchair of the present invention under the leg mechanism to the level land the sketch map of (front jockey wheel has been crossed step in the preceding leg mechanism, and back directive wheel is got over the situation of step).
Fig. 9 is the obstacle detouring process pose sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention; Wherein,
Fig. 9 (a) is that leg mechanism lifts before the wheel-leg combined type wheelchair of the present invention, prepares the sketch map of leaping over obstacles.
Fig. 9 (b) is the sketch map that front jockey wheel is stepped up obstacle in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention.
Fig. 9 (c) is the pose sketch map of back directive wheel leaping over obstacles in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention.
Fig. 9 (d) is the sketch map that leg mechanism is stepped up obstacle before the wheel-leg combined type wheelchair of the present invention.
Fig. 9 (e) is leg mechanism downward sketch map from the obstacle before the wheel-leg combined type wheelchair of the present invention.
Fig. 9 (f) is the sketch map that front jockey wheel lands in the leg mechanism before the wheel-leg combined type wheelchair of the present invention.
Fig. 9 (g) is the sketch map that the back directive wheel lands in the leg mechanism before the wheel-leg combined type wheelchair of the present invention.
Fig. 9 (h) is the sketch map that leg mechanism lands fully before the wheel-leg combined type wheelchair of the present invention.
Figure 10 is the ditch process of the striding pose sketch map of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention; Wherein,
Figure 10 (a) is the sketch map that front jockey wheel is stepped up bank in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention;
Figure 10 (b) is the sketch map that the back directive wheel is crossed bank in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention;
Figure 10 (c) is the sketch map that the back directive wheel is stepped up bank in the preceding leg mechanism of wheel-leg combined type wheelchair of the present invention;
Figure 10 (d) is the sketch map that leg mechanism is crossed over ditch fully before the wheel-leg combined type wheelchair of the present invention.
Figure 11 is the control system structural representation of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention.
Figure 12 is the control sequence block diagram of a kind of embodiment of leg mechanism before the wheel-leg combined type wheelchair of the present invention.
The specific embodiment
The invention will be further described below in conjunction with embodiment and accompanying drawing thereof:
Leg mechanism (leg mechanism before being called for short before the wheel-leg combined type wheelchair of the present invention's design, referring to figure l-12), be installed in the front end (its syndeton is referring to Fig. 2) of wheelchair frame bottom, preceding leg mechanism top casing links together by bolt and wheelchair frame, it is characterized in that this preceding leg mechanism mainly comprises back connecting plate pose governor motion l, preceding connecting plate pose governor motion 2, power drive mechanism 3, variable transmission mechanism 4 and control system 5.
The described back of leg mechanism connecting plate pose governor motion 1 (referring to figure l, 4,7) before the present invention, the lower shaft 38 etc. that it comprises casing 119, back connecting plate 110, main shaft 17, crank 13, guide rod 14, slide block 19, guide rod seat 15, left leading screw 112, left rack nut 111, go up electromagnetic clutch 22, left handle 11, back directive wheel 16 and front jockey wheel 18 and front jockey wheel 18 is installed.When to back connecting plate 110 when regulating (referring to Fig. 3), both can manual adjustments, also can motorized adjustment.Being in transmission connection of its manual adjustments is, drive left leading screw 112 by direct rotation left handle 11 and rotate (referring to Fig. 6), and then left rack nut 111 is moved along left leading screw 112, local gear on the left rack nut 111 drive cranks 13 is swung then, then crank 13 drives slide block 19 again and moves along the guide rod 14 that is fixed on the connecting plate 110 of back, and back connecting plate 110 is swung, thereby realizes the adjusting of pose; Being in transmission connection of motorized adjustment is, to last electromagnetic clutch 22 energisings, motor drives main shaft 17 by drive system and rotates, back bevel gear 210 on the main shaft 17 and preceding bevel gear 29 engagements that are installed on vertical with main shaft little 116, driving lower-left gear 113 rotates, lower-left gear 113 is by meshing with the last pinion 114 that is contained on the last little axle 116, drive again and be contained in last gear wheel 115 rotations that connect together with last electromagnetic clutch 22 on the little axle 116, last gear wheel 115 meshes with the left pinion 117 that is contained in left leading screw 112 ends again, and then drive left leading screw 112 again and rotate, the left rack nut 111 that left side leading screw 112 drives again on it when rotating moves along left rail 118, swing by left rack nut 111 and the local gear engagement drive crank 13 on the crank 13 then, crank 13 drives slide block 19 again and moves along the guide rod 14 that is fixed on the connecting plate 110 of back, realizes the adjusting to back connecting plate 110 poses.Described transmission or adjustment process have shown the installation and connection method of related components.
Connecting plate pose governor motion 2 before described (referring to figure l and Fig. 7), it comprise preceding connecting plate 23, right leading screw 211, right rack nut 24, down electromagnetic clutch 12, right handles 2l and back directive wheel 16 is installed go up spools 38 etc.When preceding connecting plate 23 is regulated (referring to Fig. 2), both can manual adjustments, also can motorized adjustment.Being in transmission connection of manual adjustments is, driving right leading screw 211 by direct rotation right handles 21 rotates, and then right rack nut 24 is moved along right leading screw 211, local gear before right rack nut 24 drives then on the connecting plate 23 rotates, connecting plate 23 swings realize the adjusting to preceding connecting plate 23 poses before the local gear driven on the preceding connecting plate 23; Being in transmission connection of motorized adjustment is, to electromagnetic clutch 12 energisings down, motor drives main shaft 17 by drive system and rotates, back bevel gear 210 on the main shaft 17 and preceding bevel gear 29 engagements that are installed on vertical with main shaft little 116, and then drive bottom right gear 27 rotations that connect together with following electromagnetic clutch 12 be contained in equally on the little axle 116, bottom right gear 27 drives right middle gear 28 engagements that are contained on the little axle 116 again, right middle gear 28 drives the upper right gear 26 that is contained on the right leading screw 211 again and rotates, and then the right rack nut 24 that drive is installed on the leading screw moves along right guide rail 25, connecting plate 23 swings before driving by the local gear engagement on right rack nut 24 and the preceding connecting plate 23 then, realization is to the adjusting of preceding connecting plate 23 poses.Described transmission or adjustment process have shown the installation and connection method of related components.
Described power drive mechanism 3 (referring to Fig. 5), it mainly contains main shaft 17, be fixed on before on the connecting plate 23 medium and small axle 33 and the following little axle 36 on the connecting plate 110 of back, the front jockey wheel 18 that has friction plate and back directive wheel 16, have spring and be installed on compositions such as end middle gear 34 on the directive wheel and beneath gear 37.When motor drives main shaft 17 rotations by drive system, the end on the main shaft 17 cogs 31 meshes with the last mesomerism gear 32 that is installed on the medium and small axle 33, and then by 34 drive back directive wheels 16 rotations of end middle gear, end middle gear 34 again by with following little axle 36 on 35 engagements of following mesomerism gear drive under gear 37 rotate, and then drive front jockey wheel 18 and rotate.Thereby realize the power transmission of front jockey wheel 18 and back directive wheel 16.Described drive connection has also shown the installation and connection method of related components.
Described variable transmission mechanism 4 (referring to Fig. 6), its main speed change drive disk assembly have nut 43, spring 42, end middle gear 34, friction plate 4l and back directive wheel 16 and go up axle 38 etc.On front jockey wheel 18 and back directive wheel 16 identical speed change drive disk assembly is installed all, its operation principle is identical.Only be described with regard to speed change drive disk assembly on the directive wheel 16 of back below.In the wheel chair sport process, when back directive wheel 16 contacts with stair, can have end middle gear 34 top nuts 43 of spring 42 by adjusting, and then can regulate frictional force between back directive wheel 16 and the friction plate 4l, thereby can regulate end middle gear 34 and be delivered to the power of back on the directive wheel 16 by friction plate 41, finally can be implemented in when regulating pose the motion of directive wheel 16 or static after keeping.Described motion or adjustment process have also shown the transmission installation and connection method of related components.
In the wheel chair sport process, when preceding leg mechanism is regulated, adjust by the elastic force to end middle gear 34 that spring 42 is installed, can be by the frictional force between friction plate 4l adjusting end middle gear 34 and the back directive wheel 16, cause back directive wheel 16 to move, also can be static, also same operation can be arranged to front jockey wheel 18.
Operation principle, operation and the motor process of leg mechanism in upper and lower stair, crossing over blockage and leap gully process is as follows before the present invention:
When going upstairs: when electric wheelchair is about near stair, when preparation is gone upstairs, by controller following electromagnetic clutch 12 is switched on, and then the power on the main shaft 17 meshed with the preceding bevel gear 29 that is installed on vertical with main shaft last little spools 116 by back bevel gear 210, driving bottom right gear 27 rotates, bottom right gear 27 is by meshing with right middle gear 28, driving upper right gear 26 again rotates, upper right gear 26 drives right leading screw 211 and rotates, and then the right rack nut 24 that drive is installed on the right leading screw 211 moves along right guide rail 25, then by right rack nut 24 angle certain with preceding connecting plate 23 swings of local gear engagement drive on the preceding connecting plate 23, to descend electromagnetic clutch 12 outages then, preceding connecting plate 23 is locked in this position, then by controller last electromagnetic clutch 22 is switched on, motor drives main shaft 17 by drive system and rotates, back bevel gear 210 on the main shaft 17 and preceding bevel gear 29 engagements that are installed on vertical with main shaft little 116, driving lower-left gear 113 rotates, lower-left gear 113 is by meshing with last pinion 114, driving left pinion 117 again rotates, left side pinion 117 drives left leading screw 112 and rotates, and then the left rack nut 11l that drive is installed on the left leading screw 112 moves along left rail 118, swing by left rack nut 111 and the local gear engagement drive crank 13 on the crank 13 then, crank 13 drives slide block 19 again and moves along the guide rod 14 that is fixed on the connecting plate 110 of back, thereby back connecting plate 110 is transferred to front jockey wheel 18 and stair position contacting, afterwards along with wheelchair constantly travels forward, that repeats continuously carries out above-mentioned adjustment process, until finally climbing up stair.When manual adjustments, only need rotate right handles 2l or left handle 11, just can drive right rack nut 24 or left rack nut 11l moves, and then can drive crank 13 and 23 swings of preceding connecting plate, realize the go upstairs adjusting of pose of its preceding leg mechanism, be accompanied by the motion of wheelchair afterwards, repeat said process, climb up stair until wheelchair.Its motor process following (referring to Fig. 8 (1)): preceding leg mechanism prepares to climb building ((a) referring to 8 (1)) near step; The situation ((b) referring to 8 (1)) that front jockey wheel 18 in the preceding leg mechanism is crossed step; Front jockey wheel 18 has rolled up step in the preceding leg mechanism, and back directive wheel 16 is crossed the situation ((c) referring to 8 (1)) of step; Preceding leg mechanism is translated into the situation ((d) referring to 8 (1)) on the step.
When going downstairs: when electric wheelchair moves to the position that is about to go downstairs, by controller following electromagnetic clutch 12 is switched on, and then the power on the main shaft 17 meshed with the preceding bevel gear 29 that is installed on vertical with main shaft last little spools 116 by back bevel gear 210, driving bottom right gear 27 rotates, bottom right gear 27 is by meshing with right middle gear 28, driving upper right gear 26 again rotates, upper right gear 26 drives right leading screw 211 and rotates, and then the right rack nut 24 that drive is installed on the right leading screw 211 moves along right guide rail 25, connecting plate 23 swings before driving by the local gear engagement on right rack nut 24 and the preceding connecting plate 23 then, current connecting plate 23 pendulum are locked when concordant with vertical direction, to descend electromagnetic clutch 12 outages, then by controller last electromagnetic clutch 22 is switched on, motor drives main shaft 17 by drive system and rotates, back bevel gear 210 on the main shaft 17 and preceding bevel gear 29 engagements that are installed on vertical with main shaft little 116, driving lower-left gear 113 rotates, lower-left gear 113 is by meshing with last pinion 114, driving left pinion 117 again rotates, left side pinion 117 drives left leading screw 112 and rotates, and then the left rack nut 111 that drive is installed on the left leading screw 112 moves along left rail 118, swing by left rack nut 111 and the local gear engagement drive crank 13 on the crank 13 then, crank 13 drives slide block 12 again and moves along the guide rod 14 that is fixed on the connecting plate 110 of back, thereby back connecting plate 110 is transferred to front jockey wheel 18 and stair position contacting, next along with wheelchair constantly travels forward, constantly preceding connecting plate 23 and back connecting plate 110 are regulated, walked out stair stably until wheelchair.When manual adjustments, only need rotate right handles 2l or left handle 11, just can drive right rack nuts 24 or left rack nut 111 moves by right leading screw 211 or left leading screw 112, and then drive crank l3 and 23 swings of preceding connecting plate, realize the go downstairs adjusting of pose of its preceding leg mechanism, be accompanied by the motion of wheelchair afterwards, repeat said process, climb up stair until wheelchair.Its motor process following (referring to Fig. 8 (2)): preceding leg mechanism is prepared downstairs (referring to (a) of Fig. 8 (2)) near step; The situation (referring to (b) of Fig. 8 (2)) that front jockey wheel 18 is got over step in the preceding leg mechanism; Front jockey wheel 18 has been crossed step in the preceding leg mechanism, and back directive wheel 16 is the situation (referring to (c) of Fig. 8 (2)) of step more; Before the situation (referring to (d) of Fig. 8 (2)) to the level land under the leg mechanism.
During leaping over obstacles: when electric wheelchair moves to soon near barrier, by controller following electromagnetic clutch 12 is switched on, and then the power on the main shaft 17 meshed with the preceding bevel gear 29 that is installed on vertical with main shaft last little spools 116 by back bevel gear 210, driving bottom right gear 27 rotates, bottom right gear 27 is by meshing with right middle gear 28, driving upper right gear 26 again rotates, upper right gear 26 drives right leading screw 211 and rotates, and then the right rack nut 24 that drive is installed on the right leading screw 211 moves along right guide rail 25, connecting plate 23 swings before driving by the local gear engagement on right rack nut 24 and the preceding connecting plate 23 then, current connecting plate 23 pendulum are locked when concordant with horizontal direction, to descend electromagnetic clutch 12 outages then, then by controller last electromagnetic clutch 22 is switched on, motor drives main shaft 17 by drive system and rotates, back bevel gear 210 on the main shaft 17 and preceding bevel gear 29 engagements that are installed on vertical with main shaft little 116, driving lower-left gear 113 rotates, lower-left gear 113 is by meshing with last pinion 114, driving left pinion 117 again rotates, left side pinion 117 drives left leading screw 112 and rotates, and then the left rack nut 111 that drive is installed on the left leading screw 112 moves along left rail 118, swing by left rack nut 111 and the local gear engagement drive crank 13 on the crank 13 then, crank 13 drives slide block 19 and moves along the guide rod 14 that is fixed on the connecting plate 110 of back, thereby back connecting plate 110 is transferred to front jockey wheel 18 and barrier position contacting, afterwards along with wheelchair constantly travels forward, constantly preceding connecting plate 23 and back connecting plate 110 are regulated, until wheelchair leaping over obstacles stably.Its motor process following (referring to Fig. 9): preceding leg mechanism lifts, and prepares leaping over obstacles (referring to (a) of Fig. 9); Front jockey wheel 18 is stepped up obstacle (referring to (b) of Fig. 9) in the preceding leg mechanism; The process (referring to (c) of Fig. 9) of back directive wheel 16 leaping over obstacles in the preceding leg mechanism; Preceding leg mechanism is stepped up the sketch map (referring to (d) of Fig. 9) of obstacle; Before leg mechanism downward process (referring to (e) of Fig. 9) from the obstacle; Before front jockey wheel 18 sketch map (referring to (f) of Fig. 9) that lands in the leg mechanism; Before directive wheel 16 sketch map (referring to (g) of Fig. 9) that lands in back in the leg mechanism; Before the leg mechanism sketch map (referring to (h) of Fig. 9) that lands fully.
When crossing over the gully: when electric wheelchair moves to soon near the gully, by controller following electromagnetic clutch 12 is switched on, power on the main shaft 17 is meshed with the preceding bevel gear 29 that is installed on vertical with main shaft last little spools 116 by back bevel gear 210, driving bottom right gear 27 rotates, right middle gear 28 engagements of bottom right gear 27 by connecting together with following electromagnetic clutch 12, driving upper right gear 26 again rotates, upper right gear 26 drives right leading screw 211 and rotates, and then the right rack nut 24 that drive is installed on the right leading screw 211 moves along right guide rail 25, connecting plate 23 swings before driving by the local gear engagement on right rack nut 24 and the preceding connecting plate 23 then, current connecting plate 23 pendulum are to being locked when concordant with horizontal direction is fast, to descend electromagnetic clutch 12 outages then, then by controller last electromagnetic clutch 22 is switched on, motor drives main shaft 17 by drive system and rotates, back bevel gear 210 on the main shaft 17 and preceding bevel gear 29 engagements that are installed on vertical with main shaft little 116, driving lower-left gear 113 rotates, lower-left gear 113 is by meshing with last pinion 114, driving left pinion 117 again rotates, left side pinion 117 drives left leading screw 112 and rotates, and then the left rack nut 111 that drive is installed on the left leading screw 112 moves along left rail 118, drive crank l3 swing by the local gear engagement on left rack nut 111 and the crank 13 then, crank 13 drives slide block 19 and moves along the guide rod 14 that is fixed on the connecting plate l3 of back, thereby back connecting plate 110 is transferred to front jockey wheel 18 and barrier position contacting, afterwards along with wheelchair constantly travels forward, constantly preceding connecting plate 23 and back connecting plate 3 are regulated, crossed over the gully stably until wheelchair.Its motor process following (referring to Figure 10): front jockey wheel 18 is stepped up the situation (referring to (a) of Figure 10) of bank in the preceding leg mechanism; The situation (referring to (b) of Figure 10) that back directive wheel 16 is crossed bank in the preceding leg mechanism; Back directive wheel 16 is stepped up the situation (referring to (c) of Figure 10) of bank in the preceding leg mechanism; The situation (referring to (d) of Figure 10) that preceding leg mechanism is crossed over ditch fully.
The control system 5 of leg mechanism mainly comprises sensing detection modules A, driver module B and time block c (referring to Figure 11) before the present invention.The power of leg mechanism is provided by the main motor of driver module B before whole, and main driven by motor main shaft 17 rotates, and drives electromagnetic clutch 12, upward electromagnetic clutch 22, front jockey wheel 18 and 16 work of back directive wheel down by drive mechanism; The sensing detection modules A mainly comprises front jockey wheel 18, back directive wheel 16, position sensor, angular displacement sensor, angular-rate sensor and force transducer, by position, angular displacement, angular velocity and the stressed detection to directive wheel, and to the main frame transmitting data in real time, make the reliable even running of wheelchair; The pose of time block c by preceding leg mechanism is regulated in timing connection and the separation of clutch in real time.
Control flow (referring to Figure 12) before the present invention under the leg mechanism operational mode adopts the signal processing mode towards numeral, and is achieved by control software.Concrete steps are as follows:
Step l: system initialization and execution in step 2;
Step 2: various parameter initialization settings, and execution in step 3;
Whether step 3: it is normal to detect button and handle, if normally then execution in step 4, otherwise execution in step 5;
Step 4: adopt manually still automatically, if adopt manually then execution in step 6, otherwise execution in step 12:
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: detect whether adjust before connecting plate 23, if execution in step 7 then, otherwise execution in step 8;
Step 7: hand rotation right handles 2l, connecting plate 23 before adjusting, and execution in step 8;
Step 8: detect whether adjust before connecting plate 23, if execution in step 9 then, otherwise execution in step 10;
Step 9: hand rotation left handle 11, connecting plate 110 before adjusting, and execution in step 10;
Step 10: drive main motor and rotate, and execution in step 11;
Step 11: detect and whether to arrive last step, if execution in step 18 then, otherwise execution in step 6;
Step 12: detect the particular location of riser, tread and step and execution in step 13 with position sensor:
Step 13: whether detect first step, if execution in step 14 then, otherwise execution in step 16:
Step 14: detect directive wheel position, corner, angular velocity and stressed and drive motors rotation, and execution in step 15;
Step 15: detect and whether to arrive last step, if execution in step 16 then, otherwise execution in step 14;
Step 16: detect directive wheel position, corner, angular velocity and stressed and driving directive wheel rotation, and execution in step 17;
Step 17: detect and whether to arrive last step, if execution in step 18 then, otherwise execution in step 12;
Step 18: system stops.
Described according to description and accompanying drawing thereof, those skilled in the art provide the particular content of control flow software easily.
In general, before the present invention leg mechanism be one have two cradle heads, the Three Degree Of Freedom mechanism that wheel constitutes is rolled in a vola.When the wheelchair level land was moved, the locking of the pose of preceding leg mechanism was constant, along ground motion, played guiding and supporting role; At the wheelchair stair activity or stride ditch when getting over bank, can be electronic to the adjusting of preceding leg mechanism pose, also can be manual, be conducive to the steadily operation reliably of auxiliary wheelchair.To the adjusting of preceding leg mechanism pose, connecting plate 23 and crank 13 before can regulating simultaneously, connecting plate 23 before also can locking, and regulate crank 13 separately, and in adjustment process, the back directive wheel 16 that contacts with ground can move, and also can transfixion.Also same operation can be arranged to front jockey wheel 18.In the motor process of wheelchair, two wheels in the preceding leg mechanism support and cross over step successively in turn, and take turns foot (for example compound wheelchair of eight foot wheel lower limbs) with other and alternately support as supplemental support and wheel, realize the function of speeling stairway.
The present invention does not address part and is applicable to prior art.
Claims (2)
1. the preceding leg mechanism of a wheel-leg combined type wheelchair is characterized in that this preceding leg mechanism mainly comprises back connecting plate pose governor motion, preceding connecting plate pose governor motion, power drive mechanism, variable transmission mechanism and control system;
Described back connecting plate pose governor motion comprises casing, back connecting plate, main shaft, crank, guide rod, slide block, guide rod seat, left leading screw, left rack nut, goes up the lower shaft of electromagnetic clutch, left handle, back directive wheel, front jockey wheel and installation front jockey wheel; Being in transmission connection of connecting plate is after the manual adjustments, directly rotate left handle, driving left leading screw rotates, and then left rack nut is moved along left leading screw, the local gear that left side rack nut drives on the crank is swung, then crank drives slide block again and moves along the guide rod that is fixed on the connecting plate of back, and the back connecting plate swings, thereby realizes the adjusting of pose; Being in transmission connection of connecting plate is after the motorized adjustment, to last electromagnetic clutch energising, motor drives main shaft by drive mechanism and rotates, back bevel gear on the main shaft and the preceding bevel gear engagement that is installed on vertical with main shaft little, driving the lower-left gear rotates, the lower-left gear by with the last pinion that is contained on the last little axle, drive again and be contained in the last gear wheel rotation that little axle is gone up and last electromagnetic clutch connects together, last gear wheel again with the left pinion that is contained in left leading screw end, and then drive left leading screw again and rotate, the left rack nut that left side leading screw drives again on it when rotating moves along left rail, drive crank-swinging by the local gear engagement on left rack nut and the crank, crank drives slide block again and moves along the guide rod that is fixed on the connecting plate of back, realizes the adjusting to back connecting plate pose;
Connecting plate pose governor motion comprises preceding connecting plate, right leading screw, right rack nut, following electromagnetic clutch, right handles and the axle of going up that the back directive wheel is installed before described; Being in transmission connection of connecting plate is before the manual adjustments, directly rotate right handles and drive right leading screw rotation, and then right rack nut is moved along right leading screw, the local gear before right rack nut drives on the connecting plate rotates, and then connecting plate swing before driving, realize the adjusting to preceding connecting plate pose; Being in transmission connection of connecting plate is before the motorized adjustment, to electromagnetic clutch energising down, motor drives main shaft by drive mechanism and rotates, back bevel gear on the main shaft and the preceding bevel gear engagement that is installed on vertical with main shaft little, and then drive the bottom right gear rotation that connects together with following electromagnetic clutch be contained in equally on the little axle, the bottom right gear driven is contained in the right middle gear engagement on the little axle, right middle gear drives the upper right gear that is contained on the right leading screw again and rotates, and then the right rack nut that drive is installed on the leading screw moves along right guide rail, connecting plate swing before driving by the local gear engagement on right rack nut and the preceding connecting plate then realizes the adjusting to preceding connecting plate pose;
Described power drive mechanism mainly contains main shaft, be fixed on before on the connecting plate medium and small axle and the following little axle on the connecting plate of back, the front jockey wheel that has friction plate and back directive wheel, have spring and be installed on end middle gear and beneath gear on the directive wheel; It is in transmission connection and is, motor drives main shaft by drive mechanism and rotates, the end on the main shaft, cog and the last mesomerism gear engagement that is installed on the medium and small axle, and then by the directive wheel rotation of end middle gear drive back, end middle gear is again by meshing with descending the following mesomerism gear on the little axle, gear rotates under driving, and then drives the front jockey wheel rotation, realizes the power transmission of front jockey wheel and back directive wheel;
The speed change drive disk assembly of described variable transmission mechanism mainly contains nut, spring, end middle gear, friction plate, back directive wheel and goes up axle; It is in transmission connection and is, back speed change drive disk assembly is installed on the back directive wheel, in the wheel chair sport process, when the back directive wheel contacts with stair, have the end middle gear top nut of spring by adjusting, and then regulate the frictional force between back directive wheel and the friction plate, thereby regulate end middle gear and be delivered to power on the directive wheel of back by friction plate, be implemented in when regulating the wheelchair pose motion of directive wheel or static after keeping; Speed change drive disk assembly before being equipped with equally on the front jockey wheel, preceding speed change drive disk assembly is identical with back speed change drive disk assembly structure;
Described control system mainly comprises sensing detection module, driver module and time block; The power of leg mechanism is provided by the main motor of driver module before whole, and it is in transmission connection and is, main driven by motor main shaft rotates and drives down electromagnetic clutch, goes up electromagnetic clutch, front jockey wheel and back directive wheel by drive mechanism; The sensing detection module mainly comprises front jockey wheel, back directive wheel, position sensor, angular displacement sensor, angular-rate sensor and force transducer, by position, angular displacement, angular velocity and the stressed detection to directive wheel, and to the main frame transmitting data in real time, make the reliable even running of wheelchair; The pose of time block by preceding leg mechanism is regulated in timing connection and the separation of clutch in real time.
2. according to the preceding leg mechanism of the described wheel-leg combined type wheelchair of claim 1, it is characterized in that control flow under this preceding leg mechanism operational mode adopts the signal processing mode towards numeral, concrete steps are as follows:
Step l: system initialization and execution in step 2;
Step 2: various parameter initialization settings, and execution in step 3;
Whether step 3: it is normal to detect button and handle, if normally then execution in step 4, otherwise execution in step 5;
Step 4: adopt manually still automatically, if adopt manually then execution in step 6, otherwise execution in step 12;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: detect and whether to adjust preceding connecting plate, if execution in step 7 then, otherwise execution in step 8;
Step 7: hand rotation right handles, connecting plate before adjusting, and execution in step 8;
Step 8: detect and whether to adjust preceding connecting plate, if execution in step 9 then, otherwise execution in step 10;
Step 9: hand rotation left handle, connecting plate before adjusting, and execution in step 10;
Step 10: drive main motor and rotate, and execution in step 11;
Step 11: detect and whether to arrive last step, if execution in step 18 then, otherwise execution in step 6;
Step 12: detect the particular location of riser, tread and step and execution in step l3 with position sensor:
Step 13: whether detect first step, if execution in step 14 then, otherwise execution in step 16;
Step 14: detect directive wheel position, corner, angular velocity and stressed and drive motors rotation, and execution in step 15;
Step 15: detect and whether to arrive last step, if execution in step 16 then, otherwise execution in step 14;
Step 16: detect directive wheel position, corner, angular velocity and stressed and driving directive wheel rotation, and execution in step 17;
Step 17: detect and whether to arrive last step, if execution in step 18 then, otherwise execution in step 12;
Step 18: system stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310165520.3A CN103230322B (en) | 2013-05-08 | 2013-05-08 | Front leg mechanism of composite wheel leg type wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310165520.3A CN103230322B (en) | 2013-05-08 | 2013-05-08 | Front leg mechanism of composite wheel leg type wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103230322A true CN103230322A (en) | 2013-08-07 |
| CN103230322B CN103230322B (en) | 2015-07-15 |
Family
ID=48878445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310165520.3A Expired - Fee Related CN103230322B (en) | 2013-05-08 | 2013-05-08 | Front leg mechanism of composite wheel leg type wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103230322B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015835A (en) * | 2014-06-18 | 2014-09-03 | 李旭东 | Legged stepping lifting mechanism |
| CN106420206A (en) * | 2016-11-30 | 2017-02-22 | 河北工业大学 | Pedal mechanism for stair-oriented motion type stair-climbing wheelchair |
| CN107049716A (en) * | 2015-11-06 | 2017-08-18 | 株式会社安川电机 | The control method of the drive device of walker and the drive device of walker |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | Multifunctional obstacle-crossing stair-climbing wheelchair and obstacle-crossing stair-climbing method |
| CN113261797A (en) * | 2021-05-24 | 2021-08-17 | 江西省南城县发华实业有限公司 | Student's tablet chair with flexible function is convenient for have a rest |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2366076A1 (en) * | 1999-03-15 | 2000-09-21 | Deka Products Limited Partnership | Control of a balancing personal vehicle |
| JP2003190216A (en) * | 2001-12-13 | 2003-07-08 | Aerospace Industrial Development Corp | Carrier capable of going up and down steps |
| CZ296180B6 (en) * | 2004-08-27 | 2006-01-11 | Vlk@Josef | Driving system for passing grade-separated hurdles by invalid chair |
| US20060086554A1 (en) * | 2004-10-21 | 2006-04-27 | Sunrise Medical Hhg, Inc. | Wheelchair reversible between front wheel drive and rear wheel drive |
| CN102274102A (en) * | 2011-05-30 | 2011-12-14 | 北京航空航天大学 | Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair |
| CN102805693A (en) * | 2012-09-07 | 2012-12-05 | 昆明理工大学 | Mechanical self-powered wheelchair for walking up and down stairs |
| CN203195875U (en) * | 2013-05-08 | 2013-09-18 | 河北工业大学 | Front leg mechanism of wheel leg combined wheelchair |
-
2013
- 2013-05-08 CN CN201310165520.3A patent/CN103230322B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2366076A1 (en) * | 1999-03-15 | 2000-09-21 | Deka Products Limited Partnership | Control of a balancing personal vehicle |
| JP2003190216A (en) * | 2001-12-13 | 2003-07-08 | Aerospace Industrial Development Corp | Carrier capable of going up and down steps |
| CZ296180B6 (en) * | 2004-08-27 | 2006-01-11 | Vlk@Josef | Driving system for passing grade-separated hurdles by invalid chair |
| US20060086554A1 (en) * | 2004-10-21 | 2006-04-27 | Sunrise Medical Hhg, Inc. | Wheelchair reversible between front wheel drive and rear wheel drive |
| CN102274102A (en) * | 2011-05-30 | 2011-12-14 | 北京航空航天大学 | Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair |
| CN102805693A (en) * | 2012-09-07 | 2012-12-05 | 昆明理工大学 | Mechanical self-powered wheelchair for walking up and down stairs |
| CN203195875U (en) * | 2013-05-08 | 2013-09-18 | 河北工业大学 | Front leg mechanism of wheel leg combined wheelchair |
Non-Patent Citations (1)
| Title |
|---|
| 张祥等: "重心自调式多功能医护车的设计", 《机械》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015835A (en) * | 2014-06-18 | 2014-09-03 | 李旭东 | Legged stepping lifting mechanism |
| CN107049716A (en) * | 2015-11-06 | 2017-08-18 | 株式会社安川电机 | The control method of the drive device of walker and the drive device of walker |
| CN106420206A (en) * | 2016-11-30 | 2017-02-22 | 河北工业大学 | Pedal mechanism for stair-oriented motion type stair-climbing wheelchair |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | Multifunctional obstacle-crossing stair-climbing wheelchair and obstacle-crossing stair-climbing method |
| CN113261797A (en) * | 2021-05-24 | 2021-08-17 | 江西省南城县发华实业有限公司 | Student's tablet chair with flexible function is convenient for have a rest |
| CN113261797B (en) * | 2021-05-24 | 2022-11-29 | 云阳县泥溪镇泥溪小学 | Student's tablet chair with flexible function is convenient for have a rest |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103230322B (en) | 2015-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103230320B (en) | A kind of reconfigurable wheel leg combination type wheelchair | |
| CN103230322B (en) | Front leg mechanism of composite wheel leg type wheelchair | |
| CN102755229B (en) | Six-legged stair climbing wheelchair | |
| CN104027207B (en) | Multi-functional accessible life electric wheelchair | |
| CN102614055B (en) | Wheel/track coupled type self-balancing barrier-free wheelchair | |
| CN103230321B (en) | Frame of composite wheel leg type wheelchair | |
| CN103230319A (en) | Wheelchair seat position and posture adjusting mechanism | |
| CN203790169U (en) | Wheel type stair climbing wheelchair | |
| CN103767840A (en) | Wheel-type stair-climbing wheelchair | |
| CN107174422A (en) | A kind of Self-balancing electronic stair-climbing wheel chair | |
| CN107296695A (en) | A kind of deformable intelligent stair climbing wheelchair | |
| CN203790168U (en) | Wheel and caterpillar type road and stair dual-purpose wheelchair | |
| JP4304240B2 (en) | Stable walking method, stride control method, steering method, and apparatus of legged robot | |
| CN104146836A (en) | Full-automatic stair-climbing wheelchair scooter | |
| Chocoteco et al. | Improving the climbing/descent performance of stair-climbing mobility systems confronting architectural barriers with geometric disturbances | |
| CN103767841A (en) | Wheel and crawler type dual-purpose wheelchair for both roads and stairs | |
| CN205515253U (en) | Building wheelchair is climbed to two tracks of single section based on swing of walking wheel | |
| CN209678897U (en) | A kind of wheel-track combined climbing stairs wheelchair | |
| CN203195875U (en) | Front leg mechanism of wheel leg combined wheelchair | |
| CN110353902A (en) | It is a kind of can stair activity wheelchair | |
| CN104434431B (en) | A kind of portable Stair climbing device | |
| CN208892970U (en) | A kind of stair-climbing wheel chair | |
| CN109044653A (en) | A kind of stair climbing formula upper limb recovering aid wheelchair | |
| CN1586440A (en) | Two feet walking artificial limb | |
| CN110496001A (en) | A kind of polypody brace type stair-climbing wheel chair robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 |