CN107174422B - A kind of Self-balancing electronic stair-climbing wheel chair - Google Patents
A kind of Self-balancing electronic stair-climbing wheel chair Download PDFInfo
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- CN107174422B CN107174422B CN201710455043.2A CN201710455043A CN107174422B CN 107174422 B CN107174422 B CN 107174422B CN 201710455043 A CN201710455043 A CN 201710455043A CN 107174422 B CN107174422 B CN 107174422B
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- climbing
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- 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
- A61G5/063—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 eccentrically mounted wheels
- A61G5/065—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 eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
-
- 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
- A61G5/1051—Arrangements for 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
- A61G2203/30—General characteristics of devices characterised by sensor means
Abstract
The invention discloses a kind of Self-balancing electronic stair-climbing wheel chairs, including seat portion, drive part, anti-skid device, planetary gear train.Drive part is divided into walking mechanism and turnover mechanism；In order to keep structure more compact, walking mechanism and turnover mechanism use the form of interior outer shaft, by controlling different motor work, achievable common walking can be changed through planetary gear train, stand and walk and climb three kinds of building operating mode, wheelchair walking mechanism during climbing building is locked, Anti-slip support is put down simultaneously, can effectively prevent the slipping phenomenon of wheelchair.The present invention is also equipped with gyroscope system, wheelchair posture can be transferred to controller in real time, can voluntarily control the position of seat, guarantee that seat is in a horizontal position.The present invention can effectively prevent slipping phenomenon when wheelchair stair-climbing, simple and compact for structure, at low cost, and adapt to a variety of different complex road conditions.
Description
Technical field
The invention belongs to electric wheelchair technical fields, are related to a kind of realize by planetary gear train variation and commonly walk, stand
Vertical walking and the intelligent wheel chair for climbing building, especially a kind of Self-balancing electronic stair-climbing wheel chair.
Background technique
With the aggravation of Chinese population astogeny: the cut-off end of last year, China's Mainland 60 one full year of life above population have reached 2.2
Hundred million, account for about the 16.1% of population.In addition, disabled population also has reached 4,000 ten thousand.Above-mentioned group how is helped to better blend into
Society lives and works in peace and contentment, and is the extremely urgent significant problem for needing to solve of Chinese society.
Wheelchair is long-standing as the walking-replacing tool of special population, but common wheelchair can not be in complexity such as stair, gullies
It is used under road conditions, needs stair-climbing wheel chair that them is helped to solve this predicament.Currently, stair-climbing wheel chair can mainly divide according to the kind of drive
Are as follows: crawler type, star wheel type and three kinds of stepping brace type.
The technology of track type climbing-building wheelchair comparative maturity, center of gravity fluctuation is relatively small when walking；It is also relatively more steady,
But it is also larger to the abrasion of stair since weight and volume is all bigger, flexibility is poor, and the maintenance cost ratio in wheelchair later period
It is higher.Therefore the application in life is limited.
The movement of stepping brace type stair-climbing wheel chair is more steady, is suitble to various sizes of stair；But the requirement to control program
Higher, operation is more complicated, slow in one's movements in level walking；In addition, height of the seat away from ground is larger, the heart is caused to user
Reason is frightened and inconvenient to use.Therefore it need to be usually applied in combination with train.
Star wheel type stair-climbing wheel chair can be divided into two-wheeled group formula, three-wheel group formula and more wheel groups by the number in wheel group using steamboat
Formula, the stability when advantage more than wheel group is wheelchair stair-climbing ladder is good, and center of gravity fluctuation range is small, but consequent is the disadvantage is that volume
Increase, flexibility is deteriorated.
Since the wheelspan and height of star-wheel are fixed, and the height of stair and of different size, dislocation is easy to appear in creeping
Slipping phenomenon, the star-wheel Climbing building device of the prior art need artificially due to not having non-skid braking function in upper go downstairs
It assists, and since structure is complicated, limits its popularization.
(application number: 201310082561) describing a kind of barrier free wheelchair to Chinese patent application, and the wheelchair is mainly by leading
It is formed to wheel, the first planetary assemblies, two the second planetary assemblies and corresponding power drive unit, and each second planetary assemblies
Two planetary gears are installed, which has used three planetary assemblies, since planetary assemblies are more, increase the complexity of structure.
And first planetary assemblies be mounted among the directive wheel of front end two, user's use is more inconvenient, it is also possible to will cause safety accident.
Patent No. 201110097167 describes a kind of planet wheel type stair-climbing electric wheelchair, and three-wheel group formula planet is utilized in the patent
Train installs three planetary gears that is, on the planetary gear train of two sides, and a hub motor is used in the planetary gear of every side wheel system, this
Sample makes wheelchair during climbing building since each wheel protonatomic mass is different, and gravity center shift is bigger.And it needs under artificial auxiliary
It is able to achieve and climbs building function.It is used in paper " the stair climbing wheelchair research based on planetary gear train " (Ma Yongwei, University Of Tianjin, 2008)
The turnover mechanism of two-wheeled planetary gear train, use is directly anchored on cabinet, undoubtedly increases cabinet difficulty of processing in this way.Wheelchair
Front end is equipped with directive wheel, and when climbing building, walking mechanism does not have locking device therefore to need artificial assistance.The prior art is climbed
Stair wheelchair mostly uses greatly three-wheel group formula or two-wheeled group formula plus auxiliary body, while wheelchair front end also needs to install guiding
Walking mechanism undoubtedly increases the complexity of Wheelchair structure in this way and safety is low without locking function when wheel and overturning.
Walking-replacing tool of the stair-climbing wheel chair as special personage, under the premise of guaranteeing safety, should also take into account practicability, at
Sheet and volume size.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of Self-balancing electronic stair-climbing wheel chair is provided, is based on two
Group planetary gear structure can be achieved common walking by the transformation of planetary gear train, stand and walk and climb building Three models, and wheelchair is being climbed
Walking mechanism is locked under building mode, and Anti-slip support is put down, and can effectively prevent slipping phenomenon when wheelchair stair-climbing, and structure is simple,
It is at low cost.
In order to solve the above problem of the prior art, the present invention uses following technical scheme.
A kind of Self-balancing electronic stair-climbing wheel chair of the invention, including seat portion, seat connection section, planetary gear train, fill
Turbine, drive part, control section, monitoring part, anti-skid device and footrest mechanism；It is characterized by:
It including planetary gear train described in two groups, is connect respectively by an outer shaft with a drive case, then passes through one
A diamond shape rolling bearing units seat is mounted on the train cabinet for being set to the wheelchair two sides；Pass through the transformation of the planetary gear train
The common walking of wheelchair can be achieved, stand and walk and climb three kinds of building operating mode；
The anti-skid device includes an anti-skidding motor and a support frame, is mounted on by a horizontal rolling bearing units
On the bottom plate of drive case；
The drive part is mounted in drive case, including a walking mechanism and a turnover mechanism, can be to two
Skidding star wheel series provide walking and climb the power in building；The walking mechanism includes two sets of movable motors and traveling speed reducer group
Part, walking pinion gear, walking gear wheel, outer shaft, outer shaft gear, transition axis, transition gear, output shaft, output gear；Described
Turnover mechanism includes two sets of overturning motors and overturning reducer assemblies, overturning pinion gear, overturning gear wheel, inner shaft, interior axis connection
Part, transition shaft coupling piece, climbs building axis at output shaft coupling piece；A rectangle fixed frame is provided in the drive case；Institute
The two sets of movable motors and traveling speed reducer component stated are mounted on the bottom end of the rectangle fixed frame；Two sets of overturning motors with turn over
Turn the top that reducer assemblies are mounted on the rectangle fixed frame；The traveling speed reducer and overturning retarder all has certainly
Lock function.
In commonly walking operating mode, the movable motor is connect the wheelchair with traveling speed reducer, is walked small
Gear is engaged with walking gear wheel, and walking gear wheel is connect by outer shaft with outer shaft gear, and outer shaft gear is engaged with transition gear,
Transition gear is engaged with output gear, and each gear of planetary gear train is driven by output shaft and inflated around respective center rotation at this time
Take turns rotation.
When climbing building operating mode, overturning motor is connect the wheelchair with overturning retarder, overturning pinion gear and overturning
Gear wheel engagement, overturning gear wheel are connect by inner shaft with interior shaft coupling piece, and each gear surrounds in inner shaft in planetary gear train at this time
Mandrel revolution；At this point, the walking mechanism is locked using self-locking device, the anti-skidding motor work, support frame is put down, from
And slipping phenomenon when effectivelying prevent wheelchair stair-climbing.
The wheelchair is in standing operating mode: overturning motor first works, and drives overturning canine tooth by overturning pinion gear
Wheel rotation, then axis rotation in building is climbed by inner shaft drive, each gear revolves around inner shaft central axis in planetary gear train at this time, waits wheelchairs
Reaching standing state, turnover mechanism is locked, and then movable motor works, walking gear wheel rotation is driven by walking pinion gear,
Outer shaft gear rotation is driven by outer shaft again, then output gear is transmitted to by transition gear, at this time each gear of planetary gear train
Around respective center rotation, wheelchair realizes walking of standing.
The movable motor is provided with electromagnetic braking brake gear.
The planetary gear train further includes a transition gear, is set between the output gear and outer shaft gear,
Outer shaft gear is engaged with transition bearing, and transition gear is engaged with output gear, and output gear, transition gear and outer shaft gear pass through
Diamond shape rolling bearing units are mounted on train cabinet.
The anti-skid device includes support frame, flake bearing, electric pushrod, anti-skidding motor, mounting bracket and Horizontal band
Seat bearing, before wheelchair stair-climbing, anti-skidding motor work drives electric pushrod elongation, and support frame is put down, and electric pushrod is self-locking, is prevented
Only skid during wheelchair stair-climbing.
The control section includes master controller, gyroscope system, control panel；The master controller uses meaning method
The STM32 main control chip of company, the gyroscope system include three-axis gyroscope sensor and 3-axis acceleration flowmeter sensor,
The wheelchair posture detected is sent to master controller by gyroscope system, can be regulated and controled in real time to wheelchair；The control
Panel includes three axis Hall operation handles and button switch, and the three axis Horll's Handles complete wheelchair by control movable motor
Forward-reverse, turn left turn right.
Compared with prior art, the present invention has the following advantages and beneficial effects:
Realize that wheelchair commonly walks, stands and walk and climb building three 1. can change by simple planetary gear train using the present invention
Kind motor pattern.
2. wheelchair of the present invention is in overturning, walking mechanism is lockable, and is furnished with anti-skid device, effectively prevents climbing
Slipping phenomenon caused by inflated wheel rotation when building, wheelchair turnover mechanism when standing walking is locked, improves walking of standing
Safety.
3. the present invention is driven in planetary gear train using interior outer shaft, the overall dimensions of wheelchair are efficiently reduced, are gone simultaneously
Except the directive wheel for being mounted on wheelchair front end.Not only ensure that wheelchair function and security performance, and make its cost reduce, weight and
Volume reduces.
Detailed description of the invention
Fig. 1 is the side schematic view under the standing pattern of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 2 is the left view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 3 is the top view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 4 is the isometric bottom view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 5 is the side schematic view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention climbed under building mode.
Fig. 6 is the sectional view of one group of planetary gear train of one embodiment of the invention.
Fig. 7 is the side view of one under the walking mode group planetary gear train of one embodiment of the invention.
Fig. 8 is the side view of one in the switching process group planetary gear train of one embodiment of the invention.
Wherein, 100 seat portion: 101 handspikes, 102 backrests, 103 handrails, 104 regulating mechanisms；200 seat interconnecting pieces
Point: 201 seat connections, 202 hinges；300 planetary gear trains, 301 output shafts, 302 output shaft coupling pieces, 303 transition axis connections
Part, 304 transition axises, 305 transition axis needle bearings, 306 transition gears, 307 outer shaft gears, shaft coupling piece in 308,309 climb building
Axis, 310 train cabinets, 311 outer shafts, 312 walking pinion gears, 313 traveling speed reducers, 314 movable motors, 315 inner shafts, 316 turn over
Turn gear wheel, 317 overturning motors, 318 overturning retarders, 319 overturning pinion gears, 320 outer shaft needle bearings, 321 walking canine tooths
Wheel, 322 diamond shape rolling bearing units, 323 output gears, 324 output shaft needle bearings；400 inflated wheels, 401 bolts；500 driving portions
Point, 501 drive cases；600 control sections: 601 display screens, 602 front side ultrasonic sensors, 603 right-side ultrasonic-wave sensors,
604 cameras, 605 rear side ultrasonic sensors, 606 left side ultrasonic sensors, 607 operation panels；700 anti-skid devices, 701
Support frame, 702 flake bearings, 703 electric pushrods, 704 anti-skidding motors, 705 mounting brackets, 706 horizontal rolling bearing units；800 feet
Pedal gear, 801 foot pedals, 802 brake pedals, 803 telescopic rods.
Fig. 9 is ADAMS simulation analysis figure when self-balancing electric wheel chair of the present invention climbs building.Wherein, Fig. 9 a drive case and two
The amplitude of wheelchair mass center when side wheel chair difference setting angle, torque variation diagram when Fig. 9 b maximum load, when Fig. 9 c maximum load, are left
Right two sides power of motor variation.
Specific embodiment
With reference to the accompanying drawing to further detailed description of the invention.
As shown in Figs. 1-5, be one embodiment of the invention Self-balancing electronic stair-climbing wheel chair structural schematic diagram, there is shown with
The embodiment in walking, stand and climb the component connection situation under building mode.The present embodiment includes seat portion 100, seat
300, four inflated wheels 400 of planetary gear train of coupling part 200, two, drive part 500, anti-skid device 700 and footrest mechanism
800.Seat connection 201 is hinged in seat portion 100 and drive case 501 respectively by hinge 202, two sides train cabinet
310 are connect by outer shaft 311 with drive case 501.Foot pedal 801 is fixed in seat portion 100 by telescopic rod 803, is filled
Turbine 400 is fixed on 301 end face of output shaft, inflated wheel 400 and output shaft 301 axially through bolt 401 and transmits torque by key,
Anti-skid device 700 is mounted on 501 bottom plate of drive case by rolling bearing units 706.
Fig. 6 is the sectional view of one group of planetary gear train of one embodiment of the invention.
Fig. 7 is the side view of one under the walking mode group planetary gear train of one embodiment of the invention.
Fig. 8 is the side view of one in the switching process group planetary gear train of one embodiment of the invention.
As shown in figs 6-8, planetary gear train 300 includes: output shaft 301, transition axis 304, climbs building axis 309, is outer shaft 311, interior
Axis 315, the output gear 323 being mounted on output shaft 301, the transition gear 306 being mounted on transition axis 304 are mounted on outside
Outer shaft gear 307 on axis 311, each gear and axis transmit torque by key, are fixed on axis axially through holding screw and circlip
On, output shaft 301, transition axis 304 and outer shaft 311 are mounted on train cabinet 310 by diamond shape rolling bearing units 322.Climb building axis
309 are connect with inner shaft 315 by interior shaft coupling piece 308, and inner shaft 315 and interior shaft coupling piece 308 are axial logical by key transmitting torque
Holding screw is crossed to fix.Transition axis 304 with climb building axis 309 and connect by transition shaft coupling piece 303, output shaft 301 with climb building axis
309 are connected by output shaft coupling piece 302, and output shaft coupling piece 302 is provided with output shaft needle bearing 324, transition axis connection
Part 303 is provided with transition axis needle bearing 305, and output 302 both ends of shaft coupling piece are fixed on output shaft 301 by circlip, mistake
It crosses shaft coupling piece 303 and 308 both ends of interior shaft coupling piece is fixed on by circlip and is climbed on building axis 309.
Overturning and walking tail house are connected by gear pair respectively at overturning motor 317 and movable motor 314, and walking is big
Gear 321 is mounted on outer shaft 311 by key, is fixed axially through holding screw and circlip；Gear wheel 316 is overturn to pacify by key
In inner shaft 315, fixed axially through holding screw and circlip；314 front end of movable motor is equipped with traveling speed reducer 313,
Overturning 317 front end of motor is equipped with overturning retarder 318, and the retarder band is self-locking, and the motor is direct current generator.
Anti-skid device 700 includes: support frame 701, flake bearing 702, electric pushrod 703, anti-skidding motor 704, installation branch
Frame 705 and horizontal rolling bearing units 706 form, and anti-skidding motor 704 is bolted in mounting bracket 705, electric pushrod 703
One end is mounted on support frame 701 by flake bearing 702, and the other end is bolted in mounting bracket 705, installation branch
Frame 705 is hinged in 501 bottom end of drive case, and support frame 701 is mounted on 501 bottom end of drive case by horizontal rolling bearing units 706.
Before wheelchair stair-climbing, anti-skidding motor 704 works, and electric pushrod 703 is driven to extend, and support frame 701 is put down, and electric pushrod 703 is certainly
Lock prevents from skidding during wheelchair stair-climbing.Anti-skidding motor 704 drives electric pushrod 703 to shrink after the completion of climbing building, then drives support
Frame 701 is withdrawn.
The seat portion 100 includes handspike 101, backrest 102, handrail 103, regulating mechanism 104.The backrest
102 angle adjustables, the handrail 103 is height-adjustable, and the foot pedal 801 is folding.The seat portion
Dividing 100 to pass through, seat connection 201 is hinged in drive case 501, and 801 lower end of foot pedal does not need to install universal
Wheel.
The control section includes master controller, gyroscope system, control panel 607.The master of the master controller
Control the STM32 that chip uses Yi Fa company.The gyroscope system includes three-axis gyroscope sensor and three axis accelerometer
The posture for detecting wheelchair is sent to master controller by sensor, gyroscope system, can be regulated and controled in real time to wheelchair.It is described
Control panel 607 include three axis Hall operation handles and button switch, the three axis Horll's Handles by control walking electricity
Machine 314 completes the forward-reverse of wheelchair, turns left to turn right.The switch button includes power switch, upper switch downstairs, row of standing
Switch, electromagnetic brake switch are walked, electromagnetic brake switch controls movable motor 314, and movable motor 314 is braked when climbing building, together
When walking mechanism it is locked, the planetary gear train rotation when climbing building in order to prevent.
The locking mechanism is with self-locking traveling speed reducer 313 and overturning retarder 318, and wheelchair is walked in overturning
Mechanism is self-locking, and wheelchair wheel transfers to have skidded phenomenon certainly in order to prevent in this way.
There are many braking schemes of wheelchair, and the brake scheme of battery truck can be used, and the present embodiment is used with disc brake apparatus
Inflated wheel 400 completes the braking of wheelchair by controlling the brake pedal 802 being mounted on foot pedal 801.In addition, using electrification
The movable motor 314 of magnetic brake, movable motor 314 is braked when wheelchair stair-climbing, is increased braking effect using two kinds of brakes, is also mentioned
The safety of the building Gao Liaopa process.
Wherein, the monitoring portion point includes display screen 601 and camera 604, and camera 604 is mounted on wheelchair rear,
User can understand rear environment by display screen 601, in addition, display screen 601 can show the electricity of lithium battery.Display screen
601 are mounted on wheelchair left armrests by fixing piece, and foldable；The monitoring part further includes being mounted on wheelchair surrounding
4 ultrasonic sensors (602,603,605,606) will call the police when wheelchair is close to object and display screen has red light sudden strain of a muscle
It is bright.
When wheelchair encounters barrier, the size of current of monitoring module monitors movable motor 314, when electric current is more than certain
Value, overturning motor 317 work, and raise wheelchair inflated wheel 400, to smoothly clear the jumps.
User can be switched over by operating mode of the operation panel 607 to wheelchair, under common walking mode, can be led to
It crosses operating stick and completes the forward-reverse of wheelchair, the functions such as right-hand rotation of turning left.When wheelchair stair-climbing, presses and climb building button, charge at this time
The movable motor 314 of magnetic brake is braked, and walking mechanism is locked, while Anti-slip support 701 is put down, and wheelchair starts to climb building, in this way
It is effectively prevented slipping phenomenon.When user needs to switch standing walking mode, the standing pattern button of lower panel, wheelchair are pressed first
After reaching standing state by turnover mechanism, turnover mechanism is locked, then completes the standing walking function of wheelchair by operating stick again
Energy.
Three kinds of operating modes of the embodiment of the present invention are described as follows:
(1) common walking:
Movable motor 314 drives walking pinion gear 312 to rotate by traveling speed reducer 313, is transmitted to walking gear wheel
321, drive outer shaft gear 307 to rotate by outer shaft 311, then be transmitted to output gear 323 by transition gear 306, then pass through
Output shaft 301 drives inflated wheel 400 to rotate.Each gear completes the common walking function of wheelchair, institute around respective center rotation at this time
The walking mechanism speed ratio stated is 50, and planetary gear speed ratio is 1.
(2) building is climbed:
Anti-skidding motor 704 works, and electric pushrod 703 drives support frame 701 to put down, and overturning motor 317 is slowed down by overturning
Device 318 drives overturning pinion gear 319 to rotate, and is transmitted to overturning gear wheel 316, climbs building axis 309 by the drive of inner shaft 315 and rotates,
At this point, walking mechanism is locked, each planetary gear is opposing stationary, and train revolves around 315 center of inner shaft realizes turn over function, completes to climb
Electric pushrod 703 drives support frame 701 to withdraw behind building, and the turnover mechanism speed ratio is 100.
(3) it stands and walks:
Overturning motor 317 first works, and drives overturning gear wheel 316 to rotate by overturning pinion gear 319, then pass through inner shaft
The rotation of building axis 309 is climbed in 315 drives, and each gear revolves around 315 central axis of inner shaft in planetary gear train 300 at this time, and wheelchairs is waited to reach
Standing state, turnover mechanism is locked, and then movable motor 314 works, and drives walking gear wheel 321 by walking pinion gear 312
Rotation, then drive outer shaft gear 307 to rotate by outer shaft 311, then be transmitted to output gear 323 by transition gear 306, at this time
Each gear of planetary gear train 300 realizes walking of standing around respective center rotation, wheelchair, and such user can be with normal person's height phase
When.
In the present embodiment, 4 sets of direct current generators and retarder provide walking to two sides train respectively and climb building
Power.In order to structure more compactization, 4 direct current generators and retarder use are parallel all around.Two movable motors 314
It is mounted on rectangle fixed frame bottom end with traveling speed reducer 313, two overturning motors 317 and overturning retarder 318 are mounted on rectangle
Fixed frame top.
In addition, seat portion 100 can be automatically adjusted according to the motion state of wheelchair, the gyroscope system being mounted on wheelchair
System is transferred to the posture of wheelchair in controller, can adjust to 100 position of seat portion, so that seat portion 100 keeps horizontal
Position.
In order to verify reasonability of the invention, the exploitativeness of the present invention program is verified by Virtual Prototype Technique.First
Wheelchair is modeled by three-dimensional software SolidWork, carries out dynamics simulation the threedimensional model of wheelchair is imported ADMAS
Analysis.Requirement according to China to stair size considers robot stair step width is minimum, climbs in the maximum situation of height
Building is most difficult to, and this programme stair step width is 270mm, is highly to verify wheelchair stair-climbing performance under 160mm environment, turn over by train
Tarnsition velocity is 0.6rad/s, maximum load 80kg.
If Fig. 9, t1 indicate that wheelchair is turned to the period of standing place, t2 indicates that wheelchair arrives at a station from second step overturning
The period of vertical position, Fig. 9 a, due to the difference of drive case 501 and 300 setting angle of planetary gear train, the center of gravity of wheelchair can be sent out
Changing, by analysis can proper drive case 501 with 300 setting angle of planetary gear train be 35 degree when wheelchair stair-climbing gravity center shift
Range is minimum；Wheelchair torque needed for the startup stage (t1) and each step incipient stage (t2) for climbing building known to Fig. 9 b is larger；
Fig. 9 c is the changed power situation of wheelchair two sides motor when maximum load climbs building, it is known that the building motor 317 of climbing of two sides may be selected
Power is 200W direct current generator.
Claims (8)
1. a kind of Self-balancing electronic stair-climbing wheel chair, including seat portion (100), seat connection section (200), planetary gear train
(300), inflated wheel (400), drive part (500), control section, monitoring part, anti-skid device (700) and footrest mechanism
(800)；
It is characterized by:
Including planetary gear train (300) described in two groups, it is connect respectively by an outer shaft (311) with a drive case (501),
Then it is mounted on the train cabinet (310) for being set to the wheelchair two sides by a diamond shape rolling bearing units seat (322)；Pass through
The transformation of the planetary gear train (300) can be achieved the common walking of wheelchair, stand and walk and climb three kinds of building operating mode；
The anti-skid device 700 includes an anti-skidding motor (704) and a support frame (701), horizontal is usherd to seat by one
Bearing (706) is mounted on the bottom plate of drive case (501)；
The drive part (500) is mounted in drive case (501), including a walking mechanism and a turnover mechanism,
Walking can be provided to two sides planetary gear train (300) and climb the power in building；The walking mechanism includes two sets of movable motors (314)
With traveling speed reducer (313) component, walking pinion gear (312), walking gear wheel (321), outer shaft (311), outer shaft gear
(307), transition axis (304), transition gear (306), output shaft (301), output gear (323)；The turnover mechanism includes
Two sets of overturning motors (317) and overturning retarder (318) component, overturning pinion gear (319), overturning gear wheel (316), inner shaft
(315), interior shaft coupling piece (308), output shaft coupling piece (302), transition shaft coupling piece (303), climb building axis (309)；Described
Drive case (501) on be provided with a rectangle fixed frame；Two sets of movable motors (314) and traveling speed reducer
(313) component is mounted on the bottom end of the rectangle fixed frame；Two sets of overturning motors (317) and overturning retarder (318) component
It is mounted on the top of the rectangle fixed frame；The traveling speed reducer (313) and overturning retarder (318) all has self-locking
Device.
2. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the wheelchair is in common row
When walking operating mode, the movable motor (314) is connect with traveling speed reducer (313), and walking pinion gear (312) and walking are big
Gear (321) engagement, walking gear wheel (321) are connect by outer shaft (311) with outer shaft gear (307), at this time planetary gear train
(300) each gear is around respective center rotation.
3. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the wheelchair is climbing Lou work
When operation mode, overturning motor (317) is connect with overturning retarder (318), overturning pinion gear (319) and overturning gear wheel (316)
Engagement, overturning gear wheel (316) are connect by inner shaft (315) with interior shaft coupling piece (308), each in planetary gear train (300) at this time
Gear revolves around inner shaft (315) central axis；At this point, the walking mechanism is locked using self-locking device, the anti-skidding electricity
Machine (704) work, support frame (701) is put down, thus slipping phenomenon when effectivelying prevent wheelchair stair-climbing.
4. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the wheelchair is in standing work
When operation mode: overturning motor (317) first works, and drives overturning gear wheel (316) rotation by overturning pinion gear (319), then lead to
It crosses inner shaft (315) drive and climbs building axis (309) rotation, each gear is public around inner shaft (315) central axis in planetary gear train (300) at this time
Turn, wheelchairs is waited to reach standing state, turnover mechanism is locked, and then movable motor (314) works, by walking pinion gear (312)
Walking gear wheel (321) rotation is driven, then drives outer shaft gear (307) rotation by outer shaft (311), then pass through transition gear
(306) output gear (323) are transmitted to, around respective center rotation, wheelchair is realized stands each gear of planetary gear train (300) at this time
Walking.
5. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1 or 2, which is characterized in that the movable motor
(314) it is provided with electromagnetic braking brake gear.
6. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the planetary gear train
(300), further include a transition gear (306), be set between the output gear (323) and outer shaft gear (307), outside
Shaft gear (307) is engaged with transition bearing (306), and transition gear (306) is engaged with output gear (323), output gear
(323), transition gear (306) and outer shaft gear (307) are mounted on train cabinet (310) by diamond shape rolling bearing units (322).
7. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the anti-skid device
It (700) include support frame (701), flake bearing (702), electric pushrod (703), anti-skidding motor (704), mounting bracket (705)
With horizontal rolling bearing units (706), before wheelchair stair-climbing, anti-skidding motor (704) work drives electric pushrod (703) elongation, support
Frame (701) is put down, and electric pushrod (703) is self-locking, prevents from skidding during wheelchair stair-climbing.
8. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the control section includes
Master controller, gyroscope system, control panel (607)；The master controller uses the STM32 main control chip of Yi Fa company,
The gyroscope system includes three-axis gyroscope sensor and 3-axis acceleration flowmeter sensor, and gyroscope system is detecting
Wheelchair posture is sent to master controller, can regulate and control in real time to the position of seat；The control panel (607) includes three
Axis Hall operation handle and button switch, before the three axis Horll's Handles complete wheelchair by control movable motor (314)
Into retrogressing, turn left to turn right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710455043.2A CN107174422B (en) | 2017-06-16 | 2017-06-16 | A kind of Self-balancing electronic stair-climbing wheel chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710455043.2A CN107174422B (en) | 2017-06-16 | 2017-06-16 | A kind of Self-balancing electronic stair-climbing wheel chair |
Publications (2)
| Publication Number | Publication Date |
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| CN107174422A CN107174422A (en) | 2017-09-19 |
| CN107174422B true CN107174422B (en) | 2018-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710455043.2A Active CN107174422B (en) | 2017-06-16 | 2017-06-16 | A kind of Self-balancing electronic stair-climbing wheel chair |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109662846A (en) * | 2017-10-16 | 2019-04-23 | 苏州艾尔楠医疗器械有限公司 | One kind is convenient for climbing wheelchair capable of climbing up stair |
| CN107898566A (en) * | 2017-12-25 | 2018-04-13 | 定远县中林机械技术有限公司 | A kind of adaptive stair activity wheelchair |
| CN109350383B (en) * | 2018-12-17 | 2021-06-29 | 珠海市研泰电子科技有限公司 | Gyroscope-based wheelchair sitting posture balancing system |
| CN109498297A (en) * | 2018-12-30 | 2019-03-22 | 天津传世科技有限公司 | Balancing seat controller |
| CN110051512A (en) * | 2019-05-09 | 2019-07-26 | 法罗适(上海)医疗技术有限公司 | A kind of multifunctional intellectual walking frame |
| CN110126953B (en) * | 2019-05-27 | 2020-12-25 | 朱幕松 | Electric large wheel type multifunctional stair vehicle |
| CN110575327A (en) * | 2019-10-17 | 2019-12-17 | 闫学堂 | Balance wheelchair |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107174422A (en) | 2017-09-19 |
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