CN105581877B - A kind of wheel chair robot for being easy to obstacle detouring - Google Patents
A kind of wheel chair robot for being easy to obstacle detouring Download PDFInfo
- Publication number
- CN105581877B CN105581877B CN201610091852.5A CN201610091852A CN105581877B CN 105581877 B CN105581877 B CN 105581877B CN 201610091852 A CN201610091852 A CN 201610091852A CN 105581877 B CN105581877 B CN 105581877B
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- CN
- China
- Prior art keywords
- lower floor
- upper strata
- electric pushrod
- middle level
- guide rail
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A61G5/06—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
- A61G5/068—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 with extensible supports pushing upwards, e.g. telescopic legs
-
- 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
- A61G5/061—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 for climbing stairs
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
Abstract
The invention discloses a kind of wheel chair robot for being easy to obstacle detouring, it is characterized in that, including upper strata mechanism, middle level mechanism and mechanism of lower floor；The upper strata mechanism includes seat and is arranged on the upper strata guide rail of the seat both sides；Main wheel and directive wheel are provided with the seat；The mechanism of lower floor includes lower floor guide rail and is arranged on lower floor's multi-joint telescoping electric pushrod of described lower floor guide rail one end；The middle level mechanism includes middle level articulamentum and the upper strata sliding block, lower floor's sliding block, the middle level multi-joint telescoping electric pushrod that are arranged on the middle level articulamentum.The beneficial effect that the present invention is reached：The present invention can aid in lower limb inconvenience person and the elderly under unmanned help with horizontal attitude safely and smoothly stair activity and automobile, be easy to trip progress social activities by the flexible slip between guide rail and sliding block of electric pushrod.
Description
Technical field
The present invention relates to a kind of wheel chair robot for being easy to obstacle detouring, and in particular to one kind can facilitate lower limb inconvenience person at nobody
The wheel chair robot smoothly got on or off the bus with stair with horizontal attitude under help.
Background technology
Chinese population Aging Problem increasingly sharpens, and national old, weak, sick, residual colony's population is increasing, their trip
Problem will seem more prominent.At present, solve the problems, such as that their trip relies primarily on wheelchair device and carries out stair activity and automobile.
At present, realized for hotshots such as getting on-off automobiles less compared with the device gone on a journey at a distance：Such as patent Shen
Please numbers 201220143111.4,201220048846.9 and 201020536137.6, by installing accessible pedal additional on automobile
Device can make wheelchair get on or off the bus；Number of patent application 200710121828.2, the knot that automotive seat is adapted as being removably connected
Structure, can be such that the crowd of seating wheel-chair is changed under other people support and sit on automotive seat.But, they need to onboard install additional or
Conversion apparatus, and could need to realize and get on or off the bus in the case where other people help, it is difficult to it is actual to put into utilization extensively.
But can realize that the wheelchair device of stair activity and the outdoor trip of short distance is more, number of patent application is
201210044772.6, the continuous stair activity of wheelchair can be made using leg modular appliance is taken turns, open air is converted to the movement of 4 wheels；Patent
Application No. 200910135965.0, speeling stairway is carried out using tri-star wheel mechanism, and open air is moved ahead using 4 wheel drives；Patent Shen
Please number be 201410690065.3, be improved in tri-star wheel mechanism, Samsung colyliform of the wheelchair tire in stair climbing can be made
Fast changed between Round Wheel state when state and level land traveling.But, their center of gravity fluctuation problem exists all the time, stationarity
It is poor.
Therefore, these devices still can not meet requirement on getting on-off automobile and stair problem is helped.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of wheel chair robot for being easy to obstacle detouring, energy
Enough facilitate lower limb inconvenience person under unmanned help with horizontal attitude smoothly stair activity and automobile.
In order to realize above-mentioned target, the present invention is adopted the following technical scheme that：
A kind of wheel chair robot for being easy to obstacle detouring, it is characterized in that, including upper strata mechanism, middle level mechanism and mechanism of lower floor；Institute
Stating upper strata mechanism includes seat and the upper strata guide rail for being arranged on the seat both sides；Main wheel and guiding are provided with the seat
Wheel；The mechanism of lower floor includes lower floor guide rail and is arranged on lower floor's multi-joint telescoping electric pushrod of described lower floor guide rail one end；Institute
Stating middle level mechanism includes middle level articulamentum and the upper strata sliding block being arranged on the middle level articulamentum, lower floor's sliding block, middle level more piece
Telescopic electric push rod；The upper strata sliding block and upper strata guide rail match, and lower floor's sliding block and lower floor guide rail match；The middle level connects
Connect that layer is installed above upper strata electric pushrod, push rod one end is fixedly connected on the seat, the upper strata electric pushrod is used to drive
Upper strata sliding block is relative with upper strata guide rail to be slided；The middle level articulamentum is mounted below lower floor's electric pushrod, and push rod one end is fixed
It is connected in lower floor guide rail, lower floor's electric pushrod is used to drive the slip relative with lower floor guide rail of lower floor's sliding block；The middle level
Multi-joint telescoping electric pushrod is arranged on the end of middle level articulamentum.
A kind of foregoing wheel chair robot for being easy to obstacle detouring, it is characterized in that, it is provided with safety belt on the seat；The seat
The back side of chair is provided with for the attachment means fixed with in-car.
A kind of foregoing wheel chair robot for being easy to obstacle detouring, it is characterized in that, the middle level multi-joint telescoping electric pushrod and under
Layer multi-joint telescoping electric pushrod is respectively symmetrically provided with two.
A kind of foregoing wheel chair robot for being easy to obstacle detouring, it is characterized in that, the middle level multi-joint telescoping electric pushrod, lower floor
Be provided with multi-joint telescoping electric pushrod, upper strata electric pushrod and lower floor's electric pushrod can be anti-rotational limit switch, power-off
Stop rear push-rod in current location self-locking.
A kind of foregoing wheel chair robot for being easy to obstacle detouring, it is characterized in that, motor is installed on the main wheel and brake is filled
Put.
A kind of foregoing wheel chair robot for being easy to obstacle detouring, it is characterized in that, in addition to infrared height measuring device.
The beneficial effect that the present invention is reached：The flexible slip between guide rail and sliding block of the invention by electric pushrod,
Lower limb inconvenience person and the elderly can be aided under unmanned help with horizontal attitude safely and smoothly stair activity and automobile, be easy to
Trip carries out social activities.
Brief description of the drawings
Fig. 1 is the structural representation of the present apparatus；
Fig. 2 (1)-(10) are the views of getting on the bus of the present apparatus.
The implication of reference in figure：
1- middle levels multi-joint telescoping electric pushrod, 2- directive wheels, 3- upper strata guide rails, 4- upper stratas sliding block, 5- wheelchairs, 6- middle levels connect
Connect layer, 7- lower floor guide rails, 8- lower floors sliding block, 9- main wheels, 10- lower floors multi-joint telescoping electric pushrod.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
The technical scheme of getting on-off automobile, and can not be limited the scope of the invention with this.
The present apparatus is mainly made up of upper, middle and lower-ranking mechanism, and upper and lower layer mechanism passes through the combination of correspondence slide rail and middle level machine
Structure is connected.
Upper strata mechanism is reequiped on the basis of common electric wheelchair, and upper strata guide rail 3 is installed additional in the medial surface face of wheelchair two,
Safety belt is installed additional on the seat of wheelchair 5, installs the attachment means that can be fixed with in-car additional on the chair back of wheelchair 5.Set on seat 5
There are former and later two infrared height measuring devices, for measuring step surface height and width.
Upper strata guide rail 3 is connected with upper strata sliding block 4, and electric pushrod driving upper strata sliding block 4 in upper strata is relative with upper strata guide rail 3
Slide.
Likewise, lower floor guide rail 7 is connected with lower floor sliding block 8, electric pushrod driving lower floor of lower floor sliding block 8 is led with lower floor
Rail 7 is relative to be slided.
Middle level multi-joint telescoping electric pushrod 1, lower floor's multi-joint telescoping electric pushrod 10, upper strata electric pushrod and lower floor is electronic pushes away
Be provided with bar can be anti-rotational limit switch, power-off stops rear push-rod in current location self-locking, realized under synchronously driving
Synchronization telescope.After middle level multi-joint telescoping electric pushrod 1 and the one end of lower floor's multi-joint telescoping electric pushrod 10 contact ground simultaneously,
Wheelchair can be made integrally to be vertically moved up or down under synchronous driving.
Illustrated below using wheelchair step of getting on the car as embodiment, mode is as follows during specific implementation：
The first step：As shown in Fig. 2 (1), middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescoping electric pushrod 10 are in
Contraction state, directive wheel 2 and the contact of main wheel 9 ground are powered off, main wheel 9 rotates driving wheelchair level land and travelled to automobile step
Side, the now contact of directive wheel 2 step surface.
Second step：As shown in Fig. 2 (2), middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescoping electric pushrod 10 are with phase
With speed operating, push rod elongation contacts ground simultaneously, then extends H1, and wheelchair integrally vertically smoothly raises H1, wherein, H1 is vapour
Ride terrace is apart from ground level.
3rd step：As shown in Fig. 2 (3), under the driving of upper strata electric pushrod, upper strata mechanism is along upper strata sliding block 4 with respect to middle level
Mechanism forward slip certain distance L 1, makes mechanism center of gravity in upper strata cross the spacing of middle level 1 support center of multi-joint telescoping electric pushrod one
More appeared on the stage terrace from, the core wheel of directive wheel 2.
4th step：As shown in Fig. 2 (4), lower floor's multi-joint telescoping electric pushrod 10 is operated, and push rod packs up length H2.
Under lower floor's electric pushrod driving, mechanism of lower floor is along lower floor's sliding block 8 with respect to middle level mechanism forward slip certain distance
L1, now, the support center of lower floor's multi-joint telescoping electric pushrod 10 do not cross the center of gravity of middle level mechanism；Lower floor's multi-joint telescoping is electronic to be pushed away
Bar 10 is operated, push rod extended length H2, push rod contact ground.
5th step：As shown in Fig. 2 (5), middle level multi-joint telescoping electric pushrod 1 is operated, and push rod packs up length H2.
Under the driving of upper strata electric pushrod middle level mechanism with speed V along upper strata sliding block 4 with respect to upper strata mechanism forward slip one
Set a distance L1, at the same lower floor's multi-joint telescoping electric pushrod 10 drive middle level mechanism with speed V along lower floor's sliding block 8 with respect to lower floor mechanism
Forward slip certain distance L 1；Middle level multi-joint telescoping electric pushrod 1 is operated, push rod elongation H2, push rod contact ground.
6th step：As shown in Fig. 2 (6), upper strata electric pushrod drive upper strata mechanism along upper strata sliding block 4 with respect to middle level mechanism to
Front slide certain distance L 1, makes mechanism center of gravity in upper strata cross the support center certain distance of middle level multi-joint telescoping electric pushrod 1.
7th step：As shown in Fig. 2 (7), the guide rail locking apparatus of upper strata sliding block 4 is opened, lower floor's multi-joint telescoping electric pushrod
10 operatings, push rod packs up certain length H2.
The guide rail locking apparatus of lower floor's sliding block 8 unclamps, under lower floor's electric pushrod driving, and mechanism of lower floor is along lower floor's sliding block 8
With respect to middle level mechanism forward slip certain distance L 1, but middle level mechanism is not crossed at the support center of lower floor's multi-joint telescoping electric pushrod 10
Center of gravity, lower floor's multi-joint telescoping electric pushrod 10 operates, push rod elongation certain length H2, push rod contact ground.
8th step：As shown in Fig. 2 (8), middle level multi-joint telescoping electric pushrod 1 is operated, and push rod packs up certain length H3；Upper
The layer lower middle level mechanism of electric pushrod driving with speed V along upper strata sliding block 4 with respect to upper strata mechanism forward slip certain distance L 1, simultaneously
Electric pushrod driving middle level mechanism of lower floor is with speed V along lower floor's sliding block 8 with respect to mechanism of lower floor forward slip certain distance L 1；Middle level
Multi-joint telescoping electric pushrod 1 is operated, push rod elongation H4 (H4=H3-H1), push rod contact ground.
9th step：As shown in Fig. 2 (9), the guide rail locking apparatus of lower floor's sliding block 8 is opened, upper strata electric pushrod driving upper strata
Mechanism, with respect to middle level mechanism forward slip certain distance L 1, makes mechanism center of gravity in upper strata cross middle level multi-joint telescoping along upper strata sliding block 4
Electric pushrod 1 supports center certain distance, and the core wheel of main wheel 9 is more appeared on the stage terrace.
Tenth step：As shown in Fig. 2 (10), middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescoping electric pushrod 10 are transported
Turn, push rod is contracted to most short, and upper strata electric pushrod drives middle level mechanism certain with respect to upper strata mechanism forward slip along upper strata sliding block 4
Apart from L1.
So far, wheelchair main wheel 9 and the contact step surface of directive wheel 2, wheelchair integrally smoothly climb up automobile step face.Got off
Journey is in contrast.More than operate, middle level multi-joint telescoping electric pushrod 1, lower floor's multi-joint telescoping electric pushrod 10, upper strata is electronic pushes away
Bar and lower floor's electric pushrod are in the case where being failure to actuate, and power-off stops at front position self-locking.
The use scope of the present apparatus is not limited solely to getting on-off automobile, additionally it is possible to safely and smoothly stair activity.
Described above is only the preferred embodiment that the present invention gets on or off the bus, it is noted that for the common of the art
For technical staff, without departing from the technical principles of the invention, some improvement and deformation can also be made, these improvement
Protection scope of the present invention is also should be regarded as with deformation.
Claims (6)
1. a kind of wheel chair robot for being easy to obstacle detouring, it is characterized in that, including upper strata mechanism, middle level mechanism and mechanism of lower floor；
The upper strata mechanism includes seat and is arranged on the upper strata guide rail of the seat both sides；Be provided with the seat main wheel and
Directive wheel；
The mechanism of lower floor includes lower floor guide rail and is arranged on lower floor's multi-joint telescoping electric pushrod of described lower floor guide rail one end；
The middle level mechanism include middle level articulamentum and be arranged on the middle level articulamentum upper strata sliding block, lower floor's sliding block, in
Layer multi-joint telescoping electric pushrod；The upper strata sliding block and upper strata guide rail match, and lower floor's sliding block and lower floor guide rail match；
The middle level articulamentum is installed above upper strata electric pushrod, and push rod one end is fixedly connected on the seat, the upper strata electricity
Dynamic push rod is used to drive the slip relative with upper strata guide rail of upper strata sliding block；
The middle level articulamentum is mounted below lower floor's electric pushrod, and push rod one end is fixedly connected in lower floor guide rail, it is described under
Layer electric pushrod is used to drive the slip relative with lower floor guide rail of lower floor's sliding block；
The middle level multi-joint telescoping electric pushrod is arranged on the end of middle level articulamentum.
2. a kind of wheel chair robot for being easy to obstacle detouring according to claim 1, it is characterized in that, peace is provided with the seat
Full band；The back side of the seat is provided with for the attachment means fixed with in-car.
3. a kind of wheel chair robot for being easy to obstacle detouring according to claim 1, it is characterized in that, the middle level multi-joint telescoping electricity
Dynamic push rod and lower floor's multi-joint telescoping electric pushrod are respectively symmetrically provided with two.
4. a kind of wheel chair robot for being easy to obstacle detouring according to claim 1, it is characterized in that, the middle level multi-joint telescoping electricity
Be provided with dynamic push rod, lower floor's multi-joint telescoping electric pushrod, upper strata electric pushrod and lower floor's electric pushrod can be anti-rotational limit
Bit switch, power-off stops rear push-rod in current location self-locking.
5. a kind of wheel chair robot for being easy to obstacle detouring according to claim 1, it is characterized in that, electricity is installed on the main wheel
Machine and brake gear.
6. a kind of wheel chair robot for being easy to obstacle detouring according to claim 1, it is characterized in that, in addition to infrared survey height dress
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091852.5A CN105581877B (en) | 2016-02-19 | 2016-02-19 | A kind of wheel chair robot for being easy to obstacle detouring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091852.5A CN105581877B (en) | 2016-02-19 | 2016-02-19 | A kind of wheel chair robot for being easy to obstacle detouring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105581877A CN105581877A (en) | 2016-05-18 |
| CN105581877B true CN105581877B (en) | 2017-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610091852.5A Active CN105581877B (en) | 2016-02-19 | 2016-02-19 | A kind of wheel chair robot for being easy to obstacle detouring |
Country Status (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021175356A1 (en) * | 2020-03-03 | 2021-09-10 | Freemotion Systems GmbH | Transport means for moving or transporting people or goods, in particular as a wheelchair |
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| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN110916918B (en) * | 2019-12-09 | 2022-03-01 | 河海大学常州校区 | Multifunctional stepping barrier-free wheelchair |
| CN112168520A (en) * | 2020-11-03 | 2021-01-05 | 苏州知遇光电科技有限公司 | Wheel chair |
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|---|---|
| CN105581877A (en) | 2016-05-18 |
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