CN107898566A - A kind of adaptive stair activity wheelchair - Google Patents
A kind of adaptive stair activity wheelchair Download PDFInfo
- Publication number
- CN107898566A CN107898566A CN201711419260.2A CN201711419260A CN107898566A CN 107898566 A CN107898566 A CN 107898566A CN 201711419260 A CN201711419260 A CN 201711419260A CN 107898566 A CN107898566 A CN 107898566A
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- China
- Prior art keywords
- wheelchair
- supporting rod
- gear
- chassis
- stair activity
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- 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
- A61G5/1089—Anti-tip devices
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention discloses a kind of adaptive stair activity wheelchair, seat rotates peace by supporting rod and turns on chassis, multiple Athey wheels are installed on chassis, Athey wheel is driven by the first motor, Athey wheel, which can roll, crosses step or obstacle, servo-control system controls the second motor to rotate according to the data that acceleration transducer and gyroscope gather, second motor driving leading screw stent is axially moveable, leading screw stent drives supporting rod to be rotated around bottom shaft, and then drive seat rotation, screw rod bracket keeps horizontal to mobile control seat in front of wheelchair during wheelchair top bar, avoid the danger that wheelchair overturns backward, screw rod bracket moves control seat holding level to wheelchair rear when wheelchair is got out of a predicament or an embarrassing situation, avoid the danger of wheelchair tip forwards, therefore stability during wheelchair stair activity is improved.
Description
Technical field
The present invention relates to wheelchair technical field, more particularly to a kind of adaptive stair activity wheelchair.
Background technology
Wheelchair species currently on the market is very much, there is collapsible, stair climbing type etc., and for body, handicapped people provides
It is convenient, but no matter the wheelchair of any form, all can not be across obstacle higher on road, or be difficult when getting over obstacle
Balance is kept, especially in stair climbing, is stepped under the complex situations such as bus, it is likely that run into wheelchair because of crank and tumble
Danger.
The content of the invention
To solve technical problem present in background technology, the present invention proposes a kind of adaptive stair activity wheelchair.
A kind of adaptive stair activity wheelchair proposed by the present invention, including wheelchair vehicle body, Athey wheel and balanced controls；
Wheelchair vehicle body includes chassis, supporting rod and seat, and supporting rod bottom is installed on chassis, and can be along wheelchair front and back
To rotation, top fixing seat；
Balanced controls are installed on chassis, and balanced controls include leading screw stent, leading screw stent by articulating device and
Supporting rod connects, and leading screw, which can axially move, promotes supporting rod to be rotated around bottom shaft；
Multiple Athey wheels are installed on chassis, and Athey wheel includes wheel hub, driving gear, multiple driven gears, multiple crawler belts
Wheel and crawler belt, driving gear be installed in rotation on wheel hub, multiple driven gears be installed in rotation on wheel hub and with master
Moving gear is meshed, and multiple Athey wheels are fixedly and coaxially connected one by one with multiple driven gears, and crawler belt is installed on multiple Athey wheels
On excircle；
The adaptive stair activity wheelchair includes at least three working statuses, wherein：
Under accessible walking working status, chassis level, supporting rod is perpendicular to chassis, seat horizontal, the driving of the first motor
Driving gear rotates, and driving gear is rotated by multiple driven gears drives multiple Athey wheels to rotate respectively, and multiple Athey wheels are same
When drive crawler belt rotate, wheel hub along rectilinear movement；
Go upstairs under working status, chassis tilts, and leading screw promotes supporting rod axially in parallel to rotation in front of wheelchair, supporting rod
In vertical direction, the reach of wheelchair center of gravity, seat horizontal, Athey wheel rolling movement；
Go downstairs under working status, chassis tilts, and leading screw promotes supporting rod to be rotated to wheelchair rear, and supporting rod is axially in parallel
Moved after vertical direction, wheelchair center of gravity, seat horizontal, Athey wheel rolling movement.
Preferably, the articulating device includes the first sleeve, and the first sleeve is slidably mounted on supporting rod, sleeve with
Leading screw stent one end is pivotally connected.
Preferably, the articulating device includes further including cross bar and second sleeve, and the first waist is offered on supporting rod
Shape locating slot, cross bar are slidably mounted in the first kidney-shaped locating slot, second sleeve be rotatably installed in cross bar periphery and with leading screw branch
Frame is fixedly connected.
Preferably, it is additionally provided with travelling gear between driving gear and driven gear, travelling gear and driving gear and driven
Gear engages.
Preferably, the second kidney-shaped locating slot is offered on wheel hub, the shaft of driven gear is installed on the second kidney-shaped locating slot
In, shaft is moved along the second kidney-shaped positioning groove length direction to adjust the distance of driven gear and driving gear.
Preferably, balanced controls further include mounting bracket, feed screw nut, first gear and the second motor, mounting bracket and are fixed on
On chassis, leading screw stent is spirally connected with feed screw nut, and feed screw nut is installed in rotation on mounting bracket, and feed screw nut periphery is equipped with
External gear teeth, first gear are engaged with external gear teeth, and first gear is coaxially fixed in the shaft of the first motor, and the second machine shaft can
Rotating.
Preferably, balance control mechanism is further included, balance control mechanism includes acceleration transducer, gyroscope and servo control
System processed, acceleration transducer and gyroscope are fixed on the seat and are connected with servo-control system, the second motor and servo control
System connection processed, servo-control system control the second motor to rotate according to the data that acceleration transducer and gyroscope gather.
Preferably, supporting rod is equipped with spring damper.
In the present invention, the adaptive stair activity wheelchair that is proposed, on the road surface of no obstacle when driving, crawler belt rotate
Whole Athey wheel is promoted to travel forward, wheel hub is only moved forward without rotating, the vertical side in leading screw stent control supporting rod edge
To seat keeps horizontal；When Athey wheel is in top bar or when running into obstacle, crawler belt is subject to resistance, and then wheel hub is acted
Power, produces torque between wheel hub and motor, motor can make the torque of driving gear whole wheel hub to roll, thus cross step or
Obstacle, wheelchair can detect that wheelchair is moving upwards toward rear-inclined, acceleration transducer during top bar, and gyroscope detects wheelchair
The data of sweptback angle, acceleration transducer and gyroscope detection are sent to servo-control system, servo-control system
Control the second motor to rotate according to the data received, drive feed screw nut to rotate by first gear, feed screw nut drives silk
Thick stick stent moves axially forward, and promotes supporting rod to turn to supporting rod forward parallel to vertical direction, support around bottom shaft
Bar drives seat rotation to horizontality, the danger overturned backward so as to avoid wheelchair；When Athey wheel is got out of a predicament or an embarrassing situation, work as crawler belt
When the bottom tracks of wheel are hanging, whole Athey wheel, which can roll forward, to be rolled on next side stage terrace, is taken turns during getting out of a predicament or an embarrassing situation
Chair can detect that wheelchair is moving downward toward top rake, acceleration transducer, and gyroscope detects the angle of experiencing of forward pitch,
Acceleration transducer and the data of gyroscope detection are sent to servo-control system, and servo-control system is according to the data received
Control the second motor to rotate, drive feed screw nut to rotate by first gear, feed screw nut drives leading screw stent to be moved rearwards, and pushes away
Dynamic supporting rod rotates back to supporting rod parallel to vertical direction around bottom shaft, and supporting rod drives seat rotation to horizontal
State, so as to avoid the danger of wheelchair tip forwards；Therefore electric wheelchair proposed by the present invention, either goes upstairs, goes downstairs
When still surmounting obstacles, total energy keeps seat stable equilibrium, improves security performance.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of the first design method of adaptive stair activity wheelchair proposed by the present invention；
Fig. 2 is a kind of structure diagram of the first design method of adaptive stair activity wheelchair proposed by the present invention；
Fig. 3 is a kind of structure diagram of adaptive stair activity wheelchair Athey wheel proposed by the present invention；
Fig. 4 is a kind of schematic diagram of adaptive stair activity wheelchair Athey wheel up/down steps proposed by the present invention；
Fig. 5 is a kind of structure diagram of adaptive stair activity wheelchair balanced controls proposed by the present invention；
Fig. 6 is a kind of schematic diagram of adaptive stair activity wheelchair top bar proposed by the present invention；
Fig. 7 is a kind of schematic diagram of adaptive stair activity wheelchair top bar proposed by the present invention.
Embodiment
As shown in figs. 1-7, Fig. 1 is a kind of knot of the first design method of adaptive stair activity wheelchair proposed by the present invention
Structure schematic diagram, Fig. 2 are a kind of structure diagram of the first design method of adaptive stair activity wheelchair proposed by the present invention, are schemed
3 be a kind of structure diagram of adaptive stair activity wheelchair Athey wheel proposed by the present invention, and Fig. 4 is one kind proposed by the present invention
The schematic diagram of adaptive stair activity wheelchair Athey wheel up/down steps, Fig. 5 is a kind of adaptive stair activity proposed by the present invention
The structure diagram of wheelchair balanced controls, Fig. 6 are a kind of signal of adaptive stair activity wheelchair top bar proposed by the present invention
Figure, Fig. 7 are a kind of schematic diagram of adaptive stair activity wheelchair top bar proposed by the present invention.
With reference to Fig. 1-2, a kind of adaptive stair activity wheelchair proposed by the present invention, including wheelchair vehicle body, four Athey wheels
35 and balanced controls；
Wheelchair vehicle body includes chassis 11, supporting rod 12 and seat 13, and 12 bottom of supporting rod is installed on chassis 11, and can edge
Wheelchair anteroposterior direction rotates, and top fixing seat 13, seat 13 is rotated and rotated with supporting rod 12；
With reference to Fig. 3, a Athey wheel 35 is installed on chassis 11, Athey wheel 35 include wheel hub 31, driving gear 32, four from
34, four Athey wheels 35 of moving gear and crawler belt 36, wheel hub 31 are in X-shaped, and driving gear 32 is installed in rotation among wheel hub 31
Position, four travelling gears 33 are installed in rotation on four stents of wheel hub 31, and are meshed with driving gear 32 respectively,
Four driven gears 34 are installed in rotation on four travelling gears 33 away from 32 side of driving gear respectively, and and driving cog
Wheel 33 is meshed, and four Athey wheels 35 are fixedly and coaxially connected one by one with four driven gears 34, and 35 diameter of Athey wheel is more than driven
34 diameter of gear, crawler belt 36 are installed on four 35 excircles of Athey wheel, square structure after crawler belt 36 is tensioned, four driving cogs
It is identical to take turns 33 sizes, four 34 sizes of driven gear are identical, driving gear 32, travelling gear 33 on each stent and driven
The axle center of gear 34 is located in same rectilinear direction, and four 35 sizes of Athey wheel are identical, and the first motor is connected with driving gear 32
Driving driving gear 32 rotates, and driving gear 32 drives four Athey wheels 35 to rotate together by travelling gear 33 and driven gear 34
Step rotates, and four Athey wheels 35 drive the crawler belt 36 of periphery to rotate；Square structure coincide the most with stairway step, more with other
Side shape Athey wheel 35 is compared, and square Athey wheel 35 turns over rolling fluctuating quantity minimum when driving in step, the most loose laborsaving；
With reference to Fig. 1-2, balanced controls are installed on chassis 11, and balanced controls include leading screw stent 21, and leading screw stent 21 is logical
Cross articulating device to be connected with supporting rod 12, leading screw stent 21, which can axially move, promotes supporting rod 12 around bottom shaft to turn
Dynamic, since seat 13 is integrally fixed at the top of supporting rod 12, leading screw stent 21 rotates and then drives seat 13 to rotate.
With reference to Fig. 1, in a kind of design method of the articulating device between leading screw stent 21 and supporting rod 12, seat
13 are rotatably installed on chassis 11 by a supporting rod 12, and the articulating device includes the first sleeve 14, the first sleeve
14 are sleeved on supporting rod 12, and can be moved axially along supporting rod 12, and sleeve is pivotally connected with 21 one end of leading screw stent, when leading screw stent
21 when moving axially forward, and the first sleeve 14 slides to the top of supporting rod 12, the angle of supporting rod 12 and leading screw stent 21 by
Decrescence small, when leading screw stent 21 moves axially rearward, the first sleeve 14 slides to 12 bottom of supporting rod, supporting rod 12 and silk
The angle of thick stick stent 21 gradually increases.
With reference to Fig. 2, in another design method of the articulating device between leading screw stent 21 and supporting rod 12, seat
Chair 13 is rotatably installed on chassis 11 by two supporting rods 12, and two supporting rods 12 are located at wheelchair both sides and are arranged in parallel, institute
Stating articulating device includes further including cross bar 15 and second sleeve 16, and the first kidney-shaped locating slot 121 is offered on supporting rod 12,
First kidney-shaped locating slot, 121 length direction is axial along supporting rod 12, and 15 both ends of cross bar are slidably mounted on two the first kidney-shapeds respectively
In locating slot 121, second sleeve 16 is rotatably installed in 15 periphery of cross bar and is fixedly connected with leading screw stent 21；When leading screw stent 21
When moving axially forward, 16 pivoting of second sleeve, cross bar 15 is in the first kidney-shaped locating slot 121 to the top of supporting rod 12
Sliding, supporting rod 12 and the angle of leading screw stent 21 are gradually reduced, when leading screw stent 21 moves axially rearward, second sleeve
16 pivotings, cross bar 15 slide in the first kidney-shaped locating slot 121 to 12 bottom of supporting rod, supporting rod 12 and leading screw stent 21
Angle gradually increase.
With reference to Fig. 3, in order to adjust the rate of tension of crawler belt 36, the second kidney-shaped locating slot 311 is offered on wheel hub 31, from
The shaft of moving gear 34 is installed in the second kidney-shaped locating slot 311, and shaft moves along 311 length direction of the second kidney-shaped locating slot
The distance of driven gear 34 and driving gear 32 is adjusted, so as to achieve the purpose that to adjust 36 rate of tension of crawler belt, is adapted to different smooth
The road surface of degree.
With reference to Fig. 5, balanced controls further include mounting bracket 22, feed screw nut 23,24 and second motor 25 of first gear, install
Frame 22 is fixed on chassis 11, and leading screw stent 21 is spirally connected with feed screw nut 23, and feed screw nut 23 is installed in rotation on mounting bracket
On 22, when feed screw nut 23 rotates, since feed screw nut 23 will not move, feed screw nut 23 can drive leading screw stent 21 along axis
To movement, 23 periphery of feed screw nut is equipped with external gear teeth and is engaged with first gear 24, and first gear 24 is coaxially fixed on the first electricity
In the shaft of machine, 25 shaft of the second motor can rotating, 25 shaft of the second motor drives first gear 24 to rotate during work, first
Gear 24 drives feed screw nut 23 to rotate, and feed screw nut 23 and then drives leading screw stent 21 to be axially moveable.
Balanced controls are controlled by balance control mechanism, and balance control mechanism includes acceleration transducer, gyroscope and servo
Control system, acceleration transducer and gyroscope are fixed on seat 13 and are connected with servo-control system, acceleration transducer
The acceleration of wheelchair is detected, gyroscope detects the angle of inclination of wheelchair, and the second motor 25 is connected with servo-control system, acceleration
Sensor and gyroscope are by the data sending of collection to servo-control system, and servo-control system is according to the data of collection control the
Two motors 25 rotate.
With reference to Fig. 1-2, supporting rod 12 is equipped with spring damper 4, when wheelchair surmounts obstacles or when stair activity can rise
To cushioning effect, the comfort of user is improved.
The specific work process of the adaptive stair activity wheelchair of the present embodiment, can be divided into three kinds of situations：
On smooth road surface when driving, chassis 11 keeps horizontal to wheelchair, and gyroscope is by the inclination angle signal of seat 13
Send servo-control system to, servo-control system control motor rotates driving leading screw stent 21 and moves so that supporting rod 12 hangs down
Directly in 11 face of chassis, seat 13 keeps horizontal when supporting rod 12 is perpendicular to 11 face of chassis, the first motor 32 turns of driving gear of driving
Dynamic, driving gear 32 is rotated by multiple driven gears 34 drives multiple Athey wheels 35 to rotate respectively, and multiple Athey wheels 35 are at the same time
Crawler belt 36 is driven to rotate, Athey wheel 35 is overall to be moved forward without rolling；
With reference to Fig. 4 and 6, when wheelchair goes upstairs or surmounts obstacles, crawler belt 36 is subject to resistance, and then wheel hub 31 is acted
Power, produces torque, motor can make the torque of driving gear 32 whole wheel hub 31 to roll, so as to cross between wheel hub 31 and motor
Step or obstacle, wheelchair can detect that wheelchair is moving upwards toward rear-inclined, acceleration transducer during top bar, gyroscope detection
To the sweptback angle of wheelchair, the data of acceleration transducer and gyroscope detection are sent to servo-control system, servo control
System processed controls the second motor 25 to rotate according to the data received, drives feed screw nut 23 to rotate by first gear 24, silk
Thick stick nut 23 drives leading screw stent 21 to move axially forward, and promotes supporting rod 12 to turn to supporting rod 12 forward around bottom shaft
Parallel to vertical direction, supporting rod 12 drives seat 13 to turn to horizontality, the danger overturned backward so as to avoid wheelchair；
With reference to Fig. 4 and 7, when wheelchair is gone downstairs, when the bottom tracks 36 of Athey wheel 35 are hanging, whole Athey wheel 35 can be to
Preceding to be rolled on next side stage terrace, wheelchair can detect wheel toward top rake, acceleration transducer during getting out of a predicament or an embarrassing situation
Chair is moving downward, and gyroscope detects the data biography of the angle of experiencing of forward pitch, acceleration transducer and gyroscope detection
Send to servo-control system, servo-control system and control the second motor 25 to rotate according to the data received, pass through first gear
24 drive feed screw nuts 23 rotate, and feed screw nut 23 drives leading screw stent 21 to be moved rearwards, and promote supporting rod 12 around bottom shaft
Rotate back to supporting rod 12 drives seat 13 to turn to horizontality parallel to vertical direction, supporting rod 12, so as to avoid
The danger of wheelchair tip forwards.
Electric wheelchair proposed by the present invention, stair activity and the function of surmounting obstacles can be realized by Athey wheel 35, and
And when going upstairs, going downstairs or surmounting obstacles, total energy keeps 13 stable equilibrium of seat, improves security performance.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of adaptive stair activity wheelchair, it is characterised in that including wheelchair vehicle body, multiple Athey wheel mechanisms and balancing machine
Structure；
Wheelchair vehicle body includes chassis (11), supporting rod (12) and seat (13), and supporting rod (12) bottom is installed on chassis (11),
And it can be rotated along wheelchair anteroposterior direction, fixing seat (13) at the top of supporting rod (12)；
Balanced controls are installed on chassis (11), and balanced controls include leading screw stent (21), and leading screw stent (21) is connected by activity
Connection device is connected with supporting rod (12), and leading screw stent (21), which can axially move, promotes supporting rod (12) to be rotated around bottom shaft；
Multiple Athey wheel mechanisms are installed on chassis (11), and Athey wheel mechanism includes wheel hub (31), driving gear (32), Duo Gecong
Moving gear (34), multiple Athey wheels (35) and crawler belt (36), driving gear (32) is installed in rotation on wheel hub (31), multiple
Driven gear (34) is installed in rotation on wheel hub (31) and is meshed with driving gear (32), multiple Athey wheels (35) with it is more
A driven gear (34) is fixedly and coaxially connected one by one, and crawler belt (36) is installed on multiple Athey wheels (35) excircle；
The adaptive stair activity wheelchair includes at least three working statuses, wherein：
Under accessible walking working status, chassis (11) are horizontal, and for supporting rod (12) perpendicular to chassis (11), seat (13) is horizontal,
First motor driving driving gear (32) rotates, and driving gear (32) drives multiple crawler belts respectively by multiple driven gears (34)
Take turns (35) to rotate, multiple Athey wheels (35) drive crawler belt (36) to rotate；
Go upstairs under working status, chassis (11) tilt, and supporting rod (12) turns to supporting rod (12) to wheelchair front and axially puts down
Row is in vertical direction, and the reach of wheelchair center of gravity, seat (13) is horizontal, the rolling movement of Athey wheel mechanism；
Go downstairs under working status, chassis (11) tilt, and supporting rod (12) turns to supporting rod (12) to wheelchair rear and axially puts down
Row moves after vertical direction, wheelchair center of gravity, and seat (13) is horizontal, the rolling movement of Athey wheel mechanism.
2. adaptive stair activity wheelchair according to claim 1, it is characterised in that the articulating device includes the
One sleeve (14), the first sleeve (14) are installed on supporting rod (12) and can slide axially along supporting rod (12), the first sleeve
(14) it is pivotally connected with leading screw stent (21) one end.
3. adaptive stair activity wheelchair according to claim 1, it is characterised in that the articulating device includes horizontal stroke
Bar (15) and second sleeve (16), offer the first kidney-shaped locating slot (121) on supporting rod (12), cross bar (15) is slidably mounted on
In first kidney-shaped locating slot (121), second sleeve (16), which is rotatably installed on cross bar (15) and is fixed with leading screw stent (21), to be connected
Connect.
4. adaptive stair activity wheelchair according to claim 1, it is characterised in that driving gear (32) and driven gear
(34) travelling gear (33) is additionally provided between, travelling gear (33) is engaged with driving gear (32) and driven gear (34).
5. adaptive stair activity wheelchair according to claim 1, it is characterised in that wheel hub offers the second waist on (31)
Shape locating slot (311), the shaft of driven gear (34) are installed in the second kidney-shaped locating slot (311), and shaft can be along the second kidney-shaped
Locating slot (311) length direction moves.
6. adaptive stair activity wheelchair according to claim 1, it is characterised in that balanced controls further include mounting bracket
(22), feed screw nut (23), first gear (24) and the second motor (25), mounting bracket (22) are fixed on chassis (11), leading screw
Stent (21) is spirally connected with feed screw nut (23), and feed screw nut (23) is installed in rotation on mounting bracket (22), feed screw nut
(23) periphery is equipped with external gear teeth and is engaged with first gear (24), and first gear (24) is coaxially fixed on turning for the second motor (25)
On axis, the second motor (25) shaft can rotating.
7. adaptive stair activity wheelchair according to claim 1, it is characterised in that further include balance control mechanism, put down
Weighing apparatus control mechanism includes acceleration transducer, gyroscope and servo-control system, and acceleration transducer and gyroscope are fixed present
Be connected on chair (13) and with servo-control system, the second motor (25) is connected with servo-control system, servo-control system according to
Acceleration transducer and the data of gyroscope collection control the second motor (25) to rotate.
8. adaptive stair activity wheelchair according to claim 1, it is characterised in that supporting rod (12) subtracts equipped with spring
Shake device (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419260.2A CN107898566A (en) | 2017-12-25 | 2017-12-25 | A kind of adaptive stair activity wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419260.2A CN107898566A (en) | 2017-12-25 | 2017-12-25 | A kind of adaptive stair activity wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107898566A true CN107898566A (en) | 2018-04-13 |
Family
ID=61871131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711419260.2A Pending CN107898566A (en) | 2017-12-25 | 2017-12-25 | A kind of adaptive stair activity wheelchair |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108542624A (en) * | 2018-04-28 | 2018-09-18 | 焦作大学 | The powered vehicle for disabled controlled by computer |
| CN109435677A (en) * | 2018-12-05 | 2019-03-08 | 深圳市远弗科技有限公司 | A kind of active Stump-jump wheel group |
| CN109998804A (en) * | 2019-02-21 | 2019-07-12 | 浙江农林大学 | A kind of double crawler belts adaptively climb building electric wheelchair |
| CN110420098A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
| CN110575327A (en) * | 2019-10-17 | 2019-12-17 | 闫学堂 | Balance wheelchair |
| CN111110462A (en) * | 2019-12-30 | 2020-05-08 | 义乌市首创科技有限公司 | A instrument of riding instead of walk that is used for intelligent medical stability height |
| CN112849285A (en) * | 2021-02-10 | 2021-05-28 | 吉林大学 | Autonomic balance carries thing car |
| CN115107896A (en) * | 2022-08-09 | 2022-09-27 | 浙江中辰城市应急服务管理有限公司 | Transmission device of stair climbing robot |
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| CN108542624B (en) * | 2018-04-28 | 2019-11-15 | 焦作大学 | The powered vehicle for disabled controlled by computer |
| CN108542624A (en) * | 2018-04-28 | 2018-09-18 | 焦作大学 | The powered vehicle for disabled controlled by computer |
| CN110420098A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
| CN109435677B (en) * | 2018-12-05 | 2023-09-19 | 深圳市远弗科技有限公司 | Initiative obstacle crossing wheel set |
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| CN109998804A (en) * | 2019-02-21 | 2019-07-12 | 浙江农林大学 | A kind of double crawler belts adaptively climb building electric wheelchair |
| CN109998804B (en) * | 2019-02-21 | 2023-11-21 | 浙江农林大学 | Double-crawler self-adaptive stair climbing electric wheelchair |
| CN110575327A (en) * | 2019-10-17 | 2019-12-17 | 闫学堂 | Balance wheelchair |
| CN111110462A (en) * | 2019-12-30 | 2020-05-08 | 义乌市首创科技有限公司 | A instrument of riding instead of walk that is used for intelligent medical stability height |
| CN112849285B (en) * | 2021-02-10 | 2021-12-17 | 吉林大学 | Autonomic balance carries thing car |
| CN112849285A (en) * | 2021-02-10 | 2021-05-28 | 吉林大学 | Autonomic balance carries thing car |
| CN115107896A (en) * | 2022-08-09 | 2022-09-27 | 浙江中辰城市应急服务管理有限公司 | Transmission device of stair climbing robot |
| CN115107896B (en) * | 2022-08-09 | 2023-07-25 | 浙江中辰城市应急服务管理有限公司 | Stair climbing robot transmission device |
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