CN106333804A - Electric stair climbing wheelchair - Google Patents
Electric stair climbing wheelchair Download PDFInfo
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- CN106333804A CN106333804A CN201510389456.6A CN201510389456A CN106333804A CN 106333804 A CN106333804 A CN 106333804A CN 201510389456 A CN201510389456 A CN 201510389456A CN 106333804 A CN106333804 A CN 106333804A
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Abstract
The invention discloses an electric stair climbing wheelchair; in applications of climbing up or sliding down a stair, climbing slide shoes make contacts with an intersection line between a horizontal plane and a vertical plane of a stair step; an electric drive unit fixed on the stair climbing wheelchair allows climbing slide guide plates to slide on the climbing slide shoes; the whole stair climbing wheelchair uses a stair step intersection point as a support for rotation; motions can be combined to form an oblique upward motion or an oblique downward motion; the wheelchair support body can transfer between the climbing slide shoes and large wheels, so the stair climbing wheelchair can continuously go up or go down, thus finishing climbing work and providing the stair climbing function. The electric stair climbing wheelchair is excellent in stair climbing performance, stable in motions, small in impact, laborsaving, simple in structure, and convenient in usage.
Description
Technical field
The present invention relates to having the electronic equipment of stair climbing function, especially relate to a kind of electric stair climbing ladder wheelchair.
Background technology
There is handicapped person in a large number at present in the elderly of China, disabled person and patient, these people constitute the wheelchair demand colony of substantial amounts, huge demand promotes China's wheelchair industry and in recent years comparatively fast develops, electric wheelchair and manpower wheelchair enter huge numbers of families in a large number, improve people's quality of the life.However, whether electric wheelchair or manpower wheelchair all runs into the difficult problem gone upstairs, and most domestic people still lives in the multi-storey building not having elevator now, upper downstairs lean on stair, constrain the popularization of wheelchair to a certain extent.For this, wheelchair has stair climbing function becomes the problem urgently captured, relevant manufacturers put into a large amount of manpower and materials and are researched and developed, the wheelchair that many moneys have electric stair climbing ladder function is had to emerge at present, electronic star-wheel stair climbing wheelchair structure therein is relatively easy, but such wheelchair has very big defect, bumpy motion, impact are big；And more ripe with the stair climbing technology of the entirely wheeled seat self-balancing stair climbing wheelchair of external import technology production and movable support rod stair climbing wheelchair, but expensive.
Content of the invention
In order to solve the deficiency in above-mentioned technology, it is an object of the invention to provide the electric stair climbing ladder wheelchair with stair climbing function that a kind of structure is simple, stable movement, impact are little.
For convenience, in the following description to the facade of stair ladder step and horizontal plane in three dimensions, can be described with the vertical line of the stair ladder step in two dimensional surface view and horizontal line, in other words both statements are of equal value；The external corner intersection of the facade of stair ladder step and horizontal plane in same three dimensions, and in two dimensional surface view, the vertical line of stair ladder step and the statement of horizontal intersection point are of equal value, and this intersection point is called the intersection point of ladder step；In three dimensions, each arc-shaped surface of stair climbing slide plate and stair climbing piston shoes is of equal value with two kinds of statements of each circular arc of stair climbing slide plate and stair climbing piston shoes in two dimensional surface view.For stair climbing piston shoes and wheel, what its projection did not referred to perspective plane is all with the side place plane of car body as perspective plane.
In order to solve above-mentioned technical problem, electric stair climbing of the present invention ladder wheelchair, including wheelchair frame, wheel, brake gear, and the part such as seat against；Wheel has two big wheels and two trundles, and wheelchair frame includes two side framves being parallel to each other, and each side frame is respectively provided with a big wheel and a trundle, and big wheel is parallel with side frame, and seating against typically is stretched tight with flexible fabric forms on wheelchair frame；Electric stair climbing ladder wheelchair is provided with stair-climbing device, and this device mainly includes stair climbing slide guide device, Vidacare corp；Stair climbing slide guide device is mainly made up of stair climbing slide plate and stair climbing piston shoes, and the projection of stair climbing slide plate is in sector, stair climbing piston shoes be projected as partial circle shape, all circular arcs on stair climbing slide plate and stair climbing piston shoes are all concentric circles circular arcs；The rigid body that stair climbing piston shoes are parallel to each other by two and symmetrical piston shoes side plate and a piston shoes arc block form, piston shoes side plate is partial circle shape, there are orthodrome and small arc-shaped, this small arc-shaped is part ring gear, piston shoes arc block also has orthodrome and small arc-shaped, the large circular arc radius of partial circle shape of piston shoes side plate are equal with the radius of the orthodrome of piston shoes arc block, arbitrary radial section of stair climbing piston shoes is " u " shape, and along fan-shaped circumferential insertion, the both sides of " u " shape are piston shoes side plate, the base of " u " shape is piston shoes arc block, and the top of each piston shoes side plate, i.e. there is the arc chute of a circumferentially insertion side of small end, on stair climbing piston shoes, the arc chute of each piston shoes side plate is in inner side；The radius of the small arc-shaped of piston shoes arc block is slightly larger than the radius of the fan-shaped circular arc of stair climbing slide plate, and the thickness of piston shoes arc block is slightly larger than the thickness of stair climbing slide plate；Respectively there is the circular arc feather key of an evagination on the small end two sides of the sector of stair climbing slide plate, two circular arc feather keys are symmetrical, the roundlet arc radius of this circular arc feather key are slightly larger than the radius of the small arc-shaped of arc chute, and the large circular arc radius of circular arc feather key are less than the radius of the orthodrome of arc chute, the height of circular arc feather key and the deep equality of arc chute；Stair climbing piston shoes are sleeved on stair climbing slide plate, the small arc-shaped of piston shoes arc block on stair climbing piston shoes is contacted with the fan-shaped circular arc of stair climbing slide plate, and the arc chute of each piston shoes side plate on stair climbing piston shoes is adapted with the circular arc feather key of stair climbing slide plate respective side；
Vidacare corp includes motor, gear, control device；Motor and gear are fixedly connected on stair climbing slide plate, and gear is engaged with the part ring gear of the piston shoes side plate small arc-shaped of stair climbing piston shoes, and motor positive and inverse moves and drives pinion rotation, thus driving stair climbing piston shoes to make slip suitable, counterclockwise relative to stair climbing slide plate；The installation site of Vidacare corp should ensure that slip relative suitable, counterclockwise with stair climbing slide plate in working range for the stair climbing piston shoes, and gear is normally engaged with the part ring gear of the piston shoes side plate small arc-shaped of stair climbing piston shoes；
Stair climbing slide plate is fixed on the inner side of side frame of wheelchair frame, or is fixed on the outside of side frame of wheelchair frame, that is, between big wheel and side frame；Stair climbing slide plate and the plane of movement of stair climbing piston shoes thereon but are parallel to each other not in approximately the same plane with big wheel place plane, and stair climbing piston shoes are slided on stair climbing slide plate and do not interferenceed with other components；On electric stair climbing ladder wheelchair, composition two groups of stair climbing slide plates of stair-climbing device and stair climbing piston shoes thereon are symmetrical；
The setting height(from bottom) in the fan-shaped center of circle of stair climbing slide plate is higher than to intend the height of climbing highest ladder step；When the angle of electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, the height of the great circle end of arc of stair climbing slide plate sector end points and stair climbing piston shoes is higher than the height intending climbing highest ladder step, the contact point of stair climbing piston shoes and ladder step, and the projection of stair climbing piston shoes distance in the horizontal direction is less than the minimum-depth intending stair climbing ladder step with the intersection point of high-wheeled projection；Some is overlapping for the projection of stair climbing piston shoes and high-wheeled projection, a part for the orthodrome projection of stair climbing piston shoes is in the outside of high-wheeled projection, the outside being projected in high-wheeled projection with the contact point intending climbing highest ladder step on stair climbing piston shoes, and the active section on the orthodrome of stair climbing piston shoes is in the outside of high-wheeled projection, the minimum point of the orthodrome of stair climbing piston shoes is higher than the minimum point of cart wheel rim, the minimum point of the orthodrome of stair climbing piston shoes is located in high-wheeled projection, and near the projection of stair climbing piston shoes and the intersection point of high-wheeled projection, also close to high-wheeled minimum point；So make the projection of stair climbing piston shoes less with the intersection point of high-wheeled projection and the distance of horizontal plane, thus stair climbing wheelchair can easily be crossed by big wheel.The arc length of the fan-shaped circular arc of stair climbing slide plate is more than the arc length of corresponding position circular arc on stair climbing piston shoes, and the arc length of the fan-shaped circular arc of stair climbing slide plate meets slide guide and support during stair climbing piston shoes slip work.
The stair-climbing device of setting on the stair climbing wheelchair of the present invention, so that stair climbing piston shoes can be slided on the stair climbing slide plate be connected in wheelchair under the driving of Vidacare corp, same stair climbing wheelchair whole in addition to stair climbing piston shoes can slide on stair climbing piston shoes so that wheelchair is substantially transitioned to the slip along the inclined-plane crossing stair intersection point using big wheel speeling stairway.The wheel speeling stairway moment of resistance is to act on the product with the vertical range of fulcrum (stair intersection point) for the car body gravity at wheel shaft center, and kinetic moment is to act on the product with the vertical range of fulcrum (stair intersection point) for the external force at wheel shaft center, height with stair ladder step increases the arm of force (vertical range of the fulcrum) increase of its moment of resistance, and power arm reduces, so ladder step will be climbed need larger power, as climbed the stair ladder step that height is 100mm, required external force is greater than the gravity of whole wheelchair, and the force-bearing situation of the stair-climbing device of star wheel structure is similar.And it is converted into the slip on inclined-plane using stair-climbing device, external force just mainly overcomes downslide component and the frictional force of car body, and the gradient of stair is typically at 30 degree about, so the external force needed for electric stair climbing of the present invention ladder speeling stairway of wheelchair will be much smaller than the gravity of whole stair climbing wheelchair, thus very laborsaving.Meanwhile, this slip makes stair climbing wheelchair speeling stairway more steady, and impact is less.In stair activity, the supporter of stair climbing wheelchair car body shifts between stair climbing piston shoes and big wheel, when supporter transfers to big wheel, on the one hand under the driving of Vidacare corp, stair climbing piston shoes reset, on the other hand, due to transfer on big wheel by the strong point to horizontal plane apart from very little, stair climbing wheelchair can easily be climbed very much.
A kind of improvement of the stair climbing wheelchair of the present invention, the stair climbing piston shoes of stair climbing slide guide device are parallel to each other by two and symmetrical piston shoes side plate, the rigid body of at least two truckles and at least two big pulley compositions；The small arc-shaped of the piston shoes side plate of stair climbing piston shoes is part ring gear, the thickness of piston shoes side plate small end is less than the thickness at big end, its interface is arc surface, form step, and step plane is parallel with piston shoes side plate planar, the arc radius of the step on this piston shoes side plate are more than the large circular arc radius of circular arc feather key, the height of step is equal with the height of circular arc feather key, two truckles are at least fixed with step plane, its rotational plane is parallel with step plane, the width of truckle is equal with the height of step, truckle is distributed in the plane of step, the center of circle of the internal common tangent circle of each truckle is on the line of symmetry of piston shoes plate portion annular, its internal common tangent circle center of circle is slightly in the top in the concentric circles center of circle of each circular arc, internal common tangent circle radius is equal to the radius of the small arc-shaped of circular arc feather key；At least two big pulleys are uniformly fixed between the big end of two piston shoes side plates, the width of big pulley is slightly larger than the thickness of stair climbing slide plate, its rotational plane is parallel with piston shoes side plate planar, each outer common tangent circle of big pulley and the circle of other circular arcs are concentric circles, this outer common tangent circle radius is equal to the radius of stair climbing slide plate sector circular arc, and internal common tangent circle radius is less than or equal to the big radius of circle of piston shoes side plate；The stair climbing piston shoes of stair-climbing device are sleeved on stair climbing slide plate, big pulley on stair climbing piston shoes is contacted with the fan-shaped circular arc of stair climbing slide plate, the truckle on each piston shoes side plate on stair climbing piston shoes is contacted with the small arc-shaped of the circular arc feather key of stair climbing slide plate respective side, and stair climbing piston shoes stair climbing slide plate (31) relatively under the driving of Vidacare corp can make slip suitable, counterclockwise.In other words, stair climbing piston shoes are made relative to stair climbing slide plate slid clockwise it is simply that stair climbing slide plate relative to stair climbing piston shoes slip counterclockwise, vice versa.Its frictional resistance is made to reduce due to employing pulley, laborsaving further.
Another kind of improvement of electric stair climbing ladder wheelchair of the present invention is two stair climbing slide plates one rigid bodies of composition of composition stair-climbing device, and two stair climbing piston shoes thereon are also a rigid body；The rigid body of two stair climbing slide plate compositions is fixedly connected on the vehicle frame between two side framves of electric stair climbing ladder wheelchair, constant with the relativeness of the big wheel 1 of electric stair climbing ladder wheelchair；The rigid body of two stair climbing piston shoes compositions is sleeved on the rigid body that two stair climbing slide plates are constituted, and its nested relationship is constant.So strengthen the rigidity of stair-climbing device further, one or two Motor drive can be adopted simultaneously.
Electric stair climbing ladder wheelchair of the present invention adopts the stair climbing slide guide device of stair climbing slide plate and set stair climbing piston shoes thereon, and so that stair climbing slide plate is slided relative to stair climbing piston shoes using Vidacare corp, and structure is very simple.During stair activity, stair climbing piston shoes with ladder step horizontal plane and facade intersect linear contact lay, stair climbing slide plate is made to slide on stair climbing piston shoes using the Vidacare corp being fixed on stair climbing wheelchair, whole stair climbing wheelchair is by with the intersection point of stair ladder step as support rotating simultaneously, its motion synthesizes the motion making stair climbing wheelchair substantially make obliquely or obliquely, and the supporter of wheelchair car body shifts between stair climbing piston shoes and big wheel, so that stair climbing wheelchair is constantly risen or fallen and complete stair climbing work so as to have stair climbing function；Overlap between being projected due to the stair climbing piston shoes of the present invention and big wheel, ensure that the steady of supporter transfer, greatly reduce or avoid impact, stable movement during stair climbing, laborsaving, solve problems present in electronic star-wheel stair climbing wheelchair stair climbing.
Thus the electric stair climbing ladder wheelchair of the present invention has excellent stair climbing function, stable movement, impact is little, and structure is simple, the features such as laborsaving and easy to use.
Brief description
It is described in further detail with embodiments of the present invention below in conjunction with the accompanying drawings:
Fig. 1 is the stair climbing piston shoes three-dimensional structure of stair climbing guider structure and the exploded perspective view of stair climbing guider three-dimensional structure being made up of stair climbing slide plate and stair climbing piston shoes (two piston shoes side plates and a piston shoes arc block).
Fig. 2 makees the schematic three dimensional views of slip suitable, counterclockwise for stair climbing piston shoes relative to stair climbing slide plate.
Fig. 3 is made up of two piston shoes side plates, multiple truckle and multiple big pulley for stair climbing piston shoes, its piston shoes side plate three-dimensional structure, piston shoes side plate and pulley and stair climbing slide plate three-dimensional mounting structure, and the exploded perspective view of the stair climbing guider three-dimensional structure being constituted.
Fig. 4 is the schematic three dimensional views that slip suitable, counterclockwise made by the stair climbing piston shoes being made up of two piston shoes side plates, multiple truckle and multiple big pulleys relative to stair climbing slide plate.
The 2 and 3 dimensional organization schematic diagram of the stair-climbing device that Fig. 5 engages for gear-wheel gear-ring.
The stair climbing slide plate of the stair climbing guider that Fig. 6 engages for gear-wheel gear-ring makees the schematic diagram of slip suitable, counterclockwise relative to stair climbing piston shoes.
Fig. 7 is the structural representation of electric stair climbing ladder wheelchair of the present invention.
Fig. 8 is that electric stair climbing of the present invention ladder wheelchair is gone upstairs one of schematic diagram.
Fig. 9 is that electric stair climbing of the present invention ladder wheelchair goes upstairs the two of schematic diagram.
Figure 10 is that electric stair climbing of the present invention ladder wheelchair goes upstairs the three of schematic diagram.
Figure 11 is that electric stair climbing of the present invention ladder wheelchair goes upstairs the four of schematic diagram.
Figure 12 is that electric stair climbing of the present invention ladder wheelchair is gone downstairs one of schematic diagram.
Figure 13 is that electric stair climbing of the present invention ladder wheelchair goes downstairs the two of schematic diagram.
Figure 14 is that electric stair climbing of the present invention ladder wheelchair goes downstairs the three of schematic diagram.
Figure 15 is that electric stair climbing of the present invention ladder wheelchair goes downstairs the four of schematic diagram.
Figure 16 is that electric stair climbing of the present invention ladder wheelchair goes downstairs the five of schematic diagram.
Specific embodiment
Electric stair climbing of the present invention ladder wheelchair, including wheelchair frame, wheel, brake gear, and the part such as seats against；Wheel has two big wheels 1 and two trundles, wheelchair frame includes two side framves being parallel to each other, one big wheel 1 and a trundle are respectively provided with each side frame, big wheel 1 is parallel with side frame, seating against typically is stretched tight with flexible fabric forms on wheelchair frame.
Knowable to Fig. 1 Fig. 2, electric stair climbing ladder wheelchair of the present invention is provided with stair-climbing device, and this device mainly includes stair climbing slide guide device, Vidacare corp.And stair climbing slide guide device is mainly made up of stair climbing slide plate 31 and stair climbing piston shoes 32.The projection of stair climbing slide plate 31 be in sector, stair climbing piston shoes 32 be projected as partial circle shape, as shown in Figure 1；All circular arcs on stair climbing slide plate 31 and stair climbing piston shoes 32 are all concentric circles circular arcs.The stair climbing slide guide device of the present invention selects light specific gravity, and intensity is high, the good engineering plastics manufacture of wear-resistant self-lubricating performance.
The rigid body that stair climbing piston shoes 32 are parallel to each other by two and three parts such as symmetrical piston shoes side plate 33 and a piston shoes arc block 34 form, piston shoes side plate 33 is partial circle shape, there are orthodrome and small arc-shaped, the top of piston shoes side plate 33, i.e. there is the arc chute 35 of a circumferentially insertion side of small end, and the width of groove is related to the circular arc feather key 36 matching in depth and stair climbing slide plate 31；Piston shoes arc block 34 also has orthodrome and small arc-shaped, the airline radius of the partial circle shape of piston shoes side plate 33 is equal with the radius of the orthodrome of piston shoes arc block 34, and the big 2mm of radius of the fan-shaped circular arc of radius ratio stair climbing slide plate 31 of the small arc-shaped of piston shoes arc block 34, the thickness 3mm bigger than the thickness of stair climbing slide plate 31 of piston shoes arc block 34；On stair climbing piston shoes 32, the arc chute 35 of two piston shoes side plates 33 is both facing to inner side, piston shoes arc block 34 is placed between the big end of two piston shoes side plates 33, the airline face of two piston shoes side plates 33 is coplanar with the great circle cambered surface of piston shoes arc block 34, and it is fixedly connected to form stair climbing piston shoes 32 rigid body with bolt, as shown in Figure 1, arbitrary radial section of stair climbing piston shoes 32 is " u " shape, and along fan-shaped circumferential insertion, obviously the both sides of " u " shape are piston shoes side plate 33, and the base of " u " shape is piston shoes arc block 34.
Respectively there is the circular arc feather key 36 of an evagination small end both sides of the sector of stair climbing slide plate 31, two circular arc feather keys are symmetrical, the big 2mm of radius of the small arc-shaped of small arc-shaped radius ratio arc chute 35 of this circular arc feather key 36, and the deep equality of the little 10mm of radius of the orthodrome than arc chute 35 for the large circular arc radius of circular arc feather key 36, the height of circular arc feather key 36 and arc chute 35.
Stair climbing piston shoes 32 are sleeved on stair climbing slide plate 31, the small arc-shaped of piston shoes arc block 34 on stair climbing piston shoes 32 is adapted with the fan-shaped circular arc of stair climbing slide plate 31, working face for stair climbing slide guide device during stair activity, the fan-shaped arc surface of stair climbing slide plate 31 the upper and small arc surface of piston shoes arc block 34 under, and two arc surfaces contact；The arc chute 35 of each the piston shoes side plate 33 on stair climbing piston shoes 32 is adapted with the circular arc feather key 36 of stair climbing slide plate 31 respective side, when no external force acts on, be in the small arc surface of arc chute 35 under free state the upper and small arc surface of circular arc feather key 36 under, and contact with each other；Stair climbing piston shoes 32 relative can make slip suitable, counterclockwise with stair climbing slide plate 31；As shown in Figure 1, 2.The radius of each circular arc contacting in theory should be equal, but should be variant in view of friction reason, and the radius slightly difference of the arc surface due to matching makes the segmental arc contacting shorter, thus friction is also less.
It is a kind of improved structural representation of the stair climbing slide guide device of electric stair climbing ladder wheelchair of the present invention by Fig. 3 Fig. 4, stair climbing piston shoes 32 therein are parallel to each other by two and symmetrical piston shoes side plate 33, at least two truckles 38 and the rigid body of at least two big pulley 39 compositions, the present invention adopts three truckles 38 and four big pulleys 39.The thickness of piston shoes side plate 33 small end of stair climbing piston shoes 32 is less than the thickness at big end, its interface is arc surface, form step 37, the thickness difference at two ends is that the height of step 37 is equal with the height of circular arc feather key 36, and step 37 plane is parallel with piston shoes side plate 33 plane, the arc radius 5mm bigger than the large circular arc radius of circular arc feather key 36 of the step 37 on this piston shoes side plate 33, three truckles 38 are fixed on step 37 plane, the rotational plane of pulley is parallel with step 37 plane, the width of truckle 38 is equal with the height of step 37, truckle 38 is distributed in the plane of step 37；The center of circle of the internal common tangent circle of each truckle 38 is on the line of symmetry of piston shoes side plate 33 partial circle shape, its internal common tangent circle center of circle 2 mm on the concentric circles center of circle of each circular arc, internal common tangent circle radius is equal to the radius of the small arc-shaped of circular arc feather key 36, so that there being 2 mm gaps between the small arc-shaped of the internal common tangent circle of truckle 38 and circular arc feather key 36.Four big pulleys 39 are uniformly fixed between the big end of two piston shoes side plates 33, the big 3mm of thickness of the width ratio stair climbing slide plate 31 of big pulley 39, its rotational plane is parallel with piston shoes side plate 33 plane, each outer common tangent circle of big pulley 39 and the circle of other circular arcs are concentric circles, and this outer common tangent circle radius is equal with the radius of the fan-shaped circular arc of stair climbing slide plate 31.Four big pulleys 39 are placed between two each piston shoes side plates 33 equipped with three truckles 38 holds greatly, step 37 is located at inner side, and blending bolt is fixedly connected to form stair climbing piston shoes 32 rigid body, and the rigidity of course for guarantee stair climbing piston shoes 32 can increase connecting bolt；Stair climbing piston shoes 32 are sleeved on stair climbing slide plate 31, four on stair climbing piston shoes 32 big pulleys 39 are adapted with the fan-shaped circular arc of stair climbing slide plate 31, during stair activity work, the fan-shaped arc surface of stair climbing slide plate 31 upper and big pulley 39 under, four on stair climbing piston shoes 32 big pulleys 39 are contacted with the fan-shaped arc surface of stair climbing slide plate 31；Three truckles 38 of each the piston shoes side plate 33 on stair climbing piston shoes 32 are adapted with the small arc-shaped of the circular arc feather key 36 of stair climbing slide plate 31 respective side, when no external force acts on, be under free state truckle 38 the upper and small arc surface of circular arc feather key 36 under, three truckles 38 on piston shoes side plate 33 are contacted with the small arc surface of the circular arc feather key 36 of stair climbing slide plate 31 respective side, as shown in Figure 3, Figure 4.Stair climbing piston shoes 32 relative can make slip suitable, counterclockwise with stair climbing slide plate 31, as shown in Figure 4.Consider the possible contaminated problem of big pulley 39 of this structure in actual use, an available arc plate is closed between the orthodrome of two piston shoes side plates 33.Due to adopting pulley, friction is made to reduce further.
Stair climbing slide guide device described above is mainly made up of stair climbing slide plate 31 and stair climbing piston shoes 32, and improved stair climbing piston shoes 32 are parallel to each other by two and symmetrical piston shoes side plate 33, in the stair climbing slide guide device of at least two truckles 38 and at least two big pulley 39 compositions, can be two piston shoes side plates 33 small arc-shaped be part ring gear 40, can also be the small arc-shaped of a piston shoes side plate 33 be part ring gear 40, the small arc-shaped of the present invention preferably two piston shoes side plates 33 is part ring gear 40.Vidacare corp mainly has motor 42, gear 41, control device.The radially inner side of close part ring gear 40 and open a through hole at the partial circle shape line of symmetry of piston shoes side plate 33 on stair climbing slide plate 31, gear 41 is duplicate gear, the axle of gear 41 passes through this through hole, duplicate gear 41 is made to engage with the part ring gear 40 on two piston shoes side plates 33, the installation site being actually gear 41 will be on the line of symmetry of piston shoes side plate 33 partial circle shape, so can guarantee that stair climbing piston shoes 32 are relative suitable in working range with stair climbing slide plate 31, when sliding counterclockwise, gear 41 can normally be engaged with the part ring gear 40 of piston shoes side plate 33 small arc-shaped of stair climbing piston shoes 32；Motor 42 and gear 41 are fixedly connected on stair climbing slide plate 31 (as shown in figure 5, the tooth module of gear and ring gear is not chosen on demand, only illustrate, remaining with).Motor 42 driving gear 41, the positive and negative rotation driven gear 41 of motor 42 accordingly rotates, thus driving stair climbing piston shoes 32 stair climbing slide plate 31 relatively to make slip suitable, counterclockwise；Motor 42 driving gear 41 makes stair climbing piston shoes 32 stair climbing slide plate 31 relatively rotate clockwise when rotating clockwise, also can be considered that stair climbing slide plate 31 stair climbing piston shoes 32 relatively rotate counterclockwise；Gear 41 makes stair climbing piston shoes 32 stair climbing slide plate 31 relatively rotate counterclockwise when rotating counterclockwise, be also that stair climbing slide plate 31 stair climbing piston shoes 32 relatively rotate clockwise (as shown in Figure 6).Equipped with encoder on motor 42, in order to gather the rotary state data of motor 42；Equipped at least with two pressure sensors in the active section fan section of stair climbing slide plate 31, two radial edges in active section fan section for the present invention respectively fill a pressure sensor, in order to gather the data of stair climbing slide guide device and stair contact condition；And using plc as controller；Thus constitute the control device of the present invention.
In such scheme, in order to improve the reliability of the stair climbing slide guide device of the present invention further, can be in the both sides of stair climbing slide plate 31 near each backplate that is connected of stair climbing piston shoes 32 small end, the upper, middle and lower of this backplate projection is three circular arcs, arc radius in the middle of it are less than the radius of piston shoes side plate 33 small arc-shaped on stair climbing piston shoes 32, and following arc radius are more than the radius of piston shoes side plate 33 small arc-shaped on stair climbing piston shoes 32.Radial section is " z " shape, the big 2mm of thickness of piston shoes side plate 33 on its aspect ratio stair climbing piston shoes 32, one end of backplate 42 is fixed on stair climbing slide plate 31, the other end hanging and in the 32 slip work of stair climbing piston shoes all the time on covering part stair climbing piston shoes 32 piston shoes side plate 33 small end, the hanging hanging face of relative stair climbing piston shoes 32 of backplate 42 is the outer surface of piston shoes side plate 33 on plane and parallel stair climbing piston shoes 32, so that stair climbing piston shoes 32 is worked in stair climbing slide plate 31 more reliable.
Fig. 7 is the structural representation of electric stair climbing ladder wheelchair of the present invention, it is the installation site of prominent stair-climbing device and wheelchair in the diagram, avoid the interference of the relative elements of big wheel 1, several steel wires are only drawn, and the profile of big wheel 1 is illustrated with double dot dash line, do not draw the bearing block supporting gear 41 axle, several figures below also use this kind of expression simultaneously.Selected wheelchair both can be common wheelchair or electric wheelchair, it is simply that being mounted with stair-climbing device on existing electric wheelchair, this stair-climbing device includes stair climbing slide guide device, Vidacare corp to the preferred electric wheelchair of the present invention；Stair climbing slide guide device is in generally sector, and workpiece has stair climbing piston shoes 32 and stair climbing slide plate 31, and the orthodrome of stair climbing piston shoes 32 is exactly the maximum circular arc of stair climbing slide guide device.The radius of installation site on stair climbing wheelchair for the stair climbing slide guide device and stair climbing piston shoes 32 orthodrome is affected (this in figure stair is illustrated) with double dot dash line by intending height that stair climbing ladder walks and depth，The radius of stair climbing piston shoes 32 orthodrome is too little to make its orthodrome termination height then not enable stair climbing function less than ladder step height，The too big contact point again making stair climbing piston shoes 32 and ladder step，The intersection point of the projection of the projection with stair climbing piston shoes 32 and big wheel 1 distance in the horizontal direction is more than the depth of ladder step，Thus stair climbing piston shoes 32 can not be returned to original state when occurring upstairs，Thus stair climbing again cannot be continued，So the large circular arc radius of its installation site and stair climbing piston shoes 32 should make the height of its arc line endpoints be greater than ladder step height，Make the contact point of stair climbing piston shoes 32 and ladder step again，The intersection point of the projection of the projection with stair climbing piston shoes 32 and big wheel 1 projector distance in the horizontal direction is less than the depth of ladder step；Installation site will take into account stair climbing piston shoes 32 with the contact point of ladder step both in the outside of big wheel 1 projection simultaneously, again close proximity to the projection of big wheel 1, and the intersection point of the projection of the projection of stair climbing piston shoes 32 and big wheel 1 is close proximity to the minimum point of big wheel 1, and the minimum point of stair climbing piston shoes 32 should be in the projection of big wheel 1, the intersection point of the projection of the projection close proximity to stair climbing piston shoes 32 and big wheel 1 again, and the minimum point of stair climbing piston shoes 32 is higher than the minimum point of big wheel 1.
Because the fan-shaped center of circle of stair-climbing device is with the center of circle of big wheel 1 and misaligned，And stair climbing wheelchair upper downstairs when whole car body need to be around big wheel one angle of 1 central rotation，Thus the contact point that the orthodrome of stair climbing piston shoes 32 is walked with ladder，The intersection point of the projection of the projection with the orthodrome of stair climbing piston shoes 32 and cart roller 1 distance in the horizontal direction，Relevant with the angle of horizontal plane in upper going downstairs with stair climbing wheelchair，More big then its projector distance of angle is less，But this change is less，This angle general is at 70 degree about，In order to reduce the impact of this change，Consider the influence factor of this angle when installing stair-climbing device，The installation site of stair-climbing device is determined based on stair climbing wheelchair angle state with horizontal plane in upper going downstairs，Fig. 7 is the state of the stair climbing wheelchair walking in a horizontal state installing stair-climbing device，And the profile of stair is illustrated with double dot dash line，It is merely to illustrate the structure of stair climbing wheelchair.
Stair climbing guider installation site is determined by the installation site of stair climbing slide plate 31, the installation site of stair climbing slide plate 31 both may be installed on the inner side of side frame of wheelchair frame, also may be installed on the outside of side frame of wheelchair frame, i.e. between big wheel 1 and side frame, the stair climbing wheelchair of the present invention preferably stair climbing slide plate 31 is arranged on the inner side of side frame of wheelchair frame.Stair climbing slide plate 31 and the plane of movement of stair climbing piston shoes 32 thereon but are parallel to each other not in approximately the same plane with big wheel 1 place plane, and stair climbing piston shoes 32 are slided on stair climbing slide plate 31 and do not interferenceed with other components.On stair climbing wheelchair, composition two groups of stair climbing slide plates 31 of stair-climbing device and stair climbing piston shoes 32 thereon are symmetrical.
Stair climbing guider installation site should meet: the setting height(from bottom) in the center of circle of stair climbing slide plate 31 sector is higher than to intend the height of climbing highest ladder step；When the angle of electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, the height of the great circle end of arc of the fan-shaped end points of stair climbing slide plate 31 and stair climbing piston shoes 32 is higher than the height intending climbing highest ladder step, the height that electric stair climbing ladder wheelchair of the present invention preferably intends climbing highest ladder step is 200 mm, the contact point that stair climbing piston shoes 32 are walked with ladder, the intersection point of the projection of the projection with stair climbing piston shoes 32 and big wheel 1 projector distance in the horizontal direction is less than the minimum-depth intending stair climbing ladder step, the stair climbing wheelchair of the present invention preferably this horizontal range is 200 mm(according to construction standards, the height of general stair is not more than 175mm, depth is not less than 260 mm), thus select this group data can guarantee to climb most of stair.And the projection of stair climbing piston shoes 32 is as little as possible with the intersection point of the projection of big wheel 1 and the distance of horizontal plane, preferably this is highly 60mm to the present invention.Some is overlapping for the projection of the projection of stair climbing piston shoes 32 and big wheel 1, the outside of the projection in big wheel 1 for the part for the orthodrome projection of stair climbing piston shoes 32, certainly the outside with the projection being projected in big wheel 1 of the contact point intending climbing highest ladder step on stair climbing piston shoes 32, obviously the active section on the orthodrome of stair climbing piston shoes 32 must be in the outside of the projection of big wheel 1, so-called active section is exactly the contact point of stair climbing piston shoes 32 and ladder step, the segmental arc and projection of stair climbing piston shoes 32 and the intersection point of projection of big wheel 1 between；The minimum point of the orthodrome of stair climbing piston shoes 32 is higher than the minimum point of big wheel 1 wheel rim simultaneously, the minimum point of the orthodrome of stair climbing piston shoes 32 is located in the projection of big wheel 1, and the intersection point of the projection of the projection near stair climbing piston shoes 32 and big wheel 1, also close to the minimum point of big wheel 1；The arc length of the fan-shaped circular arc of stair climbing slide plate 31 is more than the arc length of corresponding position circular arc on stair climbing piston shoes 32, and the arc length of the fan-shaped circular arc of stair climbing slide plate 31 meets slide guide and support during the 32 slip work of stair climbing piston shoes.And when the angle of stair climbing wheelchair and horizontal plane is the angle of stair activity, substantially with height, in stair climbing wheelchair walking in a horizontal state, the fan-shaped circular arc roller chair back end of stair climbing slide plate 31 raises up at the two ends of the fan-shaped circular arc of stair climbing slide plate 31.
On the basis of with the angle as stair activity for the angle of electric stair climbing ladder wheelchair and horizontal plane and in a free state, control program is set.Pattern and downstairs pattern upstairs are set.
Fig. 8 Figure 11 is that the process upstairs of electric stair climbing ladder wheelchair of the present invention is illustrated, the handle 2 of electric stair climbing ladder wheelchair is in front and big wheel 1 rear, stair climbing wheelchair upside down away, starts pattern upstairs, and big wheel 1 rotates clockwise in the presence of its motor always in the process.The angle of electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, when the stair climbing piston shoes 32 of the stair climbing slide guide device of electric stair climbing of the present invention ladder wheelchair are just contacted with stair ladder step, on the orthodrome center of circle of stair climbing piston shoes 32 and great circle end of arc here ladder step height, a little the contacting of the intersection point circular arc following with great circle end of arc of this ladder step, now the supporter of stair climbing wheelchair car body is big wheel 1, and entirely the support of stair climbing wheelchair is the horizontal plane of previous stair ladder step, as shown in Figure 8；Hereafter the pressure sensor being arranged on stair climbing slide plate 31 sends signal due to being under pressure，Controller plc sends signal enabling motor 42 band moving gear 41 and rotates clockwise，Stair climbing slide plate 31 starts stair climbing piston shoes 32 relatively and slides counterclockwise，Now the supporter of electric stair climbing ladder wheelchair car body is changed into stair climbing piston shoes 32，As shown in Figure 9，And the intersection point that entirely support of stair climbing wheelchair walks for this stair ladder climbed，This point is exactly the strong point of whole stair climbing wheelchair，The corresponding points on the orthodrome of stair climbing piston shoes 32 being in contact with it are by the strong point，In the presence of gear 41 rotates, stair climbing slide plate 31 slides counterclockwise along stair climbing piston shoes 32，Stair climbing wheelchair car body is driven to rotate counterclockwise around the center of circle of stair climbing piston shoes 32，Simultaneously because the height of operator is constant，Thus the height of handle 2 is basically unchanged during upstairs，So whole stair climbing wheelchair will rotate clockwise around the intersection point of stair ladder step，The result of its motion synthesis is that stair climbing wheelchair car body makees oblique ascending motion，Stair climbing wheelchair is made to increase，Be equivalent to and slide on inclined-plane，In the process，Constant by relative position on stair climbing piston shoes 32 for the strong point.When the big wheel 1 climbed on stair climbing wheelchair car body go upward to orthodrome on stair climbing piston shoes 32 by the strong point，During the critical localisation overlapping with the projection of orthodrome on stair climbing piston shoes 32 and the projection intersection point of big wheel 1，As shown in Figure 10，Now big wheel 1 is contacted with stair intersection point，And big wheel 1 is another straight rotates clockwise，The supporter of stair climbing wheelchair car body is just changed into big wheel 1 from stair climbing piston shoes 32，Now，Stair climbing slide plate 31 no stair pressure，Pressure sensor thereon sends signal again，Controller plc sends another signal enabling motor 42 counter-rotating belts moving gear 41 again and rotates counterclockwise，Stair climbing piston shoes 32 just slide counterclockwise relative to stair climbing slide plate 31，Its rotational angle is identical with the reflex angle number of degrees of rotation，So that stair climbing piston shoes 32 reset，The state that affranchises motor 42 power-off stops operating，It is in and treat work state；Meanwhile the corresponding points with the ladder step strong point on big wheel 1 are also transferred to by stair climbing piston shoes 32 with the corresponding points of the ladder step strong point by the strong point, under the motor effect of big wheel 1, big wheel 1 will rotate clockwise around the strong point, the wheel shaft concomitant rotation of big wheel 1 and up, thus stair climbing wheelchair car body is also up, until big wheel 1 is tangent with the horizontal line of this ladder step and walking in a horizontal state, or stair climbing piston shoes 32 are contacted with the intersection point of the one stair ladder step in top again, stair climbing wheelchair climbs up this stair ladder step, so far complete climbing of a ladder step, as shown in figure 11, so it is repeatedly completed whole stair climbing work.Stair climbing wheelchair handle 2, more convenient operation can be lengthened in practice.
If common wheelchair powers up dynamic stair-climbing device, walking in a horizontal state leans on manual hand, and this infrastructure cost is lower, and the consumer having also must use the wheelchair of manual hand.To the wheelchair of this structure then the big wheel 1 on stair climbing wheelchair car body go upward to orthodrome on stair climbing piston shoes 32 by the strong point, during the critical localisation overlapping with the projection of orthodrome on stair climbing piston shoes 32 and the projection intersection point of big wheel 1 (as shown in Figure 10), manpower traction is needed to climb stair climbing wheelchair car body, big wheel 1 rotates clockwise around stair intersection point, make the axis of rotation of big wheel 1 up, thus driving, to climb stair climbing wheelchair car body up, until big wheel 1 is tangent with the horizontal line that this ladder walks, stair climbing wheelchair climbs up this stair ladder step.
Figure 12 Figure 16 is that the process downstairs of electric stair climbing ladder wheelchair of the present invention is illustrated, in the process, in front and handle 2 rear, stair climbing wheelchair forward direction moves ahead the big wheel 1 of stair climbing wheelchair, start the pattern of going downstairs, big wheel 1 rotates counterclockwise in the presence of motor always in the process.The ladder wheelchair of electric stair climbing shown in Figure 12 beginning state downstairs, the vertical plane crossing wheel shaft of big wheel 1 is just overlapped with the facade of stair ladder step, the strong point of stair climbing wheelchair is the intersection point of this ladder step, and corresponding point is by the strong point on big wheel 1, under the motor effect of big wheel 1, big wheel 1 rotates counterclockwise around the strong point, and the wheel shaft of big wheel 1 rotates and declines, and makes stair climbing wheelchair car body descending, in the process, by the strong point, the relative position on big wheel 1 is constant；To be big wheel 1 shown in Figure 13 around the strong point rotate make stair climbing wheelchair car body come downwards on big wheel 1 by the strong point，When in projection with big wheel 1 and stair climbing piston shoes 32, the position of orthodrome projection intersection point overlaps，Be in stair climbing wheelchair car body supporter transfer critical，Stair climbing piston shoes 32 are contacted with stair intersection point，The pressure sensor being arranged on stair climbing slide plate 31 sends signal，Controller plc sends signal enabling motor 42 band moving gear 41 and rotates counterclockwise，Stair climbing slide plate 31 starts stair climbing piston shoes 32 relatively and makees slid clockwise，The supporter of stair climbing wheelchair car body is just changed into stair climbing piston shoes 32 from big wheel 1，Corresponding points with the ladder step strong point on stair climbing piston shoes 32 are also transferred to by big wheel 1 with the corresponding points of the ladder step strong point by the strong point simultaneously，In the presence of gear 41 rotates, slid clockwise made by stair climbing slide plate 31 stair climbing piston shoes 32 relatively，Stair climbing wheelchair car body is made to rotate clockwise around the center of circle of stair climbing piston shoes 32，Simultaneously because handle 2 height almost unchanged in the process，Whole stair climbing wheelchair will rotate counterclockwise around the intersection point (strong point) of stair ladder step，The synthesis of its motion makes stair climbing wheelchair car body make oblique downward movement，As shown in figure 14.In the process, by the strong point, the relative position on stair climbing piston shoes 32 is constant, and until big wheel 1 drops to the plane contact with next ladder step, supporter shifts as big wheel 1 again, as shown in figure 15.At this moment stair climbing slide plate 31 no stair pressure, pressure sensor thereon sends signal again, controller plc sends another signal enabling motor 42 counter-rotating belts moving gear 41 again and rotates clockwise, stair climbing piston shoes 32 just make slid clockwise relative to stair climbing slide plate 31, and its rotational angle is identical with the reflex angle number of degrees of rotation, so that stair climbing piston shoes 32 reset, affranchise state, at this moment motor 42 power-off stops operating, and is in and treats work state, as shown in figure 16.So far this stair ladder step complete under stair climbing wheelchair, completes the decline of a ladder step.So it is repeatedly completed process of entirely going downstairs.
As one kind improvement of stair-climbing device, two stair climbing slide plates 31 that electric stair climbing ladder wheelchair forms stair-climbing device constitute a rigid body, and two stair climbing piston shoes 32 thereon are also a rigid body；The rigid body of two stair climbing slide plate 31 compositions is fixedly connected on the vehicle frame between two side framves of electric stair climbing ladder wheelchair, constant with the relativeness of the big wheel 1 of electric stair climbing ladder wheelchair；The rigid body of two stair climbing piston shoes 32 compositions is sleeved on the rigid body that two stair climbing slide plates 31 are constituted, and its nested relationship is constant.This structure not only increases the rigidity of stair climbing slide guide device, and a motor or two Motor drive stair climbing slide guide devices slips may be selected.Using this structure electric stair climbing ladder wheelchair operation principle with upper in the same manner, repeat no more.
The present invention is fully described herein; without departing substantially under spirit presented herein and ambit; the present invention can be made with some modification and improvement, this is it will be apparent that but each falling within the scope of the present invention for a people with ordinary skill.
Claims (3)
1. a kind of electric stair climbing ladder wheelchair, including wheelchair frame, wheel, brake gear, and the part such as seats against；Wheel has two big wheels (1) and two trundles, wheelchair frame includes two side framves being parallel to each other, one big wheel (1) and a trundle are respectively provided with each side frame, big wheel (1) is parallel with side frame, seating against typically is stretched tight with flexible fabric forms on wheelchair frame；It is characterized in that: described electric stair climbing ladder wheelchair is provided with stair-climbing device, and this device mainly includes stair climbing slide guide device, Vidacare corp；Described stair climbing slide guide device is mainly made up of stair climbing slide plate (31) and stair climbing piston shoes (32), the projection of described stair climbing slide plate (31) is in sector, stair climbing piston shoes (32) be projected as partial circle shape, all circular arcs on stair climbing slide plate (31) and stair climbing piston shoes (32) are all concentric circles circular arcs；The rigid body that described stair climbing piston shoes (32) are parallel to each other by two and symmetrical piston shoes side plate (33) and piston shoes arc block (34) form，Piston shoes side plate (33) is partial circle shape，There are orthodrome and small arc-shaped，This small arc-shaped is part ring gear (40)，Piston shoes arc block (34) also have orthodrome and small arc-shaped，The large circular arc radius of partial circle shape of piston shoes side plate (33) are equal with the radius of the orthodrome of piston shoes arc block (34)，Arbitrary radial section of described stair climbing piston shoes (32) is " u " shape，And along fan-shaped circumferential insertion，The both sides of " u " shape are piston shoes side plate (33)，The base of " u " shape is piston shoes arc block (34)，And the top of each piston shoes side plate (33)，I.e. there is the arc chute (35) of a circumferentially insertion side of small end，The arc chute (35) of described stair climbing piston shoes (32) each piston shoes side plate (33) upper is in inner side；The radius of the small arc-shaped of described piston shoes arc block (34) is slightly larger than the radius of the fan-shaped circular arc of stair climbing slide plate (31), and the thickness of piston shoes arc block (34) is slightly larger than the thickness of stair climbing slide plate (31)；Respectively there is the circular arc feather key (36) of an evagination on the small end two sides of the sector of stair climbing slide plate (31), two circular arc feather keys are symmetrical, the roundlet arc radius of this circular arc feather key (36) are slightly larger than the radius of the small arc-shaped of arc chute (35), and the large circular arc radius of circular arc feather key (36) are less than the radius of the orthodrome of arc chute (35), the deep equality of the height of circular arc feather key (36) and arc chute (35)；Described stair climbing piston shoes (32) are sleeved on stair climbing slide plate (31), the small arc-shaped of piston shoes arc block (34) on stair climbing piston shoes (32) is contacted with the fan-shaped circular arc of stair climbing slide plate (31), and the arc chute (35) of each the piston shoes side plate (33) on stair climbing piston shoes (32) is adapted with the circular arc feather key (36) of stair climbing slide plate (31) respective side；
Described Vidacare corp includes motor (42), gear (41), control device；Described motor (42) and gear (41) are fixedly connected on stair climbing slide plate (31), gear (41) engages (40) with the part ring gear of piston shoes side plate (33) small arc-shaped of stair climbing piston shoes (32), motor (42) positive and negative rotation band moving gear (41) rotates, thus driving stair climbing piston shoes (32) stair climbing slide plate (31) relatively to make slip suitable, counterclockwise；The installation site of Vidacare corp should ensure that slip relative suitable, counterclockwise with stair climbing slide plate (31) in working range for the stair climbing piston shoes (32), and gear (41) is normally engaged with the part ring gear (40) of piston shoes side plate (33) small arc-shaped of stair climbing piston shoes (32)；
Described stair climbing slide plate (31) is fixed on the inner side of side frame of wheelchair frame, or is fixed on the outside of side frame of wheelchair frame, that is, between big wheel (1) and side frame；Stair climbing slide plate (31) and the plane of movement of stair climbing piston shoes (32) thereon but are parallel to each other not in approximately the same plane with big wheel (1) place plane, and stair climbing piston shoes (32) are not interferenceed with other components in upper slip of stair climbing slide plate (31)；On described electric stair climbing ladder wheelchair, composition two groups of stair climbing slide plates (31) of stair-climbing device and stair climbing piston shoes (32) thereon are symmetrical；
The setting height(from bottom) in the fan-shaped center of circle of described stair climbing slide plate (31) is higher than to intend the height of climbing highest ladder step；When the angle of described electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, the height of the great circle end of arc of described stair climbing slide plate (31) sector end points and stair climbing piston shoes (32) is higher than the height intending climbing highest ladder step, stair climbing piston shoes (32) and the contact point of ladder step, and the intersection point of the projection of the projection of stair climbing piston shoes (32) and big wheel (1) distance in the horizontal direction is less than the minimum-depth of plan stair climbing ladder step；Some is overlapping for the projection of described stair climbing piston shoes (32) and the projection of big wheel (1), the outside of the projection in big wheel (1) for the part for the orthodrome projection of stair climbing piston shoes (32), the upper outside with the projection being projected in big wheel (1) of contact point intending climbing highest ladder step of stair climbing piston shoes (32), and the outside of the projection in big wheel (1) for the active section on the orthodrome of stair climbing piston shoes (32), the minimum point of the orthodrome of stair climbing piston shoes (32) is higher than the minimum point of big wheel (1) wheel rim, the minimum point of the orthodrome of described stair climbing piston shoes (32) is located in the projection of big wheel (1), and the intersection point of the projection of the projection near stair climbing piston shoes (32) and big wheel (1), minimum point also close to big wheel (1)；The arc length of the fan-shaped circular arc of described stair climbing slide plate (31) is more than the arc length of stair climbing piston shoes (32) upper corresponding position circular arc, and the arc length of the fan-shaped circular arc of stair climbing slide plate (31) meets slide guide and support during stair climbing piston shoes (32) slip work.
2. according to claim 1 electric stair climbing ladder wheelchair, it is characterized in that: the stair climbing piston shoes (32) of described stair climbing slide guide device are parallel to each other by two and symmetrical piston shoes side plate (33), the rigid body that at least two truckles (38) and at least two big pulleys (39) form；The small arc-shaped of the piston shoes side plate (33) of described stair climbing piston shoes (32) is part ring gear (40)，The thickness of piston shoes side plate (33) small end is less than the thickness at big end，Its interface is arc surface，Form step (37)，And step (37) plane is parallel with piston shoes side plate (33) plane，The arc radius of the step (37) on this piston shoes side plate (33) are more than the large circular arc radius of circular arc feather key (36)，The height of step (37) is equal with the height of circular arc feather key (36)，At least it is fixed with two truckles (38) in described step (37) plane，Its rotational plane is parallel with step (37) plane，The width of truckle (38) is equal with the height of step (37)，Truckle (38) is distributed in the plane of step (37)，The center of circle of the internal common tangent circle of each truckle (38) is on the line of symmetry of piston shoes side plate (33) partial circle shape，Its internal common tangent circle center of circle is slightly in the top in the concentric circles center of circle of each circular arc，Internal common tangent circle radius is equal to the radius of the small arc-shaped of circular arc feather key (36)；At least two described big pulleys (39) are uniformly fixed between the big end of two piston shoes side plates (33), the width of big pulley (39) is slightly larger than the thickness of stair climbing slide plate (31), its rotational plane is parallel with piston shoes side plate (33) plane, each outer common tangent circle of big pulley (39) and the circle of other circular arcs are concentric circles, this outer common tangent circle radius is equal to the radius of stair climbing slide plate (31) sector circular arc, and internal common tangent circle radius is less than or equal to the big radius of circle of piston shoes side plate (33)；The stair climbing piston shoes (32) of described stair-climbing device are sleeved on stair climbing slide plate (31), big pulley (39) on stair climbing piston shoes (32) is contacted with the fan-shaped circular arc of stair climbing slide plate (31), the truckle (38) on each piston shoes side plate (33) on stair climbing piston shoes (32) is contacted with the small arc-shaped of the circular arc feather key (36) of stair climbing slide plate (31) respective side, and described stair climbing piston shoes (32) stair climbing slide plate (31) relatively under the driving of Vidacare corp can make slip suitable, counterclockwise.
3. electric stair climbing ladder wheelchair according to claim 1 or claim 2, it is characterized in that: two stair climbing slide plates (31) forming stair-climbing device on described electric stair climbing ladder wheelchair constitute a rigid body, and two stair climbing piston shoes (32) thereon are also a rigid body；The rigid body that described two stair climbing slide plates (31) are constituted is fixedly connected on the vehicle frame between two side framves of electric stair climbing ladder wheelchair, constant with the relativeness of the big wheel 1 of electric stair climbing ladder wheelchair；The rigid body that described two stair climbing piston shoes (32) are constituted is sleeved on the rigid body that two stair climbing slide plates (31) are constituted, and its nested relationship is constant.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510389456.6A CN106333804B (en) | 2015-07-06 | 2015-07-06 | Electric stair climbing ladder wheelchair |
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| CN201510389456.6A CN106333804B (en) | 2015-07-06 | 2015-07-06 | Electric stair climbing ladder wheelchair |
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| CN106333804B CN106333804B (en) | 2017-12-19 |
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| CN201510389456.6A Expired - Fee Related CN106333804B (en) | 2015-07-06 | 2015-07-06 | Electric stair climbing ladder wheelchair |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108394423A (en) * | 2018-05-08 | 2018-08-14 | 中唐空铁科技有限公司 | A kind of balancing seat |
| CN112057253A (en) * | 2020-09-23 | 2020-12-11 | 王薇 | Electric wheelchair for going upstairs |
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| CN112057253A (en) * | 2020-09-23 | 2020-12-11 | 王薇 | Electric wheelchair for going upstairs |
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|---|---|
| CN106333804B (en) | 2017-12-19 |
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