CN103300981B - A kind of wheelchair of climbing step - Google Patents
A kind of wheelchair of climbing step Download PDFInfo
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- CN103300981B CN103300981B CN201310244111.2A CN201310244111A CN103300981B CN 103300981 B CN103300981 B CN 103300981B CN 201310244111 A CN201310244111 A CN 201310244111A CN 103300981 B CN103300981 B CN 103300981B
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Abstract
The present invention discloses a kind of wheelchair of climbing step, and this wheelchair comprises wheelchair frame, front support wheel, rear support wheel, front support foot, rear support foot and axle, it is characterized in that this wheelchair also comprises parallel-crank mechanism and ratchet mechanism; Wheelchair adopts length-adjustable parallel-crank mechanism as the instrument of climbing step, and adopts detachable ratchet mechanism to be connected as power between parallel-crank mechanism is taken turns with rear support, and thus wheelchair has the ability of climbing multiple step; And can ensure that when climbing step the seat of wheelchair is parallel to the ground, thus improve the safety coefficient of user.
Description
Technical field
The present invention relates to wheelchair technology, be specially a kind of wheelchair of climbing step.
Background technology
Common wheelchair can facilitate people with disability to walk, but wheelchair just can be restricted when running into step, and the range of activity of people with disability is suffered restraints.
For addressing this problem, mainly contain at present crawler type forward backward stair climbing wheelchair and utilize planetary gear to climb the wheelchair of step.Application number is the wheelchair describing a kind of crawler type stair climbing backward forward in the patent of 200820191165.1, to the effect that the installing crawler belt in the bottom of wheelchair additional or change original wheel chair wheel into crawler belt of this patent, what realize wheelchair by the approach angle before and after design crawler belt and the height that leaves angle and pedrail mechanism climbs step ability.What this scheme can solve wheelchair in theory climbs step problem, but because pedrail mechanism and wheelchair are geo-stationary, when step climbed by wheelchair because crawler belt can form angle along with the fluctuating of step with ground, wheelchair also form angle with ground, because the system gravity of wheelchair and people's composition is higher, so unsafe factor can be caused to people under the effect of gravity with this angle, wheelchair also can be made time serious to roll backward and to make people injured.In addition, because crawler belt is comparatively large with frictional force during earth surface, wheelchair will be caused like this to turn to difficulty, namely need larger power when turning to, crawler belt also can damage the edge of step.In a word, crawler type climbs the climbing that step wheelchair can realize step, but exist dangerous, turn to the shortcoming such as difficulty, fragile step.
Planetary gear is utilized to have a lot to the technical scheme of climbing step performance realizing wheelchair, patent 201120066782 describes the wheelchair that step is climbed in a kind of meeting, change the front-wheel (directive wheel) of common wheelchair into planetary gear in this patent, improve the obstacle climbing ability of wheelchair by the revolution of planetary gear.A kind of stair-climbing wheel chair that patent 201120141381 is introduced and a kind of electric stairs-climbing wheelchair that patent 201120181617 is introduced are all changed the trailing wheel of common wheelchair into planetary gear.The implication of planetary gear: planetary gear is exactly there is a main revolute pair at the center of planetary gear, main revolute pair connects wheelchair and planet carrier, and planet carrier can be rotated around main revolute pair; Planetary wheel carrier exists several secondary revolute pairs, and these secondary revolute pairs are evenly distributed on and planet carrier are used for connected row carrier and planetary gear.Whole like this planet circular system both can revolve round the sun around main revolute pair, and planetary gear again can around paying revolute pair rotation.These patents are all utilize planet circular system technical ability to revolve round the sun this feature of rotation to realize the climbing of wheelchair to step again.But no matter be wheelchair front wheel changed into planet circular system or change trailing wheel into planet circular system, all keep away unavoidable planet circular system and do significantly center fluctuation when revolving round the sun, this fluctuation can make people feel very uncomfortable and bring potential safety hazard.When having two planetary gears in planet circular system while during kiss the earth, wheelchair is in stays.In addition planetary gear train type wheelchair climb the restriction that shoulder height is subject to planet carrier size, planet carrier radius is larger, and the step ability of climbing of wheelchair is stronger, but motion time center fluctuation also larger.Planet carrier radius is less, and when climbing step, center fluctuation is also less, but the step ability of climbing of wheelchair also can become more weak.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is: provide a kind of wheelchair of climbing step.When this wheelchair travels on level land, mobility is good, and steady safety when climbing step, the kind can climbing step is many, of many uses.
The technical scheme that the present invention solve the technical problem is: design a kind of wheelchair of climbing step, this wheelchair comprises wheelchair frame, front support wheel, rear support wheel, front support foot, rear support foot and axle, it is characterized in that this wheelchair also comprises parallel-crank mechanism and ratchet mechanism; Described parallel-crank mechanism is a quadric chain, comprises driving crank, driven crank, driving-belt, connecting rod, front wheel driving foot, rear drive foot and crank axle; Driving crank is arranged on axle through ratchet revolute; Driven crank is arranged on crank axle through revolute; The two ends of connecting rod are connected with driving crank and driven crank respectively and form connecting rod revolute; Connecting rod is in wheelchair outermost, connects between driving crank and driven crank with driving-belt, with the Planar Mechanisms be connected to form driving crank and driven crank of connecting rod; Front wheel driving foot and rear drive foot are vertically welded on connecting rod respectively, and the length of driving crank is equal with the length of driven crank, the distance be present between two hinges wheelchair frame supporting driving crank and driven crank is equal with the length of connecting rod, makes the shape parallelogram of this quadric chain under any kinestate;
Described ratchet mechanism comprises ratchet fixture block, ratchet, sliding sleeve and rear-wheel hub; Ratchet, sliding sleeve and rear-wheel hub are arranged on axle through respective revolute respectively, and ratchet is installed by driving crank, is provided with ratchet fixture block between the two, form ratchet-type kinematic pair; Rear-wheel hub is installed between ratchet and rear support wheel, and driving crank, ratchet and rear-wheel hub are connected by the spline of ratchet-type kinematic pair and three and sliding sleeve, form firm being dynamically connected; Sliding sleeve can move left and right, and controls rear support wheel and the power transmission mode between driving crank and ratchet;
Described rear drive foot comprises the rear drive telescopic leg of regulation and control rear drive foot length, and front wheel driving foot also comprises the front wheel driving telescopic leg regulating front wheel driving foot length; Equally, described front support foot and rear support foot include the back and front supporting telescopic leg of its feet length separately of regulation and control.
Compared with prior art, present invention employs length-adjustable parallel-crank mechanism as the instrument of climbing step, and adopt detachable ratchet mechanism to be connected as power between parallel-crank mechanism is taken turns with rear support, thus wheelchair has the ability of climbing multiple step; And can ensure that when climbing step the seat of wheelchair is parallel to the ground, thus improve the safety coefficient of user.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that the present invention can climb a kind of embodiment of step wheelchair.
Fig. 2 is the parallel-crank mechanism assembling schematic diagram that the present invention can climb a kind of embodiment of step wheelchair.
Fig. 3 is the ratchet mechanism structural representation that the present invention can climb a kind of embodiment of step wheelchair.Wherein,
Fig. 3 (A) is the ratchet mechanism assembling schematic diagram that the present invention can climb a kind of embodiment of step wheelchair;
Fig. 3 (B) is the ratchet mechanism cross-sectional view that the present invention can climb a kind of embodiment of step wheelchair.
Detailed description of the invention
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing thereof.
The wheelchair (being called for short wheelchair, see Fig. 1-3) of the climbed step of the present invention's design, comprises wheelchair frame 1, front support wheel 2, rear support wheel 3, parallel-crank mechanism 4, front support foot 5, rear support foot 6, ratchet mechanism 7 and axle 8; Wherein, back and front supporting wheel 2,3 and back and front supporting foot 5,6 are two, and symmetry is arranged on the both sides of wheelchair; Described front support wheel 2 and rear support are taken turns 3 rotatable, can realize wheelchair and move freely on level land; Rear support wheel shaft 8 is welded in wheelchair frame 1, and rear support wheel 3 is arranged on axle 8, and front support foot 5, rear support foot 6 are fixed in wheelchair frame 1; Described feet 5,6 all comprises a joint telescopic leg, can by the length regulating telescopic leg to adjust feet 5,6.
Described parallel-crank mechanism 4 is quadric chains, comprises driving crank 41, driven crank 42, driving-belt 43, connecting rod 44, front wheel driving foot 45, rear drive foot 46 and crank axle 47; Driving crank 41 is arranged on axle 8 through ratchet revolute; Crank axle 47 is welded in wheelchair frame 1, and driven crank 42 is arranged on crank axle 47 by revolute; The two ends of connecting rod 44 are connected with driving crank 41 and driven crank 42 respectively and form connecting rod revolute; Connecting rod 44 is in wheelchair outermost, connects between driving crank 41 and driven crank 42 with driving-belt 43, with the Planar Mechanisms be connected to form driving crank 41 and driven crank 42 of connecting rod 44; Front wheel driving foot 45 and rear drive foot 46 are vertically welded on connecting rod 44 respectively, and the length of driving crank 41 is equal with the length of driven crank 42, the distance be present between two hinges wheelchair frame 1 supporting driving crank 41 and driven crank 42 is equal with the length of connecting rod 44, makes the shape parallelogram of this quadric chain under any kinestate.
Described ratchet mechanism 7 comprises ratchet fixture block structure 71, ratchet 72, sliding sleeve 73 and rear-wheel hub 74; Ratchet fixture block structure 71 is made up of ratchet fixture block 711 and spring 712, and one end of spring 712 contacts with driving crank 41, and the other end is connected with ratchet fixture block 711, and ratchet fixture block 711 contacts with ratchet 72 away from one end of spring 712; Ratchet 72, sliding sleeve 73 and rear-wheel hub 74 are installed on axle 8, and ratchet 72 is close to driving crank 41 and forms ratchet revolute, is provided with ratchet fixture block structure 71 between the two, forms ratchet-type kinematic pair; Rear-wheel hub 74 is installed between ratchet 72 and rear support wheel 3, can by the spline on its surface together with the spline nested encryptions of sliding sleeve 73 inside between rear-wheel hub 74 with ratchet 72; Rear-wheel hub 74 and rear support are taken turns 3 and are connected by spoke; Sliding sleeve 73 can move left and right with hands, controls rear support wheel 3 and the power transmission mode between driving crank 41 and ratchet 72, when sliding sleeve 73 is only positioned on rear-wheel hub 74, does not have power transmission between rear support wheel 3 and driving crank 41 and ratchet 72; When sliding sleeve 73 moves on rear-wheel hub 74 and ratchet 72, spline and both splines of sliding sleeve 73 nest together, the power of rear support wheel 3 is delivered to ratchet 72 by rear-wheel hub 74, again by ratchet revolute between ratchet 72 and driving crank 41 power transmission to parallel-crank mechanism 4, driving parallel-crank mechanism 4 operates; When sliding sleeve 73 and driving crank 41, ratchet 72, rear-wheel hub 74 all in conjunction with time, rear support wheel 3 directly drives parallel-crank mechanism 4 to operate to driving crank 41 power transmission.
Described rear drive foot 46 comprises rear telescopic leg 461, can by the length regulating rear telescopic leg 461 to realize rear drive foot 46.Equally, front wheel driving foot 45 also comprises front stretching foot 451, also can by the length regulating front stretching foot 451 to regulate front wheel driving foot 45.
The parallel-crank mechanism of wheelchair of the present invention is the driving mechanism that this wheelchair realizes climbing step ability, and its effect is the translation and the lifting campaign that the rotation of wheel are converted to wheelchair, is characterized in parallel with ground in motor process of maintenance wheelchair.Specific works principle is as follows: the front wheel driving foot 45 vertical with connecting rod 44 and rear drive foot 46 are housed on connecting rod 44, user drives the length of foot to make connecting rod 44 parallel to the ground by adjustment two, show that wheelchair frame 1 is parallel to the ground according to the character of above-mentioned parallelogram, thus achieve the function that step steadily climbed by wheelchair, improve the safety of wheelchair.
Described in wheelchair of the present invention, ratchet mechanism is a kind of one-way intermittent motion mechanism, only allows wheelchair to travel forward, prevent wheelchair from falling back on step and producing danger during upper and lower step.Whether the ratchet mechanism in the present invention is also responsible for the effect changing power and connect, namely select ratchet mechanism to run by horizontally slipping of sliding sleeve 73.When wheelchair travels on normal road surface, sliding sleeve 73 is separated with the spline on ratchet 74, driving crank 41, and rear support wheel 3 freely rotates, and power can not be passed to parallel-crank mechanism 4; When step climbed by wheelchair, the spline of sliding sleeve 73 on ratchet 72, rear-wheel hub 74 is combined, rear support wheel 3 rotate time by power transmission to ratchet 72, again power is reached driving crank 41 by ratchet mechanism 7, thus drive parallel-crank mechanism 4 to move, realize the stability of climbing in the process of rank; When wheelchair is got out of a predicament or an embarrassing situation, the spline of sliding sleeve 73 on ratchet 72, rear-wheel hub 74, driving crank 41 is combined simultaneously, object is that ratchet mechanism is fallen in short circuit, and power is directly taken turns by rear support 3 be delivered to driving crank 41, drive parallel-crank mechanism 4 to move the stability realized in the process of getting out of a predicament or an embarrassing situation.In addition, on described sliding sleeve (mechanism) 73, limited location mechanism ensures the reliability that sliding sleeve 73 works.
Operation principle and the process of wheelchair of the present invention are: when wheelchair travels on level land, and two front support feet, 5, two rear support feet, 6, two front wheel driving feet 45 of this wheelchair and two rear drive feet 46 are all retracted and are lifted away from ground.With hands slip sliding sleeve 73, make it all be separated with the spline on ratchet 72, driving crank 41, thus driving crank 41 and rear support do not have power transmission between taking turns 3.Under gravity, the connecting rod 44 of parallel-crank mechanism can be in lower horizontal position.At this moment the rear support wheel 3 of wheelchair becomes driving wheel, and armrest promotes rear support wheel 3 and can advance, and Manual-pushing wheelchair also can be leaned on to advance, and its detailed description of the invention is identical with common wheelchair operation.
When step climbed by wheelchair, first front support is taken turns 2 near step.Driving crank 41 is rotated with hands, the connecting rod 44 of flat shape quadrangular mechanism 4 is forwarded to the dead-centre position of to be taken turns 2 by the advanced front support of and front wheel driving foot 45 parallel with crank, regulate the length of front wheel driving foot 45, front support foot 5, rear drive foot 46 and rear support foot 6, until its equal kiss the earth, fix this length.Again with hands slip sliding sleeve 73, the spline of sliding sleeve 73 on ratchet 72, rear-wheel hub 74 is combined, rotate rear support wheel 3 with hands, at this moment wheelchair has two componental movements relative to ground, and namely horizontal forward and straight up, now wheelchair has inclination a little.After having climbed first step, wheelchair has been supported on ground and the first stage rank by four feets; Then the length of manual adjustments rear support foot 6 makes wheelchair level, again that rear drive foot 46 length adjustment is equal with rear support foot 6 length, front wheel driving foot 45 length is equal with front support foot 5 length, fixes its length, then rotate rear support wheel 3 with hands, start to climb second-order step.Repeat aforementioned process, until climb up last stage rank.In climbing process, wheelchair can remain level.When climbing to last stage rank, front support wheel 2 to be positioned on step above the ground, at this moment retraction front support foot 5 and front wheel driving foot 45, it is made to be lifted away from ground, rotate rear support wheel 3 again, be in above step upper base to rear support wheel 3, retraction rear support foot 6 and rear drive foot 46, it is made to be lifted away from ground, ensuing operation reference or the operation be same as when wheelchair travels on level land.When wheelchair is got out of a predicament or an embarrassing situation, the spline of sliding sleeve 73 on ratchet 72, rear-wheel hub 74, driving crank 41 is combined simultaneously, and other operation is just the same with operation when topping bar.
The length adjustment mechanism of each feet described and driving foot can be threaded sleeve (leading screw) structure, hydraulic pressure or pneumatic actuator, remains unchanged with the length after ensureing telescopic leg adjustment.Consider complexity and cost, the length adjustment mechanism of embodiment adopts threaded sleeve (leading screw) structure.
This wheelchair installs parallel-crank mechanism additional on common wheelchair, thus introduces translation and lifting campaign, realizes the climbing of step; When mild road traveling, parallelogram four-bar mechanism can be lifted away from ground, drive by wheel as common wheelchair and advance; When climbing step, rotating wheelchair rear support wheel with hands and obtaining power and pass to parallel-crank mechanism by ratchet mechanism and realize translation when climbing rank and elevate a turnable ladder motion, wheelchair can be realized and steadily climb step.
The present invention does not address part and is applicable to prior art.
Claims (3)
1. can climb a wheelchair for step, comprise wheelchair frame, front support wheel, rear support wheel, front support foot, rear support foot and axle, it is characterized in that this wheelchair also comprises parallel-crank mechanism and ratchet mechanism; Described parallel-crank mechanism is a quadric chain, comprises driving crank, driven crank, driving-belt, connecting rod, front wheel driving foot, rear drive foot and crank axle; Driving crank is arranged on axle through ratchet revolute; Driven crank is arranged on crank axle through revolute; The two ends of connecting rod are connected with driving crank and driven crank respectively and form connecting rod revolute; Connecting rod is in wheelchair outermost, connects between driving crank and driven crank with driving-belt, with the Planar Mechanisms be connected to form driving crank and driven crank of connecting rod; Front wheel driving foot and rear drive foot are vertically welded on connecting rod respectively, and the length of driving crank is equal with the length of driven crank, distance between two hinges being present in support driving crank in wheelchair frame and driven crank is equal with the length of connecting rod, makes the shape parallelogram of this quadric chain under any kinestate;
Described ratchet mechanism comprises ratchet fixture block, ratchet, sliding sleeve and rear-wheel hub; Ratchet, sliding sleeve and rear-wheel hub are arranged on axle through respective revolute respectively, and ratchet is installed by driving crank, is provided with ratchet fixture block between the two, form ratchet-type kinematic pair; Rear-wheel hub is installed between ratchet and rear support wheel, and driving crank, ratchet and rear-wheel hub are connected by the spline of ratchet-type kinematic pair and three and sliding sleeve, form firm being dynamically connected; Sliding sleeve can move left and right, and controls rear support wheel and the power transmission mode between driving crank and ratchet;
Described rear drive foot comprises the rear drive telescopic leg of regulation and control rear drive foot length, and front wheel driving foot also comprises the front wheel driving telescopic leg regulating front wheel driving foot length; Equally, described front support foot and rear support foot include the back and front supporting telescopic leg of its feet length separately of regulation and control.
2. wheelchair of climbing step according to claim 1, is characterized in that described front wheel driving telescopic leg and rear drive telescopic leg are threaded sleeve structure, hydraulic pressure or pneumatic actuator.
3. wheelchair of climbing step according to claim 1, is characterized in that described front support foot, rear support foot is threaded sleeve structure, hydraulic pressure or pneumatic actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310244111.2A CN103300981B (en) | 2013-06-19 | 2013-06-19 | A kind of wheelchair of climbing step |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310244111.2A CN103300981B (en) | 2013-06-19 | 2013-06-19 | A kind of wheelchair of climbing step |
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| CN103300981A CN103300981A (en) | 2013-09-18 |
| CN103300981B true CN103300981B (en) | 2015-08-19 |
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| CN201310244111.2A Active CN103300981B (en) | 2013-06-19 | 2013-06-19 | A kind of wheelchair of climbing step |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104207899B (en) * | 2014-03-27 | 2016-08-24 | 刘继伦 | Stair climbing wheelchair |
| CN103932848A (en) * | 2014-04-24 | 2014-07-23 | 郑清荣 | Full-automatic hydraulic lifting marching type electric stair climbing wheelchair |
| CN110063849B (en) * | 2019-04-25 | 2020-05-12 | 常州大学 | Automatic stair climbing robot for assisting old people |
| CN110916918B (en) * | 2019-12-09 | 2022-03-01 | 河海大学常州校区 | Multifunctional stepping barrier-free wheelchair |
| CN112891081B (en) * | 2021-01-26 | 2022-07-19 | 武汉理工大学 | Leg wheel combined type wheelchair |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1129923A2 (en) * | 2000-03-04 | 2001-09-05 | Alber Antriebstechnik GmbH | Transport device |
| CN102755229A (en) * | 2012-07-12 | 2012-10-31 | 北京工业大学 | Six-legged stair climbing wheelchair |
| CN202665827U (en) * | 2012-05-28 | 2013-01-16 | 班书增 | Low-gravity-center backward-inclined stair climbing wheelchair |
| CN203280609U (en) * | 2013-06-19 | 2013-11-13 | 河北工业大学 | Wheelchair capable of climbing steps |
-
2013
- 2013-06-19 CN CN201310244111.2A patent/CN103300981B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1129923A2 (en) * | 2000-03-04 | 2001-09-05 | Alber Antriebstechnik GmbH | Transport device |
| CN202665827U (en) * | 2012-05-28 | 2013-01-16 | 班书增 | Low-gravity-center backward-inclined stair climbing wheelchair |
| CN102755229A (en) * | 2012-07-12 | 2012-10-31 | 北京工业大学 | Six-legged stair climbing wheelchair |
| CN203280609U (en) * | 2013-06-19 | 2013-11-13 | 河北工业大学 | Wheelchair capable of climbing steps |
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