CN103784270B - A kind of stair-climbing wheel chair and control method thereof - Google Patents
A kind of stair-climbing wheel chair and control method thereof Download PDFInfo
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- CN103784270B CN103784270B CN201410062198.6A CN201410062198A CN103784270B CN 103784270 B CN103784270 B CN 103784270B CN 201410062198 A CN201410062198 A CN 201410062198A CN 103784270 B CN103784270 B CN 103784270B
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Abstract
The present invention relates to a kind of stair-climbing wheel chair and control method thereof, the both sides of the wheelchair main body of stair-climbing wheel chair are respectively arranged with leading screw, leading screw is provided with the conductive shield that two have double-break switch function, a conductive shield is positioned at the middle position of leading screw, another conductive shield is positioned at any one end of leading screw, live with leading screw respectively and be connected in two telescopic lifting bars one end in the same way, the coupling end of two telescopic lifting bars and leading screw is provided with brush, two telescopic lifting bars the other end in the same way connects by the transmission shaft of electric machine control respectively, the two ends of transmission shaft connect respectively climbs building combined wheels, the motor of the conductive shield line connection control transmission shaft of leading screw end, the motor of the conductive shield line connection control trailing wheel at position in the middle of leading screw, front lower place and the back lower place of wheelchair main body are respectively arranged with equilibrator, arrange below wheelchair main body by the rotation axis of deceleration electric machine control, gear is installed at the two ends of rotation axis respectively, gear is connected with equilibrator.
Description
Technical field
The present invention relates to a kind of wheelchair, it is specifically related to a kind of stair-climbing wheel chair.
Background technology
At present, known wheelchair, electric wheelchair can only be less than on 12 degree of smooth road surfaces in the gradient to travel, but run into stairway step, groove, bank and just cannot cross over. And cross over the biggest obstacle that stair are these handicapped crowds old, weak, sick, residual. Along with the growth of human population, a large amount of increase of building improves the living conditions of people, but the not high building of major part floor does not have elevator. For solving the problem, stair-climbing wheel chair and abdominal belt type mechanism stair-climbing wheel chair have occurred in succession, but there is a lot of shortcoming in these stair-climbing wheel chairs, from the economic condition of China's level of economic development and demand crowd, development and operation is simple, the stair-climbing wheel chair of good stability, has more market potential and social value.
Summary of the invention
The deficiency that stair-climbing wheel chair of the present invention exists for prior art, it is provided that a kind of structure is simple, and manipulation is convenient, the stair-climbing wheel chair of good stability.
Technical scheme provided by the invention is:
A kind of stair-climbing wheel chair, comprise wheelchair main body (1), wheelchair main body (1) is provided with handrail (2) and backrest (3), there is the passive trailing wheel (11) played a supportive role during normal walking the lower section of wheelchair main body (1), wheelchair main body (1) front has with switch for handle (9) and by the front-wheel (10) of electric machine control, described stair-climbing wheel chair also includes climbs building combined wheels (4), the both sides of wheelchair main body (1) are respectively arranged with leading screw (6), leading screw (6) is provided with the conductive shield that two have double-break switch function, a conductive shield is positioned at the middle position of leading screw (6), another conductive shield is positioned at any one end of leading screw (6), live with leading screw (6) respectively and be connected in two telescopic lifting bars (7) one end in the same way, the coupling end of two telescopic lifting bars (7) and leading screw (6) is provided with brush, the one end of the telescopic lifting bar being provided with brush can make conductive shield be in closed conducting state when leading screw (6) above moves and contacts with conductive shield, two telescopic lifting bars (7) the other end in the same way connects the transmission shaft (16) controlled by motor (8) respectively, the two ends of transmission shaft (16) connect respectively climbs building combined wheels (4), the motor (8) of conductive shield line connection control transmission shaft (16) of leading screw (6) end, the motor of the conductive shield line connection control trailing wheel at position in the middle of leading screw (6), the front lower place of wheelchair main body (1) and the back lower place are respectively arranged with equilibrator (5), wheelchair main body (1) lower section arranges the rotation axis controlled by deceleration motor (8), gear (13) is installed at the two ends of rotation axis respectively, gear (13) is connected with equilibrator (5).
Concrete, described building combined wheels (4) of climbing comprises sub-wheel (18) and female wheel (19), transmission shaft (16) is connection for transmission wheel (21) and female wheel (19) successively, power wheel (21) is driven by driving chain (22) and connects driven wheel (20), female wheel (19) is regular pentagon tinsel, female wheel (19) connects five sons wheel (18) away from the angle axle of the one side of power wheel (21), driven wheel (20) is driven by transmission shaft (16) and connects arbitrary height wheel (18), is connected by circular transmission abdominal belt (17) between sub-wheel (18).
Concrete, described equilibrator (5) comprises two arc inner tooth circles (12), the tooth of the gear (13) at the two ends of the rotation axis of described wheelchair main body (1) lower section respectively internal tooth with arc inner tooth circle (12) engage respectively, arc inner tooth circle (12) is through gear (13) and U-shaped circle composition closing device, the gear (13) of one side is provided with gravity pendulum interswitching control enclosure (14) simultaneously, gravity pendulum interswitching control enclosure (14) lower section is connected with gravity pendulum (15), gravity pendulum (15) can touch the switch in gravity pendulum interswitching control enclosure (14) when moving left and right.
Concrete, described switch for handle (9) is c type contact bank combination switch, and control simultaneously is walked and climbed two kinds, building mode circuit.
Concrete, described gravity pendulum interswitching control enclosure (14) is connected with the deceleration motor lines of control rotation axis.
The control method gone downstairs on stair-climbing wheel chair, when it needs to climb building, employing climbs building, and person's flank face moves to the mode of stair, and it has comprised the following steps:
Step 1: startup switch for handle makes it be in and climbs building pattern;
Step 2: telescopic lifting bar obtains transferring the instruction of combined wheels, telescopic lifting bar slides on leading screw until the end arriving leading screw contacts with the conductive shield of end, making conductive shield be in closed conducting state, thus control the electric motor starting of combined wheels, combined wheels is stretched out and is contacted with ground;
Step 3: combined wheels is rotated and climbed building;
Step 4: equilibrator climbs building action and action along with combined wheels;
Step 5: climbing after building completes, conversion switch for handle makes it be in walking mode;
Step 6: conductive shield disconnects with the motor of control transmission shaft, telescopic lifting bar slides into the conductive shield place at position in the middle of leading screw from the conductive shield of leading screw end, making the circuit turn-on of conductive shield with the motor of control trailing wheel, telescopic lifting bar has shunk, and combined wheels is in liftoff state.
Stair-climbing wheel chair structure provided by the invention is simple, easy to operate, level of automation height, and stability is strong, shakes little, climbs building ability strong, and cost is low.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the present invention;
Fig. 2 is combined wheels of the present invention and the location diagram of wheelchair main body 1;
Fig. 3 is combined wheels structure iron;
Fig. 4 is equilibrator 5 structural representation.
1-wheelchair main body, 2-handrail, 3-backrest, 4-climbs building combined wheels, 5-equilibrator, 6-leading screw, 7-telescopic lifting bar, 8-motor, 9-switch for handle, 10-front-wheel, 11-trailing wheel, 12-arc inner tooth circle, 13-gear, 14-interswitching control enclosure, 15-gravity pendulum, 16-transmission shaft, 17-transmission abdominal belt, 18-takes turns, 19-female wheel, 20-driven wheel, 21-power wheel, 22-driving chain, 23-conductive shield.
Embodiment
It is illustrated in figure 1 illustrated stair-climbing wheel chair structural representation, a kind of stair-climbing wheel chair, comprise wheelchair main body 1, wheelchair main body 1 is provided with handrail 2 and backrest 3, there is the passive trailing wheel 11 played a supportive role during normal walking the lower section of wheelchair main body 1, and wheelchair main body 1 front has with switch for handle 9 and by the front-wheel 10 of electric machine control.
Stair-climbing wheel chair also includes climbs building combined wheels 4, Fig. 2 is the structural representation of combined wheels, climb building combined wheels 4 and comprise sub-wheel 18 and female wheel 19, transmission shaft 16 is connection for transmission wheel 21 and female wheel 19 successively, power wheel 21 is driven by driving chain 22 and connects driven wheel 20, and female wheel 19 is regular pentagon tinsel, and female wheel 19 connects five son wheels 18 away from the angle axle of the one side of power wheel 21, driven wheel 20 is driven by transmission shaft 16 and connects arbitrary height wheel 18, is connected by circular transmission abdominal belt 17 between sub-wheel 18. the both sides of wheelchair main body 1 are respectively arranged with leading screw 6, leading screw 6 is provided with the conductive shield that two have double-break switch function, a conductive shield is positioned at the middle position of leading screw 6, another conductive shield is positioned at any one end of leading screw 6, live with leading screw 6 respectively and be connected in two telescopic lifting bars 7 one end in the same way, the coupling end of two telescopic lifting bars 7 and leading screw 6 is provided with brush, the one end being provided with the telescopic lifting bar of brush makes conductive shield be in closed conducting state when can move on leading screw 6 and contact with conductive shield, two telescopic lifting bars 7 the other end in the same way connects the transmission shaft 16 controlled by motor 8 respectively, the two ends of transmission shaft 16 connect respectively climbs building combined wheels 4, the motor 8 of the conductive shield line connection control transmission shaft 16 of leading screw 6 end, the motor of the conductive shield line connection control trailing wheel at the middle position of leading screw 6, the front lower place of wheelchair main body 1 and the back lower place are respectively arranged with equilibrator 5, the rotation axis controlled by deceleration motor 8 is set below wheelchair main body 1, gear 13 is installed at the two ends of rotation axis respectively, gear 13 is connected with equilibrator 5.
Fig. 4 is equilibrator 5 structural representation, equilibrator 5 comprises arc inner tooth circle 12, the tooth of the gear 13 at the two ends of the rotation axis below described wheelchair main body 1 engages respectively with the internal tooth of arc inner tooth circle 12, arc inner tooth circle 12 is through gear 13 and U-shaped circle composition closing device, gear 13 is provided with gravity pendulum 15 interswitching control enclosure 14 simultaneously, it is connected with gravity pendulum 15 below gravity pendulum 15 interswitching control enclosure 14, the switch in gravity pendulum 15 interswitching control enclosure 14 when gravity pendulum 15 moves left and right, can be touched. The described gravity pendulum 15 interswitching control enclosure 14 deceleration motor of line connection simultaneously.
Described switch for handle 9 is c type contact bank combination switch, and control simultaneously is walked and climbed two kinds, building mode circuit. Pressing the switch of walking circuit while that switch for handle 9 making it be in walking mode by people during normal walking to open, the trailing wheel 11 used when controlling to walk by motor 8 acts on, front-wheel 10 course changing control direction. When it needs to climb building, employing climbs building, and person's flank face moves to the mode of stair, and it has comprised the following steps:
Step 1: startup switch for handle 9 makes it be in and climbs building pattern;
Step 2: telescopic lifting bar 7 obtains transferring the instruction of combined wheels, telescopic lifting bar 7 slides on leading screw 6 until the end arriving leading screw 6 contacts with the conductive shield of end, making conductive shield be in closed conducting state, thus control the electric motor starting of combined wheels 4, combined wheels 4 is stretched out and is contacted with ground;
Step 3: the pull up circuit conducting of combined wheels 4, motor 8 controls transmission shaft 16 and rotates, driving power wheel 21 to rotate, power wheel 21 drives driven wheel 20 to rotate by driving chain 22, and driven wheel 20 drives sub-wheel 18 to rotate simultaneously, the rotation of a son wheel 18, because five son wheels 18 cover band by transmission and connect, so son wheel 18 also rotates together, combined wheels is rotated, after son wheel 18 is fixed on obstacle stair, female wheel 19 is rotated further and moves in parallel until crossing over stair. Combined wheels 4 completes to climb building action;
Step 4: need the transfer of center of gravity in the process crossing over stair otherwise people can tilt, at this moment equilibrator 5 has just worked, gravity pendulum 15 is vertically downward when gravity balance, as long as center of gravity has skew gravity pendulum 15 to swing left and right, the switch in gravity pendulum 15 interswitching control enclosure 14 can be touched when swinging, the while that when circuit is logical, deceleration motor 8 obtaining the speed of instruction regulation and control rotation axis, the tooth of gear 13 moves in the internal tooth of arc inner tooth circle 12, until the tooth of gravity balance gear 13 just can not engage with the internal tooth of arc inner tooth circle 12. Equilibrator climbs building action and execution along with combined wheels 4;
Step 5: climbing after building completes, conversion switch for handle 9 makes it be in walking mode;
Step 6: the conductive shield of leading screw end disconnects with the motor of control transmission shaft 16, telescopic lifting bar 7 slides into the conductive shield place at the middle position of leading screw 6 from the conductive shield of leading screw 6 end, make the circuit turn-on of conductive shield with the motor of control trailing wheel 11, telescopic lifting bar 7 has shunk, and combined wheels 4 is in liftoff state.
Finally should be noted that: above embodiment is only not intended to limit in order to the technical scheme of the present invention to be described; Although with reference to better embodiment to invention has been detailed description, those of ordinary skill in the field are it is understood that still can modify to the specific embodiment of the present invention or part technology feature carries out equivalent replacement; And do not depart from the spirit of technical solution of the present invention, in the middle of its technical scheme scope that all should be encompassed in request of the present invention protection.
Claims (6)
1. a stair-climbing wheel chair, comprise wheelchair main body (1), wheelchair main body (1) is provided with handrail (2) and backrest (3), there is the passive trailing wheel (11) played a supportive role during normal walking the lower section of wheelchair main body (1), wheelchair main body (1) front has with switch for handle (9) and by the front-wheel (10) of electric machine control, it is characterized in that: described stair-climbing wheel chair also includes climbs building combined wheels (4), the both sides of wheelchair main body (1) are respectively arranged with leading screw (6), leading screw (6) is provided with the conductive shield that two have double-break switch function, a conductive shield is positioned at the middle position of leading screw (6), another conductive shield is positioned at any one end of leading screw (6), live with leading screw (6) respectively and be connected in two telescopic lifting bars (7) one end in the same way, the coupling end of two telescopic lifting bars (7) and leading screw (6) is provided with brush, the one end of the telescopic lifting bar being provided with brush can make conductive shield be in closed conducting state when leading screw (6) above moves and contacts with conductive shield, two telescopic lifting bars (7) the other end in the same way connects the transmission shaft (16) controlled by motor (8) respectively, the two ends of transmission shaft (16) connect respectively climbs building combined wheels (4), the motor (8) of conductive shield line connection control transmission shaft (16) of leading screw (6) end, the motor of the conductive shield line connection control trailing wheel at position in the middle of leading screw (6), the front lower place of wheelchair main body (1) and the back lower place are respectively arranged with equilibrator (5), wheelchair main body (1) lower section arranges the rotation axis controlled by deceleration motor (8), gear (13) is installed at the two ends of rotation axis respectively, gear (13) is connected with equilibrator (5).
2. a kind of stair-climbing wheel chair according to claim 1, it is characterized in that: described in climb building combined wheels (4) and comprise sub-wheel (18) and female wheel (19), transmission shaft (16) is connection for transmission wheel (21) and female wheel (19) successively, power wheel (21) is driven by driving chain (22) and connects driven wheel (20), female wheel (19) is regular pentagon tinsel, female wheel (19) connects five sons wheel (18) away from the angle axle of the one side of power wheel (21), driven wheel (20) is driven by transmission shaft (16) and connects arbitrary height wheel (18), connected by circular transmission abdominal belt (17) between son wheel (18).
3. a kind of stair-climbing wheel chair according to claim 1, it is characterized in that: described equilibrator (5) comprises two arc inner tooth circles (12), the tooth of the gear (13) at the two ends of the rotation axis of described wheelchair main body (1) lower section respectively internal tooth with arc inner tooth circle (12) engage respectively, arc inner tooth circle (12) is through gear (13) and U-shaped circle composition closing device, the gear (13) of one side is provided with gravity pendulum interswitching control enclosure (14) simultaneously, gravity pendulum interswitching control enclosure (14) lower section is connected with gravity pendulum (15), gravity pendulum (15) can touch the switch in gravity pendulum interswitching control enclosure (14) when moving left and right.
4. a kind of stair-climbing wheel chair according to claim 1, it is characterised in that: described switch for handle (9) is c type contact bank combination switch, control walking simultaneously and climb two kinds, building mode circuit.
5. a kind of stair-climbing wheel chair according to claim 3, it is characterised in that: described gravity pendulum interswitching control enclosure (14) is connected with the deceleration motor lines controlling rotation axis.
6. a stair-climbing wheel chair as claimed in claim 1 on the control method gone downstairs, it is characterised in that: when it needs to climb building, adopting and climb building person's flank face moves to the mode of stair, it has comprised the following steps:
Step 1): startup switch for handle (9) makes it be in and climbs building pattern;
Step 2): telescopic lifting bar (7) obtains transferring the instruction of combined wheels, telescopic lifting bar (7) slides on leading screw (6) until the end arriving leading screw (6) contacts with the conductive shield of end, conductive shield is made to be in closed conducting state, thus controlling the electric motor starting of combined wheels (4), combined wheels (4) is stretched out and is contacted with ground;
Step 3): combined wheels (4) is rotated and climbed building;
Step 4): equilibrator climbs building action and action along with combined wheels (4);
Step 5): climbing after building completes, conversion switch for handle (9) makes it be in walking mode;
Step 6): the conductive shield of leading screw (6) end disconnects with the motor of control transmission shaft (16), telescopic lifting bar (7) slides into the conductive shield place at position in the middle of leading screw (6) from the conductive shield of leading screw (6) end, make the circuit turn-on of conductive shield with the motor of control trailing wheel (11), telescopic lifting bar (7) has shunk, and combined wheels (4) is in liftoff state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410062198.6A CN103784270B (en) | 2014-02-25 | 2014-02-25 | A kind of stair-climbing wheel chair and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410062198.6A CN103784270B (en) | 2014-02-25 | 2014-02-25 | A kind of stair-climbing wheel chair and control method thereof |
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| Publication Number | Publication Date |
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| CN103784270A CN103784270A (en) | 2014-05-14 |
| CN103784270B true CN103784270B (en) | 2016-06-01 |
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| CN201410062198.6A Expired - Fee Related CN103784270B (en) | 2014-02-25 | 2014-02-25 | A kind of stair-climbing wheel chair and control method thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108245331B (en) * | 2018-01-29 | 2020-07-10 | 何雪琴 | Wheelchair robot convenient to hinder more |
| CN109602549A (en) * | 2019-01-30 | 2019-04-12 | 广州市淞滨工程技术有限公司 | A kind of device instead of walk easy to use and reliable for intelligent medical |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2686582Y (en) * | 2004-03-26 | 2005-03-23 | 黄坤平 | Manual multifunctional wheelchair |
| CN102860906A (en) * | 2011-07-05 | 2013-01-09 | 谢哲 | Wheelchair capable of climbing stairs |
| CN103169579A (en) * | 2013-04-17 | 2013-06-26 | 程世赞 | Rapidly-dismounted electric stair-climbing wheelchair |
| CN203841932U (en) * | 2014-02-25 | 2014-09-24 | 王战友 | Wheelchair with climbing function |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110017249A (en) * | 2009-08-13 | 2011-02-21 | 김기수 | Driving unit |
| PL392799A1 (en) * | 2010-10-29 | 2012-05-07 | Tadeusz Młynarczyk | Wheelchair travelling upward the stairs |
-
2014
- 2014-02-25 CN CN201410062198.6A patent/CN103784270B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2686582Y (en) * | 2004-03-26 | 2005-03-23 | 黄坤平 | Manual multifunctional wheelchair |
| CN102860906A (en) * | 2011-07-05 | 2013-01-09 | 谢哲 | Wheelchair capable of climbing stairs |
| CN103169579A (en) * | 2013-04-17 | 2013-06-26 | 程世赞 | Rapidly-dismounted electric stair-climbing wheelchair |
| CN203841932U (en) * | 2014-02-25 | 2014-09-24 | 王战友 | Wheelchair with climbing function |
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| CN103784270A (en) | 2014-05-14 |
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Granted publication date: 20160601 Termination date: 20200225 |