CN107361934A

CN107361934A - A kind of novel six freedom automatic stari creeping ladder wheelchair

Info

Publication number: CN107361934A
Application number: CN201710606806.9A
Authority: CN
Inventors: 冬雷; 郝颖
Original assignee: BEIJING DONGLI JINGGONG TECHNOLOGY Co Ltd
Current assignee: BEIJING DONGLI JINGGONG TECHNOLOGY Co Ltd
Priority date: 2017-07-24
Filing date: 2017-07-24
Publication date: 2017-11-21

Abstract

The present invention devises a kind of novel six freedom automatic stari creeping ladder wheelchair, with automatic up-down stairs or some barriers can be crossed over, mainly including wheelchair frame, track assembly, wheel assembly, front wheels, controller, attitude transducer, track drive motor, trailing wheel swing arm motor, crawler belt cover, trailing wheel pendulum arm angle sensor.The motion composition six degree of freedom of track assembly and wheel assembly and four wheels so that can completely be seamlessly transitted during being gone downstairs on stair climbing wheelchair, phenomenon of verting suddenly will not be produced；Wheelchair need not control with center-of-gravity regulating position, enable center of gravity all the time automatically among four wheels, it is ensured that safety；The conversion of peaceful road mode of operation downstairs can be automatically performed, reduces the requirement of user's operational capacity, simplifies operating procedure；When downstairs process starts, wheelchair can be directed at the direction gone downstairs automatically；A people can be with complete independently by simple operations during above going downstairs, it is not necessary to which Healthy People auxiliary completes operation downstairs.

Description

A kind of novel six freedom automatic stari creeping ladder wheelchair

Technical field

The present invention relates to a kind of wheelchair of automatic stari creeping ladder, belongs to the automation field for being not required to very important person's intervention.

Background technology

Aged in China population increasingly increases at present, and disability old man and some disabled persons trip receive very big limitation.Although China's accessible urban facilities is become increasingly popular, but many residential buildings of the old residential block less than less than six layers are still largely deposited .And substantial amounts of senior staff of exactly having been lived in these old walk-up buildings.Therefore they go on a journey and received Greatly limitation.In order to which downstairs, people devise a variety of stair climbings on not nimble enough the elderly and the disabled of aspect legs and feet Device.The particularly appearance of electric wheelchair so that stair-climbing device and wheelchair species are various, but many stair climbing wheels at present The security of chair can not meet to require, some wheelchairs either Stair climbing device need a strong Healthy People auxiliary the elderly or Disabled person is taken on stair climbing wheelchair or device downstairs, therefore very unreliable.And current all stair climbing wheelchairs or dress Putting can not nearly all make wheelchair be smoothly transitted into downstairs movement state in level land state, or state is smoothly transitted into level land shape upstairs State.Current all wheelchairs can all have the quick swing of an angle and center of gravity when two states are changed, and this reduces climb The security of clambing wheel chair, in order to solve this problem, need a healthy athlete to hold wheelchair at wheelchair rear portion mostly, prevent The only quick change of the angle of wheelchair and center of gravity, the danger for avoiding wheelchair from toppling.

Chinese patent CN201510344769.X discloses a kind of multifunctional electric wheelchair, the multifunctional electric wheelchair It is excessively complicated and huge using three groups of crawler belts and the composite construction of four wheels, system.In upper starting stair and termination downstairs At stair, although can solve the problem that the problem of seamlessly transitting, because seat center of gravity is higher, it is therefore desirable to constantly regulate seat angle Degree, otherwise easily occur dangerous.In addition, the wheelchair can not accomplish to automatically control, it is necessary to the people for taking wheelchair carefully operates, once Error, can produce danger.So being not suitable for reacting insensitive, and taken to operating unskilled old man.

Chinese patent CN201210084640.6 discloses a kind of suspension type center of gravity and may move stair climbing vehicle, and the car is well Seat is in horizontality when maintaining downstairs, but can not solve the problems, such as smooth transition during stair activity well, has Stairs-mover may be made quickly to vert because of gravity center shift, the invention seat center of gravity is very high in addition, will be produced once control is bad Safety problem.In addition, significant care is wanted in the regulation of center of gravity, and operator is needed skillfully to ensure very much its normal fortune OK.The invention has two seats, therefore position of centre of gravity is not easy to determine, it is difficult to carry out carrying out gravity's center control automatically.

Chinese patent CN201610070118.0 discloses a kind of double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel And upper method downstairs, the Wheelchair structure is fairly simple, but manual operation is more complicated.It influences the greatest problem of safety and is It can not accomplish to seamlessly transit when downstairs, have the danger leaned forward suddenly, potential safety hazard easily occur.

Chinese patent CN201310027105.1, CN201320016259.6, CN201420482953.1, CN201420624224.5, CN201620102592.2, CN201620157391.2, CN201620717231.9 are also disclosed that Several stair climbing wheelchair structures, there is certain novelty.But they exist one it is common the problem of, be exactly upper downstairs movement state It can not seamlessly transit, it may occur that the danger verted suddenly.Therefore in the real life that can not all apply.

In summary, to solve the problems, such as the elderly's stair activity, first have to easy to operate, making every effort to can be all automatic complete Into upper process downstairs, it is not necessary to Healthy People auxiliary operation aside.Secondly, it is to be ensured that the safety of user, that is, will be upper Downstairs seamlessly transitted in transfer process, forbid wheelchair to vert suddenly.

The content of the invention

A kind of the defects of present invention exists for prior art, it is proposed that novel six freedom automatic stari creeping ladder wheelchair.Should A kind of novel six freedom automatic stari creeping ladder wheelchair uses crawler belt and Wheel combination structure, passes through trailing wheel during upper go downstairs Swing arm supports wheelchair, realizes and seamlessly transits, and will not produce any phenomenon of verting suddenly.Meanwhile the present invention can automatically begin Wheelchair center of gravity is kept eventually in the range of four strong points, it is ensured that the upper safety downstairs of wheelchair.

The technical scheme that the present invention takes is：

A kind of novel six freedom automatic stari creeping ladder wheelchair, including wheelchair frame, wheel assembly, front component, controller, appearance State sensor, brake gear, wheelchair frame include cushion, it is characterised in that also including track assembly, track drive motor, trailing wheel Swing arm motor, crawler belt cover, trailing wheel pendulum arm angle sensor；

The wheelchair frame includes front distance sensor, and the wheel assembly includes angle sensor behind rear angular transducer, the right side Device, the front component include angular transducer before left front angular transducer and the right side, range sensor, rear angular transducer, the right side Angular transducer is connected with controller by electric signal before angular transducer, left front angular transducer and the right side afterwards, is passed to controller Pass detection signal；

The track assembly includes crawler belt, driving shaft, hind axle, front axle, and wheelchair frame is arranged on above track assembly, after Wheel assembly is connected with the hind axle of track assembly, and front component is connected with the front axle of track assembly, and controller is arranged on Below the cushion of wheelchair frame, attitude transducer is installed on the controller, and track drive motor is arranged on the driving shaft of track assembly Upper driving crawler belt rolls, and trailing wheel swing arm motor is arranged on the swing angle that wheel assembly is controlled on the hind axle of track assembly, carries out Band cover is covered on track assembly, and trailing wheel pendulum arm angle sensor is arranged on the swing angle that wheel assembly is detected on hind axle, Brake gear is arranged on the wheel shaft of wheel assembly and front component.

The wheelchair frame also includes framework, preceding mounting flange, rear mounting flange, left shock-absorbing fulcrum, right shock-absorbing fulcrum, leaned on The back of the body, headrest, pedal, whole wheelchair frame are supported by preceding mounting flange, rear mounting flange and framework, left shock-absorbing fulcrum, Right shock-absorbing fulcrum is connected with front component respectively, and backrest and the relative cushion of headrest tilt backwards, and front distance sensor is placed in foot-operated It is used to detect distance of the pedal apart from ground below plate.

The track assembly also includes crossbeam, driving wheel, driven pulley, after-poppet flange, fore-stock flange；

The after-poppet flange and fore-stock flange are separately mounted on hind axle and front axle, for installing wheelchair frame Preceding mounting flange and rear mounting flange, driving wheel, driven pulley, hind axle, front axle are separately mounted to crossbeam, and hind axle is arranged on The middle part of crossbeam, front axle be arranged on crossbeam bottom and with the overlapping of axles of the driven pulley of bottom, driving wheel and from Any position that driving wheel may be mounted on crossbeam；Driving shaft on the driving wheel is connected with installation track drive motor；Institute It is parallel with the backrest of wheelchair frame to state crawler belt.

The crossbeam axis of the track assembly and the headrest of wheelchair frame arrive the line less parallel of pedal.

The wheel assembly also include left rear wheel, off hind wheel, crossbeam, left back axle sleeve, right rear axle housing, left swing arm, right swing arm, Left back shock-absorbing, it is right after shock-absorbing, left back motor, it is right after motor, left back wheel shaft, off hind wheel axle, left back rocking arm, right rear arm, after away from From sensor；

The left rear wheel and off hind wheel are separately mounted to left back wheel shaft and off hind wheel axle, and crossbeam will be electric after left back motor and the right side Machine is connected as an entirety, left back axle sleeve and right rear axle housing on the top of right swing arm and left back shock-absorbing and is separately mounted to crawler belt group On the hind axle of part, left swing arm and right swing arm are connected with shock-absorbing after left back rocking arm and right rear arm and left back shock-absorbing and the right side respectively Rear wheel shock-absorbing system is formed, left back motor is separately mounted to the front end of left back rocking arm and right rear arm, left rear corner with motor behind the right side Angular transducer is separately mounted to the rear end of left back rocking arm and right rear arm after degree sensor and the right side, after detecting left back rocking arm and the right side The swing angle of rocking arm, rear range sensor are arranged on the middle part of crossbeam, the distance for measurement distance ground；

The crossbeam of the wheel assembly is U-shape structure, ensures that crossbeam will not encounter backrest when wheel assembly is lifted up And headrest.

The front component also include the near front wheel, off-front wheel, left front shock-absorbing, right front shock-proof device, left front rocking arm, right front arm, Left front motor, right front motor；

Described the near front wheel and off-front wheel are separately mounted on left front motor and right front motor, on left front motor and right front motor Left front rocking arm and right front arm front end are separately mounted to, left front shock-absorbing and right front shock-proof device front end are separately mounted to left front motor and the right side On front motor, rear end is separately mounted on the left shock-absorbing fulcrum and right shock-absorbing fulcrum of wheelchair frame, left front rocking arm and right front arm Rear end is separately mounted on track assembly front axle, collectively constitutes front-wheel shock mitigation system, left front angular transducer and angle before the right side Sensor is separately mounted to the rear end of left front rocking arm and right front arm, to detect the angle of oscillation of left front rocking arm and right front arm Degree.

The wheel assembly, front component are swung up and down with upper limit and lower limiting function, prevent swing from exceeding amplitude Influence safe handling；Front component lower limiting function during downstairs, it can also be ensured that the near front wheel and off-front wheel not with Stair contact.

Described the near front wheel and off-front wheel, left rear wheel, off hind wheel have controllable brake gear can be by wheel lock up；It is described Brake gear is manually and automatically shunting means.

A kind of implementation method of novel six freedom automatic stari creeping ladder wheelchair, a variety of works are had according to upper state difference downstairs Operation mode, mainly include：Downstairs pattern, the upstairs automatic alignment pattern of pattern, stair, various mode of operations can use automatic Control is realized, in automatic control process, can also add artificial adjustment, but controller may determine that manual operation Whether instruction is dangerous, if manual operation has hazards, controller will be any limitation as to manual operation.

The control strategy of the pattern downstairs realizes that step is as follows：

Step D-A：Artificial adjustment wheelchair is directed at direction of going downstairs, and then provides automatic go downstairs and instructs；

Step D-B：Controller receive it is automatic controlled after downstairs instructing left back motor and it is right after motor and left front motor and Right front motor slowly rotates forward, and when the near front wheel and off-front wheel are rolled at first step, continuation slowly scrolls down through, this Shi Zuoqian shock-absorbings and right front shock-proof device slowly extend, and drive left front rocking arm and right the front arm slowly smooth bottom, left front angle sensor Angular transducer detects swing angle position and is sent to controller before device and the right side, if angle before left front angular transducer and the right side The angle position signal of sensor feedback is inconsistent, and the non-face stair edge of controller wheelchair performs step D-C, if left-front corner It is consistent with angle sensor feedback swing angle position signalling before the right side to spend sensor, controller judges that wheelchair has been directed at stair side Edge, perform step D-D；

Step D-C：Stair are aligned automatically.

Step D-D：Controller controls the near front wheel and off-front wheel to continue rolls forward, during at first step, continues to delay Slowly scroll down through, left front shock-absorbing and right front shock-proof device slowly extend, and left front rocking arm and right front arm is continued the slowly smooth bottom, control The angle signal that device processed is detected by angular transducer before left front angular transducer and the right side judges that crawler belt lower end has touched First step, at the same time front distance sensor detect pedal and increase above threshold value and anti-than normally travel to ground distance Feed controller, the distance signal that controller can also be detected by front distance sensor judges that crawler belt lower end has touched first Individual step；

Step D-E：After crawler belt lower end touches first step, after controller controls left rear wheel and the right side by brake gear Take turns it is seized, while control trailing wheel swing arm motor to swing wheel assembly rearwardly and upwardly and control track drive motor driven carry out Band rolls forward, now attitude transducer the posture of cushion is passed into controller, controller coordinate trailing wheel swing arm motor and shoe Speed with motor makes cushion remain horizontal attitude, and left rear wheel and off hind wheel are as you were during being somebody's turn to do；

Step D-F：When touching three with top bar below controller detects crawler belt, wheel assembly continues on backward Side is swung, and controller passes through angular transducer and trailing wheel pendulum arm angle sensor controling wheelchair after left back angular transducer and the right side Continue to raise wheel assembly supreme limit point while descending；

Step D-G：Crawler belt continues rolls forward, because crawler belt continues to roll forward when the near front wheel and off-front wheel touch ground It is dynamic, left front shock-absorbing and right front shock-proof device is slowly compressed, put on left front rocking arm and right front arm, left front angular transducer and right anterior angle Degree sensor detects angle change, when at the same time front distance sensor detects that pedal returns to normal traveling apart from ground Numerical value, controller pass through left front angular transducer and it is right before the feedback signal of angular transducer or the feedback of front distance sensor Signal judges that wheelchair drops to the stair bottom；

Step D-H：After wheelchair reaches the stair bottom, controller control track drive motor stalls, and will be left front Wheel and off-front wheel are seized, while control trailing wheel swing arm motor to swing wheel assembly downwards；

Step D-I：When left rear wheel, off hind wheel touch stair, controller passes through left back angular transducer and right relief angle While spend the detection signal control trailing wheel swing arm motor downward rotating speed of sensor, left front motor, right front motor are controlled forward Rotating speed, to ensure that cushion is in horizontal attitude all the time；

Step D-J：Trailing wheel swing arm motor driving wheel assembly moves downward, after trailing wheel pendulum arm angle sensor detects When wheel assembly has reached set angle, illustrate that four wheels are had arrived in a plane, complete downstairs to act.

The control strategy of the pattern upstairs realizes that step is as follows：

Step U-A：When wheelchair reach stair it is following when, the artificial wheelchair direction back face that adjusts is gone upstairs direction, will be taken turns The left rear wheel and off hind wheel of chair are adjacent to stair simultaneously, then provide and instruct upstairs automatically；

Step U-B：Controller automatically control left back motor and it is right after motor and left front motor and right front motor slowly to After rotate, ensure that trailing wheel is adjacent to stair；

Step U-C：When motor rolling is at first step after left back motor and the right side, continue after making when rolling backward Wheel rolls on first step, wheelchair is leaned forward, and at this moment because slight inclination occurs for cushion, signal is passed to control by attitude transducer Device processed, controller have gone up stair so as to determine wheelchair rear wheel contact；

Step U-D：Controller controls left rear wheel and off hind wheel to continue to rotate backward, while controls trailing wheel swing arm motor by after Wheel assembly swings and controls left front motor and right front motor rotates backward rearwardly and upwardly, and now attitude transducer is by the posture of cushion Pass to controller, the speed of motor behind controller coordinate trailing wheel swing arm motor, left front motor and right front motor, left back motor and the right side Degree makes cushion remain horizontal attitude；

Step U-E：Trailing wheel pendulum arm angle sensor detection trailing wheel swing arm motor swings to wheel assembly on finger rearwardly and upwardly When determining angle, crawler belt is fitted on stair completely, and at this moment left rear wheel and off hind wheel still contact with stair, while left back shock-absorbing, Shock-absorbing is in an intermediate position behind the right side, and the angle of left swing arm, right swing arm is uploaded to by angular transducer behind left back angular transducer, the right side Controller；

Step U-F：Motor behind controller control trailing wheel swing arm motor, left front motor and right front motor, left back motor and the right side It is stopped, and controls track drive motor-driven caterpillar tracks to start stair climbing to rolling above stair；

Step U-G：When wheelchair climbs to stair upper end, the contact of left rear wheel and off hind wheel disengaging with stair, left back shock-absorbing, Shock-absorbing is extended behind the right side, and the angle of left swing arm, right swing arm is uploaded to controller by angular transducer behind left back angular transducer, the right side, At this moment range sensor detects that it leaves the distance on ground and exceedes distance when climbing building after, and it is dynamic in next step to make controller The judgement of work；

Step U-H：Controller control trailing wheel swing arm motor wheel assembly is swung downwards, while control left back motor and Motor slowly rotates backward behind the right side, and continues to control track drive motor driven crawler belt to rolling above stair, controller coordinate The speed of motor makes cushion remain horizontal attitude behind trailing wheel swing arm motor, track drive motor, left back motor and the right side；

Step U-I：When the near front wheel and off-front wheel climb up top stair, can be contacted with ground, while make left front shock-absorbing Slowly compress with right front shock-proof device, put on left front rocking arm and right front arm, left front angular transducer and it is right before angular transducer to control Device processed sends swing angle position, and controller controls left front motor and right front motor to rotate backward, and control track drive motor stops Only work, control left rear wheel and off hind wheel seized, continue to swing to specified angle under control trailing wheel swing arm motor, building is climbed in completion State.

The control strategy of the automatic alignment pattern of stair realizes that step is as follows：

Step D-C1：When wheelchair is gone downstairs, it is necessary to which face stair are gone downstairs, direction is alignd, it is assumed that off-front wheel arrives first stair side Edge, when off-front wheel is rolled at first step, continue to scroll down through, while right front shock-proof device slowly extends, under right front arm Put, angular transducer sends swing angle position to controller before the right side；

Step D-C2：Controller controls right front motor to slow down slow rolls forward until crawler belt bottom righthand side and first step In contact, at the same off-front wheel and off hind wheel is seized；

Step D-C3：Controller controls left front motor, left back motor slowly to rotate forward, and left front angular transducer is to control Device sends angle position, until the near front wheel reach with off-front wheel same position, at this time front distance sensor detect pedal The stair first order has been stretched out, has completed alignment function；

Step D-C4：If the near front wheel arrives first stair edge, operating process is similar to step with step, controls corresponding Motor.

Because above-mentioned technical proposal is used, the present invention has following advantages and effect compared with prior art：

The present invention an effect be, the rolling of crawler belt and the exercise group swung up and down with four wheels of wheel assembly Into six degree of freedom so that can completely be seamlessly transitted during being gone downstairs on stair climbing wheelchair, phenomenon of verting suddenly will not be produced, protected Card system is safe and reliable.

The present invention an effect be, wheelchair need not control with center-of-gravity regulating position, enable center of gravity automatic all the time Among four wheels, it is ensured that safety.

The effect of the present invention is, can be automatically performed the conversion of peaceful road mode of operation downstairs, reduces user The requirement of operational capacity, simplify operating procedure, it is not necessary to specialized training.

The effect of the present invention is, when downstairs process starts, wheelchair can be with pivot stud, and alignment is gone downstairs automatically The direction of ladder.

The effect of the present invention is that when downstairs process starts, wheel assembly serves supporting role, therefore wheelchair is not It can glide or topple over.

The effect of the present invention is that a people can be not required to by simple operations with complete independently during above going downstairs Healthy People auxiliary is wanted to complete downstairs to operate.

Brief description of the drawings

Fig. 1 is a kind of novel six freedom automatic stari creeping ladder wheelchair schematic diagram in the present invention；

Fig. 2 is wheelchair frame schematic diagram in the present invention；

Fig. 3 is track assembly schematic diagram in the present invention；

Fig. 4 is wheel assembly schematic diagram in the present invention；

Fig. 5 is wheel assembly support schematic diagram in the present invention；

Fig. 6 is wheel assembly support side view in the present invention；

Fig. 7 is front component in the present invention (left side) signal；

Fig. 8 is front component in the present invention (right side) schematic diagram；

Fig. 9 is brake gear schematic diagram in the present invention

Figure 10 is that wheelchair is gone downstairs schematic diagram 1 (schematic diagram 12 upstairs) in the present invention；

Figure 11 is that wheelchair is gone downstairs schematic diagram 2 (schematic diagram 11 upstairs) in the present invention；

Figure 12 is that wheelchair is gone downstairs schematic diagram 3 (schematic diagram 10 upstairs) in the present invention.

Figure 13 is that wheelchair is gone downstairs schematic diagram 4 (schematic diagram 9 upstairs) in the present invention；

Figure 14 is that wheelchair is gone downstairs schematic diagram 5 (schematic diagram 8 upstairs) in the present invention；

Figure 15 is that wheelchair is gone downstairs schematic diagram 6 (schematic diagram 7 upstairs) in the present invention；

Figure 16 is that wheelchair is gone downstairs schematic diagram 7 (schematic diagram 6 upstairs) in the present invention；

Figure 17 is that wheelchair is gone downstairs schematic diagram 8 (schematic diagram 5 upstairs) in the present invention；

Figure 18 is that wheelchair is gone downstairs schematic diagram 9 (schematic diagram 4 upstairs) in the present invention；

Figure 19 is that wheelchair is gone downstairs schematic diagram 10 (schematic diagram 3 upstairs) in the present invention；

Figure 20 is that wheelchair is gone downstairs schematic diagram 11 (schematic diagram 2 upstairs) in the present invention；

Figure 21 is that wheelchair is gone downstairs schematic diagram 12 (schematic diagram 1 upstairs) in the present invention；

Figure 22 is that face stair are gone downstairs direction schematic diagram when wheelchair prepares to go downstairs in the present invention.

In accompanying drawing, the part representated by each label：

1st, wheelchair frame, 2, track assembly, 3, wheel assembly, 4, front component, 5, controller, 6, attitude transducer, 7, carry out Band motor, 8, trailing wheel swing arm motor, 9, crawler belt cover, 10, trailing wheel pendulum arm angle sensor, 101, framework, 102, cushion, 103rd, preceding mounting flange, 104, rear mounting flange, 105, left shock-absorbing fulcrum, 106, right shock-absorbing fulcrum, 107, backrest, 108, head Pillow, 109, pedal, 110, front distance sensor, 201, crawler belt, 202, crossbeam, 203, driving wheel, 204, driven pulley, 205, Driving shaft, 206, hind axle, 207, front axle, 208, after-poppet flange, 209, fore-stock flange, 210, rack, 301, left back Wheel, 302, off hind wheel, 303, crossbeam, 304, left back axle sleeve, 305, right rear axle housing, 306, left swing arm, 307, right swing arm, 308, left Shock-absorbing afterwards, 309, it is right after shock-absorbing, 310, left back motor, 311, it is right after motor, 312, left back wheel shaft, 313, off hind wheel axle, 314, Left back rocking arm, 315, right rear arm, 316, left back angular transducer, 317, it is right after angular transducer, 318, rear Distance-sensing Device, 401, the near front wheel, 402, off-front wheel, 403, left front shock-absorbing, 404, right front shock-proof device, 405, left front angular transducer, 406, right Preceding angular transducer, 407, left front rocking arm, 408, right front arm, 409, left front motor, 410, right front motor, 1101, axis hole, 1102nd, brake disc, 1103, brake block, 1104, self-actuating brake cable wire, 1105, hand-operated brake cable wire, 1106, electric cylinder, 1107, Brake lever.

Embodiment

The present invention is described further below in conjunction with the accompanying drawings.

Fig. 1 is a kind of novel six freedom automatic stari creeping ladder wheelchair schematic diagram, the disability old man of lower limb paralysis or deformity People can normally be walked using this electric wheelchair, automatic up-down stairs or can also cross over some barriers, such as threshold Etc..Mainly include wheelchair frame 1, track assembly 2, wheel assembly 3, front wheels 4, controller 5, attitude transducer 6, crawler belt to drive Dynamic motor 7, trailing wheel swing arm motor 8, crawler belt cover 9, trailing wheel pendulum arm angle sensor 10.Wherein, wheelchair frame 1 be mainly old man or The seat portion that disabled person takes；Track assembly 2 is arranged in crawler belt cover 9, is driven by track drive motor 7, is above and below wheelchair Principal functional components when building or climbing；Wheel assembly 3, front wheels 4 are existed in addition to normal walking function by a series of actions Downstairs or when climbing miscellaneous function is realized on wheelchair；Trailing wheel swing arm motor 8 drives swinging up and down for wheel assembly 3；Posture senses Device 6 detects the posture of cushion 102 in wheelchair frame 1 in real time when going downstairs or climbing on wheelchair, trailing wheel pendulum arm angle sensor 10 exists The swing supervision of wheel assembly 3 downstairs or when climbing is detected on wheelchair in real time, detection signal is passed to controller 5 by both of which； Controller 5 is responsible for automatically controlling and detecting for each part of whole wheelchair.The fortune of track assembly 2 and wheel assembly 3 and four wheels Dynamic composition six degree of freedom so that can completely be seamlessly transitted during being gone downstairs on stair climbing wheelchair, will not produce and vert suddenly now As ensureing that system is safe and reliable.

Fig. 2 is the schematic diagram of wheelchair frame 1, the part passes through four adpting flanges：After 2 preceding mounting flanges 103,2 Mounting flange 104, and framework 101 support whole wheelchair frame 1.In addition wheelchair frame 1 also includes cushion 102, left shock-absorbing branch Point 105, right shock-absorbing fulcrum 106, backrest 107, headrest 108, pedal 109, front distance sensor 110.

Wherein, left front shock-absorbing 403 respectively at front component of left shock-absorbing fulcrum 105, right shock-absorbing fulcrum 106, right front shock-proof device 404 rear ends are connected, and belong to the shock mitigation system of wheelchair.Backrest 107,108 cushions vertical from traditional wheelchair of headrest are different, relative to sit Pad 102 is tilted backwards, and passenger on the one hand can be made pleasant, and still further aspect can allow track assembly 2 preferable Ground is bonded parallel installation with backrest 107, as shown in figure 1, can be adjusted smaller so in stair activity wheelchair posture and Angle, the gabarit volume of whole system can also be reduced.Roll cage and safety belt can also be installed, thus more on wheelchair frame 1 The safety of passenger can be ensured.

Front distance sensor 110 is arranged on the lower section of pedal 109, is mainly used in measuring pedal 109 under different postures and arrives It the distance on ground, so can detect whether wheelchair has arrived stair edge at any time, or whether reach level ground, pass through The measurement of front distance sensor 110 obtains the information apart from ground, and controller 5 carries out gesture stability automatically to whole wheelchair, makes to multiply Seat personnel are more comfortable, safer.In order to improve the accuracy of control, multiple front distance sensors 110 can be increased, ensured Wheelchair can be monitored under any state in real time to the distance on ground.

Fig. 3 is the schematic diagram of track assembly 2, and track assembly 2 mainly includes crawler belt 201, crossbeam 202, driving wheel 203, driven Wheel 204, driving shaft 205, hind axle 206, front axle 207, after-poppet flange 208, fore-stock flange 209.

The after-poppet flange 208 and fore-stock flange 209 are separately mounted on hind axle 206 and front axle 207, are used It is driving wheel 203, driven pulley 204, hind axle 206, preceding in the preceding mounting flange 103 and rear mounting flange 104 of installation wheelchair frame 1 Wheel shaft 207 is separately mounted to crossbeam 202, and the driving shaft 205 on the driving wheel 203 is connected with track drive motor 7.

The typically only driving wheel 203 of track assembly 2, is driven by track drive motor 7, according to crawler belt 201 Length difference can have multiple driven pulleys 204, make whole wheelchair more steady in stair activity.Crawler belt during due to upper going downstairs 201 critical piece to be contacted with stair, therefore in the surface layout of crawler belt 201 level vertical with the length direction of crawler belt 201 Rack 210, see Fig. 3, so can preferably firmly grasp stair, and can in stair activity aligning direction, will not deflection.Crawler belt 201 can be manufactured using rubber, according to actual conditions, track assembly 2 can by 201, two crawler belts 201 of a crawler belt or The a plurality of crawler belt 201 of person forms, and the control of a plurality of crawler belt 201 will be more flexible.Crossbeam 202 is the carrying list in track assembly 2 Member, for supporting driving wheel 203, driven pulley 204 and wheelchair frame 1, wheel assembly 3, front component 4.Driving shaft 205, trailing wheel Axle 206, front axle 207 are also mounted on crossbeam 202, and with driving wheel 203 or the axle coaxial line of driven pulley 204.

The crawler belt 201 is parallel with the backrest 107 of wheelchair frame 1, and the headrest 108 of the axis of crossbeam 202 and wheelchair frame 1, which arrives, to be ridden The line less parallel of plate 109.

Fig. 4, Fig. 5, Fig. 6 are the schematic diagrames of wheel assembly 3.Wheel assembly 3 includes left rear wheel 301, off hind wheel 302, crossbeam 303rd, left back axle sleeve 304, right rear axle housing 305, left swing arm 306, right swing arm 307, left back shock-absorbing 308, it is right after shock-absorbing 309, left back Motor 311, left back wheel shaft 312, off hind wheel axle 313, left back rocking arm 314, right rear arm 315, left back angle behind motor 310, the right side Angular transducer 317, rear range sensor 318 behind sensor 316, the right side；The left rear wheel 301 and off hind wheel 302 are installed respectively On left back wheel shaft 312 and off hind wheel axle 313.After motor 311 drives left rear wheel 301 and the right side respectively after left back motor 310 and the right side The front and rear rotation of wheel 302, with the speed of controling wheelchair and direction.

The cage connection of motor 311 after left back motor 310 and the right side is an entirety by crossbeam 303, makes two parts in left and right Intensity is strengthened.Left back axle sleeve 304 and right rear axle housing 305 are on the top of right swing arm 307 and left back shock-absorbing 308 and install respectively On the hind axle 206 of track assembly 2.Controlled by the trailing wheel swing arm motor 8 on hind axle 206 on wheel assembly 3 Lower swing, so as to control posture held stationary of the whole wheelchair in upper go downstairs, center of gravity will not be lost and verted suddenly.

Left swing arm 306 and right swing arm 307 respectively with left back rocking arm 314 and right rear arm 315 and left back shock-absorbing 308) and Shock-absorbing 309 is connected to form rear wheel shock-absorbing system behind the right side, whether can make seating people in level road or during upper go downstairs Member feels more comfortable.Meanwhile angular transducer 317 is separately mounted to left back rocking arm 314 behind left back angular transducer 316 and the right side With the rear end of right rear arm 315, the swing angle of left back rocking arm 314 and right rear arm 315 is detected, to judge the appearance of wheelchair State and whether at the edge of stair.

Motor 311 is separately mounted to left back rocking arm after the left back motor 310 and the right side of driving left rear wheel 301 and off hind wheel 302 314 and the front end of right rear arm 315 (trailing wheel and motor can also be integrated using Electric Motor Wheel, simplify system and set Meter).Range sensor 318 is arranged on the middle part of crossbeam 303, the distance for measurement distance ground afterwards.No matter in trailing wheel When component 3 is cocked position or extended position, rear range sensor 318 may detect that the distance on ground, for wheel Whether chair is in the detection at stair edge.Range sensor 318 can also be arranged on headrest 108 and can more regularly examine afterwards Measure the distance up to ground.

The crossbeam 303 is U-shape structure, ensures that crossbeam 303 will not encounter backrest 107 when wheel assembly 3 is lifted up With headrest 108, at this moment left rear wheel 301 and off hind wheel 302 passenger will not be had an impact in the both sides of wheelchair, such as Figure 15 institutes Show.

Fig. 7 and Fig. 8 is the schematic diagram of front component 4, and front component 4 includes the near front wheel 401, off-front wheel 402, left front shock-absorbing 403rd, right front shock-proof device 404, left front angular transducer 405, it is right before angular transducer 406, left front Rocker arm 4 07, right front arm 408, Left front motor 409, right front motor 410.

Described the near front wheel 401 and off-front wheel 402 are separately mounted on left front motor 409 and right front motor 410, can also be incited somebody to action Motor and decelerator are combined together to form an Electric Motor Wheel with front-wheel, so more convenient to use.Left front shock-absorbing 403 and the front end of left front Rocker arm 4 08 be arranged on left front motor 409, the installation of the front end of right front shock-proof device 404 and right front arm 408 On right front motor 410, the right front arm of the left front Rocker arm 4 07 of flexible drive of so left front shock-absorbing 403 and right front shock-proof device 404 408 swing.The rear end of left front shock-absorbing 403 and right front shock-proof device 404 is separately mounted to left shock-absorbing fulcrum 105 and the right side of wheelchair frame 1 On shock-absorbing fulcrum 106, the rear end of left front Rocker arm 4 07 and right front arm 408 is separately mounted on the front axle 207 of track assembly 2, Front-wheel shock mitigation system is collectively constituted, the system belongs to independent suspension system, can be adapted to more complicated landform and stair climbing ring Border.After angular transducer 406 is separately mounted to left front Rocker arm 4 07 and right front arm 408 before left front angular transducer 405 and the right side End, to detect the swing angle of left front Rocker arm 4 07 and right front arm 408.Microswitch can also be utilized or press close to sensing Device replaces left front angular transducer 405 with angular transducer 406 before the right side to detect the position of left front Rocker arm 4 07 and right front arm 408 Put.The posture of wheelchair and the action that needs are completed may determine that by the position of left front Rocker arm 4 07 and right front arm 408, Facilitate programme-control, reduce the intervention of people, improve the automatic controlling level of system.

Fig. 9 is the schematic diagram of brake gear 11, it is characterised in that described the near front wheel 401 and off-front wheel 402, left rear wheel 301, Off hind wheel 302 has controllable brake gear 11 to carry out brake control, it might even be possible to by wheel lock up.

The brake gear 11, including axis hole 1101, brake disc 1102, brake block 1103, self-actuating brake cable wire 1104, hand Dynamic brake cable 1105, electric cylinder 1106, brake lever 1107.Brake gear 11 is arranged on above each wheel.It can use Drum type braking device, or disc brake device, other brake travelings can also be used.In the present invention, brake gear 11 is hand Dynamic and auto parallel Connection device, manually can be controlled or automatically control, and whether passenger needs, or controller is pressed It is controlled, wheelchair can be braked according to program.Self-actuating brake cable wire 1104 and one end of hand-operated brake cable wire 1105 point It is not connected with brake block 1103, other end connects electric cylinder 1106 and brake lever 1107 respectively.Wherein electric cylinder 1106 The realizations such as the driving of other motors or magnet driver can be utilized to automatically control.During self-actuating brake, controller 5 controls electronic The speed and distance that cylinder 1106 shrinks, can be as needed to wheel lock up, to increase safety so as to be controlled to brake weight Property.

The novel six freedom automatic stari creeping ladder wheelchair of the present invention, gone downstairs in actual applications according to upper by said structure State difference have multiple-working mode, mainly include：Downstairs pattern, the upstairs automatic alignment pattern of pattern, stair, various work Pattern can use and automatically control realization, in automatic control process, can also add artificial adjustment, but automatically control Device may determine that whether the instruction of manual operation is dangerous, if manual operation has hazards, controller will be to artificial behaviour It is any limitation as.

The control model of novel six freedom automatic stari creeping ladder wheelchair automatically downstairs is divided into 10 parts, realizes step such as Under：

Step 1：When wheelchair reaches stair top edge, the artificial wheelchair direction face that adjusts is gone downstairs direction, is then provided It is automatic downstairs to instruct.Although arranging rack 210 on crawler belt 201, face stair direction is critically important, when can so make downstairs The rack 210 of crawler belt 201 will and complete phase parallel with stair be embedded in striped, first can prevent from breakking away, and second can make Wheelchair when downstairs will not sideslip, see Figure 10.Therefore in order to avoid danger caused by artificial adjustment inaccuracy, exist in controller 5 Wheelchair whether complete face bottom of the building edge is first determined whether after receiving automatic instruction downstairs.

Step 2：Whether controller 5 judges wheelchair complete face bottom of the building edge.After controller 5 receives automatic instruction downstairs Left back motor 310 is controlled slowly to be rotated forward with motor 311 behind the right side and left front motor 409 and right front motor 410.This mistake Journey needs slower than level road, and its speed is controlled by controller, it is impossible to manually, it is dangerous to prevent that artificial maloperation from producing.When When the near front wheel 401 and off-front wheel 402 are rolled at first step, continuation slowly scrolls down through, at this moment left front shock-absorbing 403 and the right side Front shock-proof device 404 slowly extends, and drives left front Rocker arm 4 07 and right the front arm 408 slowly smooth bottom, left front angular transducer 405 Swing angle position is detected with angular transducer before the right side 406 and is sent to controller 5.If the non-face stair edge of wheelchair, The feedback oscillating angle position signal of angular transducer 406 is inconsistent before left front angular transducer 405 and the right side, and such controller 5 is just Meeting automatic start stair alignment pattern, i.e. step 3, as shown in figure 22.If face stair edge, left front angle pass wheelchair Sensor 405 is consistent with the feedback oscillating angle position signal of angular transducer 406 before the right side, and now controller 5 directly performs step 4.

Step 3：Stair are aligned automatically.

Step 4：Controller 5 controls the near front wheel 401 and off-front wheel 402 to continue rolls forward, left front shock-absorbing 403 and it is right before Shock-absorbing 404 continues slowly to extend, and left front Rocker arm 4 07 and right front arm 408 continue the slow smooth bottom, left front angular transducer 405 send swing angle position with angular transducer 406 before the right side to controller 5, and controller 5 passes through left front angular transducer 405 Position judgment with angular transducer before the right side 406 is until whether the lower end of crawler belt 201 has touched first step.In addition, work as Front distance sensor 110 can detect that step distance increases than normally travel when the lower end of crawler belt 201 slowly contacts with first step Add and exceed threshold value, controller 5 can equally judge that pedal 109 has stretched out first step of stair accordingly.Utilize left front angle Angular transducer 406 and front distance sensor 110 carry out stair Edge check respectively before sensor 405 and the right side, are formed and judged Whether the lower end of crawler belt 201 touches the dual fail-safe of first step, can improve the reliability of system, as long as there is a sensor The edge of stair is detected, is just taken appropriate measures, the reliability and security of system can be greatly improved, avoid manual operation The danger that error is brought.See Figure 11.

Step 5：After the lower end of crawler belt 201 touches first step, controller 5 automatically controls dress by brake gear 11 Put control left rear wheel 301 and off hind wheel 302 it is seized, while control trailing wheel swing arm motor 8 by wheel assembly 3 rearwardly and upwardly Swing and control track drive motor 7 to drive the rolls forward of crawler belt 201, now attitude transducer 6 is by the posture transmission of cushion 102 To controller 5, controller 5, which coordinates trailing wheel swing arm motor 8 and the speed of track drive motor 7, makes cushion 102 remain horizontal Posture.Left rear wheel 301 and off hind wheel 302 are as you were during being somebody's turn to do, and play a supporting role, and ensure that wheelchair will not glide and incline ；Whole wheelchair is slowly steadily stretched to below stair, and keeps cushion 102 to be in horizontal attitude all the time.See Figure 12.

Step 6：When touching three with top bar below controller 5 detects crawler belt 201, or pass through a sensing Device detect stair close to hind axle 206 position when, wheel assembly 3 again rearwardly and upwardly swing can make left back shock-absorbing 308 and the right side Shock-absorbing 309 extends afterwards, and angular transducer 317 detects left back rocking arm 314 and right rear arm after left back angular transducer 316 and the right side 315 with the variable angle of left swing arm 306 and right swing arm 307, make to continue to raise rear wheels while the controling wheelchair of controller 5 is descending 3 supreme limit point of part.See Figure 13-15.Here can judge to be by the signal fed back by trailing wheel pendulum arm angle sensor 10 It is no to reach upper limit site, mechanical position limitation point can also be used.

Step 7：Crawler belt 201 continues rolls forward, and controller 5 passes through angle sensor before left front angular transducer 405 and the right side The feedback signal of device 406 and front distance sensor 110 judges whether wheelchair drops to stair lowermost layer.When wheelchair drops to stair During lowermost layer, the near front wheel 401 and off-front wheel 402 touch ground, because crawler belt 201 continues rolls forward, make left front shock-absorbing 403 Slowly compress, put on left front Rocker arm 4 07 and right front arm 408, left front angular transducer 405 and right anterior angle with right front shock-proof device 404 Degree sensor 406 send swing angle position to controller 5, at this time front distance sensor 110 detect pedal 109 away from Numerical value when returning to normal traveling from the ground is so as to judging to reach stair bottom.Control strategy is transferred to by the can of controller 5 To next stage.See Figure 16-17.

Step 8：After wheelchair reaches the stair bottom, controller 5 controls track drive motor 7 to stop operating, and will be left front Wheel 401 and off-front wheel 402 are seized, while control trailing wheel swing arm motor 8 to swing wheel assembly 3 downwards.So can be with Wheelchair is entirely propped up, crawler belt is departed from stair.See Figure 18-19.

Step 9：When left rear wheel 301, off hind wheel 302 touch stair, shock-absorbing 309 is compressed after left back shock-absorbing 308 and the right side, Left back angular transducer 316 and it is right after angular transducer 317 detect left back rocking arm 314 and right rear arm 315 and left swing arm 306 and The variable angle of right swing arm 307 simultaneously passes to controller 5, while controller 5 controls trailing wheel swing arm 8 downward rotating speed of motor, control Left front motor 409, the rotating speed of right front motor 410 forward are made, to ensure that cushion 102 is in horizontal attitude all the time.See Figure 20.

Step 10：Trailing wheel swing arm motor 8 drives wheel assembly 3 to move downward, when trailing wheel pendulum arm angle sensor 10 detects When having reached set angle to wheel assembly 3, illustrate that four wheels are had arrived in a plane, complete downstairs to act.See figure 21。

The automatic control strategy upstairs of the wheelchair is divided into 9 parts, realizes that step is as follows：

Step 1：When wheelchair reach stair it is following when, adjustment wheelchair direction back face is gone upstairs direction, then to being come from It is dynamic to instruct upstairs.This operation, which can utilize, to be manually completed, it is necessary to which passenger is by the left rear wheel 301 and off hind wheel 302 of wheelchair It is adjacent to stair simultaneously.See wheelchair schematic diagram 1 upstairs, i.e. wheelchair is gone downstairs schematic diagram 21.

Step 2：Controller 5 automatically controls motor 311 and left front motor 409 and electricity before the right side behind left back motor 310 and the right side Machine 410 slowly rotates backward.Ensure that trailing wheel is adjacent to stair.See wheelchair schematic diagram 1 upstairs, i.e. wheelchair is gone downstairs schematic diagram 21.

Step 3：When motor 311 is rolled at first step after left back motor 310 and the right side, meeting when continuing to roll backward Trailing wheel is rolled on first step, wheelchair is leaned forward, at this moment because slight inclination occurs for cushion 102, attitude transducer 6 is by signal Controller 5 is passed to, controller 5 has gone up stair so as to determine wheelchair rear wheel contact.Attitude transducer 6 is instructed upstairs Just attitude transducer 6 can constantly be detected afterwards.In flat pavement running need not to the detection of attitude transducer 6, only across , it is necessary to detection to attitude transducer 6 when obstacle-overpass or stair activity.See wheelchair schematic diagram 2 upstairs, i.e. wheelchair is downstairs illustrated Figure 20 (direction of arrow is reverse).

Step 4：Controller 5 controls left rear wheel 301 and off hind wheel 302 to continue to rotate backward, while controls trailing wheel swing arm electric Wheel assembly 3 is swung and controls left front motor 409 and right front motor 410 to rotate backward by machine 8 rearwardly and upwardly, and now posture passes The posture of cushion 102 is passed to controller 5 by sensor 6, before controller 5 coordinates trailing wheel swing arm motor 8, left front motor 409 and the right side The speed of motor 311 makes cushion 102 remain horizontal attitude behind motor 410, left back motor 310 and the right side.See that wheelchair shows upstairs It is intended to 2-3, i.e. wheelchair is gone downstairs schematic diagram 20- Figure 19, and the direction of arrow wherein on figure is reverse.

Step 5：Trailing wheel pendulum arm angle sensor 10 detects trailing wheel swing arm motor 8 and swings to wheel assembly 3 rearwardly and upwardly During specified angle, crawler belt 201 is fitted on stair completely, and at this moment left rear wheel 301 and off hind wheel 302 still contact with stair, together Shi Zuohou shock-absorbings 308, it is right after shock-absorbing 309 it is in an intermediate position, left back angular transducer 316, it is right after angular transducer 317 by a left side Swing arm 306, the angle of right swing arm 307 are uploaded to controller 5.See wheelchair schematic diagram 4 upstairs, i.e. wheelchair is gone downstairs the (figure of schematic diagram 18 The middle direction of arrow is reverse, upstairs when wheel left rear wheel 301 and off hind wheel 302 be contact stair) at this moment left front shock-absorbing 403 and the right side Front shock-proof device 404 is still within compressive state.

Step 6：Controller 5 controls trailing wheel swing arm motor 8, left front motor 409 and right front motor 410, the and of left back motor 310 Motor 311 is stopped behind the right side, and controls track drive motor 7 to drive crawler belt 201 to start stair climbing to rolling above stair.See Wheelchair schematic diagram 5-6 upstairs, i.e. wheelchair go downstairs schematic diagram 17- Figure 16 (arrow is reverse in figure), at this moment can control left back motor 310 and it is right after the back rotation of motor 311, as auxiliary building climbing power.

Step 7：When wheelchair climbs to stair upper end, the contact of left rear wheel 301 and the disengaging of off hind wheel 302 with stair, wheel is seen Chair schematic diagram 7 upstairs, i.e. wheelchair are gone downstairs schematic diagram 15 (arrow is reverse in figure), left back shock-absorbing 308, it is right after shock-absorbing 309 extend, it is left The angle of left swing arm 306, right swing arm 307 is uploaded to controller 5 by angular transducer 317 behind angular transducer 316, the right side afterwards, this When after range sensor 318 detect that it leaves the distance on ground and exceedes distance when climbing building.Can also by other means certainly It is dynamic to detect that wheelchair climbs to the upper end of stair, and controller 5 is made the judgement acted in next step.

Step 8：Controller 5 controls trailing wheel swing arm motor 8 to swing wheel assembly 3 downwards, while controls left back motor 310 slowly rotate backward with motor 311 behind the right side, and continue to control track drive motor 7 to drive crawler belt 201 to rolling above stair Dynamic, the speed of motor 311 makes seat behind the coordination trailing wheel swing arm of controller 5 motor 8, track drive motor 7, left back motor 310 and the right side Pad 102 remains horizontal attitude.See wheelchair schematic diagram 8-10 upstairs, i.e., wheelchair is gone downstairs, and (arrow is anti-in figure by schematic diagram 14- Figure 12 To).

Step 9：When the near front wheel 401 and off-front wheel 402 climb up top stair, can be contacted with ground, while make left front Shock-absorbing 403 and right front shock-proof device 404 slowly compress, and are put on left front Rocker arm 4 07 and right front arm 408, the left front He of angular transducer 405 Angular transducer 406 sends swing angle position to controller 5 before the right side, and controller 5 controls left front motor 409 and right front motor 410 rotate backward, and control track drive motor 7 is stopped, and control left rear wheel 301 and off hind wheel 302 seized, continue to control Specified angle is swung under trailing wheel swing arm motor 8 processed, building state is climbed in completion.See wheelchair schematic diagram 11-12 upstairs, i.e. wheelchair downstairs shows It is intended to 11-10 (arrow is reverse in figure).

The control strategy of novel six freedom automatic stari creeping ladder wheelchair escalator alignment pattern is divided into 4 parts, realizes Step is as follows：

Step 1：When wheelchair is gone downstairs, it is necessary to which face stair are gone downstairs, direction is alignd, it is assumed that off-front wheel 402 arrives first stair side Edge, when off-front wheel 402 is rolled at first step, continue to scroll down through, while right front shock-proof device 404 slowly extends, before right The bottom of Rocker arm 4 08, it is right before angular transducer 406 send swing angle position to controller 5.See Figure 22.

Step 2：Controller 5 controls right front motor 410 to slow down slow rolls forward until the bottom righthand side of crawler belt 201 and first Step contact is upper (position judgment that controller 5 passes through angular transducer before the right side 406), while by off-front wheel 402 and off hind wheel 302 It is seized.

Step 3：Controller 5 controls left front motor 409, left back motor 310 slowly to rotate forward, left front angular transducer 405 send angle position to controller 5, until the near front wheel 401 reach with the same position of off-front wheel 402, at this time front distance pass Sensor 110 detects that pedal 109 has stretched out the stair first order, completes alignment function.

Step 4：If the near front wheel 401 arrives first stair edge, operating process is similar to step 3 with step 1, and control is corresponding Motor.

It in the excessively relatively low barrier of wheelchair, can be controlled according to process upstairs, allow Wheelchair back first to barrier, Then the left back motor 310 of controling wheelchair rolls and climbs up barrier backward with motor 311 behind the right side, wheelchair is leaned forward, controller 5 is controlled Left rear wheel 301 and off hind wheel 302 processed continue to rotate backward, while control trailing wheel swing arm motor 8 to put wheel assembly 3 rearwardly and upwardly Move and control left front motor 409 and right front motor 410 to rotate backward, now attitude transducer 6 is by the posture transmission of cushion 102 To controller 5, behind the coordination trailing wheel swing arm of controller 5 motor 8, left front motor 409 and right front motor 410, left back motor 310 and the right side The speed of motor 311 makes cushion 102 remain horizontal attitude.Until left rear wheel 301 and off hind wheel 302 are across barrier.

Then controller 5 controls track drive motor 7 to drive crawler belt 201 to run backward, and by before the near front wheel 401 and the right side Wheel 402 lifts, across barrier.In the process, controller 5 controls left rear wheel 301 and off hind wheel 302 to rotate, and controls simultaneously The angle of wheel assembly 3, cushion 102 is set to remain horizontal attitude.

The foregoing description of the disclosed embodiments, this hair can be realized or use by being only used for professional and technical personnel in the field It is bright.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention, therefore sheet Invention is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and innovative point phase Consistent most wide scope.

Claims

1. a kind of novel six freedom automatic stari creeping ladder wheelchair, including wheelchair frame (1), wheel assembly (3), front component (4), control Device (5) processed, attitude transducer (6), brake gear (11), wheelchair frame (1) include cushion (102), it is characterised in that also include carrying out Band component (2), track drive motor (7), trailing wheel swing arm motor (8), crawler belt cover (9), trailing wheel pendulum arm angle sensor (10)；

The wheelchair frame (1) includes front distance sensor (110), the wheel assembly (3) include rear angular transducer (316), Angular transducer (317) behind the right side, the front component (4) include angular transducer before left front angular transducer (405) and the right side (406), angular transducer (317), left front angular transducer behind range sensor (110), rear angular transducer (316), the right side (405) and before the right side angular transducer (406) is connected with controller (5) by electric signal, and detection signal is transmitted to controller (5)；

The track assembly (2) includes crawler belt (201), driving shaft (205), hind axle (206), front axle (207), wheelchair frame (1) it is arranged on above track assembly (2), wheel assembly (3) is connected with the hind axle (206) of track assembly (2), front component (4) it is connected with the front axle (207) of track assembly (2), controller (5) is arranged on below the cushion (102) of wheelchair frame (1), Attitude transducer (6) is arranged on controller (5), and track drive motor (7) is arranged on the driving shaft (205) of track assembly (2) Upper driving crawler belt (201) rolls, and trailing wheel swing arm motor (8) is arranged on the hind axle (206) of track assembly (2) and controls rear wheels The swing angle of part (3), crawler belt cover (9) are covered on track assembly (2), and trailing wheel pendulum arm angle sensor (10) is arranged on trailing wheel The swing angle of wheel assembly (3) is detected on axle (206), brake gear (11) is arranged on wheel assembly (3) and front component (4) Wheel shaft on.

A kind of 2. novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 1, it is characterised in that the wheelchair frame (1) framework (101), preceding mounting flange (103), rear mounting flange (104), left shock-absorbing fulcrum (105), right shock-absorbing fulcrum are also included (106), backrest (107), headrest (108), pedal (109), whole wheelchair frame (1) pass through preceding mounting flange (103), rear installation Flange (104) and framework (101) support, left shock-absorbing fulcrum (105), right shock-absorbing fulcrum (106) respectively with front component (4) It is connected, backrest (107) and headrest (108) tilt backwards with respect to cushion (102), and front distance sensor (110) is placed in pedal (109) lower section is used to detect distance of the pedal (109) apart from ground.

A kind of 3. novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 1, it is characterised in that the track assembly (2) crossbeam (202), driving wheel (203), driven pulley (204), after-poppet flange (208), fore-stock flange (209) are also included；

The after-poppet flange (208) and fore-stock flange (209) are separately mounted on hind axle (206) and front axle (207), For installing the preceding mounting flange (103) and rear mounting flange (104) of wheelchair frame (1), driving wheel (203), driven pulley (204), Hind axle (206), front axle (207) are separately mounted to crossbeam (202), and hind axle (206) is arranged on the pars intermedia of crossbeam (202) Position, front axle (207) be arranged on crossbeam (202) bottom and with the overlapping of axles of the driven pulley (204) of bottom, driving wheel And any position for may be mounted on crossbeam (202) of driven pulley (204) (203)；

Driving shaft (205) on the driving wheel (203) is connected with installation track drive motor (7)；

The crawler belt (201) is parallel with the backrest (107) of wheelchair frame (1).

A kind of 4. novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 1, it is characterised in that the wheel assembly (3) left rear wheel (301), off hind wheel (302), crossbeam (303), left back axle sleeve (304), right rear axle housing (305), left swing arm are also included (306), right swing arm (307), left back shock-absorbing (308), it is right after shock-absorbing (309), left back motor (310), it is right after motor (311), left Hind axle (312), off hind wheel axle (313), left back rocking arm (314), right rear arm (315), rear range sensor (318)；

The left rear wheel (301) and off hind wheel (302) are separately mounted to left back wheel shaft (312) and off hind wheel axle (313), crossbeam (303) motor (311) after left back motor (310) and the right side is connected as an entirety, left back axle sleeve (304) and right rear axle housing (305) on the top of right swing arm (307) and left back shock-absorbing (308) and it is separately mounted to the hind axle (206) of track assembly (2) On, left swing arm (306) and right swing arm (307) respectively with left back rocking arm (314) and right rear arm (315) and left back shock-absorbing (308) and behind the right side shock-absorbing (309) is connected to form rear wheel shock-absorbing system, and motor (311) is installed respectively after left back motor (310) and the right side In the front end of left back rocking arm (314) and right rear arm (315), angular transducer (317) after left back angular transducer (316) and the right side The rear end of left back rocking arm (314) and right rear arm (315) is separately mounted to, detects left back rocking arm (314) and right rear arm (315) Swing angle, rear range sensor (318) be arranged on crossbeam (303) middle part, the distance for measurement distance ground；

The crossbeam (303) of the wheel assembly (3) is U-shape structure, ensures the crossbeam (303) when wheel assembly (3) is lifted up Backrest (107) and headrest (108) will not be encountered.

A kind of 5. novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 1, it is characterised in that the front component (4) the near front wheel (401), off-front wheel (402), left front shock-absorbing (403), right front shock-proof device (404), left front rocking arm (407), the right side are also included Front arm (408), left front motor (409), right front motor (410)；

The near front wheel (401) and off-front wheel (402) are separately mounted on left front motor (409) and right front motor (410), left front Left front rocking arm (407) and right front arm (408) front end, left front shock-absorbing are separately mounted on motor (409) and right front motor (410) (403) it is separately mounted to right front shock-proof device (404) front end on left front motor (409) and right front motor (410), rear end is installed respectively On the left shock-absorbing fulcrum (105) of wheelchair frame (1) and right shock-absorbing fulcrum (106), left front rocking arm (407) and right front arm (408) Rear end be separately mounted on track assembly (2) front axle (207), collectively constitute front-wheel shock mitigation system, left front angular transducer (405) and before the right side angular transducer (406) is separately mounted to the rear end of left front rocking arm (407) and right front arm (408), to examine Survey the swing angle of left front rocking arm (407) and right front arm (408).

A kind of 6. novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 1, it is characterised in that the wheel assembly (3), front component (4) is swung up and down with upper limit and lower limiting function, is prevented from swinging and is used safely more than amplitude influences, institute State front component (4) lower limiting function during downstairs, it can also be ensured that the near front wheel (401) and off-front wheel (402) Bu Yu buildings Ladder contact；The wheel assembly (3), front component (4) are respectively provided with brake gear (11) can be by wheel lock up, the brake dress (11) are put as manually and automatically shunting means.

7. a kind of implementation method of novel six freedom automatic stari creeping ladder wheelchair, it is characterised in that according to upper state downstairs not With there is multiple-working mode, mainly include：Downstairs pattern, the upstairs automatic alignment pattern of pattern, stair, various mode of operations So that using realization is automatically controlled, in automatic control process, artificial adjustment can also be added, but controller (5) can be sentenced Break manual operation instruction it is whether dangerous, if manual operation has hazards, controller (5) will be subject to manual operation Limitation.

A kind of 8. implementation method of novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 7, it is characterised in that institute The control strategy for stating pattern downstairs realizes that step is as follows：

Step D-B：Controller (5) receives automatic motor (311) and a left side after left back motor (310) and the right side are controlled after downstairs instructing Front motor (409) and right front motor (410) slowly rotate forward, when the near front wheel (401) and off-front wheel (402) are rolled to first When at step, continuation slowly scrolls down through, and at this moment left front shock-absorbing (403) and right front shock-proof device (404) slowly extend, and drive left front shake The slow smooth bottom of arm (407) and right front arm (408), left front angular transducer (405) and it is right before angular transducer (406) inspection Survey swing angle position and be sent to controller (5), if angular transducer (406) before left front angular transducer (405) and the right side The angle position signal of feedback is inconsistent, and the non-face stair edge of controller (5) wheelchair performs step D-C, if left front angle Sensor (405) is consistent with angular transducer (406) feedback oscillating angle position signal before the right side, and controller (5) judges wheelchair Stair edge is directed at, performs step D-D；

Step D-C：Stair are aligned automatically.

Step D-D：Controller (5) control the near front wheel (401) and off-front wheel (402) continue rolls forward, at first step When, continuation slowly scrolls down through, and left front shock-absorbing (403) and right front shock-proof device (404) slowly extend, and make left front rocking arm (407) and the right side Front arm (408) continues the slowly smooth bottom, and controller (5) passes through angular transducer before left front angular transducer (405) and the right side (406) angle signal detected judges that crawler belt (201) lower end has touched first step, and at the same time front distance senses Device (110) detection pedal (109) increases above threshold value than normally travel to ground distance and feeds back to controller (5), controls Device (5) also can judge that crawler belt (201) lower end has touched first by the distance signal that front distance sensor (110) detects Step；

Step D-E：After crawler belt (201) lower end touches first step, controller (5) is controlled left back by brake gear (11) Take turns (301) and off hind wheel (302) is seized, while control trailing wheel swing arm motor (8) to swing wheel assembly (3) rearwardly and upwardly And control track drive motor (7) to drive crawler belt (201) rolls forward, now attitude transducer (6) is by the posture of cushion (102) Controller (5) is passed to, controller (5), which coordinates trailing wheel swing arm motor (8) and the speed of track drive motor (7), makes cushion (102) horizontal attitude is remained, left rear wheel (301) and off hind wheel (302) are as you were during being somebody's turn to do；

Step D-F：When touching three with top bar below controller (5) detects crawler belt (201), wheel assembly (3) after Continuous to swing rearwardly and upwardly, controller (5) passes through angular transducer and trailing wheel swing arm angle after left back angular transducer (316) and the right side Degree sensor (10) controling wheelchair continues to raise wheel assembly (3) supreme limit point while descending；

Step D-G：Crawler belt (201) continues rolls forward, due to carrying out when the near front wheel (401) and off-front wheel (402) touch ground Band (201) continues rolls forward, left front shock-absorbing (403) and right front shock-proof device (404) is slowly compressed, left front rocking arm (407) and the right side Front arm is put on (408), and angular transducer (406) detects angle change before left front angular transducer (405) and the right side, same with this When front distance sensor (110) detect numerical value when pedal (109) returns to normal traveling apart from ground, controller (5) is logical Cross left front angular transducer (405) and it is right before the feedback signal of angular transducer (406) or the feedback of front distance sensor (110) Signal judges that wheelchair drops to the stair bottom；

Step D-H：After wheelchair reaches the stair bottom, controller (5) control track drive motor (7) stops operating, and by a left side Front-wheel (401) and off-front wheel (402) are seized, while control trailing wheel swing arm motor (8) to put wheel assembly (3) downwards It is dynamic；

Step D-I：When left rear wheel (301), off hind wheel (302) touch stair, controller (5) passes through left back angular transducer (316) while and behind the right side detection signal of angular transducer (317) controls trailing wheel swing arm motor (8) downward rotating speed, control is left Front motor (409), the rotating speed of right front motor (410) forward, to ensure that cushion (102) is in horizontal attitude all the time；

Step D-J：Trailing wheel swing arm motor (8) driving wheel assembly (3) moves downward, when trailing wheel pendulum arm angle sensor (10) is examined When measuring wheel assembly (3) and having reached set angle, illustrate that four wheels are had arrived in a plane, complete downstairs to act.

A kind of 9. implementation method of novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 7, it is characterised in that institute The control strategy for stating pattern upstairs realizes that step is as follows：

Step U-A：When wheelchair reach stair it is following when, the artificial wheelchair direction back face that adjusts is gone upstairs direction, by wheelchair Left rear wheel (301) and off hind wheel (302) while stair are adjacent to, then provide and instruct upstairs automatically；

Step U-B：Controller (5) automatically control left back motor (310) and it is right after motor (311) and left front motor (409) and Right front motor (410) slowly rotates backward, and ensures that trailing wheel is adjacent to stair；

Step U-C：When motor (311) is rolled at first step after left back motor (310) and the right side, when continuation rolls backward Trailing wheel can be made to roll on first step, wheelchair is leaned forward, at this moment because slight inclination, attitude transducer (6) occur for cushion (102) Signal is passed into controller (5), controller (5) has gone up stair so as to determine wheelchair rear wheel contact；

Step U-D：Controller (5) control left rear wheel (301) and off hind wheel (302) continue to rotate backward, while control trailing wheel to put Wheel assembly (3) is swung and controls left front motor (409) and right front motor (410) turns round by arm motor (8) rearwardly and upwardly Dynamic, now the posture of cushion (102) is passed to controller (5) by attitude transducer (6), and controller (5) coordinates trailing wheel swing arm electricity The speed of motor (311) makes cushion behind machine (8), left front motor (409) and right front motor (410), left back motor (310) and the right side (102) horizontal attitude is remained；

Step U-E：Trailing wheel pendulum arm angle sensor (10) detection trailing wheel swing arm motor (8) puts wheel assembly (3) rearwardly and upwardly When moving specified angle, crawler belt (201) is fitted on stair completely, at this moment left rear wheel (301) and off hind wheel (302) still with building Ladder contact, while shock-absorbing (309) is in an intermediate position behind left back shock-absorbing (308), the right side, left back angular transducer (316), right relief angle The angle of left swing arm (306), right swing arm (307) is uploaded to controller (5) by degree sensor (317)；

Step U-F：Controller (5) control trailing wheel swing arm motor (8), left front motor (409) and right front motor (410), left back electricity Motor (311) is stopped after machine (310) and the right side, and controls track drive motor (7) to drive crawler belt (201) to rolling above stair It is dynamic to start stair climbing；

Step U-G：When wheelchair climbs to stair upper end, the contact of left rear wheel (301) and off hind wheel (302) disengaging with stair is left Afterwards shock-absorbing (308), it is right after shock-absorbing (309) extend, left back angular transducer (316), it is right after angular transducer (317) by left swing arm (306), the angle of right swing arm (307) is uploaded to controller (5), and at this moment rear range sensor (318) detects that it leaves ground Distance exceed distance when climbing building, and controller (5) is made the judgement of action in next step；

Step U-H：Controller (5) control trailing wheel swing arm motor (8) swings downwards wheel assembly (3), while controls left back Motor (310) and it is right after motor (311) slowly rotate backward, and continue to control track drive motor (7) drive crawler belt (201) to Rolled above stair, after controller (5) coordinates trailing wheel swing arm motor (8), track drive motor (7), left back motor (310) and the right side The speed of motor (311) makes cushion (102) remain horizontal attitude；

Step U-I：When the near front wheel (401) and off-front wheel (402) climb up top stair, can be contacted with ground, while make a left side Front shock-proof device (403) and right front shock-proof device (404) slowly compress, and are put on left front rocking arm (407) and right front arm (408), left front angle Angular transducer (406) sends swing angle position to controller (5) before sensor (405) and the right side, and controller (5) control is left front Motor (409) and right front motor (410) rotate backward, and control track drive motor (7) is stopped, control left rear wheel (301) It is seized with off hind wheel (302), continue to swing to specified angle under control trailing wheel swing arm motor (8), building state is climbed in completion.

A kind of 10. implementation method of novel six freedom automatic stari creeping ladder wheelchair as claimed in claim 7, it is characterised in that The control strategy of the automatic alignment pattern of stair realizes that step is as follows：

Step D-C1：When wheelchair is gone downstairs, it is necessary to which face stair are gone downstairs, direction is alignd, it is assumed that off-front wheel (402) arrives first stair side Edge, when off-front wheel (402) is rolled at first step, continue to scroll down through, while right front shock-proof device (404) slowly extends, Right front arm (408) bottom, it is right before angular transducer (406) send swing angle position to controller (5)；

Step D-C2：Controller (5) control right front motor (410) slow down slow rolls forward until crawler belt (201) bottom righthand side with In first step contact, at the same off-front wheel (402) and off hind wheel (302) is seized；

Step D-C3：Controller (5) controls left front motor (409), left back motor (310) slowly to rotate forward, and left front angle passes Sensor (405) sends angle position to controller (5), until the near front wheel (401) reach with off-front wheel (402) same position, this When front distance sensor (110) detect that pedal (109) has stretched out the stair first order, complete alignment function；

Step D-C4：If the near front wheel (401) arrives first stair edge, operating process is similar to step D-C3 with step D-C1, control Make corresponding motor.