CN103230322B - Front leg mechanism of composite wheel leg type wheelchair - Google Patents
Front leg mechanism of composite wheel leg type wheelchair Download PDFInfo
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- CN103230322B CN103230322B CN201310165520.3A CN201310165520A CN103230322B CN 103230322 B CN103230322 B CN 103230322B CN 201310165520 A CN201310165520 A CN 201310165520A CN 103230322 B CN103230322 B CN 103230322B
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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 wheelchair technology, particularly a kind of front leg mechanism of composite wheel leg type wheelchair.This mechanism is conducive to stair climbing and obstacle detouring.
Background technology
At present, the front leg mechanism about stair climbing wheelchair mainly contains following technology." electric walking non-obstructive wheel chair " of the design such as Jiang Xiaodong discloses a kind of electric walking non-obstructive wheel chair (see patent CNlol073526A), it mainly contains the formations such as mounting, back rest, front-wheel, trailing wheel, pedipulator and dynamical system, the bionics techniques of pedipulator simulating human walking is adopted during this wheelchair stair activity, serviceability stability and safety, without downslide inertia, but this wheelchair needs Manual-pushing when stair climbing, waste time and energy, control and handle all more complicated, these problems limit its promoting the use of in daily life.In " a kind of six sufficient stair climbing wheelchairs " (see the patent CNl02755229A) of people's designs such as Gong Daoxiong, this wheelchair system mainly comprises wheelchair, article three, lower limb on front side of chair, article three, back side lower limb, the compositions such as power-supply controller of electric case, on front side of three described chairs, lower limb is made up of hip joint, thigh, knee joint, shank, ankle joint and foot.The foreleg of this wheelchair can be crossed over various obstacle and walk on ups and downs road surface, and seat remains level in leaping over obstacles process, ensure that the comfortableness and safety taken.This wheelchair weak point leans against stair to move upward, and front side lower limb motor process is complicated, and be difficult to control and handle, when level land is run, efficiency is lower, simultaneously because its volume is comparatively large, is difficult to use on ordinary residence.Ma Yongwei is " stair climbing wheelchair based on star wheel series is studied " describes the two leg walking robot " WL-16RI Jl " that the research department taught by the high western pure husband of the academic institute of Japanese Waseda University science and engineering and Japanese robot development enterprise Tmsuk develop jointly in (see University Of Tianjin's " master thesis " in 2008) literary composition, it supports a seat by two pedipulators and forms, every bar pedipulator has 6 degree of freedom, can be forward, after, side is moved, seat bottom is equipped with gyroscope, every bar lower limb is equipped with pressure transducer, by sensor acquisition information, control its adjustment attitude maintenance barycentre steadiness in time.Before and after WL-16RUI two lower limb, extension distance the longest is 1.02 meters, and left and right is the longest 1.36 meters, and every bar lower limb moves up and down maximum 0.34 meter of amplitude.But this wheelchair is very high to control overflow, operate very complicated, when level walking, motion amplitude is little, slow in one's movements; In addition, seat is comparatively large apart from the height on ground, easily causes psychology frightened to user, and distance practical application also has very large distance.The people such as Jin Zhenlin provide " a kind of Four-feet walker is " in (see patent CNl02556200A), describe a kind of walking devices containing four lower limbs, it mainly contains the frame pedipulator composition identical with four structures be connected on its corner, described pedipulator has again rectangular ring shaped piece, first to drive side chain, second to drive side chain, and the 3rd drives the composition such as side chain and hemispherical elasticity toes.This walking mechanism motion flexibly, the speed of travel is fast, space is large, movement inertia is little, but be difficult to when running into the obstacle such as stair, step run, and range of application is very limited.That designs at Dong Shangbin " runs Multipurpose wheelchair " in (see patent 86210653), describe a kind of level land, stair run Multipurpose wheelchair, front wheel and rear roller all form with multiple pocket-wheel, also realize downstairs upper around 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, center of gravity big rise and fall, can make occupant not feel well.In addition, wheels formula stair-climbing device volume is comparatively large, and lays particular stress on, and is difficult to use on ordinary residence stair.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, provides a kind of front leg mechanism of composite wheel leg type wheelchair.The stable stair activity of wheelchair can be assisted, across ditch and obstacle detouring etc. by this mechanism, manually or Electronic control, wheelchair even running can be realized and turn flexibly, enable people with disability independently operate wheelchair to realize stair activity, across ditch and obstacle detouring, alleviate the labor intensity of relatives, nursing or service personal simultaneously.
The technical scheme that the present invention solve the technical problem is: the front leg mechanism designing a kind of composite wheel leg type wheelchair, it is characterized in that this front leg mechanism mainly comprises rear connecting plate pose governor motion, front connecting plate pose governor motion, power drive mechanism, variable transmission mechanism and control system;
Described rear connecting plate pose governor motion comprises casing, rear connecting plate, main shaft, crank, guide rod, slide block, guide rod seat, left leading screw, left rack nut, upper electromagnetic clutch, left handle, rear directive wheel, front jockey wheel and installs the lower shaft of front jockey wheel, after manual adjustments, being in transmission connection of connecting plate is, direct rotation left handle, drive left screw turns, and then left rack nut is moved along left leading screw, left rack nut drives the partial gear on crank to swing, then crank moves along the guide rod be fixed on rear connecting plate with movable slider again, and rear connecting plate swings, thus realizes the adjustment of pose, after motorized adjustment, being in transmission connection of connecting plate is, upper electromagnetic clutch is energized, motor drives main axis by drive mechanism, rear bevel gear on main shaft and the inner cone gears meshing be arranged on little axle vertical with main shaft, drive lower-left pinion rotation, lower-left gear is by engaging with the upper pinion be contained on upper little axle, drive again and be contained in the upper bull gear drive that little axle connects together with upper electromagnetic clutch, upper gear wheel engages with the left pinion being contained in left leading screw end again, and then drive again left screw turns, the left rack nut on it is driven again to move along left rail while left screw turns, to be engaged with the partial gear on crank by left rack nut and drive crank-swinging, crank moves along the guide rod be fixed on rear connecting plate with movable slider again, realize the adjustment to rear connecting plate pose,
Described front connecting plate pose governor motion comprises front connecting plate, right leading screw, right rack nut, lower electromagnetic clutch, right handles and installs the upper axle of rear directive wheel, before manual adjustments, being in transmission connection of connecting plate is, direct rotation right handles drives right screw turns, and then right rack nut is moved along right leading screw, and the partial gear before right rack nut drives on connecting plate rotates, and then before driving, connecting plate swings, and realizes the adjustment to front connecting plate pose, before motorized adjustment, being in transmission connection of connecting plate is, lower electromagnetic clutch is energized, motor drives main axis by drive mechanism, rear bevel gear on main shaft and the inner cone gears meshing be arranged on little axle vertical with main shaft, and then drive the bottom right pinion rotation connected together with lower electromagnetic clutch be contained in equally on little axle, bottom right gear driven is contained in the right gears meshing on little axle, right gear drives again the upper right pinion rotation be contained on right leading screw, and then drive the right rack nut be installed on leading screw to move along right guide rail, then being engaged with the partial gear on front connecting plate by right rack nut drives front connecting plate to swing, realize the adjustment to front connecting plate pose,
Described power drive mechanism mainly contains main shaft, be fixed on the medium and small axle on front connecting plate and the lower little axle on rear connecting plate, with the front jockey wheel of friction plate and rear directive wheel, with the end middle gear of spring fitting on directive wheel and beneath gear; It is in transmission connection and is, motor drives main axis by drive mechanism, the end on main shaft, cogs and the upper intermediary gears meshing be arranged on medium and small axle, and then directive wheel rotates after being driven by end middle gear, end middle gear is again by engaging with the lower mesomerism gear on lower little axle, pinion rotation under driving, and then drive front jockey wheel to rotate, realize the power transmission of front jockey wheel and rear directive wheel;
The movement transmission members of described variable transmission mechanism mainly contains nut, spring, end middle gear, friction plate, rear directive wheel and upper axle; It is in transmission connection and is, rear directive wheel is provided with rear movement transmission members, in wheel chair sport process, when rear directive wheel contacts with stair, by regulating the end middle gear top nut with spring, and then the frictional force after regulating between directive wheel and friction plate, thus adjustment end middle gear is delivered to the power on rear directive wheel by friction plate, realize when regulating wheelchair pose, the motion or static of directive wheel after keeping; Front jockey wheel is provided with front movement transmission members equally, and front movement transmission members is identical with rear movement transmission members structure;
Described control system mainly comprises sensing detection module, driver module and time block; The power of whole front leg mechanism is provided by the mair motor of driver module, and it is in transmission connection and is, mair motor drives main axis and drives lower electromagnetic clutch, upper electromagnetic clutch, front jockey wheel and rear directive wheel by drive mechanism; Sensing detection module mainly comprises front jockey wheel, rear directive wheel, position sensor, angular displacement sensor, angular-rate sensor and force transducer, by the position to directive wheel, angular displacement, angular velocity and stressed detection, and to main frame transmitting data in real time, make the reliable even running of wheelchair; Time block is by connecting the timing of clutch and being separated the pose regulating front leg mechanism in real time.
Compared with prior art, the front leg mechanism of composite wheel leg type wheelchair of the present invention has the following advantages:
1. climb building obstacle climbing ability to improve; In stair climbing motor process, by the continuous adjustment to front leg mechanism, can effectively enhance the power of climbing building, what greatly strengthen wheelchair climbs building ability.
2. it is convenient, simple to operate to control; Add the composite wheel leg type wheelchair of front leg mechanism of the present invention compared with legged Wheelchair structure, time moving in the road surface of uneven, motility is high, and it is convenient, simple to operate to control, and there will not be slow phenomenon; Compared with planet gear type Wheelchair structure, robust motion is better, ride comfort.After front leg mechanism of the present invention installed by wheelchair, occupant separately manually and electric operating, can assist wheelchair to realize smoothly and steadily climbing up and down stairs and obstacle detouring, improve the freedom of action degree of occupant, alleviate the labor intensity of relatives or nurse personnel.
3. compact conformation, low cost of manufacture; Front leg mechanism of the present invention can realize by single power source transmission of doing more physical exercises, compact overall structure, and pose adjustment movement is flexible, and be convenient to realize automatic control, low cost of manufacture, running precision is high, and reliable and stable.
4. front climbing, safety and comfort; Composite wheel leg type wheelchair front speeling stairway or the obstacle detouring of front leg mechanism of the present invention are installed, meet people and climb building custom, improve safety and the comfort level of user.
5. can manual adjustments foreleg attitude, drive screw turns by turning handle, rack nut is moved, thus make connecting plate and crank-swinging, realize the attitude regulation of front leg mechanism.
6. can motorized adjustment foreleg attitude, by being passed on gear by the power on main shaft clutch power on/off, and then drive screw turns by series of gears engaged transmission again, thus rack nut is moved, reach and make front connecting plate and crank-swinging, realize front leg mechanism attitude regulation.
Accompanying drawing explanation
Figure l be a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention population structure on front side of schematic diagram;
Fig. 2 is the structural representation that the front leg mechanism of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention is connected with wheelchair;
Fig. 3 is the front connecting plate adjustment structure schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention;
Fig. 4 is the rear connecting plate adjustment structure schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention;
Fig. 5 is the directive wheel power guiding mechanism schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention;
Fig. 6 is the directive wheel movement transmission members structural representation of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention;
Fig. 7 be a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention population structure on rear side of schematic diagram;
Fig. 8 is the stair activity process pose schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention; Wherein,
Fig. 8 (1) is process of the going upstairs pose schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention; Wherein,
Fig. 8 (1a) be composite wheel leg type wheelchair front leg mechanism of the present invention near step, prepare to climb the schematic diagram in building;
Fig. 8 (1h) is the schematic diagram that front jockey wheel in composite wheel leg type wheelchair front leg mechanism of the present invention crosses step;
Fig. 8 (1c) is that in composite wheel leg type wheelchair front leg mechanism of the present invention, front jockey wheel rolls up step, and rear directive wheel crosses the schematic diagram of step;
Fig. 8 (1d) is the pose schematic diagram that composite wheel leg type wheelchair front leg mechanism of the present invention translates on step.
Fig. 8 (2) is the pose schematic diagram of going downstairs of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention; Wherein,
Fig. 8 (2a) be composite wheel leg type wheelchair front leg mechanism of the present invention near step, prepare schematic diagram downstairs.
Fig. 8 (2b) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, front jockey wheel crosses over step.
Fig. 8 (2c) is that in composite wheel leg type wheelchair front leg mechanism of the present invention, front jockey wheel crosses step, and rear directive wheel crosses over the schematic diagram of step.
Fig. 8 (2d) is the schematic diagram to (front jockey wheel crosses step in front leg mechanism, and rear directive wheel gets over the situation of step) on level land under composite wheel leg type wheelchair front leg mechanism of the present invention.
Fig. 9 is the obstacle detouring process pose schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention; Wherein,
Fig. 9 (a) is that composite wheel leg type wheelchair front leg mechanism of the present invention is lifted, and prepares the schematic diagram of leaping over obstacles.
Fig. 9 (b) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, front jockey wheel steps up obstacle.
Fig. 9 (c) is the pose schematic diagram of rear directive wheel leaping over obstacles in composite wheel leg type wheelchair front leg mechanism of the present invention.
Fig. 9 (d) is the schematic diagram that composite wheel leg type wheelchair front leg mechanism of the present invention steps up obstacle.
Fig. 9 (e) is the schematic diagram downward from obstacle of composite wheel leg type wheelchair front leg mechanism of the present invention.
Fig. 9 (f) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, front jockey wheel lands.
Fig. 9 (g) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, rear directive wheel lands.
Fig. 9 (h) is the schematic diagram that composite wheel leg type wheelchair front leg mechanism of the present invention lands completely.
Figure 10 be a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention across ditch process pose schematic diagram; Wherein,
Figure 10 (a) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, front jockey wheel steps up bank;
Figure 10 (b) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, rear directive wheel crosses bank;
Figure 10 (c) is the schematic diagram that in composite wheel leg type wheelchair front leg mechanism of the present invention, rear directive wheel steps up bank;
Figure 10 (d) is the schematic diagram that composite wheel leg type wheelchair front leg mechanism of the present invention crosses over ditch completely.
Figure 11 is the Control system architecture schematic diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention.
Figure 12 is the control sequence block diagram of a kind of embodiment of composite wheel leg type wheelchair front leg mechanism of the present invention.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing thereof, the invention will be further described:
The composite wheel leg type wheelchair front leg mechanism of the present invention's design (is called for short front leg mechanism, see figure l-12), be arranged on the front end (its syndeton is see Fig. 2) bottom wheelchair frame, front leg mechanism top canister is linked together by bolt and wheelchair frame, it is characterized in that this front leg mechanism mainly comprises rear connecting plate pose governor motion l, front connecting plate pose governor motion 2, power drive mechanism 3, variable transmission mechanism 4 and control system 5.
Rear connecting plate pose governor motion 1 (see figure l, 4,7) described in front leg mechanism of the present invention, it comprises casing 119, rear 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, upper electromagnetic clutch 22, left handle 11, rear directive wheel 16 and front jockey wheel 18 and installs the lower shaft 38 etc. of front jockey wheel 18.When regulating rear connecting plate 110 (see Fig. 3), both can manual adjustments, also can motorized adjustment.Being in transmission connection of its manual adjustments is, left leading screw 112 is driven to rotate (see Fig. 6) by directly rotating left handle 11, and then left rack nut 111 is moved along left leading screw 112, then left rack nut 111 drives the partial gear on crank 13 to swing, then crank 13 is with again movable slider 19 to move along the guide rod 14 be fixed on rear connecting plate 110, and rear connecting plate 110 swings, thus realize the adjustment of pose, being in transmission connection of motorized adjustment is, upper electromagnetic clutch 22 is energized, motor drives main shaft 17 to rotate by drive system, rear bevel gear 210 on main shaft 17 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, lower-left gear 113 is driven to rotate, lower-left gear 113 is by engaging with the upper pinion 114 be contained on upper little axle 116, drive again and be contained in the upper gear wheel 115 that little axle 116 connects together with upper electromagnetic clutch 22 and rotate, upper gear wheel 115 engages with the left pinion 117 being contained in left leading screw 112 end again, and then drive again left leading screw 112 to rotate, left leading screw 112 drives again the left rack nut 111 on it to move along left rail 118 while rotating, then being engaged with the partial gear on crank 13 by left rack nut 111 drives crank 13 to swing, crank 13 is with again movable slider 19 to move along the guide rod 14 be fixed on rear connecting plate 110, realize the adjustment to rear connecting plate 110 pose.Described transmission or adjustment process indicate the installation and connection method of related components.
Described front connecting plate pose governor motion 2 (see figure l and Fig. 7), it comprises front connecting plate 23, right leading screw 211, right rack nut 24, lower electromagnetic clutch 12, right handles 2l and installs the upper axle 38 etc. of rear directive wheel 16.When regulating front connecting plate 23 (see Fig. 2), both can manual adjustments, also can motorized adjustment.Being in transmission connection of manual adjustments is, right leading screw 211 is driven to rotate by directly rotating right handles 21, and then right rack nut 24 is moved along right leading screw 211, then right rack nut 24 drives the partial gear on front connecting plate 23 to rotate, before partial gear on front connecting plate 23 drives, connecting plate 23 swings, and realizes the adjustment to front connecting plate 23 pose, being in transmission connection of motorized adjustment is, lower electromagnetic clutch 12 is energized, motor drives main shaft 17 to rotate by drive system, rear bevel gear 210 on main shaft 17 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, and then drive the bottom right gear 27 connected together with lower electromagnetic clutch 12 be contained in equally on little axle 116 to rotate, bottom right gear 27 drives again the right gear 28 be contained on little axle 116 to engage, right gear 28 drives again the upper right gear 26 be contained on right leading screw 211 to rotate, and then drive the right rack nut 24 be installed on leading screw to move along right guide rail 25, then by right rack nut 24 to engage with the partial gear on front connecting plate 23 drive before connecting plate 23 swing, realize the adjustment to front connecting plate 23 pose.Described transmission or adjustment process indicate the installation and connection method of related components.
Described power drive mechanism 3 (see Fig. 5), it mainly contains main shaft 17, be fixed on the medium and small axle 33 on front connecting plate 23 and the lower little axle 36 on rear connecting plate 110, with the front jockey wheel 18 of friction plate and rear directive wheel 16, with compositions such as the end middle gear 34 of spring fitting on directive wheel and beneath gears 37.When motor drives main shaft 17 to rotate by drive system, the end on main shaft 17 cogs 31 engages with the upper mesomerism gear 32 be arranged on medium and small axle 33, and then drive rear directive wheel 16 to rotate by end middle gear 34, end middle gear 34 drives beneath gear 37 to rotate by engaging with the lower mesomerism gear 35 on lower little axle 36 again, and then drives front jockey wheel 18 to rotate.Thus realize the power transmission of front jockey wheel 18 and rear directive wheel 16.Described drive connection also show the installation and connection method of related components.
Described variable transmission mechanism 4 (see Fig. 6), its main movement transmission members has nut 43, spring 42, end middle gear 34, friction plate 4l and rear directive wheel 16 and upper axle 38 etc.Front jockey wheel 18 and rear directive wheel 16 are all installed with identical movement transmission members, and its operation principle is identical.Only be described with regard to movement transmission members on rear directive wheel 16 below.In wheel chair sport process, when rear directive wheel 16 contacts with stair, can by regulating end middle gear 34 top nut 43 with spring 42, and then frictional force between rear directive wheel 16 and friction plate 4l can be regulated, thus end middle gear 34 can be regulated to be delivered to the power on rear directive wheel 16 by friction plate 41, when finally can be implemented in adjustment pose, the motion or static of directive wheel 16 after keeping.Described motion or adjustment process also show the transmission installation and connection method of related components.
In wheel chair sport process, while front leg mechanism is regulated, by adjusting the elastic force of the end middle gear 34 being provided with spring 42, can by the frictional force between friction plate 4l adjustment end middle gear 34 and rear directive wheel 16, rear directive wheel 16 is caused to move, also can be static, also can there is same operation to front jockey wheel 18.
The operation principle of front leg mechanism of the present invention in upper and lower stair, crossing over blockage and leap gully process, operation and motor process are as follows:
When going upstairs: when electric wheelchair is about near stair, when preparation is gone upstairs, by controller, lower electromagnetic clutch 12 is energized, and then by the power on main shaft 17 by rear bevel gear 210 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, bottom right gear 27 is driven to rotate, bottom right gear 27 is by engaging with right gear 28, upper right gear 26 is driven again to rotate, upper right gear 26 drives right leading screw 211 to rotate, and then drive the right rack nut 24 be installed on right leading screw 211 to move along right guide rail 25, then by right rack nut 24 to engage with the partial gear on front connecting plate 23 drive before connecting plate 23 swing certain angle, then by the power-off of lower electromagnetic clutch 12, front connecting plate 23 is locked in this position, then by controller, upper electromagnetic clutch 22 is energized, motor drives main shaft 17 to rotate by drive system, rear bevel gear 210 on main shaft 17 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, lower-left gear 113 is driven to rotate, lower-left gear 113 is by engaging with upper pinion 114, left pinion 117 is driven again to rotate, left pinion 117 drives left leading screw 112 to rotate, and then drive the left rack nut 11l be installed on left leading screw 112 to move along left rail 118, then being engaged with the partial gear on crank 13 by left rack nut 111 drives crank 13 to swing, crank 13 is with again movable slider 19 to move along the guide rod 14 be fixed on rear connecting plate 110, thus rear connecting plate 110 is adjusted to the position that front jockey wheel 18 contacts with stair, afterwards along with wheelchair constantly travels forward, continuous repetition carry out above-mentioned adjustment process, until final stairs.Right handles 2l or left handle 11 only need be rotated when manual adjustments, right rack nut 24 or left rack nut 11l just can be driven to move, and then crank 13 and front connecting plate 23 can be driven to swing, realize the adjustment of its front leg mechanism pose upstairs, afterwards along with the motion of wheelchair, repeat said process, until wheelchair stairs.Its motor process following (see Fig. 8 (1)): front leg mechanism, near step, prepares to climb building ((a) see 8 (1)); Front jockey wheel 18 in front leg mechanism crosses the situation ((b) see 8 (1)) of step; In front leg mechanism, front jockey wheel 18 rolls up step, and rear directive wheel 16 crosses the situation ((c) see 8 (1)) of step; Front leg mechanism translates into the situation ((d) see 8 (1)) on step.
When going downstairs: when electric wheelchair moves to the position being about to go downstairs, by controller, lower electromagnetic clutch 12 is energized, and then by the power on main shaft 17 by rear bevel gear 210 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, bottom right gear 27 is driven to rotate, bottom right gear 27 is by engaging with right gear 28, upper right gear 26 is driven again to rotate, upper right gear 26 drives right leading screw 211 to rotate, and then drive the right rack nut 24 be installed on right leading screw 211 to move along right guide rail 25, then by right rack nut 24 to engage with the partial gear on front connecting plate 23 drive before connecting plate 23 swing, front connection plate 23 pendulum is locked to time concordant with vertical direction, by the power-off of lower electromagnetic clutch 12, then by controller, upper electromagnetic clutch 22 is energized, motor drives main shaft 17 to rotate by drive system, rear bevel gear 210 on main shaft 17 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, lower-left gear 113 is driven to rotate, lower-left gear 113 is by engaging with upper pinion 114, left pinion 117 is driven again to rotate, left pinion 117 drives left leading screw 112 to rotate, and then drive the left rack nut 111 be installed on left leading screw 112 to move along left rail 118, then being engaged with the partial gear on crank 13 by left rack nut 111 drives crank 13 to swing, crank 13 is with again movable slider 12 to move along the guide rod 14 be fixed on rear connecting plate 110, thus rear connecting plate 110 is adjusted to the position that front jockey wheel 18 contacts with stair, next along with wheelchair constantly travels forward, constantly front connecting plate 23 and rear connecting plate 110 are regulated, until wheelchair walks out stair stably.Right handles 2l or left handle 11 only need be rotated when manual adjustments, just right rack nut 24 or left rack nut 111 can be driven to move by right leading screw 211 or left leading screw 112, and then drive crank l3 and front connecting plate 23 to swing, realize its front leg mechanism to go downstairs the adjustment of pose, afterwards along with the motion of wheelchair, repeat said process, until wheelchair stairs.Its motor process following (see Fig. 8 (2)): front leg mechanism prepares ((a) see Fig. 8 (2)) downstairs near step; In front leg mechanism, front jockey wheel 18 gets over the situation ((b) see Fig. 8 (2)) of step; In front leg mechanism, front jockey wheel 18 crosses step, and rear directive wheel 16 gets over the situation ((c) see Fig. 8 (2)) of step; To the situation ((d) see Fig. 8 (2)) on level land under front leg mechanism.
During leaping over obstacles: lower electromagnetic clutch 12 is energized by controller when electric wheelchair moves to and is about near barrier, and then by the power on main shaft 17 by rear bevel gear 210 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, bottom right gear 27 is driven to rotate, bottom right gear 27 is by engaging with right gear 28, upper right gear 26 is driven again to rotate, upper right gear 26 drives right leading screw 211 to rotate, and then drive the right rack nut 24 be installed on right leading screw 211 to move along right guide rail 25, then by right rack nut 24 to engage with the partial gear on front connecting plate 23 drive before connecting plate 23 swing, front connection plate 23 pendulum is locked to time concordant with horizontal direction, then by the power-off of lower electromagnetic clutch 12, then by controller, upper electromagnetic clutch 22 is energized, motor drives main shaft 17 to rotate by drive system, rear bevel gear 210 on main shaft 17 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, lower-left gear 113 is driven to rotate, lower-left gear 113 is by engaging with upper pinion 114, left pinion 117 is driven again to rotate, left pinion 117 drives left leading screw 112 to rotate, and then drive the left rack nut 111 be installed on left leading screw 112 to move along left rail 118, then being engaged with the partial gear on crank 13 by left rack nut 111 drives crank 13 to swing, crank 13 moves along the guide rod 14 be fixed on rear connecting plate 110 with movable slider 19, thus rear connecting plate 110 is adjusted to the position of front jockey wheel 18 and bar contact, afterwards along with wheelchair constantly travels forward, constantly front connecting plate 23 and rear connecting plate 110 are regulated, until the stable leaping over obstacles of wheelchair.Its motor process following (see Fig. 9): front leg mechanism is lifted, prepares leaping over obstacles ((a) see Fig. 9); In front leg mechanism, front jockey wheel 18 steps up obstacle ((b) see Fig. 9); The process ((c) see Fig. 9) of directive wheel 16 leaping over obstacles after in front leg mechanism; Front leg mechanism steps up the schematic diagram ((d) see Fig. 9) of obstacle; The process ((e) see Fig. 9) that front leg mechanism is downward from obstacle; In front leg mechanism, front jockey wheel 18 lands schematic diagram ((f) see Fig. 9); After in front leg mechanism, directive wheel 16 lands schematic diagram ((g) see Fig. 9); Front leg mechanism lands schematic diagram ((h) see Fig. 9) completely.
When crossing over gully: lower electromagnetic clutch 12 is energized by controller when electric wheelchair moves to and is about near gully, by the power on main shaft 17 by rear bevel gear 210 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, bottom right gear 27 is driven to rotate, bottom right gear 27 is by engaging with the right gear 28 that lower electromagnetic clutch 12 connects together, upper right gear 26 is driven again to rotate, upper right gear 26 drives right leading screw 211 to rotate, and then drive the right rack nut 24 be installed on right leading screw 211 to move along right guide rail 25, then by right rack nut 24 to engage with the partial gear on front connecting plate 23 drive before connecting plate 23 swing, front connection plate 23 put to horizontal direction fast concordant time be locked, then by the power-off of lower electromagnetic clutch 12, then by controller, upper electromagnetic clutch 22 is energized, motor drives main shaft 17 to rotate by drive system, rear bevel gear 210 on main shaft 17 be arranged on bevel gear 29 before on little axle 116 vertical with main shaft and engage, lower-left gear 113 is driven to rotate, lower-left gear 113 is by engaging with upper pinion 114, left pinion 117 is driven again to rotate, left pinion 117 drives left leading screw 112 to rotate, and then drive the left rack nut 111 be installed on left leading screw 112 to move along left rail 118, then being engaged with the partial gear on crank 13 by left rack nut 111 drives crank l3 to swing, crank 13 moves along the guide rod 14 be fixed on rear connecting plate l3 with movable slider 19, thus rear connecting plate 110 is adjusted to the position of front jockey wheel 18 and bar contact, afterwards along with wheelchair constantly travels forward, constantly front connecting plate 23 and rear connecting plate 3 are regulated, until wheelchair crosses over gully stably.Its motor process following (see Figure 10): in front leg mechanism, front jockey wheel 18 steps up the situation ((a) see Figure 10) of bank; After in front leg mechanism, directive wheel 16 crosses the situation ((b) see Figure 10) of bank; After in front leg mechanism, directive wheel 16 steps up the situation ((c) see Figure 10) of bank; Front leg mechanism crosses over the situation ((d) see Figure 10) of ditch completely.
The control system 5 of front leg mechanism of the present invention mainly comprises sensing detection modules A, driver module B and time block c (see Figure 11).The power of whole front leg mechanism is provided by the mair motor of driver module B, and mair motor drives main shaft 17 to rotate, and drives lower electromagnetic clutch 12, upper electromagnetic clutch 22, front jockey wheel 18 and rear directive wheel 16 to work by drive mechanism; Sensing detection modules A mainly comprises front jockey wheel 18, rear directive wheel 16, position sensor, angular displacement sensor, angular-rate sensor and force transducer, by the position to directive wheel, angular displacement, angular velocity and stressed detection, and to main frame transmitting data in real time, make the reliable even running of wheelchair; Time block c is by connecting the timing of clutch and being separated the pose regulating front leg mechanism in real time.
Control flow (see Figure 12) under front leg mechanism operational mode of the present invention, is adopted the signal processing mode of Facing Digital, and is achieved by control software design.Concrete steps are as follows:
Step l: system initialization also performs step 2;
Step 2: various parameter initialization is arranged, and performs step 3;
Step 3: normally whether detection button and handle, if normal, perform step 4, otherwise perform step 5;
Step 4: adopt manually or automatically, according to manually then performing step 6, otherwise perform step 12:
Step 5: system halt is also reported to the police, and carries out failture evacuation;
Step 6: detect whether adjust front connecting plate 23, if it is performs step 7, otherwise performs step 8;
Step 7: hand rotation right handles 2l, connecting plate 23 before adjustment, and perform step 8;
Step 8: detect whether adjust front connecting plate 23, if it is performs step 9, otherwise performs step 10;
Step 9: hand rotation left handle 11, connecting plate 110 before adjustment, and perform step 10;
Step 10: drive mair motor to rotate, and perform step 11;
Step 11: detect whether arrive last step, if it is performs step 18, otherwise performs step 6;
Step 12: the particular location detecting riser, tread and step with position sensor, and perform step 13:
Step 13: detect whether first step, if it is perform step 14, otherwise perform step 16:
Step 14: detect directive wheel position, corner, angular velocity and stressed and drive motors and rotate, and perform step 15;
Step 15: detect whether arrive last step, if it is performs step 16, otherwise performs step 14;
Step 16: detect directive wheel position, corner, angular velocity and stressed and drive directive wheel to rotate, and perform step 17;
Step 17: detect whether arrive last step, if it is performs step 18, otherwise performs step 12;
Step 18: system stops.
Described in description and accompanying drawing thereof, those skilled in the art easily provide the particular content of control flow software.
In general, front leg mechanism of the present invention is the Three Degree Of Freedom mechanism that has two cradle heads, wheel formation is rolled in a vola.When wheelchair level land is run, the pose locking of front leg mechanism is constant, along ground motion, plays guiding and supporting role; At wheelchair stair activity or when getting over bank across ditch, can be electronic to the adjustment of front leg mechanism pose, also can be manual, be conducive to auxiliary wheelchair and steadily run reliably.To the adjustment of front leg mechanism pose, front connecting plate 23 and crank 13 can be regulated simultaneously, also can lock front connecting plate 23, and regulate separately crank 13, and in adjustment process, can move with the rear directive wheel 16 of earth surface, also can transfixion.Also same operation can be had to front jockey wheel 18.In the motor process of wheelchair, the supports in turn and cross over step successively of two wheels in front leg mechanism, and take turns foot (such as eight foot take turns lower limb compound wheelchair) 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. a front leg mechanism for composite wheel leg type wheelchair, is characterized in that this front leg mechanism mainly comprises rear connecting plate pose governor motion, front connecting plate pose governor motion, power drive mechanism, variable transmission mechanism and control system;
Described rear connecting plate pose governor motion comprises casing, rear connecting plate, main shaft, crank, guide rod, slide block, guide rod seat, left leading screw, left rack nut, upper electromagnetic clutch, left handle, rear directive wheel, front jockey wheel and installs the lower shaft of front jockey wheel, after manual adjustments, being in transmission connection of connecting plate is, direct rotation left handle, drive left screw turns, and then left rack nut is moved along left leading screw, left rack nut drives the partial gear on crank to swing, then crank moves along the guide rod be fixed on rear connecting plate with movable slider again, and rear connecting plate swings, thus realizes the adjustment of pose, after motorized adjustment, being in transmission connection of connecting plate is, upper electromagnetic clutch is energized, motor drives main axis by drive mechanism, rear bevel gear on main shaft and the inner cone gears meshing be arranged on little axle vertical with main shaft, drive lower-left pinion rotation, lower-left gear is by engaging with the upper pinion be contained on upper little axle, drive again and be contained in the upper bull gear drive that little axle connects together with upper electromagnetic clutch, upper gear wheel engages with the left pinion being contained in left leading screw end again, and then drive again left screw turns, the left rack nut on it is driven again to move along left rail while left screw turns, to be engaged with the partial gear on crank by left rack nut and drive crank-swinging, crank moves along the guide rod be fixed on rear connecting plate with movable slider again, realize the adjustment to rear connecting plate pose,
Described front connecting plate pose governor motion comprises front connecting plate, right leading screw, right rack nut, lower electromagnetic clutch, right handles and installs the upper axle of rear directive wheel, before manual adjustments, being in transmission connection of connecting plate is, direct rotation right handles drives right screw turns, and then right rack nut is moved along right leading screw, and the partial gear before right rack nut drives on connecting plate rotates, and then before driving, connecting plate swings, and realizes the adjustment to front connecting plate pose, before motorized adjustment, being in transmission connection of connecting plate is, lower electromagnetic clutch is energized, motor drives main axis by drive mechanism, rear bevel gear on main shaft and the inner cone gears meshing be arranged on little axle vertical with main shaft, and then drive the bottom right pinion rotation connected together with lower electromagnetic clutch be contained in equally on little axle, bottom right gear driven is contained in the right gears meshing on little axle, right gear drives again the upper right pinion rotation be contained on right leading screw, and then drive the right rack nut be installed on leading screw to move along right guide rail, then being engaged with the partial gear on front connecting plate by right rack nut drives front connecting plate to swing, realize the adjustment to front connecting plate pose,
Described power drive mechanism mainly contains main shaft, be fixed on the medium and small axle on front connecting plate and the lower little axle on rear connecting plate, with the front jockey wheel of friction plate and rear directive wheel, with the end middle gear of spring fitting on directive wheel and beneath gear; It is in transmission connection and is, motor drives main axis by drive mechanism, the end on main shaft, cogs and the upper intermediary gears meshing be arranged on medium and small axle, and then directive wheel rotates after being driven by end middle gear, end middle gear is again by engaging with the lower mesomerism gear on lower little axle, pinion rotation under driving, and then drive front jockey wheel to rotate, realize the power transmission of front jockey wheel and rear directive wheel;
The movement transmission members of described variable transmission mechanism mainly contains nut, spring, end middle gear, friction plate, rear directive wheel and upper axle; It is in transmission connection and is, rear directive wheel is provided with rear movement transmission members, in wheel chair sport process, when rear directive wheel contacts with stair, by regulating the end middle gear top nut with spring, and then the frictional force after regulating between directive wheel and friction plate, thus adjustment end middle gear is delivered to the power on rear directive wheel by friction plate, realize when regulating wheelchair pose, the motion or static of directive wheel after keeping; Front jockey wheel is provided with front movement transmission members equally, and front movement transmission members is identical with rear movement transmission members structure;
Described control system mainly comprises sensing detection module, driver module and time block; The power of whole front leg mechanism is provided by the mair motor of driver module, and it is in transmission connection and is, mair motor drives main axis and drives lower electromagnetic clutch, upper electromagnetic clutch, front jockey wheel and rear directive wheel by drive mechanism; Sensing detection module mainly comprises front jockey wheel, rear directive wheel, position sensor, angular displacement sensor, angular-rate sensor and force transducer, by the position to directive wheel, angular displacement, angular velocity and stressed detection, and to main frame transmitting data in real time, make the reliable even running of wheelchair; Time block is by connecting the timing of clutch and being separated the pose regulating front leg mechanism in real time.
2. the front leg mechanism of composite wheel leg type wheelchair according to claim 1, the control flow that it is characterized in that under this front leg mechanism operational mode adopts the signal processing mode of Facing Digital, and concrete steps are as follows:
Step l: system initialization also performs step 2;
Step 2: various parameter initialization is arranged, and performs step 3;
Step 3: normally whether detection button and handle, if normal, perform step 4, otherwise perform step 5;
Step 4: adopt manually or automatically, according to manually then performing step 6, otherwise perform step 12;
Step 5: system halt is also reported to the police, and carries out failture evacuation;
Step 6: detect whether adjust front connecting plate, if it is performs step 7, otherwise performs step 8;
Step 7: hand rotation right handles, connecting plate before adjustment, and perform step 8;
Step 8: detect whether adjust front connecting plate, if it is performs step 9, otherwise performs step 10;
Step 9: hand rotation left handle, connecting plate before adjustment, and perform step 10;
Step 10: drive mair motor to rotate, and perform step 11;
Step 11: detect whether arrive last step, if it is performs step 18, otherwise performs step 6;
Step 12: the particular location detecting riser, tread and step with position sensor, and perform step l3:
Step 13: detect whether first step, if it is perform step 14, otherwise perform step 16;
Step 14: detect directive wheel position, corner, angular velocity and stressed and drive motors and rotate, and perform step 15;
Step 15: detect whether arrive last step, if it is performs step 16, otherwise performs step 14;
Step 16: detect directive wheel position, corner, angular velocity and stressed and drive directive wheel to rotate, and perform step 17;
Step 17: detect whether arrive last step, if it is performs step 18, otherwise performs step 12;
Step 18: system stops.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104015835A (en) * | 2014-06-18 | 2014-09-03 | 李旭东 | Legged stepping lifting mechanism |
| JP6245244B2 (en) * | 2015-11-06 | 2017-12-13 | 株式会社安川電機 | Pedestrian drive device and method for controlling walker drive device |
| CN106420206B (en) * | 2016-11-30 | 2017-09-12 | 河北工业大学 | A kind of footrest mechanism in face of stair movement formula stair-climbing wheel chair |
| CN110547922B (en) * | 2019-08-23 | 2020-07-17 | 国家康复辅具研究中心 | Multifunctional obstacle-crossing stair-climbing wheelchair and obstacle-crossing stair-climbing method |
| 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 |
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