CN107049635A - Medical full landform self-balancing wheelchair and its operation method - Google Patents
Medical full landform self-balancing wheelchair and its operation method Download PDFInfo
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- CN107049635A CN107049635A CN201710407359.4A CN201710407359A CN107049635A CN 107049635 A CN107049635 A CN 107049635A CN 201710407359 A CN201710407359 A CN 201710407359A CN 107049635 A CN107049635 A CN 107049635A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000002955 isolation Methods 0.000 claims description 25
- 238000007665 sagging Methods 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The present invention relates to medical machinery field, specifically medical full landform self-balancing wheelchair and its operation method, device part includes lifting mechanism, walking basal seat, balanced controls, wheel seat support and control device；Lifting mechanism is arranged in front of walking basal seat, and lifting mechanism can lift equipment front portion；Control device is arranged in the middle part of walking basal seat；Balanced controls are arranged on above walking basal seat, and balanced controls can sense the tilt condition of this equipment, and the position of left regulation wheel seat support；Wheel seat support is arranged on above balanced controls；Equipment front portion can be lifted and dropped down onto on ladder using ripping bar when running into upward ladder by the present invention, and equipment is anterior when reaching stepped top can automatically fall off again, moiety by weight is transferred on level land, to reach the purpose of steady climbing ladder.
Description
Technical field
The present invention relates to medical machinery field, specifically medical full landform self-balancing wheelchair and its operation method.
Background technology
Robot technology covers the fields such as mechanics, computer science, artificial intelligence, biology because of it, becomes and works as
This life circle forefront one of scientific and technological focus.Mobile robot is an important branch of robotic technology field, mobile machine
People carries out the work typically as human body and the extension perceived instead of the mankind into hazardous environment.Because it has other
" mobility " that robot does not have, is just more and more applied to various fields, and the application in terms of medical treatment at present
It is more and more.Current wheelchair when in use, the problem of being often required to face speeling stairway, current wheelchair is difficult to realize steadily to climb
Climb, and generation layback is easy to when climbing is to last ladder and topple over, due to the particularity and climbing building of staircase structure
The complexity of terraced process causes mobile robot speeling stairway problem to be always a difficult point and focus in mobile robot field.
The content of the invention
For the problems of the prior art, the invention provides medical full landform self-balancing wheelchair and its operation method,
When running into ladder, equipment front portion can be lifted and dropped down onto on ladder using ripping bar, equipment is anterior when reaching stepped top again can be certainly
It is dynamic to fall, moiety by weight is transferred on level land, to reach the purpose of steady climbing ladder.
The technical solution adopted for the present invention to solve the technical problems is：Medical full landform self-balancing wheelchair, including lifting
Mechanism, walking basal seat, balanced controls, wheel seat support and control device；Described lifting mechanism is arranged in front of walking basal seat；It is described
Control device be arranged in the middle part of walking basal seat；Described balanced controls are arranged on above walking basal seat；Described wheel seat support is set
Put above balanced controls.
Described walking basal seat includes road wheel, crawler belt, front axle, back axle and frame；Described frame include riser,
Sliding sleeve and adjustable shelf；Described riser is located at the front portion of frame, and riser is two pieces of vertical and Parallel Symmetric straight panels, and on riser
It is additionally provided with one in front and one in back two connecting holes；Described sliding sleeve, which is fixed in the middle part of the front portion of riser, sliding sleeve, is provided with through hole, and should
The section of through hole is square；Described adjustable shelf rear end is hinged with front axle, and the adjustable shelf can be rotated up ten around front axle
Five degree and rotate down 90 degree, and most mechanical fitting on organic frame is installed on adjustable shelf, such as motor makes originally to set
The center of gravity of standby base is shifted to adjustable shelf；Described road wheel includes being located at a wheel of forefront, is connected on front axle
No. two wheels, coaxial with No. two wheels No. three take turns and taken turns positioned at No. four of rearmost, a described wheel is arranged on before adjustable shelf
End；Described crawler belt includes the first crawler belt being arranged on a wheel and No. two wheels, in addition to installed in No. three wheels and No. four wheels
On the second crawler belt.
Described lifting mechanism includes slow descending device, stopping means, touching lifting apparatus and front-wheel elevating control bar；It is described
Slow descending device include being fixed on frame front end motor, be arranged in driving motor output shaft drive gear, from two
It is the first rotary shaft for being passed through on individual riser in the connecting hole of rear portion, the driving gear for being arranged on the first rotary shaft both sides, perpendicular from two
The second rotary shaft passed through in plate upper forepart connecting hole, and it is arranged on half gear of the second rotary shaft both sides；Described first
The shaft gear engaged with drive gear is provided with the middle part of rotary shaft；The toothed portion of half gear is engaged with driving gear.
Described stopping means is arranged in front of slow descending device, and stopping means includes the spacing electricity for being fixed on frame front end
Machine, the spacing master gear being arranged on limit electric machine output shaft, in addition to sleeve and inserted link；Be provided with the middle part of described sleeve with
It is spacing from gear that spacing master gear is engaged, and sleeve is provided at both ends with screwed hole, and the thread rotary orientation phase of sleeve two ends screwed hole
Instead；Described inserted link is arranged on sleeve both sides, and inserted link includes glissile segment, thread segment and spacing section, and described glissile segment is arranged on
It is slidably matched in sliding sleeve and with it, the longitudinal section of glissile segment is identical with the cross sectional shape of through hole on sliding sleeve；Described thread segment is consolidated
One end of glissile segment is scheduled on, and thread segment is arranged in the screwed hole of sleeve and coordinated with it；Described spacing section is fixed on cunning
The other end of dynamic section.
Described touching lifting apparatus includes concave cam and touching bar；Described touching bar is in straight rod-shaped, touching bar
Rear end is fixed on the lateral surface of half gear；Described concave cam is fixed on the lateral surface of touching rod rear end, and concave cam is anterior
For convex surface, its rear portion is concave surface, when the present invention is run in the horizontal plane, the axle of arc surface where the concave cam concave posterior surface
Heart line is overlapped with the axial line of front axle；Described front-wheel elevating control bar lower end is fixed on the front end of adjustable shelf, and its top is set
Roller is equipped with, when the present invention is run in the horizontal plane, the roller is located at concave cam back upper place, and the anterior wheel face of the roller
It is tangent with arc surface where concave cam concave posterior surface so that roller on adjustable shelf around front axle rotate when will not
Stopped by concave cam.
Described balanced controls include lever for adjusting oil, rotary shaft, balancer, support column and auxiliary support bar；Described
Rotary shaft is arranged on central rack；Described support column bottom is fixed in the middle part of rotary shaft, is supported on the front-back of column bottom
It is provided with the front-back in the middle part of contact-making switch, and support column and is provided with hinge seat；Described balancer includes the collar, connection
Ring, signal isolation and briquetting, described briquetting are arranged on the underface of support column, and the described collar is symmetrically enclosed on support column two
In the rotary shaft of side, described signal isolation is in semi-circular, and signal isolation is symmetricly set on front and rear the two of support column bottom
Side is simultaneously provided with gap between support column respectively, and described connection ring two ends are connected with signal isolation and briquetting respectively；Institute
The lever for adjusting oil stated includes a hydraulic stem and No. two hydraulic stems, described hydraulic stem two ends respectively with front axle and branch
Hinged seat connection on front side of dagger, No. two described hydraulic stem two ends connect with the hinged seat on rear side of back axle and support column respectively
Connect；Described auxiliary support bar is hinged on the left and right sides of balancer.
Described wheel seat support is fixed on support top end, and top of the wheel seat support also with auxiliary support bar is fixed, and takes turns seat support
On be provided with operation button.
As the preferred technical solution of the present invention, when the present invention is run in the horizontal plane, the anterior wheel face of roller also with
Arc surface where the convex surface of concave cam front portion is tangent so that roller can be rolled on the convex surface of concave cam.
As the preferred technical solution of the present invention, the breach of arc is provided with the middle part of the second half section of the touching bar, and should
Breach is ridden on spacing section.
The operation method of described medical full landform self-balancing wheelchair, comprises the following steps：
Step s1：This equipment is before stair are touched, and touching bar is ridden on spacing section, wheel, No. two wheels, No. three wheels
Travelled with No. four wheels in same level, wheel seat support keeps horizontality；
Step s2：When this equipment starts to go upstairs, limit electric machine operating makes sleeve rotating, and then inserted link is received to centre
Contracting so that spacing section separates with touching bar；Touching bar front end is propped up after ladder, and this equipment is moved on, and touching bar is begun around
Second rotary shaft is rotated counterclockwise, and the axial line of arc surface is offset up where concave cam concave posterior surface, is at the same time cut with scissors
The adjustable shelf being connected on front axle starts sagging, and the continuation of adjustable shelf is ridden on the concave surface of concave cam and prevented with rear roller
It is sagging, lift adjustable shelf and the anterior bar that is together touched of this equipment；This equipment is moved on, touching bar it is perpendicular to the ground it
Before, the toothed portion on half gear separately begins and driving gear engagement rotation, the front portion of this equipment is slowly fallen on ladder；
Touching bar is rotated further, and sleeve rotating drives inserted link to be extended to both sides, is touching the toothed portion of half gear when bar contacts spacing section
Divide and no longer engaged with driving gear；
In the process, the support column being connected with wheel seat support starts to tilt backwards, and the briquetting in balanced controls is due to gravity
Effect keeps sagging, the signal isolation of rear side is in contact with the contact-making switch of homonymy on support column, contact-making switch connection control
Device processed, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column, support column is remained perpendicular
Straight state, makes wheel seat support holding level so that center of gravity moves forward, and this equipment is operated steadily；
Step s3：When this equipment will leave upward ladder, the adjustable shelf being hinged on front axle starts sagging, makes
The front portion for obtaining this equipment is ridden on the level ground above ladder, then overall to drive to again on level land；
During this, the support column being connected with wheel seat support starts to turn forward, and the briquetting in balanced controls is made due to gravity
With keeping sagging, the signal isolation of front side is set to be in contact with the contact-making switch of homonymy on support column, contact-making switch connection control
Device, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column, support column is remained vertical
State, makes wheel seat support holding level；
Step s4：When this equipment starts downstairs, the adjustable shelf being hinged on front axle starts sagging so that this equipment
Front portion is ridden on ladder first, then overall to drive to completely on ladder again；
During this, the support column being connected with wheel seat support starts to turn forward, and the briquetting in balanced controls is made due to gravity
With keeping sagging, the signal isolation of front side is set to be in contact with the contact-making switch of homonymy on support column, contact-making switch connection control
Device, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column, support column is remained vertical
State, makes wheel seat support holding level so that is moved after center of gravity, this equipment is operated steadily；
Step s5：After the completion of this equipment is gone downstairs, with wheel seat support be connected support column, tilt backwards, in balanced controls
Briquetting keeps sagging due to gravity, the signal isolation of rear side is in contact with the contact-making switch of homonymy on support column, contact is opened
Connection connects control device, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column, makes support
Post maintains vertical state, makes wheel seat support holding level.
The beneficial effects of the invention are as follows：
(1) medical full landform self-balancing wheelchair and its operation method of the invention, when running into upward ladder, can be utilized
Equipment front portion is lifted and dropped down onto on ladder by ripping bar, and equipment is anterior when reaching stepped top can automatically fall off again, make moiety by weight
It is transferred on level land, to reach the purpose of steady climbing ladder；
(2) medical full landform self-balancing wheelchair and its operation method of the invention, when running into downward ladder, equipment
Front portion can be automatically fallen off, and a part of weight is first transferred on ladder, it is to avoid overall tilt suddenly causes equipment out of control；
(3) medical full landform self-balancing wheelchair and its operation method of the invention, in upper ladder, wheel seat support reach makes whole
The body weight heart moves forward, and in downstairs, being moved after wheel seat support makes to move after overall center of gravity, makes equipment operation more steady with this.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram at positive visual angle of the invention；
Fig. 2 is the dimensional structure diagram at back side visual angle of the present invention；
Fig. 3 is the dimensional structure diagram of lifting mechanism；
Fig. 4 is the structural representation for touching lifting apparatus；
Fig. 5 is the top view of lifting mechanism；
Fig. 6 is the schematic diagram when present invention is travelled on level land；
Fig. 7 is the schematic diagram when present invention starts to climb ladder；
Fig. 8 is that the present invention climbs up the schematic diagram after stepped top；
Fig. 9 is the dimensional structure diagram of balanced controls；
Figure 10 is the dimensional structure diagram of balancer；
In figure：Lifting mechanism (1), walking basal seat (2), balanced controls (3), wheel seat support (4), control device (5), slow drop dress
Put (11), stopping means (12), touching lifting apparatus (13), front-wheel elevating control bar (14), road wheel (21), crawler belt (22),
Front axle (23), back axle (24), frame (25), lever for adjusting oil (31), rotary shaft (32), balancer (33), support column
(34), auxiliary support bar (35), motor (111), drive gear (112), the first rotary shaft (113), driving gear
(114), the second rotary shaft (115), half gear (116), limit electric machine (121), spacing master gear (122), sleeve (123), insert
Bar (124), concave cam (131), touching bar (132), roller (141), wheel (211), No. two wheels (212), No. three wheels
(213), No. four wheels (214), the first crawler belt (221), the second crawler belt (222), riser (251), sliding sleeve (252), adjustable shelfs
(253), hydraulic stem (311), No. two hydraulic stems (312), the collar (331), connection ring (332), signal isolation (333),
Briquetting (334), shaft gear (1131), glissile segment (1241), thread segment (1242), spacing section (1243), breach (1321).
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Embodiment is closed, the present invention is expanded on further.
As shown in Figure 1, Figure 2, the medical full landform self-balancing wheelchair of the present embodiment, including lifting mechanism 1, walking basal seat 2, balance
Mechanism 3, wheel seat support 4 and control device 5；Described lifting mechanism 1 is arranged on the front of walking basal seat 2；Described control device 5 is set
Put at the middle part of walking basal seat 2；Described balanced controls 3 are arranged on the top of walking basal seat 2；Described wheel seat support 4 is arranged on balance
The top of mechanism 3.
Such as Fig. 1, Fig. 3, described walking basal seat 2 includes road wheel 21, crawler belt 22, front axle 23, back axle 24 and frame
25；Described frame 25 includes riser 251, sliding sleeve 252 and adjustable shelf 253；Described riser 251 is located at the front portion of frame 25,
Riser 251 is two pieces of vertical and Parallel Symmetric straight panels, and one in front and one in back two connecting holes are additionally provided with riser 251；It is described
Sliding sleeve 252 be fixed on the front portion of riser 251, the middle part of sliding sleeve 252 is provided with through hole, and the section of the through hole is square；It is described
The rear end of adjustable shelf 253 be hinged with front axle 23, the adjustable shelf 253 can be rotated up 15 degree around front axle 23 and turn downwards
It is dynamic 90 degree, and most mechanical fitting on organic frame 25 is installed on adjustable shelf 253, such as motor makes this plant bottom case
Center of gravity shifted to adjustable shelf 253；Described road wheel 21 includes being located at a wheel 211 of forefront, is connected to front axle 23
On No. two wheels 212, No. three wheels 213 coaxial with No. two wheels 212 and No. four positioned at rearmost take turns 214, described No. one is taken turns
211 are arranged on the front end of adjustable shelf 253；Described crawler belt 22 includes the first shoe being arranged on a wheel 211 and No. two wheels 212
Band 221, in addition to the second crawler belt 222 on No. three wheels 213 and No. four wheels 214.
Such as Fig. 3, Fig. 5, described lifting mechanism 1 includes slow descending device 11, stopping means 12, touches lifting apparatus 13 and preceding
Take turns elevating control bar 14；Described slow descending device 11 includes being fixed on the motor 111 of the front end of frame 25, is arranged on driving electricity
Drive gear 112 on the output shaft of machine 111, the first rotary shaft 113 passed through from rear portion connecting hole on two risers 251, set
Put in the driving gear 114 of the both sides of the first rotary shaft 113, the second rotation passed through from two upper forepart connecting holes of riser 251
Axle 115, and it is arranged on half gear 116 of the both sides of the second rotary shaft 115；The middle part of described the first rotary shaft 113 be provided with
The shaft gear 1131 that drive gear 112 is engaged；The toothed portion of half gear 116 is engaged with driving gear 114.
Such as Fig. 3, Fig. 5, described stopping means 12 is arranged on the front of slow descending device 11, and stopping means 12 includes being fixed on machine
The limit electric machine 121 of the front end of frame 25, the spacing master gear 122 being arranged on the output shaft of limit electric machine 121, in addition to sleeve 123
With inserted link 124；The middle part of described sleeve 123 is provided with engaged with spacing master gear 122 spacing from gear 1231, sleeve 123
Screwed hole is provided at both ends with, and the thread rotary orientation of the two ends screwed hole of sleeve 123 is opposite；Described inserted link 124 is arranged on sleeve 123
Both sides, inserted link 124 includes glissile segment 1241, thread segment 1242 and spacing section 1243, and described glissile segment 1241 is arranged on sliding sleeve
It is slidably matched in 252 and with it, the longitudinal section of glissile segment 1241 is identical with the cross sectional shape of through hole on sliding sleeve 252；Described spiral shell
Line section 1242 is fixed on one end of glissile segment 1241, and thread segment 1242 is arranged in the screwed hole of sleeve 123 and coordinated with it；
Described spacing section 1243 is fixed on the other end of glissile segment 1241.
Such as Fig. 3, Fig. 4, described touching lifting apparatus 13 includes concave cam 131 and touching bar 132；Described touching bar
132 be in straight rod-shaped, and the rear end of touching bar 132 is fixed on the lateral surface of half gear 116, touches and set in the middle part of the second half section of bar 132
There is the breach 1321 of arc, and the breach 1321 is ridden on spacing section 1243；Described concave cam 131 is fixed on touching bar
The lateral surface of 132 rear ends, anterior concave cam 131 is convex surface, and its rear portion is concave surface, when the present invention is run in the horizontal plane,
The axial line of arc surface is overlapped with the axial line of front axle 23 where the concave posterior surface of concave cam 131；Described front-wheel lifting
The lower end of control-rod 14 is fixed on the front end of adjustable shelf 253, and its top is provided with roller 141, when the present invention is run in the horizontal plane
When, the roller 141 is located at the back upper place of concave cam 131, and the anterior wheel face of the roller 141 and the concave posterior surface of concave cam 131
The arc surface at place is tangent so that the roller 141 on adjustable shelf, which is surrounded when front axle is rotated, to be hindered by concave cam 131
Gear；When the present invention is run in the horizontal plane, the anterior wheel face of roller 141 also with the circle where the anterior convex surface of concave cam 131
Cambered surface is tangent so that roller 141 can be rolled on the convex surface of concave cam 131.
Such as Fig. 9, Figure 10, described balanced controls 3 include lever for adjusting oil 31, rotary shaft 32, balancer 33, support column 34
With auxiliary support bar 35；Described rotary shaft 32 is arranged on the middle part of frame 25；The described bottom of support column 34 is fixed on rotary shaft
It is provided with contact-making switch, and the front-back at the middle part of support column 34 and is provided with 32 middle parts, the front-back of the bottom of support column 34
Hinge seat；Described balancer 33 includes the collar 331, connection ring 332, signal isolation 333 and briquetting 334, described briquetting
334 are arranged on the underface of support column 34, and the described collar 331 is symmetrically enclosed in the rotary shaft 32 of the both sides of support column 34, described
Signal isolation 333 be in semi-circular, signal isolation 333 be symmetricly set on the front and rear sides of the bottom of support column 34 and respectively with
Gap is provided between support column 34, the described two ends of connection ring 332 are connected with signal isolation 333 and briquetting 334 respectively；Institute
The lever for adjusting oil 31 stated includes a hydraulic stem 311 and No. two hydraulic stems 312, the described two ends of hydraulic stem 311 difference
Be connected with the hinged seat of front axle 23 and the front side of support column 34, described No. two two ends of hydraulic stem 312 respectively with back axle 24 and
The hinged seat connection of the rear side of support column 34；Described auxiliary support bar 35 is hinged on the left and right sides of balancer 33.
Such as Fig. 1, Fig. 9, described wheel seat support 4 is fixed on the top of support column 34, and wheel seat support 4 also with auxiliary support bar 35
Top is fixed, and operation button is provided with wheel seat support 4.
Such as Fig. 6, Fig. 7, Fig. 8, the operation method of described medical full landform self-balancing wheelchair comprises the following steps：
Step s1：This equipment is before stair are touched, and touching bar 132 is ridden on spacing section 1243, a wheel 211, two
Number wheel 212, No. three wheels 213 and No. four wheels 214 are travelled in same level, and wheel seat support 4 keeps horizontality；
Step s2：When this equipment starts to go upstairs, the operating of limit electric machine 121 rotates sleeve 123, and then makes inserted link 124
To middle shrinkage so that spacing section 1243 separates with touching bar 132；Touching bar 132 front end is propped up after ladder, before this equipment continues
Enter, touching bar 132 begins around the second rotary shaft 115 and rotated counterclockwise, and arc surface where the concave posterior surface of concave cam 131
Axial line is offset up, and the adjustable shelf 253 being at the same time hinged on front axle 23 starts sagging, is ridden over rear roller 141 recessed
On the concave surface of face cam 131 and prevent the continuation of adjustable shelf 253 sagging, adjustable shelf 253 and this equipment front portion is together touched
Touching lever 132 is lifted；This equipment is moved on, before touching bar 132 is perpendicular to the ground, and the toothed portion on half gear 116 is separated
Begin and the engagement rotation of driving gear 114, the front portion of this equipment is slowly fallen on ladder；Touching bar 132 is rotated further, and is covered
The rotation of cylinder 123 drives inserted link 124 to be extended to both sides, is touching the toothed portion point of half gear 116 when bar 132 contacts spacing section 1243
No longer engaged with driving gear 114；
In the process, start to tilt backwards with the support column 34 that is connected of wheel seat support 4, the briquetting 334 in balanced controls 3 by
Keep sagging in Action of Gravity Field, the signal isolation 333 of rear side is in contact with the contact-making switch of homonymy on support column 34, contact
Switch connection control device 5, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column 34, made
Support column 34 maintains vertical state, makes the holding level of wheel seat support 4 so that center of gravity moves forward, and this equipment is operated steadily；
Step s3：When this equipment will leave upward ladder, under the adjustable shelf 253 being hinged on front axle 23 starts
Hang down so that the front portion of this equipment is ridden on the level ground above ladder, it is then overall to drive to again on level land；
During this, start to turn forward with the support column 34 that is connected of wheel seat support 4, the briquetting 334 in balanced controls 3 due to
Action of Gravity Field keeps sagging, the signal isolation 333 of front side is in contact with the contact-making switch of homonymy on support column 34, contact is opened
Connection connects control device 5, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column 34, makes branch
Dagger 34 maintains vertical state, makes the holding level of wheel seat support 4；
Step s4：When this equipment starts downstairs, the adjustable shelf 253 being hinged on front axle 23 starts sagging so that this
The front portion of equipment is ridden on ladder first, then overall to drive to completely on ladder again；
During this, start to turn forward with the support column 34 that is connected of wheel seat support 4, the briquetting 334 in balanced controls 3 due to
Action of Gravity Field keeps sagging, the signal isolation 333 of front side is in contact with the contact-making switch of homonymy on support column 34, contact is opened
Connection connects control device 5, extends the hydraulic stem of the contact-making switch the same side and is corrected come the angle to support column 34, makes branch
Dagger 34 maintains vertical state, makes the holding level of wheel seat support 4 so that is moved after center of gravity, this equipment is operated steadily；
Step s5：After the completion of this equipment is gone downstairs, with wheel seat support 4 be connected support column 34, tilt backwards, balanced controls 3
In briquetting 334 due to gravity keep it is sagging, make rear side signal isolation 333 and the contact-making switch phase of homonymy on support column 34
Contact, contact-making switch connection control device 5, makes the hydraulic stem of the contact-making switch the same side extend to enter come the angle to support column 34
Row correction, makes support column 34 maintain vertical state, makes the holding level of wheel seat support 4.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the simply explanation present invention of the description in above-mentioned embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent
Thing is defined.
Claims (4)
1. medical full landform self-balancing wheelchair, it is characterised in that：Including lifting mechanism (1), walking basal seat (2), balanced controls
(3), wheel seat support (4) and control device (5)；Described lifting mechanism (1) is arranged in front of walking basal seat (2)；Described control
Device (5) is arranged in the middle part of walking basal seat (2)；Described balanced controls (3) are arranged on above walking basal seat (2)；Described wheel
Seat support (4) is arranged on above balanced controls (3)；Wherein：
Described walking basal seat (2) includes road wheel (21), crawler belt (22), front axle (23), back axle (24) and frame (25)；
Described frame (25) includes riser (251), sliding sleeve (252) and adjustable shelf (253)；Described riser (251) is located at frame
(25) front portion, riser (251) is two pieces of vertical and Parallel Symmetric straight panels, and is additionally provided with one in front and one in back on riser (251)
Two connecting holes；Described sliding sleeve (252), which is fixed in the middle part of the front portion of riser (251), sliding sleeve (252), is provided with through hole, and should
The section of through hole is square；Described adjustable shelf (253) rear end is hinged with front axle (23), before the adjustable shelf (253) can be surrounded
Axletree (23) is rotated up 15 degree and rotated down to install most of on organic frame (25) on 90 degree, and adjustable shelf (253)
Mechanical fitting；Described road wheel (21) includes two for being located at a wheel (211) of forefront, being connected on front axle (23)
Number wheel (212), with coaxial No. three wheels (213) of No. two wheels (212) and No. four wheels (214) positioned at rearmost, described No. one
Wheel (211) is arranged on the front end of adjustable shelf (253)；Described crawler belt (22) includes being arranged on a wheel (211) and No. two wheels
(212) the first crawler belt (221) on, in addition to the second crawler belt (222) on No. three wheels (213) and No. four wheels (214)；
Described lifting mechanism (1) includes slow descending device (11), stopping means (12), touching lifting apparatus (13) and front-wheel lifting
Control-rod (14)；Described slow descending device (11) includes being fixed on the motor (111) of frame (25) front end, is arranged on driving
Drive gear (112) on motor (111) output shaft, first passed through from rear portion connecting hole on two risers (251) rotation
Axle (113), the driving gear (114) for being arranged on the first rotary shaft (113) both sides, from two riser (251) upper forepart connecting holes
In the second rotary shaft (115) for passing through, and be arranged on half gear (116) of the second rotary shaft (115) both sides；Described first
The shaft gear (1131) engaged with drive gear (112) is provided with the middle part of rotary shaft (113)；Half gear (116) it is with teeth
Engaged with driving gear (114) part；
Described stopping means (12) is arranged in front of slow descending device (11), and stopping means (12) includes being fixed on before frame (25)
The limit electric machine (121) at end, the spacing master gear (122) being arranged on limit electric machine (121) output shaft, in addition to sleeve
And inserted link (124) (123)；Engaged with spacing master gear (122) spacing from gear is provided with the middle part of described sleeve (123)
(1231), sleeve (123) is provided at both ends with screwed hole, and the thread rotary orientation of sleeve (123) two ends screwed hole is opposite；Described inserts
Bar (124) is arranged on sleeve (123) both sides, and inserted link (124) includes glissile segment (1241), thread segment (1242) and spacing section
(1243), described glissile segment (1241) is arranged in sliding sleeve (252) and is slidably matched with it, the longitudinal section of glissile segment (1241)
It is identical with the cross sectional shape of through hole on sliding sleeve (252)；Described thread segment (1242) is fixed on one end of glissile segment (1241), and
Thread segment (1242) is arranged in the screwed hole of sleeve (123) and coordinated with it；Spacing section described (1243) are fixed on slip
The other end of section (1241)；
Described touching lifting apparatus (13) includes concave cam (131) and touching bar (132)；Described touching bar (132) is in
Straight rod-shaped, the rear end of touching bar (132) is fixed on the lateral surface of half gear (116)；Described concave cam (131) is fixed on tactile
The lateral surface of touching lever (132) rear end, concave cam (131) front portion be convex surface, its rear portion be concave surface, when the present invention in the horizontal plane
During operation, the axial line of arc surface is overlapped with the axial line of front axle (23) where concave cam (131) concave posterior surface；It is described
Front-wheel elevating control bar (14) lower end be fixed on the front ends of adjustable shelf (253), its top is provided with roller (141), when this hair
Bright when running in the horizontal plane, the roller (141) is located at concave cam (131) back upper place, and the anterior wheel face of the roller (141)
It is tangent with arc surface where concave cam (131) concave posterior surface；
Described balanced controls (3) include lever for adjusting oil (31), rotary shaft (32), balancer (33), support column (34) and auxiliary
Help support bar (35)；Described rotary shaft (32) is arranged in the middle part of frame (25)；Described support column (34) bottom is fixed on rotation
In the middle part of rotating shaft (32), it is provided with the front-back of support column (34) bottom front and rear in the middle part of contact-making switch, and support column (34)
Hinge seat is provided with face；Described balancer (33) include the collar (331), connection ring (332), signal isolation (333) and
Briquetting (334), described briquetting (334) is arranged on the underface of support column (34), and the described collar (331) is symmetrically enclosed on support
In the rotary shaft (32) of post (34) both sides, described signal isolation (333) is in semi-circular, and signal isolation (333) is symmetrically set
Put the front and rear sides in support column (34) bottom and be provided with gap, described connection ring between support column (34) respectively
(332) two ends are connected with signal isolation (333) and briquetting (334) respectively；Described lever for adjusting oil (31) includes a liquid
Depression bar (311) and No. two hydraulic stems (312), described hydraulic stem (311) two ends respectively with front axle (23) and support column
(34) the hinged seat connection on front side of, described No. two hydraulic stem (312) two ends respectively with after back axle (24) and support column (34)
The hinged seat connection of side；Described auxiliary support bar (35) is hinged on the left and right sides of balancer (33)；
Described wheel seat support (4) is fixed on support column (34) top, and top of the wheel seat support (4) also with auxiliary support bar (35) is consolidated
It is fixed, it is provided with operation button on wheel seat support (4).
2. medical full landform self-balancing wheelchair according to claim 1, it is characterised in that：When the present invention is transported in the horizontal plane
During row, the anterior wheel face of roller (141) is also tangent with arc surface where the anterior convex surface of concave cam (131).
3. medical full landform self-balancing wheelchair according to claim 1, it is characterised in that：After the touching bar (132)
Half section of middle part is provided with the breach (1321) of arc, and the breach (1321) is ridden on spacing section (1243).
4. the operation method of medical full landform self-balancing wheelchair according to any one of claim 1 to 3, its feature exists
In comprising the following steps：
Step s1：This equipment before stair are touched, touching bar (132) ride on spacing section (1243), No. one wheel (211),
No. two wheels (212), No. three wheels (213) and No. four wheels (214) travel in same level, and wheel seat support (4) keeps horizontality；
Step s2：When this equipment starts to go upstairs, limit electric machine (121) operating rotates sleeve (123), and then makes inserted link
(124) to middle shrinkage so that spacing section (1243) are separated with touching bar (132)；Touching bar (132) front end is propped up after ladder,
This equipment is moved on, and touching bar (132) begins around the second rotary shaft (115) and rotated counterclockwise, and after concave cam (131)
The axial line of arc surface is offset up where portion concave surface, and the adjustable shelf (253) being at the same time hinged on front axle (23) starts
It is sagging, ridden over rear roller (141) on the concave surface of concave cam (131) and prevent the continuation of adjustable shelf (253) sagging, make work
Moving frame (253) and the anterior bar (132) that is together touched of this equipment are lifted；This equipment is moved on, on touching bar (132) and ground
Before vertical, the toothed portion on half gear (116) separately begins and driving gear (114) engagement rotation, obtains the anterior of this equipment
Slowly to fall on ladder；Touching bar (132) is rotated further, and sleeve (123) rotation drives inserted link (124) to be extended to both sides,
The toothed portion point of half gear (116) is no longer engaged with driving gear (114) when touching bar (132) contacts spacing section (1243)；
In the process, the support column (34) being connected with wheel seat support (4) starts to tilt backwards, the briquetting in balanced controls (3)
(334) because Action of Gravity Field keeps sagging, the signal isolation (333) and the contact-making switch of homonymy on support column (34) of rear side are made
It is in contact, contact-making switch connection control device (5) makes the hydraulic stem of the contact-making switch the same side extend to come to support column (34)
Angle is corrected, and support column (34) is maintained vertical state, wheel seat support (4) is kept level so that center of gravity moves forward, and makes originally to set
It is standby to operate steadily；
Step s3：When this equipment will leave upward ladder, under the adjustable shelf (253) being hinged on front axle (23) starts
Hang down so that the front portion of this equipment is ridden on the level ground above ladder, it is then overall to drive to again on level land；
During this, the support column (34) being connected with wheel seat support (4) starts to turn forward, the briquetting (334) in balanced controls (3)
Because Action of Gravity Field keeps sagging, the signal isolation (333) of front side is set to connect with the contact-making switch of homonymy on support column (34)
Touch, contact-making switch connection control device (5), the hydraulic stem of the contact-making switch the same side is extended the angle come to support column (34)
It is corrected, support column (34) is maintained vertical state, wheel seat support (4) is kept level；
Step s4：When this equipment starts downstairs, the adjustable shelf (253) being hinged on front axle (23) starts sagging so that this
The front portion of equipment is ridden on ladder first, then overall to drive to completely on ladder again；
During this, the support column (34) being connected with wheel seat support (4) starts to turn forward, the briquetting (334) in balanced controls (3)
Because Action of Gravity Field keeps sagging, the signal isolation (333) of front side is set to connect with the contact-making switch of homonymy on support column (34)
Touch, contact-making switch connection control device (5), the hydraulic stem of the contact-making switch the same side is extended the angle come to support column (34)
It is corrected, support column (34) is maintained vertical state, wheel seat support (4) is kept level so that moved after center of gravity, transports this equipment
Row is steady；
Step s5：After the completion of this equipment is gone downstairs, with wheel seat support (4) be connected support column (34), tilt backwards, balanced controls
(3) briquetting (334) in keeps sagging due to gravity, makes the signal isolation (333) of rear side and homonymy on support column (34)
Contact-making switch is in contact, contact-making switch connection control device (5), makes the hydraulic stem of the contact-making switch the same side extend to come to support
The angle of post (34) is corrected, and support column (34) is maintained vertical state, wheel seat support (4) is kept level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407359.4A CN107049635B (en) | 2017-06-02 | 2017-06-02 | Medical full landform self-balancing wheelchair and its operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407359.4A CN107049635B (en) | 2017-06-02 | 2017-06-02 | Medical full landform self-balancing wheelchair and its operation method |
Publications (2)
| Publication Number | Publication Date |
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| CN107049635A true CN107049635A (en) | 2017-08-18 |
| CN107049635B CN107049635B (en) | 2018-11-30 |
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| CN201710407359.4A Expired - Fee Related CN107049635B (en) | 2017-06-02 | 2017-06-02 | Medical full landform self-balancing wheelchair and its operation method |
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| CN107714377A (en) * | 2017-10-16 | 2018-02-23 | 刘珍 | A kind of portable gynecological examining table |
| CN111407541A (en) * | 2020-03-23 | 2020-07-14 | 西安星球通智能装备技术有限公司 | Wheelchair with prevent empting function |
| CN113386875A (en) * | 2021-07-30 | 2021-09-14 | 东南大学 | Wheeled transfer robot capable of climbing steps |
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| CN113386875B (en) * | 2021-07-30 | 2022-04-19 | 东南大学 | Wheeled transfer robot capable of climbing steps |
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| Publication number | Publication date |
|---|---|
| CN107049635B (en) | 2018-11-30 |
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