CN105596160A - Single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels, and method for going upstairs and downstairs of single-section double-crawler stair-climbing wheelchair - Google Patents

Single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels, and method for going upstairs and downstairs of single-section double-crawler stair-climbing wheelchair Download PDF

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Publication number
CN105596160A
CN105596160A CN201610070118.0A CN201610070118A CN105596160A CN 105596160 A CN105596160 A CN 105596160A CN 201610070118 A CN201610070118 A CN 201610070118A CN 105596160 A CN105596160 A CN 105596160A
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China
Prior art keywords
climbing
stair
wheel
crawler
wheelchair
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Granted
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CN201610070118.0A
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Chinese (zh)
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CN105596160B (en
Inventor
曹冲振
王凤芹
王素玉
孙慧
曹乾磊
宋作玲
阚常凯
许彤然
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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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
    • A61G5/061—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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • 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
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering

Abstract

The invention discloses a single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels. The single-section and double-crawler stair-climbing wheelchair comprises a wheelchair main body fixedly arranged on crawler mechanisms, two big walking wheels, a crawler stair-climbing mechanism and a big wheel pendulum-arm mechanism, wherein the crawler stair-climbing mechanism is a left and right symmetrical double-crawler mechanism, and comprises the two crawler mechanisms respectively arranged at the two sides, a crawler driving motor and a second speed reducer; the big wheel pendulum-arm mechanism is capable of realizing smooth transition of motion states. According to the single-section and double-crawler stair-climbing wheelchair based on the swinging of the walking wheels, a hand-push wheelchair is skillfully combined with the crawler stair-climbing mechanism; the boundary dimension of the single-section and double-crawler stair-climbing wheelchair is the same as that of the common hand-push wheelchair, so that the single-section and double-crawler stair-climbing wheelchair has good corridor passing ability and has the characteristics of being convenient to use when going out and flexible in turning; an arc-shaped plate is arranged, so that the crawler stair-climbing mechanism is arranged under a seat of the wheelchair; the requirement of centre-of-gravity position is met in a stair-climbing state, the center of gravity of the whole wheelchair is reduced in the stair-climbing process, and a person who sitting on the wheelchair feels safer.

Description

The two crawler belt stair-climbing wheel chairs of single-unit that swing based on road wheel and upper method downstairs
Technical field
The present invention relates to stair-climbing wheel chair, the frame for movement of especially wheel-track combined stair-climbing wheel chair.
Background technology
Current four-wheel wheelchair is elderly and infirm and the requisite walking-replacing tool of lower limb the disabled, but fourWheel wheelchair can not stair activity, has limited the scope of application, and the wheelchair user who lives in walk-up building cannotDownstairs upper, affect it and go out to participate in social activity. China enters aging society fast, the elderly's tripProblem is further outstanding.
In order to address the above problem, on market, occur that split type and wheel integral type carries out compound stair-climbing wheel chair.
Split type structure is that common wheelchair is fixed on and is climbed on building crawler belt, such as Chinese patentCN201020122939.2 discloses a kind of electric track stair-climbing vehicle, while above going downstairs, wheelchair is arranged on temporarilyOn electric track stair-climbing vehicle, people is sitting on wheelchair together stair activity or perron again. It is in rectangleThe rear portion of crawler body arranges wheelchair carrier, and wheelchair carrier comprises longeron and carrier bar, longeron lower end withChassis is rotationally connected; Carrier bar is set, carrier bar and longeron right angle approaching wheelchair carrier longeron lower endIntersect. The defect that this patent exists, the one: no matter be level walking or need to repeatedly split while climbing building andAssembling stairs-mover and wheelchair, bulky; While going out, need to be helped to carry by other people; The 2nd: platform is turnedTime because wheelchair recedes, longitudinal separation is long, and wheelchair operator below also needs the space of standing,It is very difficult that this makes whole wheelchair turn at platform place; The 3rd: whole process needs entourage and then, splitsThe process of assembling all needs other people to operate, and is also that other people are in operation, especially at stair half in Qie Pa building processLayer platform place, due to the device of anti-hypsokinesis not, needs people holding up slowly crawler belt from stair to level land.
Integral type crawler belt stair-climbing wheel chair has following scheme:
1. the disclosed stair-climbing wheel chair of Chinese patent CN201210590075.0, can only carry on the whole due to crawler belt orTransfer, can not fold, make wheelchair front and back size larger, cause wheelchair in stair half storey platform place trafficability characteristicBad.
2. the disclosed stair-climbing wheel chair of Chinese patent CN201320833460.3, its walking bull wheel installation site is to the front,Cannot use on level land, and can not be by operator's autonomous operation.
3. the disclosed stair-climbing wheel chair of Chinese patent CN201510048349.7, can not be in operator's autonomous operationUnder obtuse angle by stair (be greater than 90 degree and be less than the angle of 180 degree) locate (to be greater than 180 with the reflex angle of stairThe angle of degree) locate.
4. the disclosed stair-climbing wheel chair complex structure of Chinese patent 201510594011.1, and it is excellent not mention stairAngle place passes through method, and the scheme feasibility of climbing building is poor.
5. the compound stair-climbing wheel chair of the integral type of gondola a " explorer's stair climbing vehicle " by name wheel shoe canUnder occupant's autonomous operation, steadily climb neatly building and walk pacifically, but its motion is more than 4, tiesStructure complexity, build are huge, and corridor trafficability characteristic is poor, is difficult to be applied to ordinarily resident building, and cost is high, are difficult forIn promoting the use of.
Summary of the invention
To the object of the invention is in order addressing the above problem, to have proposed a kind of single-unit swinging based on road wheel twoCrawler belt stair-climbing wheel chair and climb building method.
The object of the invention is to be achieved through the following technical solutions:
The two crawler belt stair-climbing wheel chairs of single-unit that swing based on road wheel, it comprises wheelchair main body, two walkingsBull wheel and crawler belt Climbing building device; Wheelchair main body is on wheelchair frame, to be provided with the chair back, seat support and pedal, wheelchairTwo universal wheels are equipped with in the front lower place of frame; It is characterized in that, it also comprises bull wheel oscillating arm mechanisms, wherein:
Described wheelchair main body is directly fixed on pedrail mechanism; Described crawler belt Climbing building device is left and rightSymmetrical two pedrail mechanisms, are made up of pedrail mechanism, track drive motor and second deceleration device of both sides,Track drive motor and the second deceleration device are arranged on pedrail mechanism by installing rack, and with pedrail mechanismLive axle is realized transmission, drives crawler belt to rotate realization and climb building object when the operation of track drive motor;
Two described walking bull wheels are arranged on the back lower place in bull wheel oscillating arm mechanisms and in wheelchair frame; DescribedBull wheel oscillating arm mechanisms comprise the swing arm motor and the first deceleration device that are fixed on crawler belt Climbing building device, firstThe output shaft of deceleration device is crankshaft structure, by bearing and bearing block by crankshaft installed on the fixed head of outside,Crankshaft two end is installed two walking bull wheels, when the operation of swing arm motor, drives two walking bull wheels to swing up and down,While managing to make do plane earth walking, upper pendulum when two walking bull wheel bottoms, can make rubber belt track stair platform by built on stiltsRank walkings, on walking bull wheel with hand rim.
Further, described pedrail mechanism comprises: outside fixed head, inner side fixed head, driving wheel and drivenWheel; Outside fixed head and fixed head bottom surface, inner side weld together by track support plate, described driving wheel peaceBe contained on the live axle of pedrail mechanism, described driven pulley is arranged on the follower shaft of pedrail mechanism, fromThe axis of a movable block is provided with tensioning apparatus;
Further, described outside fixed head and the rear portion of inner side fixed head are and upwarp shape, the Inner arc place upwarpingBe provided with arc fixed mount and arc, arc makes rubber belt track 7 near driven pulley, avoids seat of wheeled chairRear.
Further, the crankshaft structure of described bull wheel oscillating arm mechanisms is that the output shaft of the first deceleration device is swing armDriving shaft, swing arm driving axle two ends are fixedly connected with top link bar, and swing arm bar is provided with the wheel that walking bull wheel is installedAxle.
Further, described tensioner device comprises motion block, determines piece and screw rod, and motion block connects by axis hole gapConnect and be arranged on follower shaft, by rotary screw control motion block with determine the distance between piece, thereby reach shoeWith the object of tensioning.
Upper method of work downstairs of the present invention is:
One, climb building process:
1, in the time that walking bull wheel arrival stair place is rotated in occupant's bimanualness, first adjust direction and make away bull wheel, and lean against first step along upper backwards, then operate bull wheel oscillating arm mechanisms make to walk on bull wheel pendulum to fromThe face of turning up the soil, wheelchair is swung back gradually, until crawler belt Climbing building device leaves over first step along upper, then operates crawler beltClimbing building device, crosses and converts backward formula to after second step and normally climb building state;
2, Dang Pa building to last step along time, for avoiding unexpected hypsokinesis, should temporarily stop crawler belt and climb building,Occupant operates the bull wheel oscillating arm mechanisms bull wheel that makes to walk simultaneously and just swings and land backward, then operates crawler belt and climb buildingMechanism continues to climb building, completes the transition of center of gravity from stair to level land, until crawler belt Climbing building device departs from the most completelyA rear step edge, then operate bull wheel oscillating arm mechanisms, rotate both sides walking bull wheel level walking or pass through stairHalf storey platform.
3, continue to repeat above-mentioned 1,2 processes, until the floor that need to reach.
Two, process downstairs:
1, in the time that walking bull wheel arrival stair place is rotated in occupant's bimanualness, first operate bull wheel oscillating arm mechanisms,Upper pendulum walking bull wheel is parallel with seat to swing arm bar, operates Climbing building device to operation downstairs, at entirety weight simultaneouslyThe heart cross first step along after, stop crawler belt Climbing building device, and operate in bull wheel oscillating arm mechanisms and put bull wheelThe position of Dao Pa building state, and then drive the even running of crawler belt Climbing building device downstairs;
2, when crawler belt Climbing building device just to depart from last step along time, suspend crawler belt and climb building, first operation is largeThe wheel oscillating arm mechanisms bull wheel bottom that makes to walk lands, and position while continuing the bottom to level land state, carries out level land rowWalk to carry out or by stair half storey platform.
3, continue to repeat above-mentioned 1,2 processes, until the floor that need to reach.
Good effect of the present invention is,
1, dexterously push-chairs and crawler belt Climbing building device are combined, when level walking and stair activityWithout fractionation, it is large that the application of going out has road wheel, and the feature flexibly of turning is convenient;
2, appearance and size is the same with common push-chairs, therefore have good corridor trafficability characteristic, can applyThe comparatively narrow ordinarily resident building in space;
3, the present invention only need to utilize bull wheel oscillating arm mechanisms just can realize the smooth conversion of motion state, Yi JiyouAngle place anti-tipping, simple in structure, cost is relatively low, has good promotional value.
4, stair-climbing wheel chair of the present invention is single-unit crawler belt, and level land is without fractionation, the same with common push-chairs, buildingRoad trafficability characteristic is good.
5, the arc that the present invention installs makes crawler belt Climbing building device can be installed to the below of wheelchair seat, meetsThe requirement of position of centre of gravity while climbing building state, the center of gravity of entirety while simultaneously also reducing Liao Pa building, feels occupantSafer.
Brief description of the drawings
Fig. 1 is the schematic perspective view of level walking state of the present invention;
Fig. 2 is the schematic perspective view that the present invention climbs building state;
Fig. 3 is wheelchair main body schematic perspective view;
Fig. 4 is the three-dimensional situation schematic diagram of pedrail mechanism;
Fig. 5 is tensioning apparatus schematic perspective view;
Fig. 6 is bull wheel oscillating arm mechanisms schematic perspective view;
Tu7Shi Pa building process status schematic diagram.
Marginal data, 1-wheelchair main body, 2-crawler belt Climbing building device, 3-bull wheel oscillating arm mechanisms, 4-seat support, 5-Universal wheel, 6-pedal, 7-rubber belt track, 8-installing rack, 9-drive motors and the second deceleration device, 10-Live axle, 11-driving wheel, fixed head outside 12-, fixed head inside 13-, 14-track support plate, 15-Arc fixed mount, 16-arc, 17-driven pulley, 18-tensioning apparatus, 19-follower shaft, 20-determines piece,21-screw rod, 22-motion block, 23-swing arm driving axle, 24-swing arm motor and the first deceleration device, 25-swing arm bar,The 26-bull wheel of walking.
Detailed description of the invention
Below in conjunction with accompanying drawing, example of the present invention is further described:
As shown in Fig. 1-6: the two crawler belt stair-climbing wheel chairs of a kind of single-unit swinging based on road wheel, it comprises wheelchairMain body 1, two walking bull wheels 26 and crawler belt Climbing building devices 2; As shown in Figure 3, it is wheelchair main body 1On wheelchair frame, be provided with the chair back, seat support 4 and pedal 6, two universal wheels 5 are equipped with in the front lower place of wheelchair frame;Wherein, above-mentioned wheelchair main body 1 is directly fixed on crawler belt Climbing building device 2; Described crawler belt is climbed buildingMechanism 2 is symmetrical pair of pedrail mechanisms, is slowed down and is filled by pedrail mechanism, the drive motors and second of both sidesPut 9 compositions, drive motors and the second deceleration device 9 are arranged on pedrail mechanism by installing rack 8, and withThe live axle 10 of pedrail mechanism is realized transmission, drives rubber belt track 7 to rotate real when the operation of track drive motorXian Pa building object;
It also comprises bull wheel oscillating arm mechanisms 3, and two described walking bull wheels 26 are arranged on bull wheel oscillating arm mechanisms 3The back lower place above and in wheelchair frame; As shown in Figure 6, it comprises that being fixed on crawler belt climbs to bull wheel oscillating arm mechanisms 3The output shaft of the swing arm motor in building mechanism 2 and the first deceleration device 24, the first deceleration devices is crankshaft structure,By bearing and bearing block by crankshaft installed on outside fixed head 12, then by two above-mentioned walking bull wheels 26Be arranged on crankshaft two end, when the operation of swing arm motor, drive two walking bull wheels 26 to swing up and down, two walkings are largeWhile managing to make do plane earth walking, upper pendulum while taking turns 26 bottom, can make rubber belt track 7 capable along stairway step by built on stiltsWalk.
Further, as shown in Figure 4, it comprises described pedrail mechanism: outside fixed head 12, inner side are fixedPlate 13, driving wheel 11 and driven pulley 17; Prop up with crawler belt outside fixed head 12 and inner side fixed head 13 bottom surfacesFagging 14 welds together, and described driving wheel 11 is arranged on the live axle 10 of pedrail mechanism, described inDriven pulley 17 be arranged on the follower shaft 19 of pedrail mechanism, follower shaft 19 is provided with tensioning apparatus 18;
Further, described outside fixed head 12 and the rear portion of inner side fixed head 13 are and upwarp shape, upwarpInner arc place is provided with arc fixed mount 15 and arc 16, and arc 16 makes rubber belt track 7 near driven pulley17。
Further, the crankshaft structure of described bull wheel oscillating arm mechanisms 3 is that the output shaft of the first deceleration device is pendulumArm driving shaft 23, swing arm driving axle 23 two ends are fixedly connected with top link bar 25, and swing arm bar 25 is provided with installationThe wheel shaft of walking bull wheel 26, is shown in Fig. 6.
Further, described tensioner device 18 is shown in Fig. 5, and it comprises motion block 22, determines piece 20 and screw rod 21,Motion block 22 is mounted on follower shaft 19 by axis hole gap, controls motion block 22 by rotary screw 21And determine the distance between piece 20, thereby reach the object of crawler tensioning.
Upper method of work downstairs of the present invention is (referring to Fig. 7):
One, climb building process:
1, in the time that occupant's bimanualness rotation walking bull wheel 26 arrives stair place, first adjust direction and make rowWalk bull wheel 26 backwards, and lean against first step along upper, then operate bull wheel oscillating arm mechanisms 3 and make walking largeOn wheel 26, pendulum is to built on stilts, and wheelchair is swung back gradually, until crawler belt Climbing building device 2 leaves over first step edgeUpper, then operate crawler belt Climbing building device 2, cross and convert backward formula to after second step and normally climb building state;
2, Dang Pa building to last step along time, for avoiding unexpected hypsokinesis, should temporarily stop crawler belt and climb building,Occupant operates bull wheel oscillating arm mechanisms 3 bull wheel 26 that makes to walk simultaneously and swings and just land backward, then operates crawler beltClimbing building device 2 continues to climb building, completes the transition of center of gravity from stair to level land, until crawler belt Climbing building device 2 is completeLast step edge of total detachment, then operate bull wheel oscillating arm mechanisms 3, rotate both sides walking bull wheel 26 level land rowWalk or by stair half storey platform.
3, continue to repeat above-mentioned 1,2 processes, until the floor that need to reach.
Two, process downstairs:
1, in the time that occupant's bimanualness rotation walking bull wheel 26 arrives stair place, first operate bull wheel swing arm machineStructure 3, upper pendulum walking bull wheel 26 is parallel with seat support 4 to swing arm bar 25, operate simultaneously crawler belt Climbing building device 2 toOperation downstairs, after overall center of gravity is crossed first step edge, stop crawler belt Climbing building device 2, and operation is largeThe position of pendulum walking bull wheel 26Dao Pa building state in wheel oscillating arm mechanisms 3, and then drive crawler belt Climbing building device 2 flatSteady operation downstairs;
2, when crawler belt Climbing building device 2 just to depart from last step along time, suspend crawler belt climb building, first operationBull wheel oscillating arm mechanisms 3 bull wheel 26 bottoms that make to walk land, and position while continuing the bottom to level land state, carry outLevel walking carries out or passes through stair half storey platform.
3, continue to repeat above-mentioned 1,2 processes, until the floor that need to reach.

Claims (6)

1. the two crawler belt stair-climbing wheel chairs of single-unit that swing based on road wheel, it comprises wheelchair main body, two walkingsBull wheel and crawler belt Climbing building device; Wheelchair main body is on wheelchair frame, to be provided with the chair back, seat support and pedal, wheelchairTwo universal wheels are equipped with in the front lower place of frame; It is characterized in that, it also comprises bull wheel oscillating arm mechanisms, wherein:
Described wheelchair main body is directly fixed on pedrail mechanism; Described crawler belt Climbing building device is left and rightSymmetrical two pedrail mechanisms, are made up of pedrail mechanism, track drive motor and second deceleration device of both sides,Track drive motor and the second deceleration device are arranged on pedrail mechanism by installing rack, and with pedrail mechanismLive axle is realized transmission, drives crawler belt to rotate realization and climb building object when the operation of track drive motor;
Two described walking bull wheels are arranged on the back lower place in bull wheel oscillating arm mechanisms and in wheelchair frame;
Described bull wheel oscillating arm mechanisms comprises the swing arm motor and the first deceleration dress that are fixed on crawler belt Climbing building devicePut, the output shaft of the first deceleration device is crankshaft structure, by bearing and bearing block by crankshaft installed in outsideOn fixed head, crankshaft two end is installed two walking bull wheels, drives two walking bull wheels when the operation of swing arm motorSwing up and down, while managing to make do plane earth walking, upper pendulum when two walking bull wheel bottoms, can built on stilts be carried out by rubberWith stairway step walking, on walking bull wheel with hand rim.
2. the two crawler belt stair-climbing wheel chairs of the single-unit swinging based on road wheel as claimed in claim 1, its feature existsIn, described pedrail mechanism comprises: outside fixed head, inner side fixed head, driving wheel and driven pulley; OutsideFixed head and fixed head bottom surface, inner side weld together by track support plate, and described driving wheel is arranged on crawler beltOn the live axle of mechanism, described driven pulley is arranged on the follower shaft of pedrail mechanism, on follower shaftBe provided with tensioning apparatus.
3. the two crawler belt stair-climbing wheel chairs of the single-unit swinging based on road wheel as claimed in claim 1, its feature existsIn, described outside fixed head and the rear portion of inner side fixed head are and upwarp shape, and the Inner arc place upwarping is provided with arcPlate fixed mount and arc, arc makes rubber belt track 7 near driven pulley, avoids seat of wheeled chair rear.
4. the two crawler belt stair-climbing wheel chairs of the single-unit swinging based on road wheel as claimed in claim 1, its feature existsIn, the crankshaft structure of described bull wheel oscillating arm mechanisms be, the output shaft of the first deceleration device is swing arm driving axle,Swing arm driving axle two ends are fixedly connected with top link bar, and swing arm bar is provided with the wheel shaft that walking bull wheel is installed.
5. the two crawler belt stair-climbing wheel chairs of the single-unit swinging based on road wheel as claimed in claim 1, its feature existsIn, described tensioner device comprises motion block, determines piece and screw rod, and motion block is mounted on by axis hole gapOn follower shaft, by rotary screw control motion block with determine the distance between piece, thereby reach crawler tensioningObject.
6. a upper method downstairs for the two crawler belt stair-climbing wheel chairs of single-unit as described in as arbitrary in claim 1-5, itsBe characterised in that, it comprises upstairs and step downstairs, wherein:
(1) step is upstairs:
The 1.1st step: in the time that walking bull wheel arrival stair place is rotated in occupant's bimanualness, first adjust directionMake away bull wheel backwards, and lean against first step along upper, then operate bull wheel oscillating arm mechanisms and make the bull wheel of walkingUpper pendulum is to built on stilts, and wheelchair is swung back gradually, until crawler belt Climbing building device leaves over first step along upper, thenOperation crawler belt Climbing building device, crosses and converts backward formula to after second step and normally climb building state;
The 1.2nd step: Dang Pa building to last step along time, for avoiding unexpected hypsokinesis, should temporarily stop crawler beltClimb building, occupant operates the bull wheel oscillating arm mechanisms bull wheel that makes to walk simultaneously and just swings and land backward, then operation is carried outBand Climbing building device continues to climb building, completes the transition of center of gravity from stair to level land, until crawler belt Climbing building device is completeDepart from last step edge, then operate bull wheel oscillating arm mechanisms, rotate both sides walking bull wheel level walking or logicalCross stair half storey platform;
The 1.3rd step: continue to repeat above-mentioned the 1.1st step and 1.2 step processes, until the floor that need to reach;
(2) downstairs step is:
The 2.1st step: in the time that walking bull wheel arrival stair place is rotated in occupant's bimanualness, first operate bull wheel pendulumArm mechanism, upper pendulum walking bull wheel is parallel with seat to swing arm bar, operates Climbing building device to operation downstairs simultaneously,After overall center of gravity is crossed first step edge, stop crawler belt Climbing building device, and operate bull wheel oscillating arm mechanismsUpper pendulum takes turns to greatly the position of climbing building state, and then drives the even running of crawler belt Climbing building device downstairs;
The 2.2nd step: when crawler belt Climbing building device just to depart from last step along time, suspend crawler belt and climb building, firstThe operation bull wheel oscillating arm mechanisms bull wheel bottom that makes to walk lands, and position while continuing the bottom to level land state, carries outLevel walking carries out or passes through stair half storey platform;
The 2.3rd step: continue to repeat above-mentioned the 2.1st step and the 2.2nd step process, until the floor that need to reach.
CN201610070118.0A 2016-02-01 2016-02-01 The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs Expired - Fee Related CN105596160B (en)

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CN106197420A (en) * 2016-06-24 2016-12-07 张学海 Stair-climbing wheel chair paths planning method and system
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
CN108514479A (en) * 2018-05-08 2018-09-11 深圳市福尔泰医疗科技有限公司 Full ground type manned robot and method for moving up/down steps
CN112472441A (en) * 2020-12-11 2021-03-12 中国人民解放军空军工程大学 Multifunctional auxiliary wheelchair
CN112896276A (en) * 2021-01-29 2021-06-04 汕头大学 Trolley for walking upstairs and downstairs
CN113262112A (en) * 2021-05-24 2021-08-17 安徽省瑞步智能装备有限公司 Advancing crawler and advancing wheel switching and speed changing device of electric stair-climbing walking-aid vehicle

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CN106197420A (en) * 2016-06-24 2016-12-07 张学海 Stair-climbing wheel chair paths planning method and system
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
CN108514479A (en) * 2018-05-08 2018-09-11 深圳市福尔泰医疗科技有限公司 Full ground type manned robot and method for moving up/down steps
CN108514479B (en) * 2018-05-08 2023-09-22 深圳市福尔泰医疗科技有限公司 All-terrain manned robot and step ascending and descending method
CN112472441A (en) * 2020-12-11 2021-03-12 中国人民解放军空军工程大学 Multifunctional auxiliary wheelchair
CN112472441B (en) * 2020-12-11 2022-12-27 中国人民解放军空军工程大学 Multifunctional auxiliary wheelchair
CN112896276A (en) * 2021-01-29 2021-06-04 汕头大学 Trolley for walking upstairs and downstairs
CN113262112A (en) * 2021-05-24 2021-08-17 安徽省瑞步智能装备有限公司 Advancing crawler and advancing wheel switching and speed changing device of electric stair-climbing walking-aid vehicle
CN113262112B (en) * 2021-05-24 2024-02-20 安徽省瑞步智能装备有限公司 Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker

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