CN109172177A - A kind of wheel-track combined climbing stairs wheelchair of steady comfort type - Google Patents

A kind of wheel-track combined climbing stairs wheelchair of steady comfort type Download PDF

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Publication number
CN109172177A
CN109172177A CN201811027452.3A CN201811027452A CN109172177A CN 109172177 A CN109172177 A CN 109172177A CN 201811027452 A CN201811027452 A CN 201811027452A CN 109172177 A CN109172177 A CN 109172177A
Authority
CN
China
Prior art keywords
wheel
wheelchair
crawler belt
creeper undercarriage
crawler
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811027452.3A
Other languages
Chinese (zh)
Inventor
郭建文
孙振忠
黎梓恒
叶国良
曾志彬
吴国洪
张景润
劳振鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Hengli Mould Technology Industry Development Co Ltd
Dongguan University of Technology
Original Assignee
Dongguan Hengli Mould Technology Industry Development Co Ltd
Dongguan University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dongguan Hengli Mould Technology Industry Development Co Ltd, Dongguan University of Technology filed Critical Dongguan Hengli Mould Technology Industry Development Co Ltd
Priority to CN201811027452.3A priority Critical patent/CN109172177A/en
Publication of CN109172177A publication Critical patent/CN109172177A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06Chairs 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
    • A61G5/061Chairs 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06Chairs 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
    • A61G5/066Chairs 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1051Arrangements for steering
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1089Anti-tip devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • A61G2203/42General characteristics of devices characterised by sensor means for inclination
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/723Impact absorbing means, e.g. bumpers or airbags

Abstract

The invention discloses a kind of steady wheel-track combined climbing stairs wheelchairs of comfort type.The wheelchair includes wheelchair body and the ratcheting mechanism for driving wheelchair body movement, and the two sides of wheelchair body bottom are additionally provided with creeper undercarriage, the crawler belt rotating device for adjusting creeper undercarriage angle;The rear end of two creepers undercarriage is arranged in crawler belt rotating device, is sequentially connected between crawler belt rotating device and wheel type drive device, drives creeper undercarriage and ratcheting mechanism movement;The rear end of creeper undercarriage is connect by crawler belt rotating device with wheelchair body, to change the relative altitude of creeper undercarriage and ratcheting mechanism;The rear end of creeper undercarriage is additionally provided with postposition wheel buffer unit, and stair are impacted to wheelchair bring when reducing decline.The present invention can accurately adjust crawler belt angle, so that climbing stairs wheelchair can maintain human body to keep normal sitting position and steadily comfortably drive safely during stair activity, improve the stability of mechanism.

Description

A kind of wheel-track combined climbing stairs wheelchair of steady comfort type
Technical field
The invention belongs to wheelchair technical fields.More particularly, to a kind of steady wheel-track combined climbing stairs wheel of comfort type Chair.
Background technique
Wheelchair is elderly and infirm and the essential walking-replacing tool of lower limb disabled, but with stairization building Increase, greatly reduce their scope of activities, has seriously affected them and participated in the range of society.In order to improve this groups of people's Quality of life, other than increasing the accessibility designs of their institute's living environments, can develop as early as possible can stair activity, it is simple easily It will become necessary with, cheap, reliable wheelchair.
Electric wheelchair be on the basis of traditional manual wheelchair, superposition high-performance power drive unit, Intelligent control device, The components such as battery, made of transformation and upgrade.In order to realize wheelchair stair activity, there are a few class stair climbing wheelchairs, mainly include Planet gear type, crawler type, alternately brace type and wheel-track combined.Wherein, planet wheel type stair-climbing Wheelchair structure is relatively easy, but In ladder, center of gravity fluctuation is big, and comfort level is poor;Crawler type stair climbing wheelchair is since the motion profile of center of gravity is close to one and platform The parallel straight line in rank inclined-plane, therefore move steadily, vibration is smaller, but resistance is larger when driving and turning is more difficult on level land; Alternately brace type stair climbing wheelchair takes into account the advantage that ladder is steady and flat pavement running is more flexible, but structure is complicated, and control requires It is higher.
And existing wheel-track combined wheelchair mostly uses hydraulic jack as the power for adjusting crawler belt, although can be certainly Dynamic stair climbing, but the hydraulic system for providing adjusting crawler belt angle power cannot accurately adjust the angle of crawler belt, and hydraulic system is made Valence is very high, and oil liquid when leaking can make wheelchair working environment be deteriorated.In addition, existing wheel-track combined wheelchair does not consider The problem of occupant's posture and position of centre of gravity adjust on stair climbing, and during going downstairs or in wheelchair descending, wheelchair Speed accelerates, it may occur however that quick overturning cause patient to fall down problem, influence its safety during stair climbing and easypro Adaptive.
Summary of the invention
The technical problem to be solved by the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of steady comfort type wheel shoe Combined type climbing stairs wheelchair can pass through the machine of wheelchair itself under the premise of not by complex control system and control method The feature that tool and driving structure have, accurately adjusts crawler belt angle, so that climbing stairs wheelchair can during stair activity It maintains human body to keep normal sitting position, and steadily can comfortably drive safely.
Above-mentioned purpose of the present invention is achieved through the following technical solutions:
A kind of wheel-track combined climbing stairs wheelchair of steady comfort type, including wheelchair body and the wheeled machine for driving wheelchair body mobile Structure, the two sides of the wheelchair body bottom are additionally provided with creeper undercarriage, the crawler belt for adjusting creeper undercarriage angle turns Move device, the caterpillar drive for driving creeper undercarriage, for the wheel type drive device of driving wheel-type mechanism, and Control the controller of crawler belt rotating device, caterpillar drive and wheel type drive device operation;The crawler belt rotating device setting It is sequentially connected between the rear end of two creepers undercarriage, the crawler belt rotating device and the wheel type drive device, drives institute State creeper undercarriage and ratcheting mechanism movement;The rear end of the creeper undercarriage passes through crawler belt rotating device and wheelchair Ontology connection, to change the relative altitude of creeper undercarriage and ratcheting mechanism;The rear end of the creeper undercarriage is also set There is postposition wheel buffer unit, stair are impacted to wheelchair bring when can reduce decline.
The function of controller is the signal for receiving Digiplex and emitting, and to rotating device, caterpillar drive Driving signal is issued with driving mechanisms such as wheel type drive devices, so that wheelchair has basic advance, retrogressing, turning function.
Not only flat pavement running is flexible using the wheelchair of wheel-track combined stair climbing by the present invention, and the steady safety of stair climbing, and And control system is relatively easy, is better than other types stair climbing wheelchair to a certain extent;In addition, the transmission mechanism of wheelchair is main It is arranged in inside, i.e., top is blocked, and reduces attaching for normal dust;It is slow when postposition wheel buffer unit provides necessary Punching, the comfort for substantially increasing safety and using;And in combination with the long-range control such as mobile phone, basic control and multi-party is realized The functions expanding in face.
Preferably, the front end of the ratcheting mechanism is equipped with preposition wheel.
Preferably, the wheel type drive device includes driving wheel, small crawler belt, the small crawler haulage for driving wheel-type mechanism Take turns I, small crawler haulage wheel II and the driving motor for driving wheel;The driving wheel and small crawler haulage wheel I, small crawler haulage Wheel II is connected by small crawler haulage.
Preferably, the driving wheel and small crawler haulage wheel I, small crawler haulage wheel II setting triangular in shape, medium and small shoe V belt translation wheel I, small crawler haulage wheel II are located at same level line position.
Preferably, crawler belt rotating device includes rotating bar and motor, and the both ends of crawler belt rotating device rotating bar are through described Creeper undercarriage rear end, and connect with the small crawler haulage wheel II, for controlling lifting creeper undercarriage.Crawler belt rotation Device can forcefully control the angle of entire creeper undercarriage.Level land when driving, creeper undercarriage keeps liftoff shape State.When stair activity, crawler belt rotating device controls lifting creeper undercarriage.
Preferably, the creeper undercarriage is symmetricly set on the lower part two sides of the wheelchair body.
Preferably, the creeper undercarriage includes big crawler belt, the big crawler belt gear as creeper undercarriage basic framework Plate, the big crawler belt baffle of two panels form the basic framework of one side creeper undercarriage;The caterpillar drive is by being located at same water Big crawler driving whell on horizontal line is sequentially connected with multiple big crawler belt driven wheels;The big crawler belt is annularly looped around big shoe Outside with driving wheel Yu multiple big crawler belt driven wheels.
Preferably, the external tooth of cloth is engaged with big crawler belt between the big crawler belt driven wheel passes through on its excircle.
Preferably, the big crawler belt baffle is adopted is made of light alloy.
Preferably, crawler belt connecting rod is additionally provided on the creeper undercarriage, between the creeper undercarriage of the right and left It is connected by crawler belt connecting rod.Play the two groups of creepers undercarriage in fixed left and right, avoids causing because being used for a long time or shaking Creeper undercarriage deforms displacement.
Preferably, the big crawler belt driven wheel is ordered in below big crawler belt baffle, avoids big crawler belt in stair activity When bear excessive pressure generate deformation.
Preferably, the postposition wheel buffer unit includes postposition wheel drive motor, postposition wheel support arm and is arranged in postposition wheel The postposition wheel of leg extremities;The rear of big crawler belt baffle is arranged in the postposition wheel drive motor, for controlling postposition wheel support arm Lifting.
Preferably, the wheelchair body includes cushion, hand handle and backrest, hand handle and by back be respectively equipped with hand handle cushion and Backrest cushion plays cushioning buffer effect, provides comfortable experience to user.
Preferably, the ratcheting mechanism includes wheel hub and tire.
Preferably, the preposition wheel is universal wheel.
Preferably, the front end face two sides of the wheelchair body are symmetrically arranged with foot-operated.
Preferably, the controller setting is at cushion rear, and the controller is equipped with obliquity sensor, according to up and down In stair the tilt angle of big crawler belt come to crawler belt rotating device issue driving signal so that lower section creeper undercarriage keep and Stair are parallel, and user keeps normal position.
Preferably, the controller includes intelligent mainboard;The intelligence mainboard includes battery and Digiplex;The nothing Line remote controler is connected with the battery, is powered by the battery;The Digiplex can be with mobile phone interaction by described Mobile phone is remotely controlled wheelchair.
Preferably, the Digiplex is bluetooth module.
Preferably, the Digiplex includes handset dialing controller, and the handset dialing controller is arranged described On intelligent mainboard, and the tilt angle for detecting wheelchair in the obliquity sensor is more than (such as wheelchair side when guarding against angle When turning over), control cell phone automatic dialing associated with the climbing stairs wheelchair.
Preferably, the Digiplex further includes register control, and the register control setting is main in the intelligence On plate, and for the obliquity sensor detect wheelchair tilt angle be more than warning angle when, to the climbing stairs The associated mobile phone of wheelchair sends the position of the climbing stairs wheelchair.
Preferably, the Digiplex further includes alarm, and the alarm setting is used on the intelligent mainboard In detected in the obliquity sensor wheelchair tilt angle be more than warning angle alarm.The alarm is loudspeaker.
The controller is multifunctional controller, not only mainly controls driving dynamics, moreover it is possible to pass through built-in inclination angle and sense Device is detecting angle generation drastic change in special circumstances, if car body is turned on one's side, is passing through loudspeaker alarm signal in time.Specifically: During wheelchair upper and lower stair, obliquity sensor measures the tilt angle of wheelchair in real time, and obliquity sensor is by tilt angle Numerical value is sent to intelligent mainboard, and intelligent mainboard is by the way that compared with initial set angle angle value, intelligent mainboard calculates wheelchair inclination angle The variable quantity of degree, intelligent mainboard control the rotational angle of creeper undercarriage again to decline or recycle creeper undercarriage, make to take turns The center of gravity of chair reaches equilibrium state;When the variable quantity of wheelchair tilt angle is more than warning angle, intelligent mainboard control positioning control Device, handset dialing controller or alarm processed send specific positioning signal and pass through to emergency contact or auto dialing, and in time Loudspeaker alarm provides safer guarantee for user.
Compared with prior art, the invention has the following beneficial effects:
(1) wheel-track combined climbing stairs wheelchair of the invention, can be by the premise of complex control system and control method Under, the feature having by machinery and the driving structure of wheelchair itself accurately adjusts crawler belt angle, can not only be on smooth ground It steadily moves ahead and retreats on face (including smooth ramp), but also may be implemented to make wheelchair held stationary in upper and lower stair State, guarantee to keep normal position constant in the superior people of stair, be conducive to the safety and the comfort that improve user, and Structure is simple, and cost is relatively low.Oneself upper and lower building can be manipulated after the performance that the rider of normal intelligence passes through this vehicle of training grasp Ladder, the abnormal people of intelligence can be by other people auxiliary operations.
(2) postposition wheel buffer unit of the invention, can fall if necessary, be rushed with buffering stair to wheelchair bring It hits, avoids wheelchair crawler belt that derailing, stuck phenomenon occurs, the mechanical shock being subject to when reducing wheelchair stair activity or interference improve The stability of mechanism.
(3) present invention can detect angle generation drastic change by binding emergency contact with wireless remote control In special circumstances (when such as wheelchair is turned on one's side), the specific positioning signal of wheelchair is sent to emergency contact or by control and wheelchair Associated cell phone automatic dialing, and safer guarantee is provided for user by loudspeaker alarm in time.
Detailed description of the invention
Fig. 1 is the overall structure diagram for the wheel-track combined climbing stairs wheelchair of steady comfort type that embodiment 1 provides.
Fig. 2 is the axonometric drawing for the wheel-track combined climbing stairs wheelchair of steady comfort type that embodiment 1 provides.
Fig. 3 is the enlarged drawing of partial structurtes at A in Fig. 2.
Fig. 4 is the structural block diagram for the Digiplex that embodiment 2 provides.
Wherein, 1- hand handle;2- hand handle cushion;3- preposition wheel support arm;4- preposition wheel;5- controller;6- backrest;7- backrest is soft Pad;8- wheel hub;9- tire;The big crawler belt driven wheel of 10-;The big crawler belt baffle of 11-;The big crawler driving whell of 12-;13- crawler belt;14- is carried out Band connection bar;15- postposition wheel drive motor;16- postposition wheel support arm;17- postposition wheel;18- crawler belt rotating device;19- driving wheel; The small crawler haulage wheel I of 20-;The small crawler belt of 21-;The small crawler haulage wheel II of 22-;23- driving motor;31- wheelchair body;41- is wheeled Mechanism;51- creeper undercarriage;61- postposition wheel buffer unit;71- Digiplex;711- dialing controller;712- positioning Controller;713- alarm.
Specific embodiment
The present invention is further illustrated below in conjunction with specific embodiment, attached drawing only for illustration, should not be understood as Limitation to this patent;In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent The size of actual product;To those skilled in the art, in attached drawing certain known features and its explanation may omit be can With understanding.Positional relationship is described in attached drawing only for illustration, should not be understood as the limitation to this patent.
A kind of steady wheel-track combined climbing stairs wheelchair of comfort type of embodiment 1
As shown in Figure 1, a kind of wheel-track combined climbing stairs wheelchair of steady comfort type, including wheelchair body 31 and drive wheelchair body 31 mobile ratcheting mechanisms 41, the two sides of 31 bottom of wheelchair body are additionally provided with creeper undercarriage 51, for adjusting crawler travel The crawler belt rotating device 18 of 51 angle of mechanism, is used for driving wheel-type at the caterpillar drive for driving creeper undercarriage 51 The wheel type drive device of mechanism 41, and control crawler belt rotating device 18, caterpillar drive and wheel type drive device operation Controller 5.The function of controller 5 is the signal for receiving Digiplex and emitting, and fills to rotating device 18, track drive It sets and issues driving signal with driving mechanisms such as wheel type drive devices, so that wheelchair has basic advance, retrogressing, turning function. The setting of controller 5 is at cushion rear, and controller 5 is equipped with obliquity sensor, according to the inclination angle of crawler belt big in stair activity Degree to issue driving signal to crawler belt rotating device 18, so that lower section creeper undercarriage 51 keeps parallel with stair, and uses Person keeps normal position.
The front end of ratcheting mechanism 41 is equipped with preposition wheel support arm 3 and preposition wheel 4, and preposition wheel 4 is universal wheel.
The rear end of creeper undercarriage 51 is equipped with postposition wheel buffer unit 61, and stair are rushed to wheelchair bring when reducing decline It hits.Postposition wheel buffer unit 61 includes postposition wheel drive motor 15, postposition wheel support arm 16 and is arranged in 16 end of postposition wheel support arm Postposition wheel 17;The rear of big crawler belt baffle 11 is arranged in postposition wheel drive motor 15, goes up and down for controlling postposition wheel support arm 16.
Creeper undercarriage 51 is symmetricly set on the lower part two sides of wheelchair body 31, and caterpillar drive is arranged in wheelchair sheet Lower part two sides of body 31 and be symmetrical structure, by big crawler driving whell 12 and multiple big transmission connections of crawler belt driven wheels 10 At;Crawler belt rotating device 18 is arranged in the rear end of two creepers undercarriage 51, crawler belt rotating device 18 and wheel type drive device it Between be sequentially connected, drive creeper undercarriage 51 and ratcheting mechanism 41 to move;The rear end of creeper undercarriage 51 is turned by crawler belt Dynamic device 18 is connect with wheelchair body 31, to realize the effect for changing creeper undercarriage 51 and 41 relative altitude of ratcheting mechanism Fruit.
As shown in Figures 2 and 3, ratcheting mechanism 41 includes wheel hub 8 and tire 9.Wheel type drive device includes driving wheel 19, small Crawler belt 21, the small crawler haulage wheel I 20 for driving wheel-type mechanism 41, small crawler haulage wheel II 22 and for driving driving wheel 19 driving motor 23;Driving wheel 19 and small crawler haulage wheel I 20, small crawler haulage wheel II 22 are connected by the transmission of small crawler belt 21 It connects.Driving wheel 19 and small crawler haulage wheel I 20, the setting triangular in shape of small crawler haulage wheel II 22, medium and small crawler haulage wheel I 20, small crawler haulage wheel II 22 is located at same level line position.
Crawler belt rotating device 18 includes rotating bar and motor, and crawler travel is run through at the both ends of 18 rotating bar of crawler belt rotating device 51 rear end of mechanism, and connect with small crawler haulage wheel II 22, for controlling lifting creeper undercarriage 51.Crawler belt rotating device 18 can forcefully control the angle of entire creeper undercarriage 51.Level land when driving, creeper undercarriage 51 keeps liftoff State.When stair activity, crawler belt rotating device 18 controls lifting creeper undercarriage 51, can adjust angle along rear portion, make 51 front end of creeper undercarriage first touches the forward position of stair, and then under the driving of driving motor 23, wheelchair postposition wheel 17 exists Crawler belt assists lower stairs, guarantees to keep the constant position in normal position to refer to wheelchair in the chair section of the superior people of stair Position of the seat on level road when driving, i.e. people's waist is vertical, facilitates abbreviation normal position to describe, similarly hereinafter;When going downstairs, Wheelchair moves ahead;After wheelchair completes upper and lower complete stair work, operation, which is risen, withdraws creeper undercarriage 51;Wheel-chair can continue In smooth ground run.
Creeper undercarriage 51 includes big crawler belt 13, the big crawler belt baffle 11 as 51 basic framework of creeper undercarriage, The big crawler belt baffle 11 of two panels forms the basic framework of one side creeper undercarriage 51.Big crawler belt 13 is annularly looped around big crawler belt and drives The outside of driving wheel 12 and multiple big crawler belt driven wheels 10.Big crawler belt baffle 11 is adopted to be made of light alloy.The crawler belt of the right and left Connected between walking mechanism 51 by crawler belt connecting rod 14, play a part of it is fixed control two groups of creepers undercarriage 51, avoid because It is used for a long time or concussion causes creeper undercarriage 51 to deform displacement.And big crawler belt driven wheel 10 is ordered in big crawler belt 11 lower section of baffle avoids big crawler belt 13 from bearing excessive pressure in stair activity and generates deformation.
Wheelchair body 31 includes cushion, hand handle 1 and backrest 6, is respectively equipped with hand handle cushion 2 and backrest on hand handle 1 and backrest 6 Cushion 7, plays cushioning buffer effect, provides comfortable experience to user.It can also be symmetrical in the front end face two sides of wheelchair body 31 It is provided with foot-operated.
The wheel-track combined climbing stairs wheelchair of the present embodiment can be interacted by Digiplex with the generation of the mobile phone of user, To realize the remote control of wheelchair.
A kind of remote-controlled steady wheel-track combined climbing stairs wheelchair of comfort type of embodiment 2
As described above, the wheel-track combined climbing stairs wheelchair of the steady comfort type of embodiment 1 can by Digiplex 71 with The mobile phone of user generates interaction, to realize the remote control of wheelchair.On the basis of embodiment 1, controller 5 is set for the present embodiment For multifunctional controller, driving dynamics are not only mainly controlled, moreover it is possible to by built-in obliquity sensor, add by carrying dedicated Different functions may be implemented in function control device (such as handset dialing controller, register control, alarm), is detecting angle Drastic change occurs for degree in special circumstances, when such as car body rollover, can be alarmed, be had broad application prospects by acoustical generator in time.
The controller 5 of the present embodiment includes intelligent mainboard;The intelligence mainboard includes battery and Digiplex 71;Wireless remote Control device 71 is connected with battery, is battery powered;Digiplex 71 can with mobile phone interaction, to realize the remote control of wheelchair. The Digiplex 71 can be bluetooth module, such as 4.0 chip of bluetooth.Controller 5 can also include acoustical generator, and acoustical generator can Think buzzing acoustical generator.Acoustical generator can be by powering from charged pool.
Referring to FIG. 4, handset dialing controller is set specifically, Digiplex 71 may include handset dialing controller It sets on intelligent mainboard, and the tilt angle for detecting wheelchair in obliquity sensor is more than (such as wheelchair side when guarding against angle When turning over), control cell phone automatic dialing associated with climbing stairs wheelchair.
Digiplex 71 can also include register control, and register control is arranged on intelligent mainboard, and is used for It, can to mobile phone associated with climbing stairs wheelchair transmission when obliquity sensor detects that the tilt angle of wheelchair is more than warning angle The position of stair-climbing wheel chair.
Digiplex 71 can also include alarm, and alarm is arranged on intelligent mainboard, and for sensing at inclination angle Device detects that the tilt angle of wheelchair is more than warning angle alarm.
Handset dialing controller, register control, alarm and Digiplex 71 connect, control process are as follows:
(1) during wheelchair upper and lower stair, obliquity sensor measures the tilt angle of wheelchair in real time, and obliquity sensor will Inclination numerical value is sent to intelligent mainboard;
(2) intelligent mainboard is by the way that compared with initial set angle angle value, intelligent mainboard calculates the variable quantity of wheelchair tilt angle, intelligence Energy mainboard controls the rotational angle of creeper undercarriage 51 again to decline or recycle creeper undercarriage 51, reaches the center of gravity of wheelchair To equilibrium state;When the variable quantity of wheelchair tilt angle is more than warning angle, intelligent mainboard control register control, mobile phone are dialled Number controller or alarm send specific positioning signal to emergency contact or auto dialing, and in time by acoustical generator alarm, Safer guarantee is provided for user.
To sum up, the universal let us of smart phone life be unable to do without mobile phone, all products all as far as possible and mobile phone Connection.More public energy can be added in the present invention on wheel-track combined climbing stairs wheelchair product, bring many conveniences to consumer, The mainboard that the present invention is completed using this point by materials such as 4.0 chip of bluetooth, acoustical generator, batteries can connect mobile phone, and it is fixed to realize Bit function can detect that (such as car body in special circumstances of drastic change occurs for angle in obliquity sensor by binding emergency contact When rollover) the specific positioning signal of wheelchair is sent to emergency contact or by cell phone automatic dialing, is provided more for user The guarantee of safety.

Claims (10)

1. a kind of wheel-track combined climbing stairs wheelchair of steady comfort type, including wheelchair body (31) and drive wheelchair body (31) move Dynamic ratcheting mechanism (41), which is characterized in that the two sides of wheelchair body (31) bottom be additionally provided with creeper undercarriage (51), For adjusting the crawler belt rotating device (18), the crawler belt for driving creeper undercarriage (51) of creeper undercarriage (51) angle Driving device, the wheel type drive device for being used for driving wheel-type mechanism (41), and control crawler belt rotating device (18), track drive The controller (5) of device and wheel type drive device operation;The crawler belt rotating device (18) is arranged in two creepers undercarriage (51) rear end is sequentially connected between the crawler belt rotating device (18) and the wheel type drive device;The crawler travel machine The rear end of structure (51) is connect by crawler belt rotating device (18) with wheelchair body (31), thus change creeper undercarriage (51) and The relative altitude of ratcheting mechanism (41);The rear end of the creeper undercarriage (51) is additionally provided with postposition wheel buffer unit (61).
2. wheel-track combined climbing stairs wheelchair according to claim 1, which is characterized in that the wheel type drive device includes Driving wheel (19), small crawler belt (21), be used for driving wheel-type mechanism (41) small crawler haulage wheel I(20), small crawler haulage wheel II (22) and be used for driving wheel (19) driving motor (23);The driving wheel (19) passes with small crawler haulage wheel I(20), small crawler belt Driving wheel II(22) it is sequentially connected by small crawler belt (21).
3. wheel-track combined climbing stairs wheelchair according to claim 2, which is characterized in that the driving wheel (19) and small shoe V belt translation wheel I(20), small crawler haulage wheel II(22) setting triangular in shape, medium and small crawler haulage wheel I(20), small crawler haulage Take turns II(22) it is located at same level line position.
4. wheel-track combined climbing stairs wheelchair according to claim 1, which is characterized in that crawler belt rotating device (18) includes The creeper undercarriage (51) rear end is run through at rotating bar and motor, the both ends of crawler belt rotating device (18) rotating bar, and with institute State small crawler haulage wheel II(22) connection, for controlling lifting creeper undercarriage (51).
5. wheel-track combined climbing stairs wheelchair according to claim 4, which is characterized in that the creeper undercarriage (51) Including big crawler belt (13) and big crawler belt baffle (11);The caterpillar drive is by the big track drive in same horizontal line Wheel (12) is sequentially connected with multiple big crawler belt driven wheels (10).
6. wheel-track combined climbing stairs wheelchair according to claim 5, which is characterized in that the big crawler belt (13) is annular in shape It is looped around the outside of big crawler driving whell (12) Yu multiple big crawler belt driven wheels (10).
7. wheel-track combined climbing stairs wheelchair according to claim 5, which is characterized in that the creeper undercarriage (51) On be additionally provided with crawler belt connecting rod (14), between the creeper undercarriage (51) of the right and left by crawler belt connecting rod (14) connect.
8. wheel-track combined climbing stairs wheelchair according to claim 1, which is characterized in that the postposition wheel buffer unit It (61) include the postposition wheel of postposition wheel drive motor (15), postposition wheel support arm (16) and setting in postposition wheel support arm (16) end (17);The postposition wheel drive motor (15) is arranged at the rear of big crawler belt baffle (11), for controlling postposition wheel support arm (16) Lifting.
9. any wheel-track combined climbing stairs wheelchair according to claim 1~8, which is characterized in that the wheelchair body (31) include cushion, hand handle (1) and backrest (6), be respectively equipped with hand handle cushion (2) and backrest cushion on hand handle (1) and backrest (6) (7).
10. wheel-track combined climbing stairs wheelchair according to claim 9, which is characterized in that controller (5) setting exists Cushion rear, the controller (5) are equipped with obliquity sensor.
CN201811027452.3A 2018-09-04 2018-09-04 A kind of wheel-track combined climbing stairs wheelchair of steady comfort type Pending CN109172177A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811027452.3A CN109172177A (en) 2018-09-04 2018-09-04 A kind of wheel-track combined climbing stairs wheelchair of steady comfort type

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811027452.3A CN109172177A (en) 2018-09-04 2018-09-04 A kind of wheel-track combined climbing stairs wheelchair of steady comfort type

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Publication Number Publication Date
CN109172177A true CN109172177A (en) 2019-01-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811027452.3A Pending CN109172177A (en) 2018-09-04 2018-09-04 A kind of wheel-track combined climbing stairs wheelchair of steady comfort type

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Country Link
CN (1) CN109172177A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110916917A (en) * 2019-12-06 2020-03-27 四川轻化工大学 Electric wheelchair capable of going up and down steps

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110916917A (en) * 2019-12-06 2020-03-27 四川轻化工大学 Electric wheelchair capable of going up and down steps

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