CN110169880A - A kind of combined type self-balancing electric wheel chair and its application method - Google Patents
A kind of combined type self-balancing electric wheel chair and its application method Download PDFInfo
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- CN110169880A CN110169880A CN201910536042.XA CN201910536042A CN110169880A CN 110169880 A CN110169880 A CN 110169880A CN 201910536042 A CN201910536042 A CN 201910536042A CN 110169880 A CN110169880 A CN 110169880A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—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
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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
- A61G5/10—Parts, details or accessories
- A61G5/1043—Cushions specially adapted for wheelchairs
- A61G5/1045—Cushions specially adapted for wheelchairs for the seat portion
-
- 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
- A61G5/1043—Cushions specially adapted for wheelchairs
- A61G5/1048—Cushions specially adapted for wheelchairs for the back-rest
-
- 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
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
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Abstract
The invention discloses a kind of combined type self-balancing electric wheel chair and its application methods.Track type climbing-building wheelchair currently on the market there are crawler belt replacement it is more troublesome, narrow corridor turn it is not flexible, climb building during people sit higher influence safety the problems such as.A kind of combined type self-balancing electric wheel chair of the present invention, including chair frame, balance traveling module, crawler body module, seat leveling module, back brace wheel module and control module.Balancing traveling module includes balance wheel support peace weighing apparatus wheel.Crawler body module includes rotating shaft, torsion shaft, motor mounting rack, crawler belt adjusting electric rod and two unilateral track assemblies.Seat leveling module includes backrest main body, main seat body, first gear, rack gear and leveling driving assembly.By the way of the leveling of rear end, the center of gravity during climbing building can be effectively reduced during climbing building in the present invention, improve safety.The present invention has been designed into detachment slave part in crawler body module, can greatly simplify the replacement efficiency of crawler belt.
Description
Technical field
The invention belongs to electric wheelchair technical fields, and in particular to a kind of combined type self-balancing electric wheel chair.
Background technique
With increasingly highlighting for China's aging, the elderly of legs and feet inconvenience gradually increases and traffic in recent years thing
Therefore disabled population caused by production accident and natural calamity increases year by year, and the two occupied in population structure it is certain
Ratio.
In the residential building of daily life, most of lower building is fitted without the facility upstairs such as elevator, and market
Upper existing building tool of climbing has various deficiencies, thus the elderly for legs and feet inconvenience and legs and feet individuals with disabilities it is daily be ten upstairs
Divide difficulty.
In order to solve this problem, occurs the stair-climbing wheel chair of many different structures on domestic and international market, according to structure point
It is these three types of that class can be divided into crawler type, planet gear type, walk type.
Crawler type application is relatively more, and crawler belt continuously contacts with the salient angle of step during climbing building, and each salient angle is similar to
Point-blank, it therefore crawler belt can be regarded as creeps on bank slope, and because having skid resistance strip on crawler belt, it can be effective
Prevent from gliding, thus crawler belt have the characteristics that it is reliable for operation steady.But track type climbing-building wheelchair currently on the market there are compared with
More defects, for example, crawler belt replacement it is more troublesome, narrow corridor turn it is not flexible, climb building during people sit it is higher influence it is comfortable
The problems such as sense.
Planetary gear stair-climbing wheel chair is mainly characterized by, and wheel has both of which, walking mode and climbs building mode on level land.
Since the specification of stair is different, planet gear type is difficult to adapt to the different stair of all kinds of height, and it is climbing building mistake
It is that alternative expression climbs building in journey, inevitably generates fluctuation, to influences to climb building stability safety.
Walk type is less currently on the market, building stabilization, activity is climbed flexibly although having, due to walk type, mechanical mechanism
All complex and cost is expensive so that being difficult to promote with circuit control.In conclusion being badly in need of one kind currently on the market
Run smoothly safety, the electric stairs-climbing wheelchair that walking is flexible, comfort is good and cheap.
Summary of the invention
The purpose of the present invention is to provide a kind of combined type self-balancing electric wheel chair and its application methods.
A kind of combined type self-balancing electric wheel chair of the present invention, including chair frame (1), balance traveling module (2), crawler body mould
Block (3), seat leveling module (4) and back brace wheel module (5).The balance traveling module (2) includes balance wheel support (2-1)
With stabilizer (2-2).Two stabilizers (2-2) are separately mounted to the both ends of balance wheel support (2-1).The crawler body mould
Block (3) includes rotating shaft (3-1), torsion shaft (3-2), motor mounting rack (3-3), crawler belt adjusting electric rod (3-4) and two lists
Side track assembly.Unilateral track assembly includes track frame (3-5), traveling belt wheel (3-6), detachment auxiliary wheel (3-7), tensioning wheel
(3-8), tensioning bridge (3-9), detachment frame (3-10), synchronous crawler belt (3-11), detachment adjust component, the first distance measuring sensor
(3-12) and track drive component.Two traveling belt wheels (3-6) are supported on the both ends of track frame (3-5) respectively.One of row
Belt pulley (3-6) is by track drive Component driver.
The inner end of the detachment frame (3-10) and the one end of track frame (3-5) constitute revolute pair.Detachment frame (3-10) passes through
Detachment adjusts Component driver overturning.The outer end of detachment frame (3-10) is supported with detachment auxiliary wheel (3-7).Synchronous crawler belt (3-11) around
Cross detachment auxiliary wheel (3-7) and two traveling belt wheels (3-6).In the inner end and track frame (3-5) of tensioning bridge (3-9)
Portion constitutes revolute pair by tensioning shaft.Torsional spring is equipped on tensioning shaft.The both ends of torsional spring and tensioning bridge (3-9), track frame (3-
5) it fixes respectively.Tensioning wheel (3-8) is supported on the outer end of tensioning bridge (3-9), and resists the lateral surface of synchronous crawler belt (3-11).
First distance measuring sensor (3-12) is fixed on the track frame bottom (3-5) close to that end of detachment frame (3-10), and is arranged outwardly.It returns
Shaft (3-1), torsion shaft (3-2) and motor mounting rack (3-3) are arranged between two unilateral track assemblies, and with two lists
Track frame (3-5) in the track assembly of side is fixed.Crawler belt is adjusted in the shell and balance wheel support (2-1) of electric rod (3-4)
Portion is hinged, and push-off pin and torsion shaft (3-2) constitute revolute pair.It balances wheel support (2-1) and rotating shaft (3-1) and constitutes revolute pair.
The chair frame (1) is made of the under(-)chassis (1-1) and mounting rack (1-2) being fixed together.Under(-)chassis (1-
1) fixed with rotating shaft (3-1), torsion shaft (3-2).Pitch regulation sliding slot is offered on two blocks of side plates of mounting rack (1-2)
(1-3).Chair frame is equipped with gyroscope on (1).
Seat leveling module (4) includes backrest main body (4-1), main seat body (4-2), first gear (4-3), tooth
Item (4-4) and leveling driving assembly.Main seat body (4-2) includes seating pad, the first leveling slip shaft (4-8), the second leveling cunning
Move axis (4-9) and cushion connecting rod (4-10).Four cushion connecting rods (4-10) are sequentially arranged at intervals, and one end is adjusted with first
Flat slip shaft (4-8) constitutes revolute pair, and the other end is fixed with the second leveling slip shaft (4-9).The bottom surface of seating pad and each seat
It is fixed to pad connecting rod (4-10).
Wherein sliding rail (4-12) is respectively and fixedly provided on two cushion connecting rods (4-10).It is sliding that T-type is offered on sliding rail (4-12)
Slot.There are two the idler wheels being coaxially disposed for the top-supported of chair frame (1).Two idler wheels are separately positioned on the T of two sliding rails (4-12)
In type sliding slot.It is sliding that the both ends of first leveling slip shaft (4-8) are each passed through the pitch regulation on two blocks of side plates of mounting rack (1-2)
Slot (1-3).Rack gear (4-4) is fixed on mounting rack (1-2).First gear (4-3) is fixed on the first leveling slip shaft (4-8)
On, first gear (4-3) is engaged with rack gear (4-4).First leveling slip shaft (4-8) is driven by leveling driving assembly.
The backrest main body (4-1) includes that backboard, backrest shaft (4-15), backrest connecting rod (4-11) and backrest turn over
Bull stick (4-7).Backrest shaft (4-15) is supported on the top of under(-)chassis (1-1).Backboard and backrest shaft (4-15) are fixed.
The inner end of backrest turning rod (4-7) and the fixation of backrest shaft (4-15).One end of backrest connecting rod (4-11) and backrest are overturn
The outer end of bar (4-7) is hinged, the composition revolute pair of the other end and the second leveling slip shaft (4-9).
The back brace wheel module (5) includes support wheel shaft (5-1), support rod (5-2), back brace wheel (5-3), the second ranging
Sensor (5-4) and back brace electric rod (5-5).The inner end of support rod (5-2) and under(-)chassis (1-1) constitute revolute pair.Support
Bar (5-2) is driven by back brace electric rod (5-5).The outer end at the middle part and support rod (5-2) that support wheel shaft (5-1) is fixed.Support
Back brace wheel (5-3) is supported on wheel shaft (5-1).Second distance measuring sensor (5-4) is fixed on support rod (5-2), and after
Support wheel (5-3).
Further, it includes detachment push rod (3-13), detachment slip shaft (3-14), thread barrel that the detachment, which adjusts component,
(3-15), thread spindle (3-16), first bevel gear (3-17), second bevel gear (3-18), resistance spring (3-19) and detachment turn
Axis (3-20).Detachment sliding slot (3-21) is offered on track frame (3-5).Detachment slip shaft (3-14) passes through detachment sliding slot (3-
21).One end of two detachment push rods (3-13) and the both ends of detachment slip shaft (3-14) respectively constitute revolute pair, the other end with tear open
The two sides of tape holder (3-10) are respectively articulated with.One end of thread barrel (3-15) and the middle part of detachment slip shaft (3-14) constitute and rotate
It is secondary.The internal screw thread on external screw thread and thread barrel (3-15) on thread spindle (3-16) constitutes screw pair.Thread spindle (3-16) bearing
On track frame (3-5).First bevel gear (3-17) is fixed on thread spindle (3-16).Detachment shaft (3-20) is supported on crawler belt
On frame (3-5).Second bevel gear (3-18) is fixed on detachment shaft (3-20).First bevel gear (3-17) and second bevel gear
(3-18) engagement.Resistance spring (3-19) is nested on detachment shaft (3-20), and both ends are respectively held against second bevel gear (3-
18), track frame (3-5).The outer end of detachment shaft (3-20) offers Hexagon hole.
Further, the back brace wheel (5-3), detachment frame (3-10) and backboard are located at balance wheel support (2-1)
The same side.Foot pedal (4-5) is located at the other side of balance wheel support (2-1).
Further, the track drive component includes sprocket wheel (3-23), chain (3-24) and track drive motor (3-
22).Output shaft, the one of traveling belt wheel (3-6) of two sprocket wheels (3-23) and track drive motor (3-22).Two sprocket wheels
(3-23) is connected by chain (3-24).Track drive motor (3-22) is fixed on motor mounting rack (3-3).
Further, the leveling driving assembly includes second gear (4-13) and leveling motor (4-14).Leveling electricity
Machine (4-14) is fixed on the bottom of main seat body (4-2).The output shaft of two second gears (4-13) and leveling motor (4-14),
First leveling slip shaft (4-8) is fixed respectively.
Further, hub motor is fixed in the stabilizer (2-2).The output shaft and balance of two hub motors
The both ends of wheel support (2-1) are fixed respectively.
Further, seat leveling module (4) further includes foot pedal (4-5) and foot-operated connecting rod (4-6).Two
The top of foot-operated connecting rod (4-6) is fixed respectively with two cushion connecting rods (4-10) for being located at outside, bottom end and foot pedal (4-
5) both ends are fixed respectively.Foot pedal (4-5) is parallel with seating pad.
Further, the main seat body (4-2) further includes handrail.Two handrails are separately positioned on the two of seating pad
Side, and fixed with seating pad.
The application method of the combined type self-balancing electric wheel chair includes level land running method and climbs step method.
Level land running method is specific as follows:
On level land when driving, gyroscope detects the spatial pose of itself and is transferred to controller.Controller controls two
Hub motor rotation in stabilizer (2-2), so that seating pad continues close to horizontality.At this point, if user's center of gravity forward
Lean on or before shake control handle, then two stabilizers (2-2) driving balance wheel support (2-1) travels forward；If user's center of gravity to
After lean on or after shake control handle, then two stabilizers (2-2) driving balance wheel support (2-1) moves backward.
It is specific as follows to climb step method:
Step 1: user controls balance wheel support (2-1) and moves to itself facing away from platform when occurring step on direction of travel
The state of rank；
It is moved backward Step 2: user controls balance wheel support (2-1).When synchronous crawler belt (3-11) is contacted with step
When, crawler belt adjusts electric rod (3-4) and releases, and two track drive components respectively drive the traveling in two unilateral track assemblies
Belt wheel (3-6) rotates synchronously, so that two track frames (3-5) overturn around rotating shaft (3-1), synchronous crawler belt (3-11) movement is put down
Vacantly, chair frame (1) moves upwards weighing apparatus wheel (2-2) along step.Meanwhile it leveling driving assembly and seating pad and backboard is driven to turn over
Turn, so that seating pad persistently keeps horizontality.
Step 3: the distance that two the first distance measuring sensors (3-12) detect is to when reaching first threshold, back brace is electric
Lever (5-5) is released, after the distance of the second distance measuring sensor (5-4) detection reaches second threshold, back brace electric rod (5-5)
Stop motion.
The invention has the advantages that:
1, the present invention can be effectively reduced the center of gravity during climbing building, mention during climbing building by the way of the leveling of rear end
High security.
2, the present invention has been designed into detachment slave part in crawler body module, can greatly simplify the replacement of crawler belt
Efficiency.
3, the present invention uses two-wheeled to balance when driving on level land, can run freely between corridor.
Detailed description of the invention
Fig. 1 is overall structure diagram of the present invention on level land when driving；
Fig. 2 is overall structure diagram of the present invention when climbing step；
Fig. 3 is balance traveling module, crawler body module, the combination diagram of back brace wheel module in the present invention；
Fig. 4 is in the present invention in the schematic diagram of crawler body module；
Fig. 5 is the partial enlarged view of part A in Fig. 4；
Fig. 6 is the schematic diagram of seat leveling module in the present invention；
Fig. 7 is the state diagram of level land traveling of the present invention；
Fig. 8 is the state diagram when present invention starts to climb step；
Fig. 9 is the state diagram of the invention climbed during step；
Figure 10 is the state diagram when present invention reaches at the top of step.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1,2 and 3, a kind of combined type self-balancing electric wheel chair, including chair frame 1, balance traveling module 2, crawler belt
Chassis module 3, seat leveling module 4, back brace wheel module 5 and control module 6.Balancing traveling module 2 includes balance wheel support 2-1
With stabilizer 2-2.Two stabilizer 2-2 are separately mounted to the both ends of balance wheel support 2-1.Wheel hub is fixed in stabilizer 2-2
Motor.The output shaft of two hub motors and the both ends of balance wheel support 2-1 are fixed respectively.
As shown in Fig. 3,4 and 5, crawler body module 3 includes rotating shaft 3-1, torsion shaft 3-2, motor mounting rack 3-3, carries out
Band adjusts electric rod 3-4 and two unilateral track assemblies.Unilateral track assembly includes track frame 3-5, traveling belt wheel 3-6, detachment
Auxiliary wheel 3-7, tensioning wheel 3-8, tensioning bridge 3-9, detachment frame 3-10, synchronous crawler belt 3-11, detachment adjust component, the first ranging
Sensor 3-12 and track drive component.Two traveling belt wheel 3-6 are supported on the both ends of track frame 3-5 respectively.Detachment frame 3-10
Inner end and track frame 3-5 one end constitute revolute pair.The outer end of detachment frame 3-10 is supported with detachment auxiliary wheel 3-7.In a ring
Synchronization crawler belt 3-11 bypass detachment auxiliary wheel 3-7 and two traveling belt wheel 3-6.First distance measuring sensor 3-12 is fixed on crawler belt
The bottom frame 3-5 is arranged outwardly close to that end of detachment frame 3-10.First distance measuring sensor 3-12 is for detecting crawler body mould
Whether block 3 climbs to step.
It includes detachment push rod 3-13, detachment slip shaft 3-14, thread barrel 3-15, thread spindle 3-16, that detachment, which adjusts component,
One bevel gear 3-17, second bevel gear 3-18, resistance spring 3-19 and detachment shaft 3-20.It is opened on the both side plate of track frame 3-5
Equipped with detachment sliding slot 3-21.Detachment slip shaft 3-14 passes through detachment sliding slot 3-21.One end of two detachment push rod 3-13 and detachment
The both ends of slip shaft 3-14 respectively constitute revolute pair, and the two sides of the other end and detachment frame 3-10 are coaxial hinged respectively.Thread barrel 3-
15 one end and the middle part of detachment slip shaft 3-14 constitute revolute pair.On external screw thread and thread barrel 3-15 on thread spindle 3-16
Internal screw thread constitutes screw pair.Thread spindle 3-16 is supported on track frame 3-5.First bevel gear 3-17 is fixed on thread spindle 3-16
On.Detachment shaft 3-20 is supported on track frame 3-5.Second bevel gear 3-18 is fixed on detachment shaft 3-20.First cone tooth
Wheel 3-17 is engaged with second bevel gear 3-18.Resistance spring 3-19 is nested on detachment shaft 3-20, and both ends are respectively held against
Two bevel gear 3-18, track frame 3-5.Resistance spring 3-19 is capable of increasing detachment shaft 3- to the frictional force of second bevel gear 3-18
Resistance when 20 rotation, avoids second bevel gear 3-18 from rotating in vibration.In the outer end of detachment shaft 3-20 offers
Hexagon ring.Detachment shaft 3-20, driving thread spindle 3-16 rotation can be rotated by allen wrench；Thread barrel 3-15 drive is torn open
Band slip shaft 3-14 is slided, to adjust the relative angle of detachment frame 3-10 Yu track frame 3-5.And detachment frame 3-10 is inwardly overturn
It enables to synchronous crawler belt 3-11 to loosen, realizes the quick-replaceable of synchronous crawler belt 3-11.
The middle part of the inner end and track frame 3-5 that are tensioned bridge 3-9 constitutes revolute pair by tensioning shaft.It is equipped on tensioning shaft
Torsional spring.The both ends of torsional spring are fixed respectively with tensioning bridge 3-9, track frame 3-5.Tensioning wheel 3-8 is supported on the outer of tensioning bridge 3-9
It holds, and resists the lateral surface of synchronous crawler belt 3-11 under the effect of the elastic force of torsional spring, realize the tensioning to synchronous crawler belt 3-11.Crawler belt
Driving assembly includes sprocket wheel 3-23, chain 3-24 and track drive motor 3-22.Two sprocket wheel 3-23 and track drive motor 3-
22 output shaft, one of traveling belt wheel 3-6.Two sprocket wheel 3-23 are connected by chain 3-24.
Rotating shaft 3-1, torsion shaft 3-2 and motor mounting rack 3-3 are arranged between two unilateral track assemblies, and with two
Track frame 3-5 in a unilateral side track assembly is fixed.Two track drive motor 3-22 are each attached on motor mounting rack 3-3.
The middle part that crawler belt adjusts the shell and balance wheel support 2-1 of electric rod 3-4 is hinged, and push-off pin and torsion shaft 3-2 constitute revolute pair.
It balances wheel support 2-1 and rotating shaft 3-1 and constitutes revolute pair.In the state that balance wheel support 2-1 is remain stationary, crawler belt adjusts electricity
The release or retraction of lever 3-4 can drive track frame 3-5 around balance wheel support 2-1 rotation.
As shown in figs. 3 and 6, chair frame 1 is made of under(-)chassis 1-1 and mounting rack 1-2.Mounting rack 1-2 and under(-)chassis 1-1
It is fixed.Under(-)chassis 1-1 and rotating shaft 3-1, torsion shaft 3-2 are fixed.Pitching tune is offered on two blocks of side plates of mounting rack 1-2
Save sliding slot 1-3.Pitch regulation sliding slot 1-3 is obliquely installed.Gyroscope is installed in chair frame 1.
It includes backrest main body 4-1, main seat body 4-2, first gear 4-3, rack gear 4-4, foot pedal 4- that seat, which levels module 4,
5, connecting rod 4-6 and leveling driving assembly are ridden.Main seat body 4-2 includes seating pad, handrail, the first leveling slip shaft 4-8, the
Two leveling slip shaft 4-9 and cushion connecting rod 4-10.Four cushion connecting rod 4-10 are sequentially arranged at intervals, and one end is with first
It levels slip shaft 4-8 and constitutes revolute pair, the other end is fixed with the second leveling slip shaft 4-9.The bottom surface of seating pad and each cushion
Connecting rod 4-10 is fixed.The top of two foot-operated connecting rod 4-6 is fixed respectively with two cushion connecting rod 4-10 for being located at outside,
Bottom end and the both ends of foot pedal 4-5 are fixed respectively.Foot pedal 4-5 is parallel with seating pad.Two handrails are separately positioned on seating pad
Two sides, and fixed with seating pad.
Sliding rail 4-12 is respectively and fixedly provided on two cushion connecting rod 4-10 of inside.It is sliding that T-type is offered on sliding rail 4-12
Slot.There are two the idler wheels being coaxially disposed for the top-supported of chair frame 1.The T-type that two idler wheels are separately positioned on two sliding rail 4-12 is sliding
In slot.The both ends of first leveling slip shaft 4-8 are each passed through the pitch regulation sliding slot 1-3 on two blocks of side plates of mounting rack 1-2.Peace
It shelves and is fixed with two toothed rack 4-4 on 1-2.The length direction of rack gear 4-4 is parallel with the length direction of pitch regulation sliding slot 1-3.
Two first gear 4-3 are each attached on the first leveling slip shaft 4-8, and two first gear 4-3 are nibbled respectively with two toothed rack 4-4
It closes.Leveling driving assembly includes second gear 4-13 and leveling motor 4-14.Leveling motor 4-14 is fixed on main seat body 4-2's
Bottom.The output shaft of two second gear 4-13 and leveling motor 4-14, the first leveling slip shaft 4-8 are fixed respectively.
Backrest main body 4-1 includes backboard, backrest shaft 4-15, backrest connecting rod 4-11 and backrest turning rod 4-7.Backrest
Shaft 4-15 is supported on the top of under(-)chassis 1-1.Backboard is fixed with backrest shaft 4-15.Two backrest turning rod 4-7's
Inner end and the both ends of backrest shaft 4-15 are fixed respectively.One end of two backrest connecting rod 4-11 and two backrest turning rod 4-7
Outer end be respectively articulated with, the other end and second leveling slip shaft 4-9 both ends respectively constitute revolute pair.Due to the first leveling sliding
When axis 4-8 is slided in pitch regulation sliding slot 1-3, sliding rail 4-12 and under(-)chassis 1-1 relative motion will be driven, so that the
Two leveling slip shaft 4-9 are mobile, and the second leveling slip shaft 4-9 movement will drive backrest shaft 4-15 to turn through backrest connecting rod 4-11
It is dynamic, to realize moving synchronously for seating pad and backboard.
Back brace wheel module 5 include support wheel shaft 5-1, support rod 5-2, back brace wheel 5-3, the second distance measuring sensor 5-4 and after
Support electric rod 5-5.The inner end of support rod 5-2 and under(-)chassis 1-1 constitute revolute pair.Support middle part and the support rod of wheel shaft 5-1
The outer end of 5-2 is fixed.The both ends of support wheel shaft 5-1 are supported with back brace wheel 5-3.The shell and bottom frame of back brace electric rod 5-5
Frame 1-1 constitutes revolute pair, the middle part composition rotation of push-off pin and support rod 5-2.When combined type self-balancing electric wheel chair is moved to
When the top of one section of step, back brace electric rod 5-5 is released, and support rod 5-2 is routed up outward, so that back brace wheel 5-3 and this section of step
Top planes contact, realize Auxiliary support.Back brace wheel 5-3, detachment frame 3-10 and backboard are located at the same of balance wheel support 2-1
Side.Foot pedal 4-5 is located at the other side of balance wheel support 2-1.When crawler body 3 top bar of module, user is back to step
Top.Second distance measuring sensor 5-4 is fixed on support rod 5-2, and towards back brace wheel 5-3.
Control module 6 includes controller, motor driver and operating case 6-1.Operating case 6-1 is fixed therein a handrail
On.Control handle and switching push button are installed on operating case 6-1.Leveling motor 4-14, crawler belt adjust the electricity in electric rod 3-4
Machine, the motor in back brace electric rod 5-5, the hub motor in two stabilizer 2-2, two track drive motor 3-22 with control
The motor control interface of device processed is connected by motor driver.Gyroscope, control handle, switching push button, the first distance measuring sensor
The signal output interface of 3-12 and the second distance measuring sensor 5-4 are connect with controller.
The application method of the combined type self-balancing electric wheel chair includes level land running method and climbs step method.
Level land running method is specific as follows:
As shown in fig. 7, on level land when driving, gyroscope detects the spatial pose of itself and is transferred to controller.Control
Device controls the hub motor rotation in two stabilizer 2-2, so that seating pad continues close to horizontality.At this point, if user
Center of gravity forward against or before shake control handle, then two stabilizer 2-2 driving balance wheel support 2-1 travel forward；If user's weight
The heart lean on backward or after shake control handle, then two stabilizer 2-2 driving balance wheel support 2-1 are moved backward.Meanwhile user is also
The differential that stabilizer 2-2 can be controlled by control handle rotates, and realizes and turns to.
It is specific as follows to climb step method:
Step 1: user controls balance wheel support 2-1 and moves to itself facing away from step when occurring step on direction of travel
State；
Step 2: as shown in FIG. 8 and 9, user controls balance wheel support 2-1 and moves backward.When synchronous crawler belt 3-11 with
When step contacts, user presses switching push button, and crawler belt adjusts electric rod 3-4 and releases, and two track drive motor 3-22 are same
Step rotation, so that two track frame 3-5 are overturn around rotating shaft 3-1, synchronous crawler belt 3-11 movement, stabilizer 2-2 is hanging, chair frame 1
It is moved upwards along step.Meanwhile gyroscope detects the spatial pose of itself and is transferred to controller, leveling motor 4-14 turns
It is dynamic, so that seating pad and backboard overturning, seating pad persistently keep horizontality.
Step 3: as shown in Figure 10, the distance value that two the first distance measuring sensor 3-12 are detected reaches first threshold
When, back brace electric rod 5-5 is released, until the distance of the second distance measuring sensor 5-4 detection reaches second threshold, back brace wheel 5- at this time
3 contact with the top planes of step.
Step 4: two track drive motor 3-22 are rotated synchronously, back brace electric rod 5-5 and crawler belt adjust electric rod 3-4
Synchronous to retract, so that chair frame 1 is moved to the top of step, and two track frame 3-5 reset, two stabilizer 2-2 and adjusting
Top planes contact.Meanwhile leveling motor 4-14 is rotated, so that seating pad and backboard overturning, seating pad persistently keep horizontal
State.
Claims (9)
1. a kind of combined type self-balancing electric wheel chair, including chair frame (1), balance traveling module (2), crawler body module (3), seat
Chair levels module (4) and back brace wheel module (5)；It is characterized by: the balance traveling module (2) includes balance wheel support
(2-1) and stabilizer (2-2)；Two stabilizers (2-2) are separately mounted to the both ends of balance wheel support (2-1)；The crawler belt
Chassis module (3) include rotating shaft (3-1), torsion shaft (3-2), motor mounting rack (3-3), crawler belt adjust electric rod (3-4) and
Two unilateral track assemblies；Unilateral track assembly includes track frame (3-5), traveling belt wheel (3-6), detachment auxiliary wheel (3-7), opens
Bearing up pulley (3-8), tensioning bridge (3-9), detachment frame (3-10), synchronous crawler belt (3-11), detachment adjust component, the first ranging sensing
Device (3-12) and track drive component；Two traveling belt wheels (3-6) are supported on the both ends of track frame (3-5) respectively；One of them
Traveling belt wheel (3-6) is by track drive Component driver；
The inner end of the detachment frame (3-10) and the one end of track frame (3-5) constitute revolute pair；Detachment frame (3-10) passes through detachment
Adjust Component driver overturning；The outer end of detachment frame (3-10) is supported with detachment auxiliary wheel (3-7)；Synchronous crawler belt (3-11) is bypassed and is torn open
Band auxiliary wheel (3-7) and two traveling belt wheels (3-6)；The inner end of tensioning bridge (3-9) and the middle part of track frame (3-5) are logical
It crosses tensioning shaft and constitutes revolute pair；Torsional spring is equipped on tensioning shaft；The both ends of torsional spring and tensioning bridge (3-9), track frame (3-5) point
Gu Ding not；Tensioning wheel (3-8) is supported on the outer end of tensioning bridge (3-9), and resists the lateral surface of synchronous crawler belt (3-11)；First
Distance measuring sensor (3-12) is fixed on the track frame bottom (3-5) close to that end of detachment frame (3-10), and is arranged outwardly；Rotating shaft
(3-1), torsion shaft (3-2) and motor mounting rack (3-3) are arranged between two unilateral track assemblies, and are carried out with two unilateral side
It is fixed with the track frame (3-5) in component；Crawler belt adjusts the shell of electric rod (3-4) and the middle part of balance wheel support (2-1) is cut with scissors
It connects, push-off pin and torsion shaft (3-2) constitute revolute pair；It balances wheel support (2-1) and rotating shaft (3-1) and constitutes revolute pair；
The chair frame (1) is made of the under(-)chassis (1-1) and mounting rack (1-2) being fixed together；Under(-)chassis (1-1) with
Rotating shaft (3-1), torsion shaft (3-2) are fixed；Pitch regulation sliding slot (1-3) is offered on two blocks of side plates of mounting rack (1-2)；
Chair frame is equipped with gyroscope on (1)；
Seat leveling module (4) includes backrest main body (4-1), main seat body (4-2), first gear (4-3), rack gear
(4-4) and leveling driving assembly；Main seat body (4-2) includes seating pad, the first leveling slip shaft (4-8), the second leveling sliding
Axis (4-9) and cushion connecting rod (4-10)；Four cushion connecting rods (4-10) are sequentially arranged at intervals, and one end is leveled with first
Slip shaft (4-8) constitutes revolute pair, and the other end is fixed with the second leveling slip shaft (4-9)；The bottom surface of seating pad and each cushion
Connecting rod (4-10) is fixed；
Wherein sliding rail (4-12) is respectively and fixedly provided on two cushion connecting rods (4-10)；T-type sliding slot is offered on sliding rail (4-12)；Chair
There are two the idler wheels being coaxially disposed for the top-supported of frame (1)；Two idler wheels are separately positioned on the T-type sliding slot of two sliding rails (4-12)
It is interior；The both ends of first leveling slip shaft (4-8) are each passed through the pitch regulation sliding slot (1- on two blocks of side plates of mounting rack (1-2)
3)；Rack gear (4-4) is fixed on mounting rack (1-2)；First gear (4-3) is fixed on the first leveling slip shaft (4-8), and first
Gear (4-3) is engaged with rack gear (4-4)；First leveling slip shaft (4-8) is driven by leveling driving assembly；
The backrest main body (4-1) includes backboard, backrest shaft (4-15), backrest connecting rod (4-11) and backrest turning rod
(4-7)；Backrest shaft (4-15) is supported on the top of under(-)chassis (1-1)；Backboard and backrest shaft (4-15) are fixed；Backrest
The inner end of turning rod (4-7) and the fixation of backrest shaft (4-15)；One end of backrest connecting rod (4-11) and backrest turning rod (4-
7) outer end is hinged, the composition revolute pair of the other end and the second leveling slip shaft (4-9)；
The back brace wheel module (5) includes support wheel shaft (5-1), support rod (5-2), back brace wheel (5-3), the second ranging sensing
Device (5-4) and back brace electric rod (5-5)；The inner end of support rod (5-2) and under(-)chassis (1-1) constitute revolute pair；Support rod (5-
2) it is driven by back brace electric rod (5-5)；The outer end at the middle part and support rod (5-2) that support wheel shaft (5-1) is fixed；Support wheel shaft
Back brace wheel (5-3) is supported on (5-1)；Second distance measuring sensor (5-4) is fixed on support rod (5-2), and towards back brace wheel
(5-3)。
2. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the detachment adjusting group
Part includes detachment push rod (3-13), detachment slip shaft (3-14), thread barrel (3-15), thread spindle (3-16), first bevel gear (3-
17), second bevel gear (3-18), resistance spring (3-19) and detachment shaft (3-20)；It is sliding that detachment is offered on track frame (3-5)
Slot (3-21)；Detachment slip shaft (3-14) passes through detachment sliding slot (3-21)；One end of two detachment push rods (3-13) and detachment are sliding
The both ends for moving axis (3-14) respectively constitute revolute pair, and the two sides of the other end and detachment frame (3-10) are respectively articulated with；Thread barrel (3-
15) middle part of one end and detachment slip shaft (3-14) constitutes revolute pair；External screw thread and thread barrel (3- on thread spindle (3-16)
15) internal screw thread on constitutes screw pair；Thread spindle (3-16) is supported on track frame (3-5)；First bevel gear (3-17) is fixed
On thread spindle (3-16)；Detachment shaft (3-20) is supported on track frame (3-5)；Second bevel gear (3-18) is fixed on detachment
In shaft (3-20)；First bevel gear (3-17) is engaged with second bevel gear (3-18)；Resistance spring (3-19) is nested in detachment
In shaft (3-20), and both ends are respectively held against second bevel gear (3-18), track frame (3-5)；The outer end of detachment shaft (3-20)
Offer Hexagon hole.
3. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the back brace wheel (5-
3), detachment frame (3-10) and backboard are located at the same side of balance wheel support (2-1)；Foot pedal (4-5) is located at balance wheel support
The other side of (2-1).
4. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the track drive group
Part includes sprocket wheel (3-23), chain (3-24) and track drive motor (3-22)；Two sprocket wheels (3-23) and track drive motor
The output shaft of (3-22), one of traveling belt wheel (3-6)；Two sprocket wheels (3-23) are connected by chain (3-24)；Crawler belt drives
Dynamic motor (3-22) is fixed on motor mounting rack (3-3).
5. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the leveling driving group
Part includes second gear (4-13) and leveling motor (4-14)；Leveling motor (4-14) is fixed on the bottom of main seat body (4-2)；
Two second gears (4-13) are fixed respectively with the output shaft of leveling motor (4-14), the first leveling slip shaft (4-8).
6. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the stabilizer (2-
2) hub motor is fixed in；The output shaft of two hub motors and the both ends of balance wheel support (2-1) are fixed respectively.
7. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the seat levels mould
Block (4) further includes foot pedal (4-5) and foot-operated connecting rod (4-6)；The tops of two foot-operated connecting rods (4-6) be located at outside
Two cushion connecting rods (4-10) are fixed respectively, and bottom end and the both ends of foot pedal (4-5) are fixed respectively；Foot pedal (4-5) and seat
Backing plate is parallel.
8. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the main seat body
(4-2) further includes handrail；Two handrails are separately positioned on the two sides of seating pad, and fix with seating pad.
9. a kind of application method of combined type self-balancing electric wheel chair as described in claim 1, it is characterised in that: including level land
Running method and climb step method；
Level land running method is specific as follows:
On level land when driving, gyroscope detects the spatial pose of itself and is transferred to controller；Controller controls two balances
The hub motor rotation in (2-2) is taken turns, so that seating pad continues close to horizontality；At this point, if user's center of gravity forward against or
Before shake control handle, then two stabilizers (2-2) driving balance wheel support (2-1) travels forward；If user's center of gravity is leaned on backward
Control handle is shaken after or, then two stabilizer (2-2) driving balances wheel support (2-1) move backward；
It is specific as follows to climb step method:
Step 1: user controls balance wheel support (2-1) and moves to itself facing away from step when occurring step on direction of travel
State；
It is moved backward Step 2: user controls balance wheel support (2-1)；When synchronous crawler belt (3-11) and step contact, carry out
Band adjusts electric rod (3-4) and releases, and two track drive components respectively drive the traveling belt wheel in two unilateral track assemblies
(3-6) is rotated synchronously, so that two track frames (3-5) overturn around rotating shaft (3-1), synchronous crawler belt (3-11) movement, stabilizer
(2-2) vacantly, chair frame (1) is moved upwards along step；Meanwhile driving assembly driving seating pad and backboard overturning are leveled, make
It obtains seating pad and persistently keeps horizontality；
Step 3: when the distance value that two the first distance measuring sensors (3-12) detect reaches first threshold, back brace electric rod
(5-5) is released, and after the distance value of the second distance measuring sensor (5-4) detection reaches second threshold, back brace electric rod (5-5) stops
Only move.
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| CN201910536042.XA CN110169880B (en) | 2019-06-20 | 2019-06-20 | Combined type self-balancing electric wheelchair and use method thereof |
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|---|---|---|---|
| CN201910536042.XA CN110169880B (en) | 2019-06-20 | 2019-06-20 | Combined type self-balancing electric wheelchair and use method thereof |
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| Publication Number | Publication Date |
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| CN110169880A true CN110169880A (en) | 2019-08-27 |
| CN110169880B CN110169880B (en) | 2020-05-19 |
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Cited By (7)
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| CN110435780A (en) * | 2019-09-06 | 2019-11-12 | 中国科学院合肥物质科学研究院 | A kind of compound climbing stairs cargo plane of wheel shoe |
| CN110575327A (en) * | 2019-10-17 | 2019-12-17 | 闫学堂 | Balance wheelchair |
| CN111297582A (en) * | 2020-03-02 | 2020-06-19 | 国家康复辅具研究中心 | Balance stair climbing wheelchair and stair climbing method thereof |
| CN111485823A (en) * | 2020-05-07 | 2020-08-04 | 张强 | Automatic well rig of alignment |
| CN111759606A (en) * | 2020-07-09 | 2020-10-13 | 仲兆宏 | Barrier-free mobile balance car |
| CN112315681A (en) * | 2020-11-02 | 2021-02-05 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Wheelchair capable of realizing shifting function |
| CN115042890A (en) * | 2022-06-13 | 2022-09-13 | 荆楚理工学院 | Multifunctional barrier-free stair climbing vehicle |
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| CN112315681B (en) * | 2020-11-02 | 2022-08-09 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Wheelchair capable of achieving shifting function |
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