CN105726232A - Double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and method for going upstairs and downstairs - Google Patents
Double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and method for going upstairs and downstairs Download PDFInfo
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- CN105726232A CN105726232A CN201610071375.6A CN201610071375A CN105726232A CN 105726232 A CN105726232 A CN 105726232A CN 201610071375 A CN201610071375 A CN 201610071375A CN 105726232 A CN105726232 A CN 105726232A
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- crawler belt
- wheel
- walking
- leading portion
- climbing
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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
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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
- A61G5/066—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 endless belts
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Abstract
The invention discloses a double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and a method for going upstairs and downstairs.The stair climbing wheelchair comprises a wheelchair body, two big traveling wheels, a caterpillar band stair climbing mechanism and a big wheel swing arm mechanism; the caterpillar band stair climbing mechanism comprises double caterpillar band mechanisms, and the caterpillar band mechanism at each side comprises a mechanism front segment, a mechanism rear segment and a rubber caterpillar band, wherein the mechanism front segment and the mechanism rear segment are hinged through a bearing axle into a whole mechanism for installing the rubber caterpillar band.After the caterpillar band stair climbing mechanism is folded on the flat ground, the outer sides of the caterpillar bands are supported by supporting bearings, the caterpillar bands are in a slightly slack state, which is beneficial for prolonging service life of the caterpillar bands, and the step that at ordinary times, when the caterpillar bands are not used for going upstairs and downstairs for a long time, a caterpillar band tensioning mechanism is adjusted repeatedly to remove tension force on the caterpillar bands is omitted.
Description
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 four-wheel wheelchair can not stair activity, limit use scope, live in the wheelchair user of walk-up building and cannot go up downstairs, affect it and go out to participate in social activity.China has rapidly entered aging society, and old people's problem of going on a journey is further prominent.
In order to solve the problems referred to above, market occurring in that, split type and integral type wheel carries out compound stair-climbing wheel chair.
Split type structure is to be fixed on common wheelchair to climb on building crawler belt, such as Chinese patent CN201020122939.2 discloses a kind of electric track stair-climbing vehicle, upper downstairs time, wheelchair is temporarily installed on electric track stair-climbing vehicle, people is sitting on wheelchair together stair activity or perron again.It is to arrange wheelchair carrier at the rear portion of rectangle crawler body, and wheelchair carrier includes longeron and carrier bar, and longeron lower end and chassis are rotationally connected；Close to wheelchair carrier longeron lower end, carrier bar, carrier bar and longeron crossing at right angle are being set.The defect that this patent exists, one is: is no matter level walking or needs repeatedly to split and assemble stairs-mover and wheelchair when climbing building, bulky；Need when going out to be helped to carry by other people；Two are: owing to wheelchair tilts backwards when platform is turned, longitudinal separation is long, and the operator that wheelchair is below also needs to standing room, and it is extremely difficult that this makes whole wheelchair turn at platform place；Three are: whole process needs entourage and then, split the process assembled and are required for other people operation, and climb in building process be also other people in operation, particularly in stair half storey platform place, due to the device of not anti-hypsokinesis, it is necessary to people hold up slowly crawler belt from stair to level land.
Integral type crawler belt stair-climbing wheel chair has following scheme:
1. stair-climbing wheel chair disclosed in Chinese patent CN201210590075.0, owing to crawler belt entirety can only lift up or transfer, it is impossible to folding so that wheelchair anteroposterior dimension is relatively big, causes that wheelchair is bad by property at stair half storey platform place.
2. stair-climbing wheel chair disclosed in Chinese patent CN201320833460.3, its walking bull wheel installation site is to the front, it is impossible to use on level land, and can not by operator's autonomous operation.
3. stair-climbing wheel chair disclosed in Chinese patent CN201510048349.7, it is impossible to enough by reflex angle (angles more than the 180 degree) place at (angles more than 90 degree and less than the 180 degree) place, obtuse angle of stair and stair under operator's autonomous operation.
4. stair-climbing wheel chair structure disclosed in Chinese patent 201510594011.1 is complicated, and do not mention stair reflex angle place by method, the concept feasible climbing building is poor.
5. the integral type wheel of " explorer's stair climbing vehicle " a by name of Italy is carried out compound stair-climbing wheel chair and steadily can be climbed building neatly under occupant's autonomous operation and walk pacifically, but its motion is more than 4, structure is complicated, build is huge, it is poor that corridor passes through property, it is dfficult to apply to ordinarily resident building, and cost is high, it is not easy to promote the use of.
Summary of the invention
The invention aims to solve the problems referred to above, it is proposed that a kind of double; two crawler belt stair-climbing wheel chair of the binodal based on road wheel swing and upper method downstairs.
It is an object of the invention to be achieved through the following technical solutions:
A kind of double; two crawler belt stair-climbing wheel chair of binodal swung based on road wheel, it includes wheelchair main body, two walking bull wheels and crawler belt Climbing building device；Wheelchair main body is to be provided with the chair back, seat support and pedal on wheelchair frame, and the front lower place of wheelchair frame is equipped with two universal wheels；It is characterized in that, it also includes bull wheel oscillating arm mechanisms, wherein:
Described crawler belt Climbing building device is symmetrical pair of pedrail mechanism, is made up of the pedrail mechanism of both sides, track drive motor and the second deceleration device and crawler belt allosteric mechanism；Wherein the pedrail mechanism of every side is included mechanism's leading portion, mechanism's back segment and rubber belt track, mechanism's leading portion and mechanism's back segment and is hinged to the integrated model of an installation rubber belt track by load-bearing wheel shaft；
Described wheelchair main body is directly fixed on mechanism's back segment, and mechanism's leading portion can be rotated around the axial front upper place of BOGEY WHEEL by crawler belt allosteric mechanism, and be hidden in below wheelchair main body, it is achieved crawler belt allosteric；Track drive motor and the second deceleration device are arranged on mechanism's leading portion, and realize transmission with mechanism leading portion live axle, drive crawler belt to rotate realization and climb building purpose when track drive motor runs；
Described crawler belt allosteric mechanism structure is, under-seat in wheelchair frame main body fixedly mounts allosteric motor and the 3rd deceleration device, 3rd reduction unit output shaft is bent axle, crankshaft two end is flexibly connected connecting rod, connecting rod is connected with the pitman shaft gap of mechanism's leading portion, and when allosteric motor runs, tracting mechanism leading portion folds relative to mechanism's back segment and launches；
Described bull wheel oscillating arm mechanisms includes the swing arm motor and the first deceleration device that are fixed on mechanism's back segment, the output shaft of the first deceleration device is bent axle, two walking bull wheels are arranged on the wheel shaft of crankshaft two end, two walking bull wheels are driven to swing up and down when swing arm motor runs, manage to make do during two walking bull wheel bottoms plane earth walking, upper pendulum time can leave ground make rubber belt track stairway step walking, walking bull wheel on hand rim.
Further, it also includes battery case, and battery case is arranged between mechanism's back segment of the left and right sides, by battery case, mechanism's back segment of both sides is connected into an entirety.
Further, described mechanism's back segment includes: the fixing plate of the fixing plate in rear outside and rear inner side, the fixing plate of the fixing plate in rear outside and rear inner side links together with some connectors, at mechanism's back segment rear portion, driven pulley and tensioner are installed, installing BOGEY WHEEL on the load-bearing wheel shaft that mechanism's back segment is anterior, bottom surface is welded with and substitutes the track support plate supporting wheel effect；The fixing plate in rear outside is provided with the fixing card of the wheelchair for installing wheelchair main body.
Further, the front portion of described mechanism's back segment is provided with installing rack, and installing rack is provided with chute, and the relevant position of the fixing plate in rear outside also is provided with identical chute, by chute install can in chute the bearing shaft of adjusting position, bearing shaft is installed spring bearing；When crawler belt Climbing building device launches, spring bearing separates with rubber belt track, and when crawler belt Climbing building device is folded up, spring bearing contacts with crawler belt outside flanks, thus supporting rubber belt track.
Further, described mechanism's leading portion includes: the fixing plate of the fixing plate in front inner side and front outside, and the fixing plate of the fixing plate in front inner side and front outside links together with some connectors；It is provided with dead eye and bearing at mechanism's leading portion rear portion, it is connected with the load-bearing wheel shaft of mechanism back segment by bearing, it is provided with live axle in mechanism's leading portion front portion, and track drive motor and deceleration device are installed by connector, the live axle transmission of deceleration device and mechanism's leading portion front portion, live axle is installed crawler driving whell, when track drive motor runs, drives rubber belt track operating；It is provided with pitman shaft in the middle part of mechanism's leading portion, by pitman shaft, mechanism's leading portion of the left and right sides is connected as a single entity；Mechanism's leading portion bottom surface is welded with and substitutes the front track support plate supporting wheel effect.
Further, 3rd reduction unit output shaft of described allosteric mechanism is the 3rd driving axle, and the 3rd drives end shaft installs fork, and fork connects connecting rod by intermediate rotary shaft, the connecting rod other end is connected with the pitman shaft gap of mechanism's leading portion, and when allosteric motor runs, tracting mechanism leading portion folds and launches.
Further, the output shaft of the first deceleration device of described bull wheel oscillating arm mechanisms is swing arm driving axle, after swing arm driving axle is arranged on by bearing and bearing block, outside is fixed on plate, and swing arm driving axle two ends are fixedly connected by key and connect swing arm bar, and walking bull wheel is arranged on swing arm bar.
Further, described swing arm motor and deceleration device are fixed on the battery case of mechanism's back segment of crawler belt Climbing building device by fixed mount.
The method gone downstairs on wheelchair of the present invention is:
One, process upstairs:
1, when occupant's bimanualness rotates walking bull wheel arrival stair place, first adjustment direction makes walking bull wheel backwards, and lean against first step along upper, then operation bull wheel oscillating arm mechanisms makes to swing to above crawler belt on walking bull wheel, in process, wheelchair is swung back until first step is taken along upper in crawler belt rear end gradually, continuation swings walking bull wheel, operating crawler belt allosteric mechanism again makes crawler belt Climbing building device launch, pedrail mechanism leading portion is made to launch to land, the now interim hypsokinesis of wheelchair main body, operate crawler belt Climbing building device backward again, start to climb building with crawler belt, convert to after crossing second step and normally climb building state；
2, when climb building to last step along time, for avoiding unexpected hypsokinesis, crawler belt should be temporarily ceased and climb building, occupant operates bull wheel oscillating arm mechanisms simultaneously and makes walking bull wheel swing backward just to land, operate crawler belt Climbing building device again to continue to climb building, complete center of gravity transition from stair to level land, until crawler belt Climbing building device completely disengages from last step edge, then operation crawler belt allosteric mechanism, crawler belt Climbing building device leading portion is made to fold to below wheelchair seat, operate bull wheel oscillating arm mechanisms again, make to swing under walking bull wheel level walking state, rotate both sides walking bull wheel level walking, carry out level walking or by stair half storey platform.
3, continue to repeat above-mentioned 1,2 processes, until needing the floor reached.
Two, go downstairs process:
1, when occupant's bimanualness rotates walking bull wheel arrival stair place, first in operation bull wheel oscillating arm mechanisms, pendulum walking bull wheel is parallel with seat to swing arm bar, operation crawler belt allosteric mechanism simultaneously, mechanism's leading portion is made to launch to land, operate crawler belt Climbing building device again to running downstairs, cross first step along afterwards in overall center of gravity, stop crawler belt Climbing building device, and operate in bull wheel oscillating arm mechanisms pendulum walking and take turns to greatly the position climbing building state, and then drive crawler belt Climbing building device even running downstairs；
2, before crawler belt leaves last step edge, first the operation bull wheel oscillating arm mechanisms bottom lands, position during level walking state is swung under continuation, operate crawler belt allosteric mechanism again, mechanism's leading portion is folded into under-seat, convert level walking state to, carry out level walking or by stair half storey platform.
3, continue to repeat above-mentioned 1.2 processes, until needing the floor reached.
The invention have the advantages that,
1, dexterously push-chairs and crawler belt Climbing building device being combined, no matter be level walking or stair activity, all assemble without splitting, application of going out is convenient；Owing to road wheel is big, with hand rim on road wheel, level walking is flexible, and autonomous operation is laborsaving.
2, by sticking up before the allosteric mechanism of crawler belt and the swinging up and down of bull wheel of walking, it is possible to conversion level walking and climb the kinestate in building neatly, level walking state can be also changed to even at stair half storey platform place；Owing to walking bull wheel can be swung up, when making stair-climbing wheel chair climb building state, occupant is very close to the step of stair, and sensation center of gravity is low safer.
3, wheelchair of the present invention is when arriving stair half storey platform place, owing to sticking up below wheelchair seat before crawler belt Climbing building device place, the overall dimensions making wheelchair is the same with common push-chairs, such that it is able to pass through stair half storey platform place as common push-chairs, there is the good corridor property passed through, it is possible to be suitable for the ordinarily resident building that space is comparatively narrow；
4, the present invention has only to the cooperation of crawler belt allosteric mechanism and bull wheel oscillating arm mechanisms and can be achieved with the smooth conversion of kinestate, and structure is relatively easy, advantage of lower cost, has good promotional value
5, owing to the bull wheel oscillating arm mechanisms of the present invention upstairs can anti-hypsokinesis at stair reflex angle place, downstairs preventing leaning forward, when stair are changed pacifically, center of gravity transition is more steady, make wheelchair can compare stable transition at stair reflex angle place, so that stair-climbing wheel chair can by occupant's autonomous operation.
6, the wheelchair of the present invention is at stair obtuse angle place, and upper is all downstairs that crawler belt rear end rides over step and changes along upper completion status, and the angle of wheelchair layback is less, takes pleasant；
7, after the crawler belt Climbing building device level land of the present invention folds, being supported by crawler belt spring bearing outside crawler belt, crawler belt is in slightly lax state, is conducive to extending the life-span of crawler belt, eliminate long-time without time on crawler belt downstairs at ordinary times, and repeatedly regulate track tension device to remove the tensile force of crawler belt.
Accompanying drawing explanation
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 frame main body schematic perspective view of the present invention；
Fig. 4 is three-dimensional situation schematic diagram during crawler belt Climbing building device of the present invention expansion；
Fig. 5 be crawler belt Climbing building device of the present invention folding time three-dimensional situation schematic diagram；
Fig. 6 is mechanism's back segment schematic perspective view of crawler belt Climbing building device of the present invention；
Fig. 7 is mechanism's leading portion schematic perspective view of crawler belt Climbing building device of the present invention；
Fig. 8 is crawler belt of the present invention allosteric mechanism schematic perspective view；
Fig. 9 is bull wheel oscillating arm mechanisms schematic perspective view of the present invention；
Figure 10 is view of going downstairs in the present invention.
nullMarginal data，1-wheelchair main body，2-bull wheel oscillating arm mechanisms，3-crawler belt Climbing building device，4-crawler belt allosteric mechanism，5-pedal，6-seat support，7-universal wheel，8-mechanism back segment，9-mechanism leading portion，10-rubber belt track，11-load-bearing wheel shaft，12-BOGEY WHEEL，13-spring bearing，14-bearing shaft，Track support plate after 15-，16-connector，17-driven pulley，18-battery case，19-tensioner，The fixing plate in inner side after 20-，The fixing card of 21-wheelchair，The fixing plate in outside after 22-，23-installing rack，Track support plate before 24-，25-track drive motor and the second deceleration device，26-driving wheel，27-live axle，The fixing plate in outside before 28-，29-pitman shaft，The fixing plate in inner side before 30-，31-intermediate rotary shaft，32-allosteric motor and the 3rd deceleration device，33-fork，34-the 3rd drives axle，35-connecting rod，36-swing arm bar，37-swing arm driving axle，38-swing arm motor and the first deceleration device，39-walks bull wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are further described:
As shown in figs 1-9:
The double; two crawler belt stair-climbing wheel chair of binodal swung based on road wheel of the present invention, it includes 1, two walking bull wheels 39 of wheelchair main body and crawler belt Climbing building device 3；Wheelchair main body 1 is as it is shown on figure 3, it is to be provided with the chair back, seat support 6 and pedal 5 on wheelchair frame, and the front lower place of wheelchair frame is equipped with two universal wheels 7；Wherein:
As shown in Figure 4, Figure 5, it is symmetrical pair of pedrail mechanism to described crawler belt Climbing building device 3, is made up of the pedrail mechanism of both sides, track drive motor and the second deceleration device 25 and crawler belt allosteric mechanism 4；Wherein the pedrail mechanism of every side includes mechanism's leading portion 9, mechanism's back segment 8 and rubber belt track 10, mechanism's leading portion 9 and mechanism's back segment 8 and is hinged to an integrated model installing rubber belt track 10 by load-bearing wheel shaft 11；Above-mentioned wheelchair main body 1 is directly fixed on mechanism's back segment 8, and mechanism's leading portion 9 can be rotated around load-bearing wheel shaft 11 forward upward by crawler belt allosteric mechanism 4, and is hidden in below wheelchair main body 1, it is achieved crawler belt allosteric；Track drive motor and the second deceleration device 25 are arranged on mechanism's leading portion 9, and realize transmission with mechanism leading portion 9 live axle 27, drive rubber belt track 10 to rotate realization and climb building purpose when track drive motor runs；
Described crawler belt allosteric mechanism 4 is as shown in Figure 8, structure is, allosteric motor and the 3rd deceleration device 32 is fixedly mounted below the seat support 6 of wheelchair frame main body 1,3rd reduction unit output shaft is bent axle, crankshaft two end is flexibly connected connecting rod 35, connecting rod 35 is connected with pitman shaft 29 gap of mechanism leading portion 9, and when allosteric motor runs, tracting mechanism leading portion 9 is folding and launch；
It also includes bull wheel oscillating arm mechanisms 2, and two described walking bull wheels 39 are arranged in bull wheel oscillating arm mechanisms 2 and are in the back lower place of wheelchair frame main body 1；Described bull wheel oscillating arm mechanisms 2 is as shown in Figure 9, it includes the swing arm motor and the first deceleration device 38 that are fixed on mechanism's back segment 8, the output shaft of the first deceleration device is bent axle, two above-mentioned walking bull wheels 39 are arranged on the wheel shaft of crankshaft two end, swing arm motor run time drive two walking bull wheels 39 swing up and down, manage to make do during two walking bull wheel 39 bottoms plane earth walking, upper pendulum time can leave ground make rubber belt track 10 stairway step walking；With hand rim on walking bull wheel 39, level walking is flexible, and autonomous operation is laborsaving.
Further, it also includes battery case 18, and battery case 18 is arranged between mechanism's back segment 8 of the left and right sides, by battery case 18, mechanism's back segment 8 of both sides is connected into an entirety.
Further, described mechanism's back segment 8 is as shown in Figure 6, it includes: the fixing plate 20 of the fixing plate 22 in rear outside and rear inner side, fixing plate 20 connector 16 of the fixing plate 22 in rear outside and rear inner side links together, portion is provided with driven pulley 17 and tensioner 19 behind, installing BOGEY WHEEL 12 on anterior load-bearing wheel shaft 11, bottom surface is welded with and substitutes the rear track support plate 15 supporting wheel effect；After besides, the fixing plate 22 in outside is provided with the fixing card 21 of the wheelchair for installing wheelchair main body 1.
Further, the front portion of described mechanism's back segment 8 is provided with installing rack 23, and installing rack 23 is provided with chute, and the relevant position of the fixing plate 22 in rear outside also is provided with identical chute, installed the bearing shaft 14 that can slidably reciprocate in chute by chute, bearing shaft 14 is installed spring bearing 13；When crawler belt Climbing building device 3 launches, spring bearing 13 separates with rubber belt track 10, and when crawler belt Climbing building device 3 is folded up, spring bearing 13 contacts with crawler belt outside flanks, thus supporting rubber belt track 10.
Further, described mechanism's leading portion 9 is as it is shown in fig. 7, it includes: the fixing plate 28 of the fixing plate 30 in front inner side and front outside, and the fixing plate 28 of the fixing plate 30 in front inner side and front outside links together with some connectors 16；Portion is provided with dead eye and bearing behind, mechanism's leading portion 9 is connected by the load-bearing wheel shaft 11 of bearing with mechanism back segment 8, it is provided with live axle 27 in mechanism's leading portion 9 front portion, and track drive motor and the second deceleration device 25 are installed by connector, second deceleration device and live axle 27 transmission, live axle 27 is installed crawler driving whell 26, when track drive motor runs, drives rubber belt track 10 to operate；It is provided with pitman shaft 29 in the middle part of mechanism's leading portion 9, by pitman shaft 29, mechanism's leading portion 9 of the left and right sides is connected as a single entity；Mechanism's leading portion 9 bottom surface is welded with and substitutes the front track support plate 24 supporting wheel effect.
Further, 3rd reduction unit output shaft of described crawler belt allosteric mechanism 4 is the 3rd drive axle 34,3rd drives axle 34 two ends to install fork 33, fork 33 connects connecting rod 35 by intermediate rotary shaft 31, connecting rod 35 other end is connected with pitman shaft 29 gap of mechanism leading portion 9, and when allosteric motor runs, tracting mechanism leading portion 9 is folding and launch.
Further, the output shaft of the first deceleration device of described bull wheel oscillating arm mechanisms 2 is swing arm driving axle 37, after swing arm driving axle 37 is arranged on by bearing and bearing block, outside is fixed on plate 22, swing arm driving axle 37 two ends are fixedly connected by key and connect swing arm bar 36, and walking bull wheel 39 is arranged on swing arm bar 36.
Further, described swing arm motor and the first deceleration device 38 are fixed on by fixed mount on the battery case 18 of mechanism's back segment 8 of crawler belt Climbing building device 3.
The upper method of work downstairs of the present invention is:
One, process upstairs:
1, when occupant's bimanualness rotation walking bull wheel 39 arrives stair place, first adjustment direction makes walking bull wheel 39 backwards, and lean against first step along upper, then operation bull wheel oscillating arm mechanisms 2 makes to swing to above crawler belt on walking bull wheel 39, in process, wheelchair is swung back until first step is taken along upper in crawler belt rear end gradually, continuation swings walking bull wheel 39, operating crawler belt allosteric mechanism 4 again makes crawler belt Climbing building device 3 launch, the mechanism's leading portion 9 making crawler belt launches to land, the now interim hypsokinesis of wheelchair main body 1, operate crawler belt Climbing building device 3 backward again, start to climb building with crawler belt, convert to after crossing second step and normally climb building state；
2. when climb building to last step along time, for avoiding unexpected hypsokinesis, crawler belt should be temporarily ceased and climb building, occupant operates bull wheel oscillating arm mechanisms 2 simultaneously and makes walking bull wheel 39 swing backward just to land, operate crawler belt Climbing building device 3 again to continue to climb building, complete center of gravity transition from stair to level land, until crawler belt Climbing building device 3 completely disengages from last step edge, then operation crawler belt allosteric mechanism 4, crawler belt Climbing building device leading portion 9 is made to fold to below seat of wheeled chair 6, operate bull wheel oscillating arm mechanisms 2 again, walking bull wheel is made to swing to level walking state 39 times, rotate both sides walking bull wheel 39 level walking, carry out level walking or by stair half storey platform.
3, continue to repeat above-mentioned 1.2 processes, until needing the floor reached.
Two, go downstairs process:
1. when occupant's bimanualness rotation walking bull wheel 39 arrives stair place, first in operation bull wheel oscillating arm mechanisms 2, pendulum walking bull wheel 39 to swing arm bar 36 is parallel with seat support 6, operation crawler belt allosteric mechanism 4 simultaneously, mechanism's leading portion 9 is made to launch to land, operate crawler belt Climbing building device 3 again to running downstairs, first step is crossed along afterwards in overall center of gravity, stop crawler belt Climbing building device 3, and operate in bull wheel oscillating arm mechanisms 2 pendulum walking bull wheel 39 to the position climbing building state, and then crawler belt Climbing building device 3 even running is driven to go downstairs；
2, before crawler belt leaves last step edge, first operation bull wheel oscillating arm mechanisms 2 bottom lands, position during level walking state is swung under continuation, operate crawler belt allosteric mechanism 4 again, mechanism's leading portion 9 is folded into below seat support 6, convert level walking state to, carry out level walking or by stair half storey platform.
3, continue to repeat above-mentioned 1.2 processes, until needing the floor reached.
Claims (9)
1. the double; two crawler belt stair-climbing wheel chair of binodal swung based on road wheel, it includes wheelchair main body, two walking bull wheels and crawler belt Climbing building device；Wheelchair main body is to be provided with the chair back, seat support and pedal on wheelchair frame, and the front lower place of wheelchair frame is equipped with two universal wheels；It is characterized in that, it also includes bull wheel oscillating arm mechanisms, wherein:
Described crawler belt Climbing building device is symmetrical pair of pedrail mechanism, is made up of the pedrail mechanism of both sides, track drive motor and the second deceleration device and crawler belt allosteric mechanism；Wherein the pedrail mechanism of every side is included mechanism's leading portion, mechanism's back segment and rubber belt track, mechanism's leading portion and mechanism's back segment and is hinged to the integrated model of an installation rubber belt track by load-bearing wheel shaft；
Described wheelchair main body is directly fixed on mechanism's back segment, and mechanism's leading portion can be rotated around the axial front upper place of BOGEY WHEEL by crawler belt allosteric mechanism, and be hidden in below wheelchair main body, it is achieved crawler belt allosteric；Track drive motor and the second deceleration device are arranged on mechanism's leading portion, and realize transmission with mechanism leading portion live axle, drive crawler belt to rotate realization and climb building purpose when track drive motor runs；
Described crawler belt allosteric mechanism structure is, under-seat in wheelchair frame main body fixedly mounts allosteric motor and the 3rd deceleration device, 3rd reduction unit output shaft is bent axle, crankshaft two end is flexibly connected connecting rod, connecting rod is connected with the pitman shaft gap of mechanism's leading portion, and when allosteric motor runs, tracting mechanism leading portion folds relative to mechanism's back segment and launches；
Described bull wheel oscillating arm mechanisms includes the swing arm motor and the first deceleration device that are fixed on mechanism's back segment, the output shaft of the first deceleration device is bent axle, two walking bull wheels are arranged on the wheel shaft of crankshaft two end, two walking bull wheels are driven to swing up and down when swing arm motor runs, manage to make do during two walking bull wheel bottoms plane earth walking, upper pendulum time can leave ground make rubber belt track stairway step walking, walking bull wheel on hand rim.
2. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterised in that it also includes battery case, and battery case is arranged between mechanism's back segment of the left and right sides, by battery case, mechanism's back segment of both sides is connected into an entirety.
3. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterized in that, after described mechanism's back segment includes, the fixing plate of plate and rear inner side is fixed in outside, the fixing plate of the fixing plate in rear outside and rear inner side links together with some connectors, at mechanism's back segment rear portion, driven pulley and tensioner are installed, installing BOGEY WHEEL on the load-bearing wheel shaft that mechanism's back segment is anterior, bottom surface is welded with and substitutes the track support plate supporting wheel effect；The fixing plate in rear outside is provided with the fixing card of the wheelchair for installing wheelchair main body.
4. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterized in that, the front portion of described mechanism's back segment is provided with installing rack, installing rack is provided with chute, the relevant position of the fixing plate in rear outside also is provided with identical chute, by chute install can in chute the bearing shaft of adjusting position, in bearing shaft install spring bearing；When crawler belt Climbing building device launches, spring bearing separates with rubber belt track, and when crawler belt Climbing building device is folded up, spring bearing contacts with crawler belt outside flanks, thus supporting rubber belt track.
5. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterised in that before described mechanism's leading portion includes, the fixing plate of plate and front outside is fixed in inner side, and the fixing plate of the fixing plate in front inner side and front outside links together with some connectors；It is provided with dead eye and bearing at mechanism's leading portion rear portion, it is connected with the load-bearing wheel shaft of mechanism back segment by bearing, it is provided with live axle in mechanism's leading portion front portion, and track drive motor and deceleration device are installed by connector, the live axle transmission of deceleration device and mechanism's leading portion front portion, live axle is installed crawler driving whell, when track drive motor runs, drives rubber belt track operating；It is provided with pitman shaft in the middle part of mechanism's leading portion, by pitman shaft, mechanism's leading portion of the left and right sides is connected as a single entity；Mechanism's leading portion bottom surface is welded with and substitutes the front track support plate supporting wheel effect.
6. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterized in that, 3rd reduction unit output shaft of described allosteric mechanism is the 3rd driving axle, 3rd drives end shaft installs fork, fork connects connecting rod by intermediate rotary shaft, the connecting rod other end is connected with the pitman shaft gap of mechanism's leading portion, and when allosteric motor runs, tracting mechanism leading portion folds and launches.
7. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterized in that, the output shaft of the first deceleration device of described bull wheel oscillating arm mechanisms is swing arm driving axle, after swing arm driving axle is arranged on by bearing and bearing block, outside is fixed on plate, swing arm driving axle two ends are fixedly connected by key and connect swing arm bar, and walking bull wheel is arranged on swing arm bar.
8. the double; two crawler belt stair-climbing wheel chair of binodal as claimed in claim 1, it is characterised in that described swing arm motor and deceleration device are fixed on the battery case of mechanism's back segment of crawler belt Climbing building device by fixed mount.
9. one kind as arbitrary in claim 1-8 as described in the upper method downstairs of the double; two crawler belt stair-climbing wheel chair of binodal, it is characterised in that it is divided into process and downstairs process upstairs, wherein:
(1) process steps is upstairs:
1.1st step: when occupant's bimanualness rotates walking bull wheel arrival stair place, first adjustment direction makes walking bull wheel backwards, and lean against first step along upper, then operation bull wheel oscillating arm mechanisms makes to swing to above crawler belt on walking bull wheel, in process, wheelchair is swung back until first step is taken along upper in crawler belt rear end gradually, continuation swings walking bull wheel, operating crawler belt allosteric mechanism again makes crawler belt Climbing building device launch, pedrail mechanism leading portion is made to launch to land, the now interim hypsokinesis of wheelchair main body, operate crawler belt Climbing building device backward again, start to climb building with crawler belt, convert to after crossing second step and normally climb building state；
1.2nd step: when climb building to last step along time, for avoiding unexpected hypsokinesis, crawler belt should be temporarily ceased and climb building, occupant operates bull wheel oscillating arm mechanisms simultaneously and makes walking bull wheel swing backward just to land, operate crawler belt Climbing building device again to continue to climb building, complete center of gravity transition from stair to level land, until crawler belt Climbing building device completely disengages from last step edge, then operation crawler belt allosteric mechanism, crawler belt Climbing building device leading portion is made to fold to below wheelchair seat, operate bull wheel oscillating arm mechanisms again, make to swing under walking bull wheel level walking state, rotate both sides walking bull wheel level walking, carry out level walking or by stair half storey platform；
1.3rd step: continue to repeat above-mentioned 1.1st step and the 1.2nd step process, until needing the floor reached；
(2) process steps of going downstairs is:
2.1st step: when occupant's bimanualness rotates walking bull wheel arrival stair place, first in operation bull wheel oscillating arm mechanisms, pendulum walking bull wheel is parallel with seat to swing arm bar, operation crawler belt allosteric mechanism simultaneously, mechanism's leading portion is made to launch to land, operate crawler belt Climbing building device again to running downstairs, cross first step along afterwards in overall center of gravity, stop crawler belt Climbing building device, and operate in bull wheel oscillating arm mechanisms pendulum walking and take turns to greatly the position climbing building state, and then drive crawler belt Climbing building device even running downstairs；
2.2nd step: before crawler belt leaves last step edge, first the operation bull wheel oscillating arm mechanisms bottom lands, position during level walking state is swung under continuation, operate crawler belt allosteric mechanism again, mechanism's leading portion is folded into under-seat, convert level walking state to, carry out level walking or by stair half storey platform；
2.3rd step: continue to repeat above-mentioned 2.1st step and the 2.1st step process, until needing the floor reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610071375.6A CN105726232B (en) | 2016-02-01 | 2016-02-01 | The double crawler belt stair-climbing wheel chairs of binodal swung based on road wheel and upper method downstairs |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610071375.6A CN105726232B (en) | 2016-02-01 | 2016-02-01 | The double crawler belt stair-climbing wheel chairs of binodal swung based on road wheel and upper method downstairs |
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| CN105726232A true CN105726232A (en) | 2016-07-06 |
| CN105726232B CN105726232B (en) | 2017-09-08 |
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| CN201610071375.6A Expired - Fee Related CN105726232B (en) | 2016-02-01 | 2016-02-01 | The double crawler belt stair-climbing wheel chairs of binodal swung based on road wheel and upper method downstairs |
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| CN106109124A (en) * | 2016-08-20 | 2016-11-16 | 李小齐 | A kind of convenience climbs the wheelchair in building up and down |
| 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 |
| CN109662846A (en) * | 2017-10-16 | 2019-04-23 | 苏州艾尔楠医疗器械有限公司 | One kind is convenient for climbing wheelchair capable of climbing up stair |
| CN111839920A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Crawler-type stair climbing robot with auxiliary grapple |
| US20200354963A1 (en) * | 2019-05-06 | 2020-11-12 | Richard Hoffberg | Wheelchair ramp |
| CN113116648A (en) * | 2021-04-13 | 2021-07-16 | 聊城大学 | Bradyseism is climbed building and is walked over barrier device and wheelchair |
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