CN110448416B - Medical obstacle-crossing wheelchair - Google Patents
Medical obstacle-crossing wheelchair Download PDFInfo
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- CN110448416B CN110448416B CN201910844171.5A CN201910844171A CN110448416B CN 110448416 B CN110448416 B CN 110448416B CN 201910844171 A CN201910844171 A CN 201910844171A CN 110448416 B CN110448416 B CN 110448416B
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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
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
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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
- A61G5/068—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 extensible supports pushing upwards, e.g. telescopic legs
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1021—Wheelchairs having brakes engaging specific brake elements
- A61G5/1024—Brake discs
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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
- A61G5/104—Devices for lifting or tilting the whole wheelchair
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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
- A61G5/1051—Arrangements for steering
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
- Handcart (AREA)
Abstract
The invention discloses a medical wheelchair capable of crossing obstacles, which mainly comprises a wheelchair main body, a supporting and lifting device, a steering device, a power braking device, a deformation limiting device and an obstacle crossing power device. By using the motor or the electric cylinder as a power source, the invention can realize the functions of advancing, retreating, steering, braking and the like; when crossing obstacles, the supporting and lifting device is opened by using the motor and the wheelchair is lifted, and the motor drives the wheelchair to move forwards in the air, so that the obstacle crossing function is realized.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a medical wheelchair capable of crossing obstacles.
Background
The common wheelchair is convenient to use on the flat ground, a travel mode can be provided for people with inconvenient legs and feet, but the common wheelchair needs to be driven by manpower and is difficult to span when encountering obstacles, and a medical wheelchair capable of spanning the obstacles is designed at present. Currently, designs of wheelchair capable of crossing obstacles are disclosed in application No. 201810646319.X, which discloses a wheelchair capable of jumping obstacles, and the wheelchair can effectively cross step obstacles but cannot cross trench obstacles or railings.
Disclosure of Invention
Aiming at the problems, the invention provides a medical wheelchair capable of crossing obstacles, which mainly comprises a wheelchair main body, a supporting and lifting device, a steering device, a power braking device, a deformation limiting device and an obstacle crossing power device.
The technical scheme adopted by the invention is as follows: the invention provides a medical wheelchair capable of crossing obstacles, which comprises a wheelchair main body, a supporting and lifting device, a steering device, a power braking device, a deformation limiting device and an obstacle crossing power device.
The wheelchair main part includes: the power brake device comprises a power brake frame, a power brake rod, an auxiliary mounting frame, a seat, a bogie and a leg and foot placing frame.
The supporting and lifting device comprises: the device comprises a first deformation rod, a support rack, a second deformation rod, a sliding wheel, a support mounting plate, a support motion motor, a support first gear, a support second gear, a support nut pair, a support lead screw, a support sliding rod, a support rod and a support base.
The steering device includes: the steering mechanism comprises a steering first connecting rod, a steering second connecting rod, a steering first sliding bearing, a front wheel first connecting rod, a connecting rod mounting connecting plate, a front wheel mounting plate, a steering second sliding bearing, a steering third sliding bearing, a front wheel shaft, a front wheel, a steering motor, a steering first bevel gear and a steering second bevel gear.
The dynamic braking device includes: the brake device comprises a rear wheel, a rear wheel shaft, a rear wheel first sliding bearing, a rear wheel third gear, a rear wheel second sliding bearing, a rear wheel second gear, a rear wheel first gear, a power motor, a brake electric cylinder mounting base, a brake electric cylinder, a brake sliding groove, a brake T-shaped plate, a brake electric cylinder contraction shaft, a brake steel rope, a spring first base, a first spring, a spring second base, a second spring, a brake disc and a brake disc.
The deformation limiting device comprises: the device comprises a deformation electric cylinder, a deformation electric cylinder connecting rod, a deformation sliding mounting plate, a deformation fixing mounting plate, a deformation sliding chute, a deformation T-shaped plate, a deformation lead screw sliding bearing, a deformation sliding rod, a deformation nut pair, a deformation O-shaped groove, a deformation motor, a first gear of the deformation motor, a second gear of the deformation motor, a central sliding chute, a limiting electric cylinder and a limiting insert.
Obstacle crossing power device includes: the obstacle crossing device comprises an obstacle crossing electric cylinder mounting seat, an obstacle crossing electric cylinder, an obstacle crossing first connecting rod, an obstacle crossing first sliding groove, an obstacle crossing second connecting rod, an obstacle crossing gear pair mounting base, an obstacle crossing first sliding connecting plate, an obstacle crossing second sliding groove, an obstacle crossing second sliding connecting plate, an obstacle crossing intermediate shaft, an obstacle crossing power shaft, an obstacle crossing intermediate gear, a steering power gear, an obstacle crossing main power second gear, an obstacle crossing main power shaft, an obstacle crossing main power bearing, an obstacle crossing main power first gear, an obstacle crossing main power motor and an obstacle crossing motion gear.
The power brake frame of the wheelchair main body is fixedly connected with the seat, the bogie is fixedly connected with the seat, the power brake rod is fixedly installed on the power brake frame, the number of the auxiliary installation frames is two, the inner parts of the auxiliary installation frames are hollowed out and fixedly installed on the wheelchair supporting legs, and the leg and foot placing frames are fixedly installed on the supporting legs of the bogie.
The supporting and lifting device is provided with two sets which are respectively hung on two sides of the wheelchair, each set of supporting and lifting device is provided with six sets of first deformation rods, a supporting rack, second deformation rods and sliding wheels, the central positions of each set of first deformation rods and second deformation rods are connected in a rotating mode through hinges, the sliding wheels are installed at the central positions through rotating shafts in a rotating mode, one end of each set of first deformation rod is connected with the second deformation rod of the previous set in a rotating mode, the other end of each set of first deformation rod is connected with the second deformation rod of the next set in a rotating mode, one end of each set of second deformation rod is connected with the first deformation rod of the previous set in a rotating mode, the other end of each set of second deformation rod is connected with the first deformation rod of the next set in a rotating mode, the supporting rack is fixedly connected with the second deformation rods by 30 degrees, and the supporting rack of each set is in an end-to-end oblique. Each set of supporting and lifting device is provided with two sets of lifting devices, the upper end of a supporting and mounting plate of each set of lifting devices is rotatably connected with a second deformation rod or a first deformation rod, the lower end of the supporting and mounting plate is slidably connected with the second deformation rod or the first deformation rod through a chute, a supporting and moving motor is fixedly mounted on the supporting and mounting plate, a supporting first gear is fixedly mounted on a rotating shaft of the supporting and moving motor, and form gear fit with supporting the second gear, support the lead screw and rotate and install on supporting the mounting panel through slide bearing, the upper end of supporting the lead screw passes slide bearing and supports second gear fixed connection, support the slide bar fixed mounting on supporting the mounting panel, one end and the support lead screw of the pair of support nuts form the screw drive, the other end and the support slide bar of the pair of support nuts form the slip, support the base and pass the middle fixed connection of the pair of support nuts of bracing piece.
Two pairs of connecting positions are distributed on the left and right of a steering first connecting rod of the steering device respectively, the steering first connecting rod is rotatably arranged on a steering frame through a steering second sliding bearing, four steering second connecting rods are arranged, one end of each steering second connecting rod is rotatably connected with the steering first connecting rod, the other end of each steering second connecting rod is rotatably connected with a front wheel mounting plate, the front wheel first connecting rod is rotatably connected on a leg and foot placing frame through the steering first sliding bearing, the steering mechanism is characterized in that the steering mechanism is fixedly connected with a front wheel mounting plate through a connecting rod mounting connecting plate, one end of a front wheel shaft is rotatably mounted at the center of the front wheel mounting plate through a steering third sliding bearing, the number of front wheels is two, the front wheels are respectively and fixedly connected with the other end of the front wheel shaft, a steering motor is fixedly mounted on a steering frame, a steering first bevel gear is fixedly mounted on a rotating shaft of the steering motor and forms gear fit with a steering second bevel gear, and the steering second bevel gear is fixedly mounted on an intermediate shaft of the steering first connecting rod.
The power braking device is characterized in that a power motor of the power braking device is fixedly arranged on a power braking frame, a first rear wheel gear is fixedly arranged on a rotating shaft of the power motor and forms gear fit with a second rear wheel gear, the second rear wheel gear is rotatably arranged on a power braking rod through a second rear wheel sliding bearing and forms gear fit with a third rear wheel gear, the third rear wheel gear is fixedly arranged on a rear wheel shaft, the rear wheel shaft penetrates through the power braking frame and is rotatably arranged on the power braking frame through two first rear wheel sliding bearings, and the two rear wheels are fixedly arranged at two ends of the rear wheel shaft respectively. Braking electric cylinder passes through braking electric cylinder installation base fixed mounting on dynamic braking frame, braking spout fixed mounting is on dynamic braking frame and forms sliding fit with braking T template, braking electric cylinder shrink axle and the braking steel cable of braking electric cylinder form sliding fit, the both ends of braking steel cable link to each other with braking T template respectively, the first base of spring forms sliding fit with braking T template fixed connection and with the dynamic braking pole, first spring fixation clamp is between the first base of two springs, spring second base fixed mounting is on the dynamic braking pole, the second spring has two, symmetry fixed mounting is in the both sides of spring second base respectively, brake disc fixed mounting is on the rear wheel axle, brake disc and the first base fixed connection of spring.
The deformation limiting devices are provided with two pairs and are respectively installed at two sides of the wheelchair, the deformation electric cylinders are fixedly installed at the inner side of the auxiliary installation frame, the contraction shafts of the deformation electric cylinders are fixedly connected with the deformation sliding installation plate through the connection rods of the deformation electric cylinders, the deformation fixed installation plate is fixedly installed at the bottom side of the auxiliary installation frame, the two deformation chutes are respectively fixed on the deformation fixed installation plate and respectively form sliding fit with the deformation T-shaped plate, the deformation T-shaped plate is fixedly installed on the deformation sliding installation plate, the deformation lead screws are symmetrically provided with a pair of threads with opposite rotation directions, the deformation lead screws are rotatably connected with the deformation sliding installation plate through three deformation lead screw sliding bearings, the deformation sliding rods are fixedly installed on the deformation sliding installation plate, one end of the deformation nut pair forms threaded fit with the deformation lead screw, the other end of the deformation nut pair forms, the deformation O-shaped groove can form sliding fit with a hinge of the first deformation rod and a hinge of the second deformation rod, the deformation motor is fixedly installed on the deformation sliding installation plate, a first gear of the deformation motor is fixedly installed on a rotating shaft of the deformation motor and forms gear fit with a second gear of the deformation motor, the second gear of the deformation motor is fixedly installed on the deformation lead screw, a central sliding groove is fixedly installed on the auxiliary installation frame and forms sliding fit with the sliding wheel, a limit electric cylinder is fixedly installed on a side plate of the central sliding groove, the limit insertion can be fixed relative to a connecting shaft of the sliding wheel in a limit state, and the limit insertion is fixedly installed on a contraction shaft of the limit electric cylinder.
The obstacle crossing power device is characterized in that an obstacle crossing electric cylinder is fixedly arranged on a seat through an obstacle crossing electric cylinder mounting seat, an obstacle crossing first connecting rod is fixedly connected with a contraction shaft of the obstacle crossing electric cylinder, eight obstacle crossing second connecting rods are provided, one end of each obstacle crossing second connecting rod is rotatably connected with the obstacle crossing first connecting rod, the other end of each obstacle crossing first connecting rod is rotatably connected with an obstacle crossing first sliding connecting plate, the obstacle crossing first sliding connecting plates are in sliding fit with the obstacle crossing first sliding grooves through T-shaped plates, two obstacle crossing first sliding grooves are respectively and fixedly arranged on the seat, two obstacle crossing gear pair mounting bases are respectively and fixedly arranged on two sides of the seat, two obstacle crossing second sliding grooves are fixedly arranged on each obstacle crossing gear pair mounting base, the obstacle crossing second sliding connecting plates are in sliding fit with the obstacle crossing second sliding grooves through T-shaped plates, two ends of an obstacle crossing intermediate shaft are respectively and rotatably arranged on the obstacle crossing first sliding connecting plates and the obstacle crossing second sliding connecting plates through sliding bearings, the obstacle crossing power shafts of each group of obstacle crossing gear pair mounting bases are respectively and rotatably mounted on the obstacle crossing gear pair mounting bases through sliding bearings, one end of each obstacle crossing power shaft is rotatably mounted on an obstacle crossing first sliding connecting plate through a rolling bearing, an obstacle crossing motion gear is fixedly mounted at the other end of each obstacle crossing power shaft, the obstacle crossing motion gear and a supporting rack form gear fit in an obstacle crossing state, an obstacle crossing middle gear is fixedly mounted on the obstacle crossing power shaft and forms gear fit with an obstacle crossing main power second gear, the obstacle crossing main power second gear and the obstacle crossing main power first gear are fixedly mounted on an obstacle crossing main power shaft, the obstacle crossing main power first gear and the obstacle crossing main power motor gear form gear fit, the obstacle crossing main power motor gear is fixedly mounted on a rotating shaft of the obstacle crossing main power motor, and the obstacle crossing main power motor is fixedly mounted on a seat.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) when the invention works, the functions of advancing, retreating, steering and braking can be realized by using the motor to drive; (2) the invention can cross various obstacles, such as steps, railings, ditches and the like.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention in a crossing obstacle state.
FIG. 2 is a bottom view of the obstacle crossing state of the present invention.
FIG. 3 is a schematic view of the main structure of the wheelchair of the present invention.
Fig. 4 is a schematic view of the supporting and lifting device of the present invention.
Fig. 5 is a schematic view of the lower portion of the steering apparatus of the present invention.
Fig. 6 is a schematic view of the upper portion of the steering apparatus of the present invention.
Fig. 7 is a schematic view of the dynamic braking device of the present invention.
Fig. 8 is a schematic view of the braking device of the present invention.
Fig. 9 is a schematic view of the deformation limiting device of the present invention.
Fig. 10 is a schematic view of the obstacle crossing power device of the invention.
Reference numerals: 1-a wheelchair main body; 2-supporting the lifting device; 3-a steering device; 4-a dynamic braking device; 5-a deformation limiting device; 6-obstacle crossing power device; 101-a dynamic brake frame; 102-a power brake lever; 103-an auxiliary mounting frame; 104-a seat; 105-a bogie; 106-leg and foot placing rack; 201-a first deformation bar; 202-a support rack; 203-a second deformation bar; 204-a sliding wheel; 205-supporting the mounting plate; 206-support motion motor; 207-supporting the first gear; 208-supporting the second gear; 209-support nut pair; 210-a support screw; 211-supporting a slide bar; 212-a support bar; 213-a support base; 301-steering the first link; 302-steering the second link; 303-steering the first sliding bearing; 304-front wheel first link; 305-link mounting link plate; 306-a front wheel mounting plate; 307-steering the second slide bearing; 308-steering a third slide bearing; 309-front wheel axle; 310-front wheels; 311-steering motor; 312-steering the first bevel gear; 313-steering second bevel gear; 401-rear wheel; 402-rear axle; 403-rear wheel first plain bearing; 404-rear wheel third gear; 405-a rear wheel second plain bearing; 406-rear wheel second gear; 407-rear wheel first gear; 408-a power motor; 409-brake electric cylinder mounting base; 410-brake electric cylinder; 411-a brake runner; 412-braking the T-shaped plate; 413-brake cylinder retraction shaft; 414-brake cables; 415-a spring first seat; 416-a first spring; 417-a spring second mount; 418-a second spring; 419-a brake disc; 420-brake pad; 501-deformation electric cylinder; 502-a deformed electric cylinder link; 503-deforming the slide mount plate; 504-deforming the fixed mounting plate; 505-a deformation chute; 506-deforming the T-shaped plate; 507-a deformation screw; 508-deformed lead screw slide bearings; 509-a deformable slide bar; 510-a deformation nut pair; 511-deformed O-shaped groove; 512-deformation motor; 513-deformation motor first gear; 514-deformation motor second gear; 515-a central chute; 516-limit electric cylinder; 517-limit inserting; 601-obstacle crossing electric cylinder mounting base; 602-obstacle crossing electric cylinder; 603-obstacle crossing first connecting rod; 604-obstacle crossing first runner; 605-obstacle crossing second link; 606-obstacle crossing gear pair mounting base; 607-obstacle crossing first sliding connecting plate; 608-obstacle crossing second chute; 609-obstacle crossing second sliding connecting plate; 610-obstacle crossing intermediate shaft; 611-obstacle crossing power shaft; 612-obstacle crossing intermediate gear; 613-steering power gear; 614-obstacle crossing main power second gear; 615-obstacle crossing main power shaft; 616-obstacle detouring main power bearing; 617-obstacle detouring main power first gear; 618-obstacle crossing main power motor gear; 619-obstacle crossing main power motor; 620-obstacle crossing motion gear.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the medical wheelchair comprises a wheelchair main body 1, a supporting and lifting device 2, a steering device 3, a power braking device 4, a deformation limiting device 5 and an obstacle crossing power device 6.
The power brake frame 101 of the wheelchair main body 1 is fixedly connected with a seat 104, a bogie 105 is fixedly connected with the seat 104, a power brake bar 102 is fixedly installed on the power brake frame 101, two auxiliary installation frames 103 are provided, the interior of each auxiliary installation frame is hollowed out and fixedly installed on a wheelchair supporting leg, and a leg and foot placing frame 106 is fixedly installed on the supporting leg of the bogie 105.
Two sets of supporting and lifting devices 2 are respectively hung on two sides of the wheelchair, each set of supporting and lifting device 2 is provided with six sets of first deformation rods 201 and supporting racks 202, the second warp pole 203, the movable pulley 204, the central point that every first deformation pole 201 of group and second warp pole 203 puts and rotates through the hinge and connects, the movable pulley 204 rotates through the axis of rotation and installs in central point department, the one end of every first deformation pole 201 of group all is connected with the second deformation pole 203 rotation of last a set of, the other end of every first deformation pole 201 of group and the second deformation pole 203 rotation of next a set of are connected, the one end that every second warp pole 203 of group all is connected with the first deformation pole 201 rotation of last a set of, the other end that every second warp pole 203 of group all is connected with the first deformation pole 201 rotation of next a set of, it is 30 fixed connection with second deformation pole 203 to support rack 202, and the support rack 202 of every group all is the oblique angle touching end to end under warping the commentaries on classics state. Each set of supporting and lifting device 2 is provided with two sets of lifting devices, the upper end of a supporting mounting plate 205 of each set of lifting devices is rotatably connected with a second deformation rod 203 or a first deformation rod 201, the lower end of the supporting mounting plate 205 is slidably connected with the second deformation rod 203 or the first deformation rod 201 through a chute, a supporting motion motor 206 is fixedly mounted on the supporting mounting plate 205, a supporting first gear 207 is fixedly mounted on a rotating shaft of the supporting motion motor 206 and forms gear fit with a supporting second gear 208, a supporting screw rod 210 is rotatably mounted on the supporting mounting plate 205 through a sliding bearing, the upper end of the supporting screw rod 210 is fixedly connected with the supporting second gear 208 through the sliding bearing, a supporting slide rod 211 is fixedly mounted on the supporting mounting plate 205, one end of a supporting nut pair 209 and the supporting screw rod 210 form thread transmission, and the other end of the supporting nut pair 209 and the supporting slide, the support base 213 is fixedly connected with the middle of the support nut pair 209 through a support rod 212.
Two pairs of connecting positions are distributed on the left and right of a first steering connecting rod 301 of the steering device 3, the first steering connecting rod 301 is rotatably mounted on a steering frame 105 through a second steering sliding bearing 307, four steering second connecting rods 302 are provided, one end of each steering second connecting rod 302 is rotatably connected with the first steering connecting rod 301, the other end of each steering second connecting rod 302 is rotatably connected with a front wheel mounting plate 306, a front wheel first connecting rod 304 is rotatably connected on a leg placing frame 106 through a first steering sliding bearing 303 and is fixedly connected with the front wheel mounting plate 306 through a connecting rod mounting connecting plate 305, one end of a front wheel shaft 309 is rotatably mounted at the central position of the front wheel mounting plate 306 through a third steering sliding bearing 308, two front wheels 310 are respectively and fixedly connected with the other end of the front wheel shaft 309, a steering motor 311 is fixedly mounted on the steering frame 105, a first steering bevel gear 312 is fixedly mounted on a rotating shaft of the steering motor 311 and forms a gear fit, the steering second bevel gear 313 is fixedly mounted on an intermediate shaft of the steering first link 301.
The power motor 408 of the dynamic braking device 4 is fixedly mounted on the dynamic braking bracket 101, the rear wheel first gear 407 is fixedly mounted on the rotating shaft of the power motor 408 and forms a gear fit with the rear wheel second gear 406, the rear wheel second gear 406 is rotatably mounted on the dynamic braking lever 102 through the rear wheel second sliding bearing 405 and forms a gear fit with the rear wheel third gear 404, the rear wheel third gear 404 is fixedly mounted on the rear wheel axle 402, the rear wheel axle 402 penetrates through the dynamic braking bracket 101 and is rotatably mounted on the dynamic braking bracket 101 through the two rear wheel first sliding bearings 403, and the rear wheels 401 are two and are respectively fixedly mounted at two ends of the rear wheel axle 402. The electric brake cylinder 410 is fixedly mounted on the dynamic brake frame 101 through an electric brake cylinder mounting base 409, the brake sliding chute 411 is fixedly mounted on the dynamic brake frame 101 and forms sliding fit with the brake T-shaped plate 412, a brake cylinder contraction shaft 413 of the electric brake cylinder 410 forms sliding fit with the brake steel rope 414, two ends of the brake steel rope 414 are respectively connected with the brake T-shaped plate 412, a first spring base 415 is fixedly connected with the brake T-shaped plate 412 and forms sliding fit with the dynamic brake rod 102, a first spring 416 is fixedly clamped between the two first spring bases 415, a second spring base 417 is fixedly mounted on the dynamic brake rod 102, two second springs 418 are respectively and symmetrically and fixedly mounted on two sides of a second spring base 417, a brake disc 419 is fixedly mounted on the rear wheel axle 402, and a brake disc 420 is fixedly connected with the first spring base 415.
Two pairs of deformation limiting devices 5 are respectively arranged at two sides of the wheelchair, two deformation electric cylinders 501 are fixedly arranged at the inner side of the auxiliary mounting frame 103, the contraction shafts of the deformation electric cylinders 501 are fixedly connected with a deformation sliding mounting plate 503 through deformation electric cylinder connecting rods 502, the deformation fixing mounting plate 504 is fixedly arranged at the bottom side of the auxiliary mounting frame 103, two deformation sliding chutes 505 are respectively fixed on the deformation fixing mounting plate 504 and respectively form sliding fit with the deformation T-shaped plate 506, the deformation T-shaped plate 506 is fixedly arranged on the deformation sliding mounting plate 503, a pair of threads with opposite rotation directions are symmetrically distributed on the deformation screw rods 507, the deformation screw rods 507 are rotatably connected with the deformation sliding mounting plate 503 through three deformation screw rods 508, the deformation sliding bearings 509 are fixedly arranged on the deformation sliding mounting plate 503, one end of a deformation nut pair 510 forms threaded fit with the deformation screw rods 507, and the other end of the deformation nut, the deformation O-shaped groove 511 is fixedly connected with the deformation nut pair 510, the deformation O-shaped groove 511 can form sliding fit with hinges of the first deformation rod 201 and the second deformation rod 203, the deformation motor 512 is fixedly installed on the deformation sliding installation plate 503, the deformation motor first gear 513 is fixedly installed on a rotating shaft of the deformation motor 512 and forms gear fit with the deformation motor second gear 514, the deformation motor second gear 514 is fixedly installed on the deformation lead screw 507, the central sliding groove 515 is fixedly installed on the auxiliary installation frame 103 and forms sliding fit with the sliding wheel 204, the limiting electric cylinder 516 is fixedly installed on a side plate of the central sliding groove 515, the limiting plug 517 can be relatively fixed with a connecting shaft of the sliding wheel 204 in a limiting state, and the limiting plug 517 is fixedly installed on a contraction shaft of the limiting electric cylinder 516.
An obstacle crossing electric cylinder 602 of the obstacle crossing power device 6 is fixedly arranged on a seat 104 through an obstacle crossing electric cylinder mounting seat 601, an obstacle crossing first connecting rod 603 is fixedly connected with a contraction shaft of the obstacle crossing electric cylinder 602, eight obstacle crossing second connecting rods 605 are provided, one end of each obstacle crossing first connecting rod 603 is rotatably connected with the other end of each obstacle crossing first sliding connecting plate 607 is rotatably connected with the obstacle crossing first sliding connecting plate 604, the obstacle crossing first sliding connecting plates 607 are in sliding fit with the obstacle crossing first sliding grooves 604 through T-shaped plates, the obstacle crossing first sliding grooves 604 are respectively and fixedly arranged on the seat 104, two obstacle crossing gear pair mounting bases 606 are respectively and fixedly arranged on two sides of the seat 104, two obstacle crossing second sliding grooves 608 are fixedly arranged on each obstacle crossing gear pair mounting base 606, the obstacle crossing second sliding connecting plates 609 are in sliding fit with the obstacle crossing second sliding grooves 608 through T-shaped plates, two ends of an obstacle crossing intermediate shaft 610 are respectively and rotatably arranged on the obstacle crossing first sliding connecting plates 607 and the obstacle crossing second sliding connecting plates 609 through sliding bearings, three obstacle crossing power shafts 611 of each group of obstacle crossing gear pair mounting bases 606 are rotatably mounted on the obstacle crossing gear pair mounting bases 606 through sliding bearings, one end of each obstacle crossing power shaft 611 is rotatably mounted on an obstacle crossing first sliding connecting plate 607 through a rolling bearing, the other end of each obstacle crossing power shaft 611 is fixedly mounted with an obstacle crossing motion gear 620, the obstacle crossing motion gear 620 forms gear fit with the supporting rack 202 in an obstacle crossing state, an obstacle crossing intermediate gear 612 is fixedly mounted on the obstacle crossing power shaft 611 and forms gear fit with an obstacle crossing main power second gear 614, the obstacle crossing main power second gear 614 and the obstacle crossing main power first gear 617 are fixedly mounted on the obstacle crossing main power shaft 615, the obstacle crossing main power first gear 617 forms gear fit with an obstacle crossing main power motor gear 618, the obstacle crossing main power motor gear 618 is fixedly mounted on a rotating shaft of an obstacle crossing main power motor 619, the obstacle detouring main power motor 619 is fixedly installed on the seat 104.
When the invention is running, a power motor is used as a power source; the rear wheel of the wheelchair is driven through gear transmission to drive the wheelchair to move forwards or backwards; when the wheelchair is steered, the steering motor is used as a power source, and the operation angles of the two front wheels are changed through the transmission of the gear and the connecting rod, so that the wheelchair is steered; when the wheelchair is braked, the brake electric cylinder is used as a power source to pull the brake block to clamp the brake disc to brake the wheelchair, and when the wheelchair is not braked, the brake block is loosened through the first spring and the second spring. When the wheelchair crosses an obstacle, the limiting electric cylinder is used as a power source to fix a sliding wheel through the limiting insert, the deforming electric cylinder is used as a power source to send the deforming O-shaped groove into a working state, the deforming motor is used as a power source to open the obstacle crossing frame, the supporting movement motor is used as a power source to lift the whole wheelchair, and the obstacle crossing main power motor is used as a power source to enable the wheelchair to walk on the supporting rack through gear transmission so as to cross the obstacle. The invention is also provided with a control box, and the support motion motor 206, the steering motor 311, the power motor 408, the brake electric cylinder 410, the deformation electric cylinder 501, the deformation motor 512, the limit electric cylinder 516, the obstacle crossing electric cylinder 602 and the obstacle crossing main power motor 619 are controlled by the control box.
Claims (9)
1. The utility model provides a medical obstacle wheelchair of strideing across, includes wheelchair main part (1), supports and rises device (2), turns to device (3), power brake device (4), warp stop device (5), hinders power device (6) more, its characterized in that:
the supporting and lifting device (2) comprises: the wheelchair comprises first deformation rods (201), a supporting rack (202), second deformation rods (203), sliding wheels (204), a supporting mounting plate (205), a supporting motion motor (206), a supporting first gear (207), a supporting second gear (208), a supporting nut pair (209), a supporting lead screw (210), a supporting sliding rod (211), a supporting rod (212) and a supporting base (213), wherein two sets of supporting and lifting devices (2) are respectively hung on two sides of the wheelchair, each set of supporting and lifting device (2) is provided with six sets of first deformation rods (201), supporting racks (202), second deformation rods (203) and sliding wheels (204), the central positions of each set of first deformation rods (201) and the second deformation rods (203) are rotationally connected through hinges, the sliding wheels (204) are rotationally mounted at the central positions through rotating shafts, one end of each set of first deformation rods (201) is rotationally connected with the second deformation rods (203) of the previous set, the other end of each group of first deformation rods (201) is rotatably connected with the next group of second deformation rods (203), one end of each group of second deformation rods (203) is rotatably connected with the first deformation rods (201) of the previous group, and the other end of each group of second deformation rods (203) is rotatably connected with the first deformation rods (201) of the next group; each set of supporting and lifting device (2) is provided with two sets of lifting devices, the upper end of a supporting mounting plate (205) of each set of lifting device is rotatably connected with a second deformation rod (203) or a first deformation rod (201), the lower end of the supporting mounting plate (205) is slidably connected with the second deformation rod (203) or the first deformation rod (201) through a sliding chute, a supporting motion motor (206) is fixedly installed on the supporting mounting plate (205), a supporting first gear (207) is fixedly installed on a rotating shaft of the supporting motion motor (206) and forms gear fit with a supporting second gear (208), a supporting screw rod (210) is rotatably installed on the supporting mounting plate (205) through a sliding bearing, the upper end of the supporting screw rod (210) is fixedly connected with the supporting second gear (208) through the sliding bearing, a supporting slide rod (211) is fixedly installed on the supporting mounting plate (205), one end of a supporting nut pair (209) and the supporting screw rod (210) form thread transmission, the other end of the support nut pair (209) slides with the support sliding rod (211), and the support base (213) is fixedly connected with the middle of the support nut pair (209) through a support rod (212);
the steering device (3) comprises: a steering first connecting rod (301), a steering second connecting rod (302), a steering first sliding bearing (303), a front wheel first connecting rod (304), a connecting rod mounting connecting plate (305), a front wheel mounting plate (306), a steering second sliding bearing (307), a steering third sliding bearing (308), a front wheel shaft (309), a front wheel (310), a steering motor (311), a steering first bevel gear (312) and a steering second bevel gear (313), wherein two pairs of connecting positions are respectively distributed on the left and the right of the steering first connecting rod (301), the steering first connecting rod is rotatably mounted on a bogie (105) through the steering second sliding bearing (307), the steering second connecting rod (302) is provided with four steering second connecting rods, one end of the steering second connecting rod (302) is rotatably connected with the steering first connecting rod (301), the other end of the steering second connecting rod (302) is rotatably connected with the front wheel mounting plate (306), and the front wheel first connecting rod (304) is rotatably connected with a leg support (106) through the steering first sliding bearing (303), the two front wheels (310) are respectively and fixedly connected with the other end of the front wheel shaft (309);
the dynamic braking device (4) comprises: the brake system comprises a rear wheel (401), a rear wheel shaft (402), a rear wheel first sliding bearing (403), a rear wheel third gear (404), a rear wheel second sliding bearing (405), a rear wheel second gear (406), a rear wheel first gear (407), a power motor (408), a brake electric cylinder mounting base (409), a brake electric cylinder (410), a brake sliding groove (411), a brake T-shaped plate (412), a brake electric cylinder contraction shaft (413), a brake steel rope (414), a spring first base (415), a first spring (416), a spring second base (417), a second spring (418), a brake disc (419) and a brake disc (420), wherein the power motor (408) is fixedly mounted on a power brake frame (101), the rear wheel first gear (407) is fixedly mounted on a rotating shaft of the power motor (408) and forms a gear fit with a rear wheel second gear (406), and the rear wheel second gear (406) is rotatably mounted on the power brake lever (102) through the rear wheel second sliding bearing (405) and rotatably mounted with the power brake lever (102) The rear wheel third gear (404) forms a gear fit, the rear wheel third gear (404) is fixedly arranged on a rear wheel shaft (402), the rear wheel shaft (402) penetrates through the dynamic brake frame (101) and is rotatably arranged on the dynamic brake frame (101) through two rear wheel first sliding bearings (403), a brake chute (411) is fixedly arranged on the dynamic brake frame (101) and forms a sliding fit with a brake T-shaped plate (412), a brake cylinder shrinkage shaft (413) of a brake cylinder (410) forms a sliding fit with a brake steel cable (414), two ends of the brake steel cable (414) are respectively connected with the brake T-shaped plate (412), a spring first base (415) is fixedly connected with the brake T-shaped plate (412) and forms a sliding fit with the dynamic brake rod (102), a first spring (416) is fixedly clamped between the two spring first bases (415), a spring second base (417) is fixedly arranged on the dynamic brake rod (102), two second springs (418) are respectively and symmetrically fixedly arranged on two sides of a second spring base (417), a brake disc (419) is fixedly arranged on the rear wheel shaft (402), and a brake disc (420) is fixedly connected with the first spring base (415);
the deformation limiting device (5) comprises: the device comprises a deformation electric cylinder (501), a deformation electric cylinder connecting rod (502), a deformation sliding mounting plate (503), a deformation fixing mounting plate (504), a deformation sliding groove (505), a deformation T-shaped plate (506), a deformation lead screw (507), a deformation lead screw sliding bearing (508), a deformation sliding rod (509), a deformation nut pair (510), a deformation O-shaped groove (511), a deformation motor (512), a deformation motor first gear (513), a deformation motor second gear (514), a central sliding groove (515), a limiting electric cylinder (516) and a limiting plug (517), wherein two pairs of deformation limiting devices (5) are respectively arranged on two sides of the wheelchair, the deformation electric cylinder (501) is fixedly arranged on the inner side of an auxiliary mounting frame (103), a contraction shaft of the deformation electric cylinder (501) is fixedly connected with the deformation sliding mounting plate (503) through the deformation electric cylinder connecting rod (502), and the deformation fixing mounting plate (504) is fixedly arranged on the bottom side of the, two deformation sliding grooves (505) are respectively fixed on a deformation fixing mounting plate (504) and respectively form sliding fit with a deformation T-shaped plate (506), the deformation T-shaped plate (506) is fixedly mounted on a deformation sliding mounting plate (503), a pair of threads with opposite rotation directions are symmetrically distributed on a deformation screw rod (507), the deformation screw rod (507) is rotatably connected with the deformation sliding mounting plate (503) through three deformation screw rod sliding bearings (508), a deformation sliding rod (509) is fixedly mounted on the deformation sliding mounting plate (503), one end of a deformation nut pair (510) forms threaded fit with the deformation screw rod (507), the other end of the deformation nut pair (510) forms sliding fit with the deformation sliding rod (509), a deformation O-shaped groove (511) is fixedly connected with the deformation nut pair (510), and the deformation O-shaped groove (511) can form sliding fit with hinges of a first deformation rod (201) and a second deformation rod (203), a second gear (514) of the deformation motor is fixedly arranged on a deformation lead screw (507), a central sliding groove (515) is fixedly arranged on the auxiliary mounting frame (103) and forms sliding fit with the sliding wheel (204), and a limiting electric cylinder (516) is fixedly arranged on a side plate of the central sliding groove (515);
the obstacle crossing power device (6) comprises: the obstacle crossing electric cylinder mounting base (601), an obstacle crossing electric cylinder (602), an obstacle crossing first connecting rod (603), an obstacle crossing first sliding chute (604), an obstacle crossing second connecting rod (605), an obstacle crossing gear pair mounting base (606), an obstacle crossing first sliding connecting plate (607), an obstacle crossing second sliding chute (608), an obstacle crossing second sliding connecting plate (609), an obstacle crossing intermediate shaft (610), an obstacle crossing power shaft (611), an obstacle crossing intermediate gear (612), a steering power gear (613), an obstacle crossing main power second gear (614), an obstacle crossing main power shaft (615), an obstacle crossing main power bearing (616), an obstacle crossing main power first gear (617), an obstacle crossing main power motor gear (618), an obstacle crossing main power motor (619) and an obstacle crossing motion gear (620), wherein the obstacle crossing electric cylinder (602) is fixedly mounted on the seat (104) through the obstacle crossing electric cylinder mounting base (601), and the obstacle crossing first connecting rod (603) is fixedly connected with a contraction shaft of the obstacle crossing electric cylinder (602), eight obstacle crossing second connecting rods (605), wherein one end of each obstacle crossing second connecting rod is rotatably connected with the obstacle crossing first connecting rod (603), the other end of each obstacle crossing second connecting rod is rotatably connected with the obstacle crossing first sliding connecting plate (607), the obstacle crossing first sliding connecting plates (607) are in sliding fit with the obstacle crossing first sliding grooves (604) through T-shaped plates, two obstacle crossing first sliding grooves (604) are respectively and fixedly arranged on the seat (104), two obstacle crossing gear pair mounting bases (606) are respectively and fixedly arranged on two sides of the seat (104), two obstacle crossing second sliding grooves (608) are fixedly arranged on each obstacle crossing gear pair mounting base (606), the obstacle crossing second sliding connecting plates (609) are in sliding fit with the obstacle crossing second sliding grooves (608) through T-shaped plates, two ends of an obstacle crossing intermediate shaft (610) are respectively and rotatably arranged on the obstacle crossing first sliding connecting plates (607) and the obstacle crossing second sliding connecting plates (609) through sliding bearings, three obstacle crossing power shafts (611) of each obstacle crossing gear pair mounting base (606) are respectively rotatably mounted on the obstacle crossing gear pair mounting base (606) through sliding bearings, one end of each obstacle crossing power shaft (611) is rotatably mounted on the obstacle crossing first sliding connecting plate (607) through a rolling bearing, and the other end of each obstacle crossing power shaft (611) is fixedly mounted with an obstacle crossing motion gear (620).
2. The medical obstacle-surmountable wheelchair of claim 1, wherein: the wheelchair main body (1) comprises: power brake frame (101), power brake lever (102), supplementary mounting bracket (103), seat (104), bogie (105), leg rest rack (106), power brake frame (101) and seat (104) fixed connection, bogie (105) and seat (104) fixed connection, power brake lever (102) fixed mounting is on power brake frame (101), supplementary mounting bracket (103) have two, inside fretwork and fixed mounting are on the wheelchair landing leg, leg rest rack (106) fixed mounting and the landing leg of bogie (105).
3. The medical obstacle-surmountable wheelchair of claim 1, wherein: the supporting racks (202) are fixedly connected with the second deformation rod (203) at an angle of 30 degrees, and the supporting racks (202) of each group are in oblique angle contact from head to tail in the deformation rotation state.
4. The medical obstacle-surmountable wheelchair of claim 1, wherein: the steering motor (311) is fixedly arranged on the bogie (105), the steering first bevel gear (312) is fixedly arranged on a rotating shaft of the steering motor (311) and forms gear fit with the steering second bevel gear (313), and the steering second bevel gear (313) is fixedly arranged on an intermediate shaft of the steering first connecting rod (301).
5. The medical obstacle-surmountable wheelchair of claim 1, wherein: the two rear wheels (401) are respectively and fixedly arranged at two ends of the rear wheel shaft (402).
6. The medical obstacle-surmountable wheelchair of claim 1, wherein: the brake electric cylinder (410) is fixedly arranged on the dynamic brake frame (101) through a brake electric cylinder mounting base (409).
7. The medical obstacle-surmountable wheelchair of claim 1, wherein: the deformation motor (512) is fixedly arranged on the deformation sliding mounting plate (503), and the first gear (513) of the deformation motor is fixedly arranged on the rotating shaft of the deformation motor (512) and forms gear fit with the second gear (514) of the deformation motor.
8. The medical obstacle-surmountable wheelchair of claim 1, wherein: the limiting plug (517) can be relatively fixed with the connecting shaft of the sliding wheel (204) in a limiting state, and the limiting plug (517) is fixedly installed on a contraction shaft of the limiting electric cylinder (516).
9. The medical obstacle-surmountable wheelchair of claim 1, wherein: in the obstacle crossing state, an obstacle crossing movement gear (620) and a support rack (202) form gear matching, an obstacle crossing intermediate gear (612) is fixedly installed on an obstacle crossing power shaft (611) and forms gear matching with an obstacle crossing main power second gear (614), the obstacle crossing main power second gear (614) and an obstacle crossing main power first gear (617) are fixedly installed on an obstacle crossing main power shaft (615), the obstacle crossing main power first gear (617) and an obstacle crossing main power motor gear (618) form gear matching, the obstacle crossing main power motor gear (618) is fixedly installed on a rotating shaft of an obstacle crossing main power motor (619), and the obstacle crossing main power motor (619) is fixedly installed on a seat (104).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910844171.5A CN110448416B (en) | 2019-09-07 | 2019-09-07 | Medical obstacle-crossing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910844171.5A CN110448416B (en) | 2019-09-07 | 2019-09-07 | Medical obstacle-crossing wheelchair |
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| Publication Number | Publication Date |
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| CN110448416A CN110448416A (en) | 2019-11-15 |
| CN110448416B true CN110448416B (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910844171.5A Active CN110448416B (en) | 2019-09-07 | 2019-09-07 | Medical obstacle-crossing wheelchair |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112050027A (en) * | 2020-08-26 | 2020-12-08 | 安徽乾方检测技术有限公司 | Drainage pipeline detection device capable of automatically crossing over obstacle |
| CN113895537B (en) * | 2021-10-15 | 2022-10-14 | 山东科技大学 | Wheel-foot type obstacle crossing robot |
| CN114948465B (en) * | 2022-05-19 | 2023-11-14 | 浙江大学 | Barrier-free medical treatment method for ophthalmologic medical treatment disorder |
| CN115024907B (en) * | 2022-05-19 | 2023-07-28 | 浙江大学 | Manual contraction type ophthalmic obstacle-free mobile medical treatment system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3860266B2 (en) * | 1996-10-29 | 2006-12-20 | 株式会社サンワ | Stair lift truck for wheelchair |
| CN2907611Y (en) * | 2006-02-07 | 2007-06-06 | 常州信德电器厂 | Guiding plate device for lifting wheel chair |
| CN101283944A (en) * | 2008-04-28 | 2008-10-15 | 姜晓东 | Electric foldable crawler type no-obstruct wheelchair |
| FR3045318A1 (en) * | 2015-12-22 | 2017-06-23 | Univ D'angers | WHEELCHAIR WITH A CROSSING SYSTEM OF A MARKET HAVING DEPLOYABLE RAMPS |
| CN205964326U (en) * | 2016-07-08 | 2017-02-22 | 陈辅中 | Stairs -climbing wheel chair |
| CN107088122A (en) * | 2016-12-26 | 2017-08-25 | 吴跃志 | One kind cuts support lifting sliding rail and translates the detachable amphibious wheelchair in stair climbing level land |
| CN109009734B (en) * | 2018-06-19 | 2023-05-05 | 浙江机电职业技术学院 | Wheelchair capable of ascending and descending road edges and road ascending and descending method thereof |
| CN109350382A (en) * | 2018-09-29 | 2019-02-19 | 佛山科学技术学院 | A kind of the elderly's stair activity auxiliary device |
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Effective date of registration: 20201030 Address after: No.126, group 4, Taoyuan community, Luotang street, Jiangyan District, Taizhou City, Jiangsu Province Applicant after: Shao Shuai Address before: No. 215 Zhongshan road 430022 in Hubei province in Qiaokou District of Wuhan City Applicant before: Zhang Xiaoe |
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Effective date of registration: 20230331 Address after: 212000 no.297, Chuqiao Road, Dingmao, New District, Zhenjiang City, Jiangsu Province Patentee after: ZHENJIANG ASSURE MEDICAL EQUIPMENT Co.,Ltd. Address before: 225300 No.126, group 4, Taoyuan community, Luotang street, Jiangyan District, Taizhou City, Jiangsu Province Patentee before: Shao Shuai |