CN104027207B - Multi-functional accessible life electric wheelchair - Google Patents
Multi-functional accessible life electric wheelchair Download PDFInfo
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- CN104027207B CN104027207B CN201410293657.1A CN201410293657A CN104027207B CN 104027207 B CN104027207 B CN 104027207B CN 201410293657 A CN201410293657 A CN 201410293657A CN 104027207 B CN104027207 B CN 104027207B
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- 238000013461 design Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 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
- 210000003414 extremity Anatomy 0.000 description 1
- 239000003292 glue Substances 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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Classifications
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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
-
- 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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- Life Sciences & Earth Sciences (AREA)
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- Rehabilitation Tools (AREA)
- Invalid Beds And Related Equipment (AREA)
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Abstract
Combined the present invention relates to a kind of common wheeled shoe formula with support power assistant arm collaboration, and embedded auxiliary wheelchair, it is that level land, stair, the walking of step can be achieved, and contributes to the electric wheelchair of the multi-functional accessible trip of disabled person's routine life again.Including seat, backrest, handrail, pedal, the bottom of the backrest is arranged on the rear end of seat top surface, main frame is provided with below seat, seat both sides connect main frame by automatic balancing arrangement respectively, two crawler belts are also symmetrically arranged with main frame bottom surface, the main frame both sides are respectively arranged with auxiliary telescopic support arm close to rear end；Auxiliary wheelchair is provided with the main frame, described pedal is arranged on the auxiliary wheelchair, when stair climbing, up/down is completed by the flexible and caterpillar drive mutual cooperation of auxiliary telescopic support arm or ladder is left, by walking of the crawler belt complete independently on step inclined plane, when user needs to go to toilet or during bunk bed, complete independently on auxiliary wheelchair can be sat on.
Description
Technical field
The present invention relates to belong to wheelchair technical field, more particularly to a kind of multi-functional accessible life electric wheelchair.
Background technology
Wheelchair is its indispensable necessity of living for elderly and infirm and lower body the disabled, along with
The maturation of electric bicycle technology, electric wheelchair also progresses into the visual field of people, while climbing building in electric wheelchair and crossing over road
Various designs are occurred in that in terms of barrier, including star-like wheeled, shoe formula, legged etc., but these designs there is no
To popularization.
Even in developed country, it is most of at present use be still common manual wheelchair, mainly difficulty of tracing it to its cause has
A design can take into account complete security, less fluctuation, extensive obstacle detouring adaptability, less volume, outward appearance without
More is lofty, it is most important that for simple lower limb disability person, these wheelchairs can not help it largely to break away from
Care-giver.Go to learn, work and live so as to relatively independent.
In view of the defect in upper background, the design people is actively subject to research and innovation, a kind of multi-functional accessible life is founded
Electric wheelchair, to provide multi-faceted help for individuals with disabilities.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to provide one kind using common wheeled with supporting power assistant arm to cooperate with
The combination of shoe formula, and the accessible life wheelchair of embedded auxiliary wheelchair helps as much as possible on the basis of safety and steady is ensured
The essential requirements of living of lower limb disability personage, including level land, stair, the walking of step are helped, and contributes to disabled person's routine life
Multi-functional accessible life electric wheelchair.
The multi-functional accessible life electric wheelchair of the present invention, including seat, backrest, handrail and pedal, the backrest
Bottom be arranged on the rear end of seat top surface, be flexibly connected between backrest and seat, safety belt be provided between backrest and seat,
Main frame is provided with below seat, seat both sides connect main frame by automatic balancing arrangement respectively, in stair activity
When ensure that seat is constantly on horizontality, main frame bottom surface and be also symmetrically arranged with two crawler belts, between two crawler belts
Preceding push rod is provided with, the main frame both sides are respectively arranged with auxiliary telescopic support arm close to rear end；Set in the main frame
Auxiliary wheelchair is equipped with, described pedal is arranged on the auxiliary wheelchair, when stair climbing, passes through auxiliary telescopic support arm
Flexible cooperated with caterpillar drive completes up/down or leaves ladder, by walking of the crawler belt complete independently on step inclined plane, when
User needs to go to toilet or during bunk bed, can sit on complete independently on auxiliary wheelchair；The number of the handrail is two, and point
The left and right sides of the main frame is not arranged on, and the rear end of the main frame bottom surface is symmetrically arranged with two driving wheels, main frame
Bottom surface is symmetrically arranged at the front end with two driven pulleys, and the diameter of driven pulley is less than or equal to the diameter of driving wheel.
Further, the main frame includes four montants and four crossbeams and three cross bars, and the bottom of four montants leads to
Cross two crossbeams and two cross bars are surrounded and are parallel to each other between a rectangle structure, two crossbeams, between two cross bars mutually
It is parallel, it is mutually perpendicular between connected cross bar and crossbeam；The top of four montants surrounds one by two crossbeams and a cross bar
It is provided with U-shaped frame between individual U-shaped structure, two crossbeams of the U-shaped structure, described seat is arranged on in U-shaped frame, this two
Crossbeam is parallel to each other, and is mutually perpendicular between cross bar and the crossbeam being connected, positioned at being same as passing through between two crossbeams of perpendicular
Two support bars are connected, and are connected between two cross bars of bottom by two support beams, the bottom of the main frame is set
Bottom plate is equipped with, it is square interior that the two cross bar cross bars and two crossbeams that the bottom plate is fixedly installed on positioned at bottom are surrounded, described
Crawler belt is symmetrically arranged on the bottom surface of two described support beams, and its two crawler belts are located at below the bottom plate.
Further, the automatic balancing arrangement includes walking beam and is arranged on the sliding block at the walking beam two ends, sliding block
It is arranged in arc-shaped slide rail, sliding block can be slided in arc-shaped slide rail, arc-shaped slide rail is arranged on described support bar, described pendulum
Dynamic beam is fixed on seat.
Further, described that seat front end is provided with two handrail poles, described handrail is arranged on the handrail branch
Rotation pole is provided with the top of the top of bar, the handrail pole, rotate pole and between can spend rotations, rotate pole with relatively
The handrail answered is in approximately the same plane, or rotates pole and corresponding handrail is perpendicular, and controller is provided with the handrail.
Further, the number of the auxiliary telescopic support arm is two, and is symmetricly set on described main frame or so two
The outside of one in two support bars of side, the top of auxiliary telescopic support arm is provided with ball bearing, ball bearing and auxiliary
Retractable support arm is integral type structure, and the bottom of auxiliary telescopic support arm is provided with runner, and ball bearing is arranged on described branch
In projection on strut, so that auxiliary telescopic support arm can be swung along the projection, also set up on the auxiliary telescopic support arm
There is auxiliary push-rod.
Further, it is both provided with taking turns push rod on the inside of two driving wheels and driven pulley on the main frame, takes turns push rod
Top the outside of main frame is fixed on by contiguous block, the bottom of wheel push rod is connected with expansion link, the bottom of expansion link and support
Frame is connected, and the end of bracket is fixedly connected with crossbeam, and electromagnetic lock is provided with bracket, and electromagnetic lock stretches into the bottom of described expansion link
End, when electromagnetic lock is separated with expansion link, expansion link is retracted in wheel push rod, while driving driving wheel and driven pulley to rise, and is made
Crawler belt is contacted with ground and is operated.
Further, two crawler belts are separately positioned on the main frame on the outside of two support beams, two crawler belts by
Two motors provide power respectively, and motor is located between two crawler belts, and two crawler belts are all high-strength rubber crawler belt.The main frame
Preceding push rod is provided with frame, preceding push rod is stretched between two support beams.
Further, the auxiliary wheelchair includes front side board, and front side board is rectangle or square, four angles of front side board
Fall place and be respectively arranged with first whippletree perpendicular with the front side board, the end positioned at two first whippletrees at top passes through second
Whippletree is connected, and the 3rd whippletree phase is passed through respectively between two first cross bars in left side and between two first whippletrees on right side
Even, the 3rd whippletree is arranged on the middle part on corresponding first whippletree and the second horizontal hilllock, is not connected between two whippletrees of bottom,
Auxiliary seat support is provided with two first cross bars at the top, auxiliary seat support is arranged on described seat and U-shaped
Between frame, telescopic two seating pads are provided with auxiliary seat support, two seating pads are symmetricly set on the auxiliary seat
In support, described pedal is arranged on the bottom of described front side board.
Further, connected between the auxiliary wheelchair and main frame by latching, slide rail is symmetrically arranged with seat, it is sliding
The cross section of rail is to be provided with seat between symmetrical two L-shaped structures, the slide rail, and seat can be slided in slide rail, seat
Two ends be respectively arranged with rack, rack, which is stretched out on the outside of described symmetrical two L-shaped structures, rack, is provided with gear, gear
Described rack is completed by hand-operated clutch device to engage or separating action, hand-operated clutch device is arranged on described main frame
On, the hand-operated clutch device is connected by swing rod with the lock, when hand-operated clutch device completes adhesive action, passes through swing rod
Dynamic lock completes locking or release action.
Further, the bottom surface of the bottom plate is provided with two range sensors, two distances between being located at two crawler belts
Sensor is symmetrically arranged between the front-end and back-end of bottom plate, two range sensors and is provided with level inclination sensor,
Level inclination sensor is fixed on described bottom plate bottom surface, range sensor can the plane where bottom plate and with the bottom plate
Swung in perpendicular plane, described two range sensors, level inclination sensor detect data and be transferred to controller.
By such scheme, the present invention at least has advantages below：
1st, the present invention is combined using the common wheeled formula of covering with support power assistant arm collaboration.Run freely, when climbing ladder on level land
Safety and steady, compact conformation, small volume fits barrier ability by force, not only can be with stair activity, across step, can also public transport up and down
Car etc..Above all aforesaid operations, user with complete independently, can greatly expand the life and work half of limb disease personage
Footpath.
2nd, embed auxiliary wheelchair and may help to the light complete independently of user and go to toilet or even the basic living row such as bunk bed
For.Although for those lower limb disabilities but wishing the independent individuals with disabilities for going to learn, work or even live, most base is created
This condition.The psychological pressure for the behavior such as also alleviating them simultaneously and usually needing to be helped, embracing and cause.
3rd, the present invention is to the strong adaptability of different kinds of roads, obstacle etc., and it is to improve without barrier in this direction that can also alleviate government
Hinder rate, be badly in need of the pressure of the huge fund of input.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the structural representation of the multi-functional accessible life electric wheelchair of the present invention；
Fig. 2 is Fig. 1 side view；
Fig. 3 is Fig. 2 partial sectional view；
Fig. 4 is the structural representation of main frame in Fig. 1；
Fig. 5 is the attachment structure schematic diagram for taking turns push rod, expansion link and main frame；
Fig. 6 is the sectional view of expansion link and bracket；
Fig. 7 is auxiliary support arm and the attachment structure schematic diagram of support bar；
Fig. 8 is the upward view of seat；
Fig. 9 is the attachment structure schematic diagram of crawler belt and main frame；
Figure 10 is the structural representation for aiding in wheelchair；
Figure 11 is the structural representation of seat support；
Figure 12 is the structural representation for aiding in wheelchair and main frame.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to shown in Fig. 1-5, a kind of multi-functional accessible trip electric wheelchair, including it is seat 1, backrest 2, handrail 3, foot-operated
Plate 4, the bottom of the backrest 2 is arranged on the rear end of the top surface of seat 1, is flexibly connected between backrest 2 and seat 1, backrest 2 and seat
Safety belt is provided between 1, the lower section of seat 1 is provided with main frame 10, and the both sides of seat 1 are connected by automatic balancing arrangement 31 respectively
Main frame 10 is connect, automatic balancing arrangement 31 ensures that seat 1 is constantly in horizontality, and main frame 10 is also symmetrically arranged with bottom surface
Push rod 5 before being provided between two crawler belts 8, two crawler belts 8, the both sides of main frame 10 are respectively arranged with close to rear end
Auxiliary telescopic support arm 9；Auxiliary wheelchair 28 is provided with the main frame 10, described pedal 4 is arranged on the auxiliary wheel
On chair 28, when stair climbing, cooperated by the flexible and motion of crawler belt 8 of auxiliary telescopic support arm 9 and complete up/down or leave
Ladder, by walking of the complete independently of crawler belt 8 on step inclined plane, when user needs to go to toilet or during bunk bed, can sit on auxiliary
Help complete independently on wheelchair 28.The number of the handrail 3 is two, and is separately positioned on the left and right sides of the backrest 2, described
The rear end of the bottom surface of seat 1 is symmetrically arranged with two driving wheels 6, and the bottom surface of seat 1 is symmetrically arranged at the front end with two driven pulleys 7, from
The diameter of driving wheel 7 is less than or equal to the diameter of driving wheel 6.
The main frame 10 includes four montants 11 and four crossbeams 12 and three cross bars 13, and the bottom of four montants 11 leads to
Cross two crossbeams 12 and two cross bars 13 are surrounded and are parallel to each other between a rectangle structure, two crossbeams 12, two cross bars 13
Between be parallel to each other, be mutually perpendicular between connected cross bar 13 and crossbeam 12；The top of four montants 11 passes through two crossbeams 12
Surrounded with a cross bar 13 and be provided with U-shaped frame 47, described seat between a U-shaped structure, two crossbeams 12 of the U-shaped structure
1 is arranged on in U-shaped frame 47, and two crossbeams 12 are parallel to each other, and are mutually perpendicular to, are located between cross bar 13 and the crossbeam 12 being connected
It is same as by two support bars 14 being connected between two crossbeams 12 of perpendicular, passes through between two cross bars 13 of bottom
Two support beams 15 are connected, and the bottom of the main frame 11 is provided with bottom plate 40, and the bottom plate 40 is fixedly installed on positioned at bottom
Two cross bars of cross bar 13 and two crossbeams 12 surround it is square in, described crawler belt 8 is symmetrical to be arranged on two described branch
On the bottom surface for supportting beam 15, its two crawler belts 8 are located at the lower section of bottom plate 40.
The automatic balancing arrangement 31 includes walking beam 30 and is arranged on the sliding block 20 at the two ends of walking beam 30, sliding block 20
It is arranged in arc-shaped slide rail 21, sliding block 20 can be slided in arc-shaped slide rail 21, and arc-shaped slide rail 21 is arranged on described support bar 14
On, described walking beam 30 is fixed on seat 1.When the present invention is tilted, walking beam 30 is put in described arc-shaped slide rail 21
It is dynamic.So that seat 1 is constantly in horizontality.
Described that the front end of seat 1 is provided with two handrail poles 22, described handrail 3 is arranged on the handrail pole 22
Top, the top of the handrail pole 22 is provided with rotation pole 32, rotate pole 32 and between 22 can 90 degree rotations, rotation pole
32 with corresponding handrail 3 in approximately the same plane, or rotate pole 32 and corresponding handrail 3 is perpendicular, set on the handrail 3
It is equipped with controller 27.
As shown in fig. 7, the number of the auxiliary telescopic support arm 9 is two, and it is left to be symmetricly set on the main frame 10
The outside of one in two support bars 14 of right both sides, the top of auxiliary telescopic support arm 9 is provided with ball bearing 23, ball axle
It is integral type structure that 23, which are held, with auxiliary telescopic support arm 9, and the bottom of auxiliary telescopic support arm 9 is provided with runner 26, ball bearing
23 are arranged in the projection on described support bar 14, so that auxiliary telescopic support arm 9 can be swung along the projection.The auxiliary
Auxiliary push-rod 24 is additionally provided with retractable support arm 9, auxiliary push-rod 24 to the swing by controlling auxiliary telescopic support arm 9,
So that auxiliary telescopic support arm 9 is kept vertically downward during step is climbed, auxiliary push-rod 24, auxiliary telescopic support arm 9 and
Bottom surface forms stable triangular support configurations.
As illustrated in figures 4-5, on the main frame 10 two driving wheels 6 and the inner side of driven pulley 7 are both provided with taking turns push rod
16, the top of wheel push rod 16 is fixed on the outside of main frame 10 by contiguous block, and the bottom of wheel push rod 16 is connected with expansion link 19,
The bottom of expansion link 19 is connected with bracket 17, and the end of bracket 17 is fixedly connected with crossbeam 12, and electromagnetic lock is provided with bracket 17
18, electromagnetic lock 18 stretches into the bottom of described expansion link 19, when electromagnetic lock 18 is separated with expansion link 19, and expansion link 19, which is retracted, takes turns
In push rod 16, while drive driving wheel 6 and driven pulley 7 to rise, and make crawler belt contact with ground to be operated.
As Figure 8-9, two crawler belts 8 are separately positioned on two outsides of support beam 15, two on the main frame 10
Bar crawler belt 8 provides power respectively by two motors 25, and motor 25 is located between two crawler belts 8, and two crawler belts 8 are all high intensity rubber
Glue crawler belt.Push rod 5 before being provided with the main frame 10, preceding push rod 5 is stretched between two support beams 15.
As shown in figs9-12, the auxiliary wheelchair 28 includes front side board 33, and front side board 33 is rectangle or square, front side
Four corners of plate 33 are respectively arranged with first whippletree 34 perpendicular with the front side board 33, and two first positioned at top are horizontal
The end of thick stick 34 is connected by the second whippletree 35, two first whippletrees 34 between two first cross bars 34 in left side and right side
Between respectively by the 3rd whippletree 36 be connected, the 3rd whippletree 36 is arranged in the horizontal hilllock 35 of corresponding first whippletree 34 and second
Portion, is not connected between two whippletrees 34 of bottom, and auxiliary seat branch is provided with two first cross bars 34 at the top
Frame 37, auxiliary seat support 37 is arranged between described seat 1 and U-shaped frame 47, is provided with and can be stretched in auxiliary seat support 37
Two seating pads 38 of contracting, two seating pads 38 are symmetricly set in the auxiliary seat support 37, and described pedal 4 is arranged on
The bottom of described front side board 33.
Connected between the auxiliary wheelchair 28 and main frame 10 by lock 41, slide rail 42 is symmetrically arranged with seat 1, it is sliding
The cross section of rail 42 is to be provided with seat 43 between symmetrical two L-shaped structures, the slide rail 42, and seat 43 can be in slide rail 42
Slide, the two ends of seat 43 are respectively arranged with rack 44, and rack 44 is stretched out outside described symmetrical two L-shaped structures, rack 44
Side is provided with gear 45, and gear 45 completes described rack 44 by hand-operated clutch device 46 and engaged or separating action, manually from
Attach together and put 46 and be arranged on described main frame 10, the hand-operated clutch device 46 is latched 41 and be connected by swing rod 47 with described,
When hand-operated clutch device 46 completes adhesive action, the completion of lock 41 locking or release is driven to act by swing rod 47.
As shown in figure 8, the bottom surface of the bottom plate 40 is provided with two range sensors 29, two between being located at two crawler belts 8
Individual range sensor 29 is symmetrically arranged between the front-end and back-end of bottom plate 40, two range sensors 29 and is provided with level
Obliquity sensor 39, level inclination sensor 39 is fixed on the described bottom surface of bottom plate 40, and two range sensors 29 can be the bottom of at
Swung in the plane at the place of plate 40 and the plane perpendicular with the bottom plate 40, two described range sensors 29, levels are inclined
Angle transducer 39 detects data and is transferred to controller 27.
The present invention can realize the basic switching of wheel/shoe walking manner, and driving wheel 6 and driven pulley 7 are each independently arranged a wheel
Push rod 16, lifting action of the wheel push rod 16 to complete driving wheel 6 or driven pulley 7, wheel push rod 16 is elongated cylinder, expansion link 19
Bottom be square, circular hole is provided with the square, when expansion link 19 stretches in place, the circular hole insertion bracket of square
17, and locked by electromagnetic lock 18, the present invention can be made to be walked on bottom surface by driving wheel 6 and driven pulley 7, when reverse above-mentioned dynamic
When making, driving wheel 6 and driven pulley 7 are packed up, and crawler belt 8 is contacted with ground is walked.
Firm system is formed during normally travel, between driving wheel 6, driven pulley 7, bracket 17, montant 11, during going up or down stairway,
Electromagnetic lock 18 is opened, expansion link 19 is shunk, the present invention is slowly put down, and crawler belt 8 is contacted with ground.
The crawler belt 8 of the present invention does not undertake obstacle detouring task, gives full play to the advantage of the steady walking on its stair, and by obstacle detouring
Task gives auxiliary telescopic support arm 9 to complete, therefore the system bulk very little of crawler belt 9, while in the association of auxiliary telescopic support arm 9
Help down, the task above and below higher step can be completed again.
Example 1
When going upstairs, driving wheel 6 and driven pulley 7 are risen, so that crawler belt 8 is contacted with bottom surface, adjustment direction makes seat 1
Rear end is direction of advance, and the range sensor 29 for being now placed in rear end can detect the rear end of bottom plate 40 apart from first segment step
Distance, is detected simultaneously by the distance between each step and ground, range sensor 29 is in the Plane Rotation of vertical base plate 40
Uniform rotation, therefore when the range sensor 29 is detected and changed apart from step distance, it is possible to calculate rotation
Angle, so as to calculate the height between step and step, range sensor 29 is first detected in the Plane Rotation where bottom plate 40
It is the vertical range that the present invention arrives step to the distance at the end of step, range sensor 29, measurement pair is rotated further in the plane
Claim whether identical with two distances of the vertical range, phase homonymy rear end face of the invention is parallel with step, it is of the invention before
Enter that direction is perpendicular with step, then by the vertical range detected and range sensor 29 vertical base plate 40 plane actively
Angle value be transferred to controller 27, calculate the height of the support of auxiliary telescopic support arm 9 by controller 27, control auxiliary is stretched
The height for being elongated to needs of contracting support arm 9, now the bottom surface of auxiliary telescopic support arm 9 and main frame 10 is perpendicular, controller
27 control auxiliary telescopic support arms 9 rotate, and make auxiliary telescopic pivotal support arm 9 perpendicular with bottom surface all the time, due to sliding block 20
It can be slided in arc-shaped slide rail 21, it is ensured that when auxiliary telescopic support arm 9 is supported, seat 1 is constantly in horizontality, climbs platform
, it is necessary to which crawler belt 8 is parallel with the line of two step peaks during rank, the data detected according to range sensor 29
Handled by controller 27, the height of the support of auxiliary telescopic support arm 9 can be calculated, when range sensor 29 detects the present invention
When reaching predetermined distance with the distance between step, the control auxiliary telescopic of controller 27 support arm 9 is supported, by the present invention apart from platform
The nearer one end of rank is lifted, while to detect the height lifted at the of the invention end certain higher than shoulder height for vertical distance sensor
During value, the driving crawler belt 8 of motor 25 is moved on, and is advanced while promoting the runner 26 of the bottom of auxiliary telescopic support arm 9 to rotate, crawler belt
8 are responsible for walking, and when Suiping range sensor 29 detects the present invention apart from step closer distance, one end of crawler belt 8 has been put
The upper section step, now withdraws auxiliary telescopic support arm 9, and the step is put by crawler belt 8, repeats said process, completes each
Climb step process.
When going downstairs, driving wheel 6 and driven pulley 7 are risen, so that crawler belt 8 is contacted with bottom surface, it is advance to make the front end of seat 1
Direction, the range sensor 29 for being now placed in front end can detect the vertical range with first segment step surface of bottom plate 40, distance
The uniform rotation in the plane of vertical base plate 40 of sensor 29, be when range sensor 29 detects that the distance reached changes,
The angle for changing from vertical bottom face to detecting distance and rotating range sensor 29 can be calculated, so as to calculate bottom plate 40 and the
Height between two steps, Section of three step lamp are some, and it is whether identical by the distance of horizontal hunting symmetric position, to judge
Whether the direction of advance of the present invention is perpendicular with step, then by the distance detected and angle data transfer to controller 27,
Calculate the height of the support of auxiliary telescopic support arm 9 by controller 27, control auxiliary telescopic support arm 9 is elongated to needs
Highly, now the bottom surface of auxiliary telescopic support arm 9 and main frame 10 is perpendicular, and the control auxiliary telescopic of controller 27 support arm 9 revolves
Turn, and make auxiliary telescopic pivotal support arm 9 perpendicular with bottom surface all the time, can because sliding block 20 can be slided in arc-shaped slide rail 21
Ensure that seat 1 is constantly in horizontality when auxiliary telescopic support arm 9 is supported, during climbing step, it is necessary to crawler belt 8 with
The line of two step peaks is parallel, and the data detected according to range sensor 29 are handled by controller 27, can be counted
The height of the support of auxiliary telescopic support arm 9 is calculated, is reached when range sensor 29 detects the present invention with the distance between step
During predetermined distance, the control auxiliary telescopic of controller 27 support arm 9 is supported, and one end by the present invention apart from step farther out is lifted, when
The predetermined altitude of calculating is reached, the driving crawler belt 8 of motor 25 is moved on, while promoting the runner of the bottom of auxiliary telescopic support arm 9
26 rotate advance, and crawler belt 8 is responsible for walking, when Suiping range sensor 29 detects the present invention apart from step closer distance, carry out
The section step has been put with 8 one end, auxiliary telescopic support arm 9 has now been withdrawn, is put by crawler belt 8 in the step, repetition
Process is stated, each is completed and climbs step process.
The driving wheel 6 of the present invention can share a motor 25 with the crawler belt 8 of homonymy, can also be driven by single motor
It is dynamic.
It is above-mentioned climb step or get out of a predicament or an embarrassing situation during, because handrail 3 is coordinated by sliding block with arc-shaped slide rail 21, though sit
Chair 1 can be swung in the range of the arc-shaped slide rail 21, during climbing step or getting out of a predicament or an embarrassing situation, can remain seat 1 and bottom surface
It is parallel, be not in inclined phenomenon, to prevent 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
Bus process and above-mentioned up/down steps process are essentially identical above and below the present invention, are first the characteristics of bus step
Step is higher, 2-2.5 times of usually normal step, and individual step irregular, push rod 5 before present invention design, in controller
Push rod 5 deploys and drawn in good time before control is lower, it is ensured that up and down during first step of bus, maximum angle is consistently less than 45 ° of roots
During step upper and lower according to the scrambling of step in bus, it is gradually completing in the case where range sensor is monitored in real time.
Example 3
Be also provided with handrail, backrest on described auxiliary wheelchair 28, handrail, backrest with auxiliary wheelchair 28 by gemel connection,
Handrail and backrest can directly overturn the both sides for being folded in auxiliary wheelchair 28 and rear side.
Specific work process is as follows：
Described rotation pole 32 is rotated by 90 ° by user, makes rotation pole 32 and corresponding handrail 3 perpendicular, makes
Thigh is put on the rotation pole 32 by user, and both hands are exerted oneself to handrail 3, now can be by by logical control manual clutch manually
Device 46, makes gear 45 and rack 44 be meshed, and notifies lock 41 and aids in wheelchair 28 to separate, make seat 43 on seat 1 to
Motion and main frame 1 and seat 1 are separated afterwards, when the auxiliary seat support 37 that seat 43 is moved on auxiliary wheelchair 28 backward exposes
When, user can put down both legs, directly be sitting on auxiliary wheelchair 28, wheel is additionally provided with auxiliary wheelchair 28, with ordinary wheel
Chair is identical, and now handrail and backrest upset can get up；
When going to toilet, due to aiding in the back lower place of wheelchair 28 to be not provided with supporting construction, this auxiliary wheelchair 28 can directly be fallen back
Onto toilet seat, the top of toilet seat is located at user, while using the wheel fixing device on existing wheelchair to auxiliary wheel
Chair is fixed, now, and two symmetrical two seating pads 38 can be opened, and be gone to toilet with facilitating, and finished latter two seating pad 38 and closed
Close, gone to toilet with facilitating, finish latter two seating pad 38 and reset and close.
Telescope support is also provided with described auxiliary wheelchair 28, to adjust the height of seat support 37.With using not
Level bed, auxiliary wheelchair 28 rear portion is settable latch, and latch pin hole corresponding with bed coordinates, so that auxiliary wheelchair
28 with fixing, and first packs up backrest before this process, provides rear user and is helped in the case where being helped without other people according to both sides
Bunk bed is moved in hand support.
When user needs to move, such as which all can be used in upper car etc..
Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and
Modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of multi-functional accessible life electric wheelchair, including seat, backrest, handrail and pedal, the bottom of the backrest
The rear end of seat top surface is arranged on, is flexibly connected between backrest and seat, safety belt is provided between backrest and seat, its feature
It is：Main frame is provided with below seat, seat both sides connect main frame by automatic balancing arrangement respectively, for above and below
Ensure that seat is constantly on horizontality, main frame bottom surface during stair and be also symmetrically arranged with two crawler belts, two crawler belts
Between be provided with preceding push rod, the main frame both sides are respectively arranged with auxiliary telescopic support arm close to rear end；The main frame
Auxiliary wheelchair is inside provided with, described pedal is arranged on the auxiliary wheelchair, when stair climbing, supported by auxiliary telescopic
The flexible and caterpillar drive of arm, which cooperates, to be completed up/down or leaves ladder, by row of the crawler belt complete independently on step inclined plane
Walk, when user needs to go to toilet or during bunk bed, complete independently on auxiliary wheelchair can be sat on；The number of the handrail is two
It is individual, and the left and right sides of the main frame is separately positioned on, the rear end of the main frame bottom surface is symmetrically arranged with two driving wheels,
Main frame bottom surface is symmetrically arranged at the front end with two driven pulleys, and the diameter of driven pulley is less than or equal to the diameter of driving wheel；
The main frame includes four montants, four crossbeams and three cross bars, and the bottom of four montants passes through two crossbeams and two
Individual cross bar is surrounded to be parallel to each other between a rectangle structure, two crossbeams, is parallel to each other between two cross bars, connected cross bar
It is mutually perpendicular between crossbeam；The top of four montants surrounds a U-shaped structure, the U-shaped by two crossbeams and a cross bar
U-shaped frame is provided between two crossbeams of structure, described seat is arranged in the U-shaped frame, two crossbeams are parallel to each other, it is horizontal
It is mutually perpendicular between bar and the crossbeam being connected, it is connected by two support bars between two crossbeams of perpendicular positioned at being same as,
It is connected between two cross bars of bottom by two support beams, the bottom of the main frame is provided with bottom plate, the bottom plate is consolidated
Surely be arranged in that two cross bars and two crossbeams of bottom surround it is square in, described crawler belt is symmetrically arranged on described
On the bottom surface of two support beams, its two crawler belts are located at below the bottom plate；
The automatic balancing arrangement includes walking beam and is arranged on the sliding block at the walking beam two ends, and sliding block is arranged on arc-shaped slide rail
Interior, sliding block can be slided in arc-shaped slide rail, and arc-shaped slide rail is arranged on described support bar；
Seat front end is provided with two handrail poles, described handrail is arranged on the top of the handrail pole, the handrail branch
It is provided with the top of bar on rotation pole, the handrail and is provided with controller.
2. multi-functional accessible life electric wheelchair according to claim 1, it is characterised in that the auxiliary telescopic support
The number of arm is two, and is symmetricly set on the outside of one in two support bars of the main frame left and right sides, and auxiliary is stretched
The top of contracting support arm is provided with ball bearing, and ball bearing is integral type structure, auxiliary telescopic branch with auxiliary telescopic support arm
The bottom of brace is provided with runner, and ball bearing is arranged in the projection on described support bar, so that auxiliary telescopic support arm
It can be swung along the projection, auxiliary push-rod is additionally provided with the auxiliary telescopic support arm.
3. multi-functional accessible life electric wheelchair according to claim 1, it is characterised in that two on the main frame
It is both provided with taking turns push rod on the inside of individual driving wheel and driven pulley, the top for taking turns push rod is fixed on the outer of main frame by contiguous block
Side, 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,
Electromagnetic lock is provided with bracket, electromagnetic lock stretches into the bottom of described expansion link.
4. multi-functional accessible life electric wheelchair according to claim 1, it is characterised in that two crawler belts difference
It is arranged on the main frame on the outside of two support beams, two crawler belts provide power respectively by two motors, and motor is located at two
Between crawler belt, two crawler belts are all to be provided with preceding push rod on high-strength rubber crawler belt, the main frame, and preceding push rod stretches into two branch
Between support beam.
5. multi-functional accessible life electric wheelchair according to claim 1, it is characterised in that the auxiliary wheelchair includes
Front side board, front side board is rectangle or square, and four corners of front side board are respectively arranged with perpendicular with the front side board
First whippletree, the end 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 respectively by the 3rd whippletree be connected, the 3rd whippletree be arranged on corresponding first whippletree and
The middle part of second whippletree, is not connected between two whippletrees of bottom, is provided with two first cross bars at the top auxiliary
Seat support is helped, auxiliary seat support is arranged between described seat and U-shaped frame, is provided with auxiliary seat support scalable
Two seating pads, two seating pads are symmetricly set in the auxiliary seat support, described pedal be arranged on it is described before
The bottom of side plate.
6. multi-functional accessible life electric wheelchair according to claim 5, it is characterised in that the auxiliary wheelchair and master
Connected between framework by latching, slide rail is symmetrically arranged with seat, the cross section of slide rail is symmetrical two L-shaped structures, institute
State and be provided with seat between slide rail, seat can be slided in slide rail, the two ends of seat are respectively arranged with rack, and rack stretches out described
Symmetrical two L-shaped structures, gear is provided with the outside of rack, gear, which passes through hand-operated clutch device, to be completed described rack and engage
Or separating action, hand-operated clutch device is arranged on described main frame, and the hand-operated clutch device passes through swing rod and the lock
Button is connected, when hand-operated clutch device completes adhesive action, completes locking by the dynamic lock of swing rod or release is acted.
7. multi-functional accessible life electric wheelchair according to claim 1, it is characterised in that the bottom surface position of the bottom plate
Two range sensors are provided between two crawler belts, two range sensors are symmetrically arranged at the front end of bottom plate with after
Level inclination sensor is provided between end, two range sensors, level inclination sensor is fixed on described bottom plate bottom surface
On, range sensor can be swung in the plane where bottom plate and the plane perpendicular with the bottom plate, two described distances
Sensor, level inclination sensor detect data and are transferred 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 CN104027207A (en) | 2014-09-10 |
| CN104027207B true CN104027207B (en) | 2017-11-03 |
Family
ID=51458359
Family Applications (1)
| 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) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104027207B (en) * | 2014-06-25 | 2017-11-03 | 金立新 | Multi-functional accessible life electric wheelchair |
| CN104323896B (en) * | 2014-11-25 | 2017-04-19 | 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 |
| US10285882B2 (en) * | 2017-01-16 | 2019-05-14 | Kwok Tung Chun | Wirelessly controlled wheelchair assembly with toilet accessibility |
| CN107260423B (en) * | 2017-05-25 | 2023-04-14 | 溧阳三益智能科技有限公司 | Wheelchair with auxiliary support |
| 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 |
| CN107280872B (en) * | 2017-07-31 | 2023-08-22 | 彭红程 | Intelligent wheelchair and scooter |
| CN107811776B (en) * | 2017-11-29 | 2023-09-15 | 青岛清通智能医疗科技有限公司 | Intelligent wheelchair |
| JP6967444B2 (en) * | 2017-12-22 | 2021-11-17 | パナソニック株式会社 | Mobile vehicle |
| CN108743083B (en) * | 2018-06-19 | 2023-06-02 | 浙江机电职业技术学院 | Multifunctional disabled assisting wheelchair and working method thereof |
| CN109998796B (en) * | 2019-05-08 | 2020-10-16 | 青岛大学附属医院 | All-terrain medical stretcher |
| CN110547924B (en) * | 2019-09-12 | 2021-03-16 | 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 |
| CN111012590A (en) * | 2019-12-26 | 2020-04-17 | 汕头大学 | Stair climbing wheelchair |
| CN111714297B (en) * | 2020-06-18 | 2024-06-14 | 长江大学 | Wheelchair |
| CN112089538B (en) * | 2020-10-09 | 2022-05-27 | 王予安 | Wheelchair with rehabilitation assisting walking function |
| CN113116648B (en) * | 2021-04-13 | 2023-04-25 | 聊城大学 | Shock-absorbing stair climbing obstacle surmounting device and wheelchair |
| CN113180940B (en) * | 2021-05-27 | 2022-07-19 | 河海大学 | Auxiliary toilet device |
| CN114176924B (en) * | 2021-12-31 | 2024-02-27 | 宸瑞机器人(重庆)有限公司 | Accessible intelligent telescopic wheelchair |
| CN117695523A (en) * | 2023-12-14 | 2024-03-15 | 南京华伟医疗设备有限公司 | Functional magnetic stimulation therapeutic instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5301964A (en) * | 1993-03-29 | 1994-04-12 | Papac James B | Wheelchair |
| CN1424007A (en) * | 2001-12-12 | 2003-06-18 | 徐树光 | Obstacleless wheel chair |
| KR20020067456A (en) * | 2002-07-13 | 2002-08-22 | 임락복 | Manual and electric power shiftable wheelchair with forced driven front caterpillar wheels |
| KR100992110B1 (en) * | 2008-10-20 | 2010-11-04 | 한국산재의료원 | Wheel chair |
| CN102614055B (en) * | 2012-04-13 | 2014-06-25 | 北京理工大学 | Wheel/track coupled type self-balancing barrier-free wheelchair |
| CN102805693B (en) * | 2012-09-07 | 2016-02-10 | 昆明理工大学 | A kind of mechanical self-service stair activity wheelchair |
| CN104027207B (en) * | 2014-06-25 | 2017-11-03 | 金立新 | Multi-functional accessible life electric wheelchair |
| CN203943826U (en) * | 2014-06-25 | 2014-11-19 | 金立新 | Multi-functional accessible trip electric wheelchair |
-
2014
- 2014-06-25 CN CN201410293657.1A patent/CN104027207B/en active Active
-
2015
- 2015-06-17 WO PCT/CN2015/081628 patent/WO2015196942A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN104027207A (en) | 2014-09-10 |
| WO2015196942A1 (en) | 2015-12-30 |
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