CN106821624A - A kind of stair climbing wheelchair - Google Patents
A kind of stair climbing wheelchair Download PDFInfo
- Publication number
- CN106821624A CN106821624A CN201710169368.4A CN201710169368A CN106821624A CN 106821624 A CN106821624 A CN 106821624A CN 201710169368 A CN201710169368 A CN 201710169368A CN 106821624 A CN106821624 A CN 106821624A
- Authority
- CN
- China
- Prior art keywords
- shaft
- arm
- building
- wheelchair
- supporting leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention discloses a kind of stair climbing wheelchair, including wheelchair frame, handrail is installed in its both sides；Supporting leg, its both sides for being symmetrically laid in wheelchair frame width, for carrying wheelchair frame；Road wheel, it passes through to take turns rotating shaft rotatable connection in the supporting leg bottom inside, for driving supporting leg to walk；Climbing building device, including arm rotating shaft and along arm spindle central it is symmetrical climb building arm, the building arm of climbing is rotatably connected in the supporting leg bottom sides by arm rotating shaft；Transmission mechanism, it is laid between the supporting leg and climbs building arm described in connecting, and building arm rotation is climbed for driving；Drive device, its described transmission mechanism of connection, for providing power for transmission mechanism；Wherein, when road wheel is with building arm rotation is climbed, the slewing area for climbing building arm covers the slewing area of the road wheel.Stair climbing wheelchair of the invention has the advantages that climbing building performance, changing and climb building span, simple structure, good stability and easy to operate for stabilization.
Description
Technical field
The present invention relates to wheelchair field.It is more particularly related to a kind of stair climbing wheelchair.
Background technology
In the electric wheelchair of existing energy stair climbing, can be operated by occupant oneself is carried out downstairs, it is ensured that occupant
Safety will not damage the wheelchair of stair seldom again simultaneously, can adapt to different stair sizes from main regulation span during building is climbed
Wheelchair is rarer.Even if there is the wheelchair that can be adjusted and climb building span, the retinue for being typically necessary skilled operation is carried out
Adjustment, and adjustment is difficult, the scope very little of adjustment, and adaptability and practicality are inadequate.Especially wheelchair is during stair climbing
Regulation direct of travel is highly difficult, only solves these problems, and electric stairs-climbing wheelchair can just obtain more preferable promotion and application.
The content of the invention
It is an object of the present invention to provide a kind of stair climbing wheelchair, what installation can be rotated on supporting leg climbs building arm and road wheel,
Climb building arm and contact stair prior to road wheel, drive wheelchair stair-climbing.
It is a still further object of the present invention to provide a kind of stair climbing wheelchair, afterwards transverse electric push rod regulation front support leg and branch
The lateral separation of support leg, is easy to wheelchair to climb the stair of different in width and height.
In order to realize these purposes of the invention and further advantage, there is provided a kind of stair climbing wheelchair, including：
Wheelchair frame, its both sides are installed by handrail；
Supporting leg, its both sides for being symmetrically laid in wheelchair frame width, for carrying wheelchair frame；
Road wheel, it passes through to take turns rotating shaft rotatable connection in the supporting leg bottom inside, for driving supporting leg to walk；
Climbing building device, including arm rotating shaft and along arm spindle central it is symmetrical climb building arm, the building arm of climbing is revolved by arm rotating shaft
Turn to be connected to the supporting leg bottom sides；
Transmission mechanism, it is laid between the supporting leg and climbs building arm described in connecting, and building arm rotation is climbed for driving；
Drive device, its described transmission mechanism of connection, for providing power for transmission mechanism；
Wherein, when road wheel is with building arm rotation is climbed, the slewing area for climbing building arm covers the rotation model of the road wheel
Enclose.
Preferably, the transmission mechanism includes drive shaft system, and it includes：
Front propeller shaft, its two ends are rotatably connected in supporting leg top front end；
Inter-axle shaft, its two ends are rotatably connected in supporting leg upper rear end and parallel to the front propeller shaft；
Front rotary shaft, its two ends are rotatably connected in supporting leg bottom front and are laid in above the road wheel；
Rotating shaft afterwards, its two ends are rotatably connected in supporting leg bottom rear end and are laid in above the road wheel.
Preferably, the transmission mechanism also includes pinion unit, and it includes：
Four driving gears, it is symmetrically fixed on the front rotary shaft and rear rotating shaft both sides, with front rotary shaft and rear rotating shaft synchronization
Rotate；
Driven gear, it is fixed in arm rotating shaft and is engaged with the driving gear, and building arm rotation is climbed for driving.
Preferably, the pinion unit also includes：
Front rod, its one end is arranged on the front propeller shaft；
Preceding double chain wheel, it is arranged on the front propeller shaft middle part；
Back link, its one end is arranged on the inter-axle shaft；
Double chain wheel afterwards, it is arranged on the inter-axle shaft middle part；
Wherein, the other end of the front rod and the other end of back link are connected by jackshaft, are arranged on the jackshaft
Middle double chain wheel；
Preceding sprocket wheel, it is fixed on front rotary shaft middle part；
Sprocket wheel afterwards, it is fixed on rear rotating shaft middle part；
Wherein, by chain drive between the preceding double chain wheel and rear sprocket wheel, passed by chain between the rear double chain wheel and preceding sprocket wheel
It is dynamic, by chain drive between the preceding double chain wheel and middle double chain wheel, by chain drive between the middle double chain wheel and rear double chain wheel.
Preferably, the drive device is：
Rocking arm, its be fixedly connected on front propeller shaft, inter-axle shaft, front rotary shaft and in rear rotating shaft any axle one end, be used for
The axle that drive is secured to connection is rotated；
Or,
The front propeller shaft, inter-axle shaft, front rotary shaft and motor driven gear is installed on any axle in rear rotating shaft；And,
Building motor is climbed, its motor output shaft is engaged with the motor driven gear, motor driven gear is installed for driving
Axle rotate.
Preferably, the supporting leg includes：
Two front support legs, its both sides for being symmetrically laid in wheelchair frame width；
Two rear support legs, it connects the front support leg to form chi structure respectively；
Wherein, horizontal concrete chute, the first skewed slot are opened up on the front support leg, is opened up on the rear support leg and described first
The second skewed slot that skewed slot intersects；And
Top shoe, it passes through the horizontal concrete chute, and two ends to be rotatably connected respectively in front propeller shaft end and rear support
The top of leg；
Intermediate slider, it is each passed through the first skewed slot and the second skewed slot, and is slided along the first skewed slot and the second skewed slot.
Preferably, also include：
Transverse electric push rod, it is Tiebar structure, and two ends are separately fixed on front propeller shaft and inter-axle shaft, are used for
Rear support leg is driven to be moved along horizontal concrete chute.
Preferably, the road wheel also includes：
Movable motor, its motor output shaft fifth wheel rotating shaft, for driving road wheel to rotate.
The present invention at least includes following beneficial effect：1st, using in the sliding block on the front support leg of wheelchair and front and rear supporting leg
Between two groups of sliding blocks ensure that rear support leg and front support leg fork configuration stability, while ensure that front and rear supporting leg only
Energy relative translation, that is, ensure that the angle of cut between front and rear supporting leg is constant.The feature cause wheelchair before adjustment Hou Pa buildings arm across
Away from when, climb the synchronous axial system of building arm before and after remaining, so as to synchronous walking during stair activity can be realized, adjustable span
Scope is big, and the applicability to different stair is wide, it is easy to accomplish the optimization of building arm and walking size of wheel is climbed, so that Ye Shipa buildings are steady
Property is improved.2nd, the middle shaft transmission system of particular design and double-slider cross leg structure, realize a driver drives
Four Ge Pa buildings arm synchronous axial systems；3rd, by two motors as road wheel driving, in that context it may be convenient to realize wheelchair turn, make operation
Simpler convenience.4th, stair-climbing wheel chair of the invention has simple structure, good stability, easy to operate, can change and climb building span,
Can alone be driven by occupant, performance and it is safe the advantages of.
Further advantage of the invention, target and feature embody part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the stereogram of stair climbing wheelchair of the invention.
Fig. 2 is the structural representation of stair climbing wheelchair of the invention.
Fig. 3 is the structural representation of the longitudinal electric push rod of stair climbing wheelchair of the invention.
Fig. 4 is the road wheel of stair climbing wheelchair of the invention and climbs the connection diagram of building arm and transmission mechanism.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that it is used herein such as " have ", "comprising" and " including " term do not allot one or many
The presence or addition of individual other elements or its combination.
Fig. 1-4 shows a kind of way of realization of stair climbing wheelchair of the invention, including wheelchair frame 100, supporting leg
200th, traveling wheel mechanism 300, transmission mechanism 400, Climbing building device 500.Handrail is installed in the both sides of wheelchair frame 100, is easy to occupant to grab
Hold, to keep balance.Supporting leg 200 includes front support leg 210, rear support leg 220, front support leg 210 and rear support leg 220 pairs
Title is laid in the both sides of the width of wheelchair frame 100, for carrying wheelchair frame 100；Traveling wheel mechanism 300 includes two front-wheels
310 and two trailing wheels 320, two front-wheels 310 are rotatably connected in the bottom inside of the front support leg 210 by front-wheel rotating shaft 311,
Two trailing wheels 320 are rotatably connected the bottom inside of supporting leg 220 in the rear by trailing wheel rotating shaft 321, and traveling wheel mechanism 300 is used for
Supporting leg 200 is driven to walk, so as to drive wheelchair in level walking；Climbing building device 500 includes climbing building arm and arm rotating shaft, described to climb
Building arm is rotatably connected in the supporting leg bottom sides by arm rotating shaft, and Climbing building device 500 is used to drive wheelchair stair-climbing；Driver
Structure 400 is laid between the supporting leg 200 and connects the Climbing building device 500, for driving Hou Pa buildings arm 510, Qian Palou
Arm 520 rotates；Drive device connects the transmission mechanism 400, is Hou Pa buildings arm 510, Qian Pa buildings arm by transmission mechanism 400
520 provide power, for driving Hou Pa buildings arm 510, Qian Pa buildings arm 520 to rotate；Wherein, when road wheel is with building arm rotation is climbed, institute
The slewing area of Shu Pa buildings arm covers the slewing area of the road wheel, Shi Houpa buildings arm 510, Qian Pa buildings arm 520 turn to
Continue two front-wheels 310 and two trailing wheels 320 can be supportted and fallen on next stage stair from stair in rotation process after stair contact
Without contact stair riser.
As shown in Fig. 2 supporting leg 200 includes two front support legs 210 and two rear support legs 220, the front support leg
210 is " 7 " character form structure being made up of horizontal support post and the first bearing diagonal post, and the rear support leg 220 is and the first bearing diagonal
The centrosymmetric second bearing diagonal post of post, two front support legs 210 are symmetricly set on the both sides of wheelchair frame 100, two rear support legs
220 be symmetricly set on two sides of front support leg 210, is propped up before two rear support legs 220 are symmetricly set on two as shown in Figure 2
The outside of support leg 210, preferably two rear support legs 220 are symmetricly set on two inner sides of front support leg 210, and with it is described
Two front support legs 210 constitute " and " character form structure, " and " the upper plane of character form structure is used to connect wheelchair frame 100, the wheel
Wheel chair cushions and backrest are laid in chair frame 100, is easy to occupant to be steadily sitting on wheelchair.
As shown in Fig. 2 transmission mechanism 400 includes drive shaft system 410 and pinion unit 420.
The drive shaft system 410 includes front propeller shaft 411, inter-axle shaft 412, front rotary shaft 413 and rear rotating shaft 414, forward pass
Moving axis 411, inter-axle shaft 412, front rotary shaft 413 and the vertical runs of rear rotating shaft 414 are in two front support legs 210 and two rear supports
Between leg 220；The two ends of front propeller shaft 411 are rotatably connected two top front ends of front support leg 210；Revolve at the two ends of inter-axle shaft 412
Turn to be connected to two upper rear ends of front support leg 210 and parallel to the front propeller shaft 411；The two ends of front rotary shaft 413 are rotatably connected
In two bottom fronts of front support leg 210 and it is laid in the top of described two front-wheels 310；The two ends of rotating shaft 414 rotatable connection afterwards exists
The bottom rear end of rotating shaft 414 and it is laid in the top of two trailing wheels 320 afterwards.
The pinion unit 420 includes preceding double chain wheel 421, front rod 422, rear double chain wheel 423, back link 424, preceding master
Moving gear 425a, preceding sprocket wheel 426a, rear drive gear 425b, rear sprocket wheel 426b, jackshaft 427, middle double chain wheel 428；Preceding company
One end of bar 422 is arranged on the front propeller shaft 411；Preceding double chain wheel 421 is arranged on the middle part of the front propeller shaft 411, with institute
State the synchronous axial system of front propeller shaft 411；One end of back link 424 is arranged on the inter-axle shaft 412, and rear double chain wheel 423 is installed
In the rear in the middle part of power transmission shaft 412, with the synchronous axial system of the inter-axle shaft 412；Wherein, the other end of the front rod 422 and
The other end of back link 424 is connected by jackshaft 427, and middle double chain wheel 428 is arranged on the jackshaft 427；Driving gear bag
Include two preceding driving gear 425a and two rear drive gears 425b, two preceding driving gear 425a are symmetrically fixed on the forward
The both sides of axle 413, two rear drive gear 425b symmetrically fix the both sides of rotating shaft 414 in the rear, and driving gear is with the He of front rotary shaft 413
The synchronous axial system of rotating shaft 141 afterwards；Preceding sprocket wheel 426a is fixed on the middle part of front rotary shaft 413, and the preceding sprocket wheel 426a and front rotary shaft 413 are synchronous
Rotate；Sprocket wheel 426b is fixed on the middle part of rear rotating shaft 414, the rear sprocket wheel 426b and the synchronous axial system of rear rotating shaft 414 afterwards；
Wherein, by chain drive between the preceding double chain wheel 421 and rear sprocket wheel 426b, the rear double chain wheel 423 and preceding sprocket wheel
By chain drive between 426a, by chain drive between the preceding double chain wheel 421 and middle double chain wheel 428, the middle double chain wheel 428
By chain drive and between rear double chain wheel 423.When by front propeller shaft 411 in transmission mechanism 400, inter-axle shaft 412, front rotary shaft 413,
When any one axle is as driving shaft in rotating shaft 414, jackshaft 427 afterwards, its that pass in transmission mechanism 400 can will be rotated
His four axles.
As shown in Figures 2 and 4, Climbing building device 500 includes Liang Gehoupa buildings arm 510,520, two forearms of Liang Geqianpa buildings arm
Driven gear 560, described two Hou Pa buildings after rotating shaft 530 and two postbrachium rotating shafts, 540, two preceding driven gears 550 and two
Arm 510 is rotatably connected the bottom sides of supporting leg 220 in the rear by two postbrachium rotating shafts 540, and Hou Pa buildings arm 510 is tool
There is the metallic roll of certain rigidity and hardness, it is along the Central Symmetry of postbrachium rotating shaft 540；Qian Pa buildings arm 520 passes through forearm rotating shaft
530 rotatable connections are in the bottom sides of the front support leg 210, and Qian Pa buildings arm 520 is the gold with certain rigidity and hardness
Category roller, it is along the Central Symmetry of forearm rotating shaft 530；Two preceding driven gears 550 by forearm rotating shaft 530 be fixedly connected on it is described before
The bottom inside of supporting leg 210, makes preceding driven gear 550 and preceding driving gear 425a engaged transmissions so that front rotary shaft 413 with it is preceding
Climb the synchronous axial system of building arm 520；Driven gear 560 is fixedly connected on the rear support leg by two postbrachium rotating shafts 540 after two
220 bottom insides, make rear driven gear 560 and rear drive gear 425b engaged transmissions, so that rear rotating shaft 414 and Hou Pa buildings arm
510 synchronous axial systems；Climbing building device 500 drives rotation by transmission mechanism 400.
In another embodiment, the drive device (concrete structure is not shown) is by two kinds of ways of realization, one
Planting way of realization is：Drive device is rocking arm, and one end is fixedly connected on front propeller shaft, inter-axle shaft, front rotary shaft and turns afterwards
One end of any axle in axle, rocking arm rotation is shaken by occupant manually, so that drive the axle for being secured to connection to rotate, so that logical
Transmission mechanism 400 is crossed by power transmission to Climbing building device 500, drives Climbing building device 500 to rotate, make wheelchair carry out climbing building；
Drive device another kind way of realization is：Drive device is to climb building motor, corresponding, the forward pass
Moving axis, inter-axle shaft, front rotary shaft and motor driven gear is installed on any axle in rear rotating shaft, as shown in Figure 2 inter-axle shaft 412
Upper fixed installation motor driven gear 429, the motor output shaft for climbing building motor is engaged with the motor driven gear 429, is used for
Drive inter-axle shaft 412 to rotate, power drives to Climbing building device 500 by transmission mechanism 400, drive Climbing building device 500 to rotate,
Wheelchair is set to carry out climbing building.
The drive device of both the above structure can simultaneously drive the He of Liang Gehoupa buildings arm 510 by transmission mechanism 400
Liang Geqianpa buildings arm 520, realizes a Ge Pa buildings arm synchronous axial system of driver drives four,
In another embodiment, as shown in Figures 2 and 4, also opened up on the supporting leg 200：Intermediate slider 230, level is slided
Groove 211, the first skewed slot 212 and the second skewed slot 221；Wherein, horizontal concrete chute 211, the first bearing diagonal are opened up on the horizontal support post
The first skewed slot 212 is opened up on post, is opened up on the second bearing diagonal post with first skewed slot along the second symmetrical skewed slot of vertical line
221；Top shoe 213 passes through the horizontal concrete chute 211, and two ends to be rotatably connected respectively in the end of front propeller shaft 411 and rear branch
The top of support leg 220；Intermediate slider 230 is each passed through the first skewed slot 212 and the second skewed slot 221, and along the first skewed slot 212 and
Two skewed slots 221 are slided, and allow intermediate slider 230 while being moved in the first skewed slot 212 and the second skewed slot 221, by above-mentioned
Design makes front support leg 210 and rear support leg 220 be configured to move scissor structure, it is ensured that front support leg 210 and rear support leg
220 being capable of relative translation.
In another embodiment, front support leg 210 and the device of the relative movement of rear support leg 220 are driven for transverse electric is pushed away
Bar 430, transverse electric push rod 430 for length adjustable Tiebar structure, and two ends be separately fixed at front propeller shaft 411 and after
On power transmission shaft 412, for driving rear support leg 220 to be moved along horizontal concrete chute, enable front support leg 210 and rear support leg 220
Relative translation, realizes also remaining four Ge Pa buildings arms when 220 span of front support leg 210 and rear support leg is changed simultaneously
Synchronous axial system, to adapt to the stair of different height and width, makes stair-climbing wheel chair smoothly climb building.
In another embodiment, as shown in figure 1, stair climbing wheelchair also includes that the device of the regulation angle of wheelchair frame 100 is vertical
To the first support shaft 415 and the second support shaft 416 in electric pushrod 440, and drive shaft system 410, wherein, the first support shaft
415 is axle construction, and its two ends is fixed on the top of two top front ends of front support leg 210 and front propeller shaft 411；Second support shaft
416 is axle construction, and its two ends is fixed on the top of two upper rear ends of front support leg 210 and inter-axle shaft 412, the wheelchair frame
100 bottoms are hinged in the second support shaft 416；Propelled longitudinally pull bar 440 is the Tiebar structure of length adjustable, and its one end is hinged
In the bottom front of the wheelchair frame 100.Wherein, U-type groove is opened up in first support shaft 415, propelled longitudinally pull bar 440 is another
End is arranged in U-type groove and is fixed in the first support shaft 415；By adjusting the length of longitudinal electric push rod 440, wheelchair frame
100 rotate around the second support shaft 416, adjust the angle of wheelchair frame 100, are easy to during building is climbed adjust the angle of occupant,
Occupant topples over caused by preventing over-tilting.
In another embodiment, as shown in Fig. 1,2 and 4, the road wheel of stair climbing wheelchair is driven by two movable motors 330
Dynamic walking, the motor output shaft of two movable motors 330 is respectively fixedly connected with front-wheel rotating shaft 311 and trailing wheel rotating shaft 321, walking electricity
Machine 330 drives its output shaft rotation, so as to drive two front-wheels 310 to rotate, two trailing wheels 320 are supporting roller, roller and ground
Frictional force rotate.Two movable motors 330 by control system control, can synchronization or differential rotate, realize automatic linear
Walking is turned, and increases the flexibility of wheelchair.
The straight line moving of stair climbing wheelchair, retreat and turning process is as follows：
Level land is positive walk when, first pass through and climb building motor and incline Liang Gehoupa buildings arm 510 and Liang Geqianpa buildings arm 520
Certain angle, Shi Pa buildings arm minimum point leaves ground certain altitude, then climbs building motor stalls.Two movable motors of control
330 rotate, left side movable motor 330 drive the near front wheel 310 rotate counterclockwise, right side movable motor 330 drive off-front wheel 310 with
Same rotating speed is rotated clockwise, and so under two drives of movable motor 330, two trailing wheels 320 also followed by and rotate forward,
Realize the traveling forward of wheelchair.
It is identical with level land forward direction walking process when retreating (reversing), unlike, two movable motors 330 of control are reverse
Rotate, realize that the retrogressing (reversing) of wheelchair is advanced.
When needing wheelchair to turn, according to the direction turned, the rotating speed of two movable motors 330 of control and direction, you can
Realize, during if desired for being turned to right front, control right side movable motor 330 drives off-front wheel 310 to rotate counterclockwise at a slow speed, while
Control left side movable motor 330 drives the near front wheel 310 quickly to rotate clockwise, and the differential of left and right front-wheel 310 is rotated, and realizes wheelchair
Front direction to the right turn, the size of radius of turn can be according to the adjustment of rotational speed of left and right front-wheel 310.Similarly, it is also possible to real
Show being turned to left front for wheelchair.Similarly, wheelchair can also carry out the turning in back leg direction.
Stair climbing wheelchair of the invention to climb building process as follows：Wheelchair occupant just to direction be defined as forward direction, will carry on the back
Direction to riding vehicle is defined as reversely.
When building is climbed, wheelchair occupant is facing away from direction upstairs all the time, that is, remain that occupant faces downstairs
Direction, makes two trailing wheels 320 of wheelchair come on the riser of first order step, if one of trailing wheel 320 leads to without top
Crossing the rotating speed of control movable motor 330 makes two trailing wheels of wheelchair that (attention, in trailing wheel 320 near riser is contacted with stair riser
Before, it should be noted that Xian Shipa buildings arm inclines certain angle, and the inclination angle with stair substantially is consistent) seat of wheelchair is tilted backwards one again
Individual angle, should not make body excessively lean forward during ensureing and climb building.
1st, control is climbed building motor and is rotated, and the motor driven gear 429 for engaging is driven by the output shaft for climbing building motor
Rotate, so as to drive inter-axle shaft 412 to rotate, inter-axle shaft 412 drives jackshaft 427 to rotate by rear double chain wheel 423, and leads to
The middle double chain wheel 428 crossed on jackshaft 427 transmits drive force to front propeller shaft 411.Now, jackshaft 427 and rear transmission
Axle 412, front propeller shaft 411 are rotate in same direction with same rotational speed.
2nd, front propeller shaft 411 is by the rear sprocket wheel 426b engaged transmissions in chain and rear rotating shaft 414, rotating shaft 414 after drive
Synchronous rotation；Meanwhile, the rear double chain wheel 423 on inter-axle shaft 412 is by the preceding sprocket wheel 426a on chain and front rotary shaft 413
Connection, drives the synchronous rotation of front rotary shaft 413.Now, realize front propeller shaft 411, inter-axle shaft 412, front rotary shaft 413 and after
The synchronous axial system of rotating shaft 414.
3rd, rear rotating shaft 414 drives driving gear 425b fixed thereon to rotate, the rear driven gear 560 that drive is engaged
Rotate, so as to drive Liang Gehoupa buildings arm 510 to rotate backward, now, front propeller shaft and rear rotating shaft synchronously rotate in same direction, drive two
Ge Houpa buildings arm 510 is rotated backward at the same speed.
Now, the Qian Pa buildings arm 520 and Hou Pa buildings arm 510 in left side rotate in same direction at the same speed, and the Qian Pa buildings arm 520 on right side is with after
Climb building arm 510 to rotate in same direction at the same speed, the building arm of climbing of arranged on left and right sides rotates backward and climbs building.
4th, climb building arm and rotate backward and climb building, after climbing up one-level step, with the change for climbing building arm corner, trailing wheel falls in stair
Step surface on, if now feeling forward lean, the angle of seat can be adjusted, keep body to slightly have hypsokinesis, continue to control
Climb building arm to rotate backward, climbing building arm can continue to climb next stage step, until stairs.When building is specifically climb, by
In mechanical precision problem or extraneous other conditions influence, it may appear that wheelchair position or orientation deviation during building is climbed, after showing as
Wheel fails while being fitted with step riser.If after this deviation accumulation, can influence to climb the security in building, or even cannot smoothly climb
Building, therefore, noticing this problem when this wheelchair is designed, the solution for being given is to deviate when there is side road wheel, no
Can backward be run later on the stair step face of falling and be contacted with stair riser, then after the top stair riser of side road wheel,
The wheel for first contacting is subject to very big drag effect and original place is skidded, and the front-wheel motor of opposite side drives homonymy road wheel to continue
Rotate backward, untill the top stair riser of two trailing wheels, building direction is climbed this completes climb wheelchair during building
Adjust automatically.After direction is adjusted, it is possible to which building motor is climbed in continuation control carries out climbing for next stage stair.
When climbing building downwards, process is similar with building of climbing, but it is noted that when starting to climb first step downwards, first
Adjustment wheelchair front wheel makes movable motor stop operating parallel and near to stair, and the angle of inclination for climbing building leg is suitable, and building is climbed in control
When arm is rotated forward, its minimum point has been moved off level land, and next stage step is turned to rotating.When front-wheel falls first order step
Afterwards, start movable motor to rotate backward, so can guarantee that road wheel is leaned against on riser backward all the time, keep wheelchair climbs building direction
Correctly, stair-climbing wheel chair continuously can downwards climb whole stair.
Although embodiment of the present invention is disclosed as above, it is not restricted to listed in specification and implementation method
With.It can be applied to various suitable the field of the invention completely.For those skilled in the art, can be easily
Realize other modification.Therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (8)
1. a kind of stair climbing wheelchair, it is characterised in that including：
Wheelchair frame, its both sides are installed by handrail；
Supporting leg, its both sides for being symmetrically laid in wheelchair frame width, for carrying wheelchair frame；
Road wheel, it passes through to take turns rotating shaft rotatable connection in the supporting leg bottom inside, for driving supporting leg to walk；
Climbing building device, including arm rotating shaft and along arm spindle central it is symmetrical climb building arm, it is described climb building arm and rotated by arm rotating shaft connect
It is connected on the supporting leg bottom sides；
Transmission mechanism, it is laid between the supporting leg and climbs building arm described in connecting, and building arm rotation is climbed for driving；
Drive device, its described transmission mechanism of connection, for providing power for transmission mechanism；
Wherein, when road wheel is with building arm rotation is climbed, the slewing area for climbing building arm covers the slewing area of the road wheel.
2. stair climbing wheelchair as claimed in claim 1, it is characterised in that the transmission mechanism includes drive shaft system, and it includes：
Front propeller shaft, its two ends are rotatably connected in supporting leg top front end；
Inter-axle shaft, its two ends are rotatably connected in supporting leg upper rear end and parallel to the front propeller shaft；
Front rotary shaft, its two ends are rotatably connected in supporting leg bottom front and are laid in above the road wheel；
Rotating shaft afterwards, its two ends are rotatably connected in supporting leg bottom rear end and are laid in above the road wheel.
3. the stair climbing wheelchair that such as claim 2 is stated, it is characterised in that the transmission mechanism also includes pinion unit, its bag
Include：
Four driving gears, it is symmetrically fixed on the front rotary shaft and rear rotating shaft both sides, with front rotary shaft and rear rotating shaft synchronous axial system；
Driven gear, it is fixed in arm rotating shaft and is engaged with the driving gear, and building arm rotation is climbed for driving.
4. stair climbing wheelchair as claimed in claim 3, it is characterised in that the pinion unit also includes：
Front rod, its one end is arranged on the front propeller shaft；
Preceding double chain wheel, it is arranged on the front propeller shaft middle part；
Back link, its one end is arranged on the inter-axle shaft；
Double chain wheel afterwards, it is arranged on the inter-axle shaft middle part；
Wherein, the other end of the front rod and the other end of back link are connected by jackshaft, and centre is arranged on the jackshaft
Double chain wheel；
Preceding sprocket wheel, it is fixed on front rotary shaft middle part；
Sprocket wheel afterwards, it is fixed on rear rotating shaft middle part；
Wherein, by chain drive between the preceding double chain wheel and rear sprocket wheel, by chain drive between the rear double chain wheel and preceding sprocket wheel, institute
State between preceding double chain wheel and middle double chain wheel by chain drive, by chain drive between the middle double chain wheel and rear double chain wheel.
5. the stair climbing wheelchair stated such as claim 4, it is characterised in that the drive device is：
Rocking arm, its be fixedly connected on front propeller shaft, inter-axle shaft, front rotary shaft and in rear rotating shaft any axle one end, for driving
The axle for being secured to connection is rotated；
Or,
The front propeller shaft, inter-axle shaft, front rotary shaft and motor driven gear is installed on any axle in rear rotating shaft；And,
Building motor is climbed, its motor output shaft is engaged with the motor driven gear, the axle of motor driven gear is installed for driving
Rotate.
6. the stair climbing wheelchair as any one of claim 1-5, it is characterised in that the supporting leg includes：
Two front support legs, its both sides for being symmetrically laid in wheelchair frame width；
Two rear support legs, it connects the front support leg to form chi structure respectively；
Wherein, horizontal concrete chute, the first skewed slot are opened up on the front support leg, is opened up on the rear support leg and first skewed slot
The second skewed slot for intersecting；And
Top shoe, it passes through the horizontal concrete chute, and two ends are rotatably connected in front propeller shaft end and rear support leg respectively
Top；
Intermediate slider, it is each passed through the first skewed slot and the second skewed slot, and is slided along the first skewed slot and the second skewed slot.
7. stair climbing wheelchair as claimed in claim 6, it is characterised in that also include：
Transverse electric push rod, it is Tiebar structure, and two ends are separately fixed on front propeller shaft and inter-axle shaft, for driving
Rear support leg is moved along horizontal concrete chute.
8. stair climbing wheelchair as claimed in claim 7, it is characterised in that the road wheel also includes：
Movable motor, its motor output shaft fifth wheel rotating shaft, for driving road wheel to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710169368.4A CN106821624B (en) | 2017-03-21 | 2017-03-21 | A kind of stair climbing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710169368.4A CN106821624B (en) | 2017-03-21 | 2017-03-21 | A kind of stair climbing wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106821624A true CN106821624A (en) | 2017-06-13 |
| CN106821624B CN106821624B (en) | 2018-09-11 |
Family
ID=59130262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710169368.4A Expired - Fee Related CN106821624B (en) | 2017-03-21 | 2017-03-21 | A kind of stair climbing wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106821624B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107913032A (en) * | 2017-12-29 | 2018-04-17 | 洛阳理工学院 | A kind of full-automatic cleaning floor cleaning machine of stair |
| CN107953347A (en) * | 2017-12-29 | 2018-04-24 | 洛阳理工学院 | A kind of level land and the dual-purpose Labour-saving car of step and the clean robot based on the Labour-saving car |
| CN107951634A (en) * | 2017-11-22 | 2018-04-24 | 安徽工程大学 | A kind of self-service stair-climbing wheel chair drive system |
| CN109009734A (en) * | 2018-06-19 | 2018-12-18 | 浙江机电职业技术学院 | A kind of curb wheelchair and its upper and lower curb method up and down |
| CN110329372A (en) * | 2019-08-09 | 2019-10-15 | 桂林电子科技大学 | A kind of stair climbing robot |
| CN111870442A (en) * | 2020-08-03 | 2020-11-03 | 广州大学 | A collapsible wheelchair for shifting disability crowd |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4200161A (en) * | 1976-02-10 | 1980-04-29 | Penington George W Jr | Stairway climbing device |
| CN202096375U (en) * | 2011-06-10 | 2012-01-04 | 杜福 | Stair wheelchair |
| CN102579209A (en) * | 2012-02-24 | 2012-07-18 | 刘铁儿 | Wheelchair capable of climbing stairs continuously |
| CN202605146U (en) * | 2012-07-03 | 2012-12-19 | 王正发 | Electrical stair climbing vehicle |
| DE102012105031A1 (en) * | 2012-06-12 | 2013-12-12 | Aat Alber Antriebstechnik Gmbh | Staircase climbing device for use with wheelchair for physically handicapped person, has climbing element arranged with drive and coupled with two arms that are extended into opposing directions from pivot point |
-
2017
- 2017-03-21 CN CN201710169368.4A patent/CN106821624B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4200161A (en) * | 1976-02-10 | 1980-04-29 | Penington George W Jr | Stairway climbing device |
| CN202096375U (en) * | 2011-06-10 | 2012-01-04 | 杜福 | Stair wheelchair |
| CN102579209A (en) * | 2012-02-24 | 2012-07-18 | 刘铁儿 | Wheelchair capable of climbing stairs continuously |
| DE102012105031A1 (en) * | 2012-06-12 | 2013-12-12 | Aat Alber Antriebstechnik Gmbh | Staircase climbing device for use with wheelchair for physically handicapped person, has climbing element arranged with drive and coupled with two arms that are extended into opposing directions from pivot point |
| CN202605146U (en) * | 2012-07-03 | 2012-12-19 | 王正发 | Electrical stair climbing vehicle |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107951634A (en) * | 2017-11-22 | 2018-04-24 | 安徽工程大学 | A kind of self-service stair-climbing wheel chair drive system |
| CN107951634B (en) * | 2017-11-22 | 2020-01-24 | 安徽工程大学 | Self-service stair-climbing wheelchair driving system |
| CN107913032A (en) * | 2017-12-29 | 2018-04-17 | 洛阳理工学院 | A kind of full-automatic cleaning floor cleaning machine of stair |
| CN107953347A (en) * | 2017-12-29 | 2018-04-24 | 洛阳理工学院 | A kind of level land and the dual-purpose Labour-saving car of step and the clean robot based on the Labour-saving car |
| CN107913032B (en) * | 2017-12-29 | 2023-03-14 | 洛阳理工学院 | Full-automatic cleaning floor mopping machine for stairs |
| CN109009734A (en) * | 2018-06-19 | 2018-12-18 | 浙江机电职业技术学院 | A kind of curb wheelchair and its upper and lower curb method up and down |
| CN109009734B (en) * | 2018-06-19 | 2023-05-05 | 浙江机电职业技术学院 | Wheelchair capable of ascending and descending road edges and road ascending and descending method thereof |
| CN110329372A (en) * | 2019-08-09 | 2019-10-15 | 桂林电子科技大学 | A kind of stair climbing robot |
| CN110329372B (en) * | 2019-08-09 | 2024-01-30 | 桂林电子科技大学 | Stair climbing robot |
| CN111870442A (en) * | 2020-08-03 | 2020-11-03 | 广州大学 | A collapsible wheelchair for shifting disability crowd |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106821624B (en) | 2018-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106821624B (en) | A kind of stair climbing wheelchair | |
| US6805209B2 (en) | Wheelchair motorizing apparatus | |
| EP1738734A2 (en) | Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly | |
| CN105748217B (en) | The crawler belt stair-climbing wheel chair of binodal four swung based on road wheel and upper method downstairs | |
| CN206381295U (en) | Lateral electric wheel chair for climbing stairs | |
| KR101943180B1 (en) | Running gear and electric vehicles and toys equipping the same | |
| US4108449A (en) | Stair-climbing wheelchair | |
| CN111746676B (en) | Wheel set for barrier-free moving balance car and balance car | |
| CN108024895B (en) | Wheel and crawler belt mixed type moving mechanism | |
| JPS61271176A (en) | Mobile machine | |
| CN105596160B (en) | The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs | |
| CA2863971A1 (en) | Step-climbing attachment for a wheeled chair | |
| CN209695599U (en) | A kind of climbing stairs can obstacle detouring wheelchair | |
| CN209984471U (en) | Double-crawler self-adaptive stair-climbing electric wheelchair | |
| CN108294870B (en) | Barrier free accessibility balance car | |
| CN105726232B (en) | The double crawler belt stair-climbing wheel chairs of binodal swung based on road wheel and upper method downstairs | |
| CN205339345U (en) | Building wheelchair was climbed to two tracks two festivals based on swing of walking wheel | |
| CN112773621A (en) | Support structure, chassis structure, intelligent stair climbing wheelchair and method for climbing stairs | |
| CN107249539A (en) | Step annex is climbed for belt wheel chair | |
| CN103767841B (en) | A kind of Lun Lvshi road ladder two-use wheel chair | |
| US8960352B2 (en) | Wheelchair transportation system | |
| CN107696914A (en) | Manned robot | |
| CN204798167U (en) | Electronic wheelchair of going downstairs in ability | |
| CN103300981A (en) | Wheelchair capable of climbing up stair | |
| CN207575352U (en) | A kind of stair climbing wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180911 Termination date: 20200321 |