CN104027207A - Multifunctional electric wheelchair for barrier-free travel - Google Patents
Multifunctional electric wheelchair for barrier-free travel Download PDFInfo
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- CN104027207A CN104027207A CN201410293657.1A CN201410293657A CN104027207A CN 104027207 A CN104027207 A CN 104027207A CN 201410293657 A CN201410293657 A CN 201410293657A CN 104027207 A CN104027207 A CN 104027207A
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- 230000009194 climbing Effects 0.000 claims description 7
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- 230000001070 adhesive effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 15
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000003287 bathing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 230000001788 irregular Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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Abstract
The invention relates to a multifunctional electric wheelchair for barrier-free travel. A common wheel type and supporting power assisting arm collaboration caterpillar combination is adopted, and an auxiliary wheelchair is inlaid in the caterpillar combination, so that the multifunctional electric wheelchair can travel on flat grounds, stairs and steps and is beneficial to disabled persons in daily life. The multifunctional electric wheelchair comprises a seat, a backrest, armrests and pedal plates. The bottom of the backrest is arranged at the rear end of the top of the seat, a main frame is arranged below the seat, two sides of the seat are respectively connected with the main frame by automatic balance devices, two caterpillars are further symmetrically arranged at the bottom of the main frame, and auxiliary telescopic supporting arms are respectively arranged on two sides of the main frame and are close to the rear end of the main frame; the auxiliary wheelchair is arranged in the main frame, and the pedal plates are arranged on the auxiliary wheelchair. The multifunctional electric wheelchair has the advantages that when a user climbs the stairs, telescoping actions of the auxiliary telescopic supporting arms are matched with movement of the caterpillars, so that the user can climb up/down the stairs or leave the stairs; the caterpillars can independently travel on oblique planes of the stairs, so that the user can sit on the auxiliary wheelchair to go to a toilet or go to a bed or get out of the bed as needed.
Description
Technical field
The present invention relates to belong to wheelchair technical field, relate in particular to a kind of multi-functional accessible trip electric wheelchair.
Background technology
Wheelchair is for elderly and infirm and lower body the disabled, it is its indispensable necessary of living, be accompanied by the maturation of electric bicycle technology, electric wheelchair also progresses into people's the visual field, simultaneously at electric wheelchair, climb aspect building and leap roadblock and occurred various designs, comprising star-like wheeled, shoe formula, legged etc., but there is no, these designs popularized.
Even in developed country, what most was used is still common manual wheelchair, trace it to its cause is mainly that difficulty has a design can take into account complete safety, less undulatory property, obstacle detouring adaptability widely, less volume, outward appearance are without more lofty, the most important thing is that, for simple lower limb disability person, these wheelchairs can not help it to break away from largely care-giver.Thereby can be relatively independent go study, work and life.
In view of the defect in upper background, the design people is research and innovation in addition actively, founds a kind of multi-functional accessible trip electric wheelchair, to multi-faceted help is provided for individuals with disabilities.
Summary of the invention
For solving the problems of the technologies described above, the object of this invention is to provide a kind of common wheeled shoe formula combination collaborative with supporting power assistant arm that adopt, and the accessible trip wheelchair of embedded one auxiliary wheelchair, in the basic travel requirement of guaranteeing to help as much as possible on the basis of safety and steady lower limb disability personage, comprise the walking of level land, stair, step, and contribute to the multi-functional accessible trip electric wheelchair of people with disability's daily life life.
Multi-functional accessible trip electric wheelchair of the present invention, comprise seat, backrest, handrail, pedal, the bottom of described backrest is arranged on the rear end of seat end face, between backrest and seat, be flexibly connected, between backrest and seat, be provided with seat belt, the below of seat is provided with main frame, seat both sides connect main frame by automatic balancing arrangement respectively, automatic balancing arrangement is for guaranteeing that when stair activity seat is always in level, on main frame bottom surface, be also symmetrically arranged with two crawler belts, between described two crawler belts, be provided with front push rod, described main frame both sides are respectively arranged with auxiliary telescopic support arm near rear end, in described main frame, be provided with auxiliary wheelchair, described pedal is arranged on described auxiliary wheelchair, when stair climbing, cooperatively interacted up/down or leave ladder of flexible and caterpillar drive by auxiliary telescopic support arm, walking by crawler belt complete independently on step inclined plane, when user need to be gone to toilet or during bunk bed, can sit on complete independently on auxiliary wheelchair.The number of described handrail is two, and be separately positioned on the left and right sides of described main frame, the rear end of described main frame bottom surface is symmetrically arranged with two drivewheels, and the front end of main frame bottom surface is symmetrically arranged with two driven pulleys, and the diameter of driven pulley is less than or equal to the diameter of drivewheel.
Further, described main frame comprises four montants and four crossbeams and three cross bars, and the bottom of four montants surrounds a rectangle structure by two crossbeams and two cross bars, between two crossbeams, is parallel to each other, between two cross bars, be parallel to each other, mutually vertical between connected cross bar and crossbeam, the top of four montants surrounds a U-shaped structure by two crossbeams and a cross bar, two overarm braces that this U-shaped structure is beaten are provided with U-shaped frame, described seat is arranged on in U-shaped frame, these two crossbeams are parallel to each other, mutually vertical between cross bar and the crossbeam being connected, be connected being same as between two crossbeams of perpendicular by two support bars, between two cross bars of bottom, by two brace summers, be connected, the bottom of described this main frame is provided with base plate, this base plate is fixedly installed on and is positioned at square that two cross bar cross bars of bottom and two crossbeams surround, on the bottom surface that is arranged on two described brace summers of described crawler belt symmetry, its two crawler belts are positioned at this base plate below.
Further, the slide block that described automatic balancing arrangement comprises walking beam and is arranged on these walking beam two ends, slide block is arranged in arc-shaped slide rail, and slide block can slide in arc-shaped slide rail, arc-shaped slide rail is arranged on described support bar, and described walking beam is fixed on seat.When the present invention tilts, walking beam swings in described arc-shaped slide rail.So that seat is always in level.
Further, described close seat front end is provided with two handrail poles, described handrail is arranged on the top of this handrail pole, the top of this handrail pole is provided with rotates pole, rotate pole and between can spend rotation, rotate pole with corresponding handrail in same plane, or rotation pole is perpendicular with corresponding handrail, on described handrail, is provided with controller.
Further, the number of described auxiliary telescopic support arm is two, and be symmetricly set in two support bars of the described main frame left and right sides outside of, the top of auxiliary telescopic support arm is provided with ball bearing, ball bearing and auxiliary telescopic support arm are integral type structure, the bottom of auxiliary telescopic support arm is provided with runner, and ball bearing is arranged in the projection on described support bar, so that auxiliary telescopic support arm can swing along this projection.On described auxiliary telescopic support arm, be also provided with auxiliary push-rod, auxiliary push-rod is in order to keep vertically downward support arm by controlling the swing of support arm.
Further, two drivewheels on described main frame and the inner side of driven pulley are all provided with wheel push rod, the top of wheel push rod is fixed on the outside of main frame by contiguous block, the bottom of wheel push rod is connected with expansion link, the bottom of expansion link is connected with bracket, the end of bracket is fixedly connected with crossbeam, in bracket, be provided with electromagnetic lock, electromagnetic lock stretches into the bottom of described expansion link, when electromagnetic lock is separated with expansion link, expansion link is retracted in wheel push rod, drives drivewheel and driven pulley to rise simultaneously, and crawler belt is contacted with ground carry out work.
Further, described two crawler belts are separately positioned on two brace summer outsides on described main frame, and two crawler belts provide respectively power by two motors, and motor is located between two crawler belts, and two crawler belts are all high-strength rubber crawler belt.Described front push rod is arranged on described main frame, and front push rod stretches between two brace summers.
Further, described auxiliary wheelchair comprises front side board, front side board is rectangle or square, four corners of front side board are respectively arranged with first whippletree perpendicular with this front side board, the end that is positioned at two first whippletrees at top is connected by the second whippletree, between two first cross bars in left side and between two first whippletrees on right side, by the 3rd whippletree, be connected respectively, the 3rd whippletree is arranged on the first corresponding whippletree and the middle part on the second horizontal hilllock, between two whippletrees of bottom, do not connect, on two first cross bars at described top, be provided with auxiliary seat support, auxiliary seat support is arranged between described seat and U-shaped frame, in auxiliary seat support, be provided with telescopic two seating pads, two seating pads are symmetricly set in this auxiliary seat support, described pedal is arranged on the bottom of described front side board.
Further, between described auxiliary wheelchair and main frame, by snap close, be connected, on seat, be symmetrically arranged with slide rail, the cross section of slide rail is two symmetrical L shaped structures, between described slide rail, be provided with seat, seat can slide in slide rail, the two ends of seat are respectively arranged with tooth bar, tooth bar stretches out described two L shaped structures of symmetry, the arranged outside of tooth bar has gear, gear completes described tooth bar engagement or separating action by hand-operated clutch device, hand-operated clutch device is arranged on described main frame, described hand-operated clutch device is connected with described snap close by fork, when hand-operated clutch device completes adhesive action, by fork, moving snap close completes locking or unclamps action.
Further, the bottom surface of described base plate is provided with two range sensors between two crawler belts, two range sensors are symmetricly set on respectively the front-end and back-end of base plate, between two range sensors, be provided with level inclination sensor, level inclination sensor is fixed on described base plate bottom surface, range sensor can the plane at base plate place and with the perpendicular plane of this base plate in swing, described two range sensors, level inclination sensor detect transfer of data to controller.
By such scheme, the present invention at least has the following advantages:
1, the present invention adopts common wheeled the cover formula collaborative with supporting power assistant arm to combine.Level land operation freely, safety and steady while climbing ladder, compact conformation, volume is little, suitable barrier ability is strong, not only can stair activity, cross over step, can also upper and lower bus etc.The most important thing is aforesaid operations, user can complete independently, has expanded greatly limb disease personage's life and work radius.
2, embedded auxiliary wheelchair can help the light complete independently of user to go to toilet and even the basic living behavior such as bunk bed.Although for those lower limb disabilities but the individuals with disabilities who wishes independently to go study, work and even life has created the most basic condition.Also the mental pressure of alleviating the behaviors such as they usually need to be held up, embrace simultaneously and causing.
3, the strong adaptability of the present invention to different kinds of roads, obstacle etc., also can alleviate government is upwards the accessible rate of raising the party, is badly in need of the pressure of the huge fund of input.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of description, below with preferred embodiment of the present invention and coordinate accompanying drawing to be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the structural representation of the multi-functional accessible trip electric wheelchair of the present invention;
Fig. 2 is the rearview of Fig. 1;
Fig. 3 is the side view of Fig. 1;
Fig. 4 is the structural representation of main frame in Fig. 1;
Fig. 5 is the syndeton schematic diagram of main frame and auxiliary support arm;
Fig. 6 is the syndeton schematic diagram of wheel push rod, expansion link and main frame;
Fig. 7 is the cutaway view of expansion link and bracket;
Fig. 8 is the syndeton schematic diagram of auxiliary support arm and support bar;
Fig. 9 is the upward view of seat;
Figure 10 is the syndeton schematic diagram of crawler belt and main frame;
Figure 11 is the structural representation of auxiliary wheelchair;
Figure 12 is the structural representation of seat support;
Figure 13 is the structural representation of seat frame.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
Shown in Fig. 1-5, a kind of multi-functional accessible trip electric wheelchair, comprise seat 1, backrest 2, handrail 3, pedal 4, the bottom of described backrest 2 is arranged on the rear end of seat 1 end face, between backrest 2 and seat 1, be flexibly connected, between backrest 2 and seat 1, be provided with seat belt, the below of seat 1 is provided with main frame 10, seat 1 both sides connect main frame 10 by automatic balancing arrangement 31 respectively, automatic balancing arrangement 31 guarantees that seat 1 is always in level, on main frame 10 bottom surfaces, be also symmetrically arranged with two crawler belts 8, between described two crawler belts 8, be provided with front push rod 5, described main frame 10 both sides are respectively arranged with auxiliary telescopic support arm 9 near rear end, in described main frame 10, be provided with auxiliary wheelchair 28, described pedal 4 is arranged on described auxiliary wheelchair 28, when stair climbing, by stretching of auxiliary telescopic support arm 9, move and cooperatively interacted up/down or left ladder with crawler belt 8, walking by crawler belt 8 complete independentlies on step inclined plane, when user need to be gone to toilet or during bunk bed, can sit on complete independently on auxiliary wheelchair 28.The number of described handrail 3 is two, and be separately positioned on the left and right sides of described backrest 2, the rear end of described seat 1 bottom surface is symmetrically arranged with two drivewheels 6, and the front end of seat 1 bottom surface is symmetrically arranged with two driven pulleys 7, and the diameter of driven pulley 7 is less than or equal to the diameter of drivewheel 6.
Described main frame 10 comprises four montants 11 and four crossbeams 12 and three cross bars 13, the bottom of four montants 11 surrounds a rectangle structure by two crossbeams 12 and two cross bars 13, between two crossbeams 12, be parallel to each other, between two cross bars 13, be parallel to each other, mutually vertical between connected cross bar 13 and crossbeam 12, the top of four montants 11 surrounds a U-shaped structure by two crossbeams 12 and a cross bar 13, two crossbeam 12 supports that this U-shaped structure is beaten are provided with U-shaped frame 47, described seat 1 is arranged on in U-shaped frame 47, these two crossbeams 12 are parallel to each other, mutually vertical between cross bar 13 and the crossbeam 12 being connected, be connected being same as between two crossbeams 12 of perpendicular by two support bars 14, between two cross bars 13 of bottom, by two brace summers 15, be connected, the bottom of described this main frame 11 is provided with base plate 40, this base plate 40 is fixedly installed on and is positioned at square that two cross bar 13 cross bars of bottom and two crossbeams 12 surround, on the bottom surface that is arranged on two described brace summers 15 of described crawler belt 8 symmetries, its two crawler belts 8 are positioned at this base plate 40 belows.
The slide block 20 that described automatic balancing arrangement 31 comprises walking beam 30 and is arranged on these walking beam 30 two ends, slide block 20 is arranged in arc-shaped slide rail 21, slide block 20 can be in the interior slip of arc-shaped slide rail 21, and arc-shaped slide rail 21 is arranged on described support bar 14, and described walking beam 30 is fixed on seat 1.When the present invention tilts, walking beam 30 is in the interior swing of described arc-shaped slide rail 21.So that seat 1 is always in level.
Described close seat 1 front end is provided with two handrail poles 22, described handrail 3 is arranged on the top of this handrail pole 22, the top of this handrail pole 22 is provided with rotates pole 32, rotate pole 32 with between 22 can 90 degree rotations, rotate pole 32 with corresponding handrail 3 in same plane, or it is perpendicular with corresponding handrail 3 to rotate pole 32, on described handrail 3, is provided with controller 27.
As shown in Figure 8, the number of described auxiliary telescopic support arm 9 is two, and be symmetricly set in two support bars 14 of described main frame 10 left and right sides outside of, the top of auxiliary telescopic support arm 9 is provided with ball bearing 23, ball bearing 23 is integral type structure with auxiliary telescopic support arm 9, the bottom of auxiliary telescopic support arm 9 is provided with runner 26, and ball bearing 23 is arranged in the projection on described support bar 14, so that auxiliary telescopic support arm 9 can swing along this projection.On described auxiliary telescopic support arm 9, be also provided with auxiliary push-rod 24, auxiliary push-rod 24 is in order to pass through to control the swing of auxiliary telescopic support arm 9, so that auxiliary telescopic support arm 9 keeps vertically downward in climbing step process, auxiliary push-rod 24, auxiliary telescopic support arm 9 and bottom surface form stable gusseted structure.
As shown in Fig. 6-7, two drivewheels 6 on described main frame 10 and the inner side of driven pulley 7 are all provided with wheel push rod 16, the top of wheel push rod 16 is fixed on the outside of main frame 10 by contiguous block, the bottom of wheel push rod 16 is connected with expansion link 19, the bottom of expansion link 19 is connected with bracket 17, the end of bracket 17 is fixedly connected with crossbeam 12, in bracket 17, be provided with electromagnetic lock 18, electromagnetic lock 18 stretches into the bottom of described expansion link 19, when electromagnetic lock 18 is separated with expansion link 19, expansion link 19 is retracted in wheel push rod 16, drive drivewheel 6 and driven pulley 7 to rise simultaneously, and crawler belt is contacted with ground carry out work.
As shown in Fig. 9-10, described two crawler belts 8 are separately positioned on two brace summer 15 outsides on described main frame 10, and two crawler belts 8 provide respectively power by two motors 25, and motor 25 is located between two crawler belts 8, and two crawler belts 8 are all high-strength rubber crawler belt.Described front push rod 5 is arranged on described main frame 10, and front push rod 5 stretches between two brace summers 15.
As shown in Figure 11-13, described auxiliary wheelchair 28 comprises front side board 33, front side board 33 is rectangle or square, four corners of front side board 33 are respectively arranged with first whippletree 34 perpendicular with this front side board 33, the end that is positioned at two first whippletrees 34 at top is connected by the second whippletree 35, between two first cross bars 34 in left side and between two first whippletrees 34 on right side, by the 3rd whippletree 36, be connected respectively, the 3rd whippletree 36 is arranged on the first corresponding whippletree 34 and the middle part on the second horizontal hilllock 35, between two whippletrees 34 of bottom, do not connect, on two first cross bars 34 at described top, be provided with auxiliary seat support 37, auxiliary seat support 37 is arranged between described seat 1 and U-shaped frame 47, in auxiliary seat support 37, be provided with telescopic two seating pads 38, two seating pads 38 are symmetricly set in this auxiliary seat support 37, described pedal 4 is arranged on the bottom of described front side board 33.
Between described auxiliary wheelchair 28 and main frame 10, by snap close 41, be connected, on seat 1, be symmetrically arranged with slide rail 42, the cross section of slide rail 42 is two symmetrical L shaped structures, between described slide rail 42, be provided with seat 43, seat 43 can be in the interior slip of slide rail 42, the two ends of seat 43 are respectively arranged with tooth bar 44, tooth bar 44 stretches out described two L shaped structures of symmetry, the arranged outside of tooth bar 44 has gear 45, gear 45 completes described tooth bar 44 engagement or separating actions by hand-operated clutch device 46, hand-operated clutch device 46 is arranged on described main frame 10, described hand-operated clutch device 46 is connected with described snap close 41 by fork 47, when hand-operated clutch device 46 completes adhesive action, by fork 47, drive snap close 41 complete locking or unclamp action.
As shown in Figure 9, the bottom surface of described base plate 40 is provided with two range sensors 29 between two crawler belts 8, two range sensors 29 are symmetricly set on respectively the front-end and back-end of base plate 40, between two range sensors 29, be provided with level inclination sensor 39, level inclination sensor 39 is fixed on described base plate 40 bottom surfaces, two range sensors 29 can the plane at base plate 40 places and with the perpendicular plane of this base plate 40 in swing, described two range sensors 29, level inclination sensor 39 detect transfer of data to controller 27.
The present invention can realize the basic switching of wheel/shoe walking manner, drivewheel 6 and driven pulley 7 independently arrange separately one and take turns push rod 16, wheel push rod 16 is in order to complete the lifting action of drivewheel 6 or driven pulley 7, wheel push rod 16 is elongated cylinder, the bottom of expansion link 19 is square, in this square, be provided with circular hole, when expansion link 19 stretching, extensions put in place, the circular hole of square embeds bracket 17, and lock by electromagnetic lock 18, can make the present invention by drivewheel 6 and driven pulley 7, walk on bottom surface, when reverse above-mentioned action, drivewheel 6 and driven pulley 7 are packed up, crawler belt 8 contacts and walks with ground.
While normally travelling, between drivewheel 6, driven pulley 7, bracket 17, montant 11, form firm system, during going up or down stairway, open electromagnetic lock 18, shrink expansion link 19, the present invention is slowly put down, and crawler belt 8 contacts with ground.
Crawler belt 8 of the present invention is not born obstacle detouring task, give full play to the advantage of the steady walking on its stair, and give auxiliary telescopic support arm 9 by obstacle detouring task, complete, therefore crawler belt 9 system bulk are very little, under the assistance of auxiliary telescopic support arm 9, can complete again the upper and lower task of higher step simultaneously.
Example 1
While going upstairs, drivewheel 6 and driven pulley 7 are risen, so that crawler belt 8 contacts with bottom surface, adjust direction, making seat 1 rear end is direction of advance, the range sensor 29 that is now positioned at rear end can detect the rear end of base plate 40 apart from the distance of first segment step, the distance between each step and ground detected simultaneously, range sensor 29 is uniform rotation at the Plane Rotation of vertical base plate 40, therefore when this range sensor 29 detects while changing apart from step distance, just can calculate the angle of rotation, thereby calculate the height between step and step, range sensor 29 is at the Plane Rotation at base plate 40 places, the distance of the end of step first detected, for the vertical dimension of the present invention to step, in this plane, be rotated further range sensor 29, measure symmetrical whether identical with two distances of this vertical dimension, same side rear end face of the present invention parallels with step, direction of advance of the present invention and step are perpendicular, again the vertical dimension detecting and range sensor 29 are transferred to controller 27 at the angle value of the plane active of vertical base plate 40, by controller 27, calculated the height of the support of auxiliary telescopic support arm 9, control the height needing that is elongated to of auxiliary telescopic support arm 9, now auxiliary telescopic support arm 9 is perpendicular with the bottom surface of main frame 10, controller 27 is controlled 9 rotations of auxiliary telescopic support arm, and make auxiliary telescopic pivotal support arm 9 perpendicular with bottom surface all the time, because slide block 20 can be in the interior slip of arc-shaped slide rail 21, can guarantee when auxiliary telescopic support arm 9 supports, seat 1 is always in level, climb in the process of step, need crawler belt 8 to parallel with the line of two step peaks, the data that detect according to range sensor 29 are processed through controller 27, can calculate the height that auxiliary telescopic support arm 9 supports, when range sensor 29 detects distance between the present invention and step and reaches predetermined distance, controller 27 is controlled auxiliary telescopic support arm 9 and is supported, one end that the present invention is nearer apart from step is lifted, when simultaneously vertical distance sensor detects height that this end of the present invention lifts higher than shoulder height certain value, motor 25 drives crawler belt 8 to move on, the runner 26 that simultaneously promotes auxiliary telescopic support arm 9 bottoms rotates and advances, crawler belt 8 is responsible for walking, when Suiping range sensor 29 detects the present invention apart from step closer distance, this joint step has been put in one end of crawler belt 8, now regain auxiliary telescopic support arm 9, by crawler belt 8, put this step, repeat said process, complete each and climb step process.
While going downstairs, drivewheel 6 and driven pulley 7 are risen, so that crawler belt 8 contacts with bottom surface, making seat 1 front end is direction of advance, the range sensor 29 that is now positioned at front end can detect base plate 40 and vertical dimension first segment step surface, range sensor 29 uniform rotation in the plane of vertical base plate 40, when range sensor 29 detects the distance reaching, change and be, can calculate from vertical bottom face and change to detecting distance the angle that range sensor 29 is rotated, thereby calculate base plate 40 and second step, height between the 3rd joint step lamp is some, and whether identical by the distance of horizontal hunting symmetric position, judge that whether direction of advance of the present invention is perpendicular with step, again the distance detecting and angle numerical value are transferred to controller 27, by controller 27, calculated the height of the support of auxiliary telescopic support arm 9, control the height needing that is elongated to of auxiliary telescopic support arm 9, now auxiliary telescopic support arm 9 is perpendicular with the bottom surface of main frame 10, controller 27 is controlled 9 rotations of auxiliary telescopic support arm, and make auxiliary telescopic pivotal support arm 9 perpendicular with bottom surface all the time, because slide block 20 can be in the interior slip of arc-shaped slide rail 21, can guarantee when auxiliary telescopic support arm 9 supports, seat 1 is always in level, climb in the process of step, need crawler belt 8 to parallel with the line of two step peaks, the data that detect according to range sensor 29 are processed through controller 27, can calculate the height that auxiliary telescopic support arm 9 supports, when range sensor 29 detects distance between the present invention and step and reaches predetermined distance, controller 27 is controlled auxiliary telescopic support arm 9 and is supported, one end that the present invention is far away apart from step is lifted, when reaching the predetermined altitude of calculating, motor 25 drives crawler belt 8 to move on, the runner 26 that simultaneously promotes auxiliary telescopic support arm 9 bottoms rotates and advances, crawler belt 8 is responsible for walking, when Suiping range sensor 29 detects the present invention apart from step closer distance, this joint step has been put in one end of crawler belt 8, now regain auxiliary telescopic support arm 9, by crawler belt 8, put this step, repeat said process, complete each and climb step process.
Drivewheel 6 of the present invention can share a motor 25 with the crawler belt 8 of homonymy, also can be driven by independent motor.
In the above-mentioned process of climbing step or getting out of a predicament or an embarrassing situation, because handrail 3 coordinates with arc-shaped slide rail 21 by slide block, even if seat 1 can swing in these arc-shaped slide rail 21 scopes, in the process of climbing step or getting out of a predicament or an embarrassing situation, can remain that seat 1 is parallel with bottom surface, the phenomenon that there will not be inclination, to prevent that user from falling.
The process of getting out of a predicament or an embarrassing situation of the present invention is above-mentioned retrograde operating process.
Example 2
The upper and lower bus process of the present invention and above-mentioned up/down steps process are basic identical, the feature of bus step is that first step is higher, normally the 2-2.5 of common step doubly, and individual step irregular, the present invention designs front push rod 5, under controller is controlled before push rod 5 launch and gathering in good time, while guaranteeing first step of upper and lower bus, when maximum angle is less than 45 ° of upper and lower steps of scrambling according to step in bus all the time, under range sensor Real-Time Monitoring, progressively complete.
Example 3
Auxiliary wheelchair 28 persons of being easy to use of the present invention go to toilet, bunk bed, bathing, move and leave wheelchair, and indoor basic activity, on described auxiliary wheelchair 28, handrail, backrest are also set, handrail, backrest and auxiliary wheelchair 28 are by gemel connection, and handrail and backrest can directly overturn and be folded in both sides and the rear side of auxiliary wheelchair 28.
Specific works process is as follows:
User is by described rotation pole 32 90-degree rotations, make to rotate pole 32 perpendicular with corresponding handrail 3, user is put into thigh on this rotation pole 32, both hands to handrail 3 firmly, now can be by being subject to the logical hand-operated clutch device 46 of manually controlling, gear 45 and tooth bar 44 are meshed, notice snap close 41 separates with auxiliary wheelchair 28, make the seat 43 on seat 1 move backward separated with main frame 1 and seat 1, when seat 43 moves to backward auxiliary seat support 37 on auxiliary wheelchair 28 and exposes, user can put down both legs, directly be sitting on auxiliary wheelchair 28, on auxiliary wheelchair 28, be also provided with wheel, identical with common wheelchair, now handrail and backrest can be overturn,
While going to toilet, owing to assisting the back lower place of wheelchair 28 that supporting construction is not set, this auxiliary wheelchair 28 can directly be backwards on toilet seat, with user, be positioned at the top of toilet seat, adopt the wheel fixing device on existing wheelchair to be fixed auxiliary wheelchair, now, two two symmetrical seating pads 38 can be opened simultaneously, to facilitate, go to toilet, complete latter two seating pad 38 closures.
In described auxiliary wheelchair 28, also can be provided with telescope support, to adjust the height of seat support 37.To use the bed of differing heights, auxiliary wheelchair 28 rear portions can be provided with latch, and latch coordinates with the upper corresponding pin hole of bed, so that auxiliary wheelchair 28 is with fixing, before this process, first backrest is packed up, provided rear user and according to both sides handrail, support and move bunk bed in the situation that helping without other people
Because jockey pulley armrest of seat, rear backrest all can be put down, when needs move, such as upper car, it can at utmost help user near the object of wanting to move
The above is only the preferred embodiment of the present invention; be not limited to the present invention; should be understood that; for those skilled in the art; do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (10)
1. a multi-functional accessible trip electric wheelchair, comprise seat, backrest, handrail and pedal, the bottom of described backrest is arranged on the rear end of seat end face, between backrest and seat, be flexibly connected, between backrest and seat, be provided with seat belt, it is characterized in that: the below of seat is provided with main frame, seat both sides connect main frame by automatic balancing arrangement respectively, for guaranteeing that when stair activity seat is always in level, on main frame bottom surface, be also symmetrically arranged with two crawler belts, between described two crawler belts, be provided with front push rod, described main frame both sides are respectively arranged with auxiliary telescopic support arm near rear end, in described main frame, be provided with auxiliary wheelchair, described pedal is arranged on described auxiliary wheelchair, when stair climbing, cooperatively interacted up/down or leave ladder of flexible and caterpillar drive by auxiliary telescopic support arm, walking by crawler belt complete independently on step inclined plane, when user need to be gone to toilet or during bunk bed, can sit on complete independently on auxiliary wheelchair, the number of described handrail is two, and be separately positioned on the left and right sides of described main frame, the rear end of described main frame bottom surface is symmetrically arranged with two drivewheels, and the front end of main frame bottom surface is symmetrically arranged with two driven pulleys, and the diameter of driven pulley is less than or equal to the diameter of drivewheel.
2. multi-functional accessible trip electric wheelchair according to claim 1, it is characterized in that, described main frame comprises four montants, four crossbeams and three cross bars, the bottom of four montants surrounds a rectangle structure by two crossbeams and two cross bars, between two crossbeams, be parallel to each other, between two cross bars, be parallel to each other, mutually vertical between connected cross bar and crossbeam, the top of four montants surrounds a U-shaped structure by two crossbeams and a cross bar, two overarm braces that this U-shaped structure is beaten are provided with U-shaped frame, described seat is arranged on in U-shaped frame, these two crossbeams are parallel to each other, mutually vertical between cross bar and the crossbeam being connected, be connected being same as between two crossbeams of perpendicular by two support bars, between two cross bars of bottom, by two brace summers, be connected, the bottom of described this main frame is provided with base plate, this base plate is fixedly installed on and is positioned at square that two cross bar cross bars of bottom and two crossbeams surround, on the bottom surface that is arranged on two described brace summers of described crawler belt symmetry, its two crawler belts are positioned at this base plate below.
3. multi-functional accessible trip electric wheelchair according to claim 1, it is characterized in that, the slide block that described automatic balancing arrangement comprises walking beam and is arranged on these walking beam two ends, slide block is arranged in arc-shaped slide rail, slide block can slide in arc-shaped slide rail, and arc-shaped slide rail is arranged on described support bar.
4. multi-functional accessible trip electric wheelchair according to claim 1, it is characterized in that, described close seat front end is provided with two handrail poles, described handrail is arranged on the top of this handrail pole, the top of this handrail pole is provided with rotates pole, on described handrail, is provided with controller.
5. multi-functional accessible trip electric wheelchair according to claim 1; it is characterized in that; the number of described auxiliary telescopic support arm is two; and be symmetricly set in two support bars of the described main frame left and right sides outside of; the top of auxiliary telescopic support arm is provided with ball bearing; ball bearing and auxiliary telescopic support arm are integral type structure; the bottom of auxiliary telescopic support arm is provided with runner; ball bearing is arranged in the projection on described support bar, so that auxiliary telescopic support arm can swing along this projection; On described auxiliary telescopic support arm, be also provided with auxiliary push-rod.
6. multi-functional accessible trip electric wheelchair according to claim 2, it is characterized in that, two drivewheels on described main frame and the inner side of driven pulley are all provided with wheel push rod, the top of wheel push rod is fixed on the outside of main frame by contiguous block, the bottom of wheel push rod is connected with expansion link, and the bottom of expansion link is connected with bracket, and the end of bracket is fixedly connected with crossbeam, in bracket, be provided with electromagnetic lock, electromagnetic lock stretches into the bottom of described expansion link.
7. multi-functional accessible trip electric wheelchair according to claim 1; it is characterized in that; described two crawler belts are separately positioned on two brace summer outsides on described main frame; article two, crawler belt provides respectively power by two motors; motor is located between two crawler belts, and two crawler belts are all high-strength rubber crawler belt; Described front push rod is arranged on described main frame, and front push rod stretches between two brace summers.
8. multi-functional accessible trip electric wheelchair according to claim 1, it is characterized in that, described auxiliary wheelchair comprises front side board, front side board is rectangle or square, four corners of front side board are respectively arranged with first whippletree perpendicular with this front side board, the end that is positioned at two first whippletrees at top is connected by the second whippletree, between two first cross bars in left side and between two first whippletrees on right side, by the 3rd whippletree, be connected respectively, the 3rd whippletree is arranged on the first corresponding whippletree and the middle part on the second horizontal hilllock, between two whippletrees of bottom, do not connect, on two first cross bars at described top, be provided with auxiliary seat support, auxiliary seat support is arranged between described seat and U-shaped frame, in auxiliary seat support, be provided with telescopic two seating pads, two seating pads are symmetricly set in this auxiliary seat support, described pedal is arranged on the bottom of described front side board.
9. multi-functional accessible trip electric wheelchair according to claim 8, it is characterized in that, between described auxiliary wheelchair and main frame, by snap close, be connected, on seat, be symmetrically arranged with slide rail, the cross section of slide rail is two symmetrical L shaped structures, between described slide rail, be provided with seat, seat can slide in slide rail, the two ends of seat are respectively arranged with tooth bar, tooth bar stretches out described two L shaped structures of symmetry, the arranged outside of tooth bar has gear, gear completes described tooth bar engagement or separating action by hand-operated clutch device, hand-operated clutch device is arranged on described main frame, described hand-operated clutch device is connected with described snap close by fork, when hand-operated clutch device completes adhesive action, by fork, moving snap close completes locking or unclamps action.
10. multi-functional accessible trip electric wheelchair according to claim 2, it is characterized in that, the bottom surface of described base plate is provided with two range sensors between two crawler belts, two range sensors are symmetricly set on respectively the front-end and back-end of base plate, between two range sensors, be provided with level inclination sensor, level inclination sensor is fixed on described base plate bottom surface, range sensor can the plane at base plate place and with the perpendicular plane of this base plate in swing, two described range sensors, level inclination sensor detects transfer of data to controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293657.1A CN104027207B (en) | 2014-06-25 | 2014-06-25 | Multi-functional accessible life electric wheelchair |
| PCT/CN2015/081628 WO2015196942A1 (en) | 2014-06-25 | 2015-06-17 | Multifunctional electric wheelchair for travelling without boundaries |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293657.1A CN104027207B (en) | 2014-06-25 | 2014-06-25 | Multi-functional accessible life electric wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104027207A true CN104027207A (en) | 2014-09-10 |
| CN104027207B CN104027207B (en) | 2017-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410293657.1A Active CN104027207B (en) | 2014-06-25 | 2014-06-25 | Multi-functional accessible life electric wheelchair |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104027207B (en) |
| WO (1) | WO2015196942A1 (en) |
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| CN104323896A (en) * | 2014-11-25 | 2015-02-04 | 陆惠平 | Ladder vehicle capable of horizontally crawling |
| WO2015196942A1 (en) * | 2014-06-25 | 2015-12-30 | 金立新 | Multifunctional electric wheelchair for travelling without boundaries |
| CN107361934A (en) * | 2017-07-24 | 2017-11-21 | 北京动力京工科技有限公司 | A kind of novel six freedom automatic stari creeping ladder wheelchair |
| CN107837152A (en) * | 2016-09-21 | 2018-03-27 | 周广刚 | The stair detection means and method of electric wheelchair |
| CN108309600A (en) * | 2017-01-16 | 2018-07-24 | 秦国栋 | A kind of wheelchair component for the wireless control easily entering lavatory |
| CN108743083A (en) * | 2018-06-19 | 2018-11-06 | 浙江机电职业技术学院 | A kind of multi-functional invalid wheelchair and its working method |
| CN109998796A (en) * | 2019-05-08 | 2019-07-12 | 台州黄岩博友智能技术有限公司 | A kind of full landform medical stretcher |
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| CN110547924A (en) * | 2019-09-12 | 2019-12-10 | 清华大学 | Wheel-track combined stair-climbing wheelchair |
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| WO2015196942A1 (en) * | 2014-06-25 | 2015-12-30 | 金立新 | Multifunctional electric wheelchair for travelling without boundaries |
| CN104323896B (en) * | 2014-11-25 | 2017-04-19 | 陆惠平 | Ladder vehicle capable of horizontally crawling |
| CN104323896A (en) * | 2014-11-25 | 2015-02-04 | 陆惠平 | Ladder vehicle capable of horizontally crawling |
| CN107837152A (en) * | 2016-09-21 | 2018-03-27 | 周广刚 | The stair detection means and method of electric wheelchair |
| CN108309600A (en) * | 2017-01-16 | 2018-07-24 | 秦国栋 | A kind of wheelchair component for the wireless control easily entering lavatory |
| CN107361934A (en) * | 2017-07-24 | 2017-11-21 | 北京动力京工科技有限公司 | A kind of novel six freedom automatic stari creeping ladder wheelchair |
| CN111511334A (en) * | 2017-12-22 | 2020-08-07 | 松下电器产业株式会社 | Mobile vehicle |
| CN111511334B (en) * | 2017-12-22 | 2022-06-24 | 松下电器产业株式会社 | Mobile vehicle |
| CN108743083A (en) * | 2018-06-19 | 2018-11-06 | 浙江机电职业技术学院 | A kind of multi-functional invalid wheelchair and its working method |
| CN109998796B (en) * | 2019-05-08 | 2020-10-16 | 青岛大学附属医院 | All-terrain medical stretcher |
| CN109998796A (en) * | 2019-05-08 | 2019-07-12 | 台州黄岩博友智能技术有限公司 | A kind of full landform medical stretcher |
| CN110547924A (en) * | 2019-09-12 | 2019-12-10 | 清华大学 | Wheel-track combined stair-climbing wheelchair |
| CN110547923A (en) * | 2019-09-12 | 2019-12-10 | 清华大学 | Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function |
| CN110775903A (en) * | 2019-10-30 | 2020-02-11 | 深圳市迈康信医用机器人有限公司 | Mechanical lifting shifting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015196942A1 (en) | 2015-12-30 |
| CN104027207B (en) | 2017-11-03 |
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