CN110547923A - Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function - Google Patents
Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function Download PDFInfo
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- CN110547923A CN110547923A CN201910865301.3A CN201910865301A CN110547923A CN 110547923 A CN110547923 A CN 110547923A CN 201910865301 A CN201910865301 A CN 201910865301A CN 110547923 A CN110547923 A CN 110547923A
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- swing
- wheel
- rod
- seat
- 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
- A61G5/06—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
- A61G5/063—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 eccentrically mounted wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/107—Arrangements for adjusting the seat positioning the whole seat forward or rearward
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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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)
- Handcart (AREA)
Abstract
The invention relates to the technical field of wheelchairs, in particular provides a wheel-track combined stair climbing wheelchair with a self-adaptive posture adjusting function, and aims to solve the problems that a chair posture adjusting mechanism in an existing wheel-track combined stair climbing wheelchair is complex and high in manufacturing and using cost. For this purpose, the wheel-track combined type stair climbing wheelchair comprises a support, a seat arranged on the support, a crawler traveling mechanism and a plurality of traveling wheels, and further comprises a switching mechanism arranged on the support, wherein the switching mechanism is used for switching the relative heights of the crawler traveling mechanism and the traveling wheels so as to realize traveling through the crawler traveling mechanism or the traveling wheels, the wheelchair further comprises a self-adaptive posture adjusting mechanism, two sides of the seat are respectively provided with a connecting frame, and the connecting frames are connected with the support through the self-adaptive posture adjusting mechanism so as to enable the seat to still keep a vertical posture when climbing stairs under the action of gravity. The seat keeps a vertical posture under the action of gravity, and the seat is simple in structure and low in cost.
Description
Technical Field
The invention relates to the technical field of wheelchairs, and particularly provides a wheel-track combined stair climbing wheelchair with a self-adaptive posture adjustment function.
Background
The wheel-track combined stair climbing wheelchair comprises a support, wherein a seat, a track mechanism, a flat ground walking wheel and a switching mechanism are arranged on the support. When the vehicle runs on the flat ground, the switching mechanism enables the crawler mechanism to move upwards to be separated from the ground, and meanwhile, the flat ground travelling wheels touch the ground and run on the flat ground through the flat ground travelling wheels; when going upstairs and downstairs, the switching mechanism enables the crawler mechanism to move downwards to touch the ground, and meanwhile, the flat-bottom traveling wheels are separated from the ground, and the crawler mechanism is used for going upstairs and downstairs. However, when the wheel-track combined stair climbing wheelchair travels on stairs, the seat and the user on the seat are in an inclined state, and the user experience is poor.
In view of this, there are improved wheel-track compound stair climbing wheelchairs in the market that include a seat posture adjustment mechanism. Specifically, the seat posture adjusting mechanism comprises an electric push rod for connecting the seat and the support and a sensor arranged on the support and used for detecting the inclination angle of the support. When the sensor detects that the bracket inclines, the controller controls the electric push rod to act according to the inclination angle detected by the sensor so as to enable the seat to keep a vertical posture. However, the seat posture adjustment mechanism is relatively complex and costly to manufacture and use.
accordingly, there is a need in the art for a new solution to the above problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems of complex seat posture adjusting mechanism and high manufacturing and using cost in the existing wheel-track combined stair-climbing wheelchair, the invention provides a wheel-track combined stair-climbing wheelchair with a self-adaptive posture adjusting function, which comprises a bracket, a seat arranged on the bracket, a track walking mechanism and a plurality of walking wheels, the wheelchair also comprises a switching mechanism arranged on the bracket, the switching mechanism is used for switching the relative heights of the crawler travelling mechanism and the travelling wheels so as to realize travelling through the crawler travelling mechanism or the travelling wheels, the wheelchair also comprises a self-adaptive posture adjusting mechanism, two sides of the seat are respectively provided with a connecting frame, the connecting frame is connected with the support through the self-adaptive posture adjusting mechanism so that the seat can still keep a vertical posture when climbing stairs under the action of gravity.
In a preferred technical solution of the above wheel-track combined stair climbing wheelchair, the adaptive posture adjustment mechanism includes two ball pin mechanisms respectively disposed at two sides of the wheelchair, each of the ball pin mechanisms includes a ball socket fixedly connected to the bracket and a ball head fixedly connected to the connecting frame, and the ball head is accommodated in the ball socket so as to maintain the vertical posture of the seat when climbing stairs under the action of gravity.
In the preferable technical scheme of the wheel-track combined stair climbing wheelchair, the self-adaptive posture adjusting mechanism further comprises a posture adjusting buffer mechanism arranged between the connecting frame and the support, and the posture adjusting buffer mechanism is used for reducing the self-adaptive adjusting speed of the seat relative to the support.
In the preferable technical scheme of the wheel-track combined stair climbing wheelchair, the posture adjusting and buffering mechanism is a damping cylinder which is respectively connected with the connecting frame and the support.
In a preferred technical solution of the above wheel-track combined stair-climbing wheelchair, the posture adjustment buffer mechanism includes a plurality of first magnetic members disposed on the connecting frame and a plurality of second magnetic members disposed on the bracket, and the first magnetic members and the second magnetic members attract each other.
In the preferable technical scheme of the wheel-track combined stair-climbing wheelchair, the self-adaptive posture adjusting mechanism is arranged at the lower part of the armrest of the seat.
In the preferable technical scheme of the wheel-track combined stair climbing wheelchair, the switching mechanism is a synchronous switching mechanism, the multiple traveling wheels are connected with the bracket through the synchronous switching mechanism, and the synchronous switching mechanism is used for synchronously adjusting the heights of the multiple traveling wheels relative to the track traveling mechanism.
In the preferred technical scheme of above-mentioned wheel-track combined type stair climbing wheelchair, a plurality of walking wheels include two front wheels and two rear wheels, synchronous switching mechanism includes first swing mechanism, second swing mechanism, connects with pivot mode first swing mechanism with second swing mechanism's link assembly and drive arrangement, first swing mechanism and two the pivot of front wheel is connected, second swing mechanism and two the pivot of rear wheel is connected, drive arrangement is used for the drive first swing mechanism perhaps the swing of second swing mechanism.
In the preferred technical scheme of the wheel-track combined stair climbing wheelchair, the first swing mechanism comprises a first cross rod and two parallel front swing rods fixedly connected with the first cross rod, the first cross rod is pivotally connected with the bracket, and a rotating shaft of the front wheel is connected with a first end of each front swing rod; the second swing mechanism comprises a second cross rod and two parallel rear swing rods fixedly connected with the second cross rod, the second cross rod is pivotally connected with the bracket, and a rotating shaft of the rear wheel is connected with the first end of the rear swing rod; the connecting rod assembly comprises a first connecting rod, a second connecting rod, a third cross rod and a fourth cross rod, wherein the third cross rod and the fourth cross rod are respectively connected with the first connecting rod and the second connecting rod at two ends; the driving device is used for driving the first cross rod or the second cross rod to rotate.
in the preferable technical scheme of the wheel-track combined stair climbing wheelchair, the first cross bar and the second cross bar are parallel to each other; the end part of the first cross rod is fixedly connected to a position between two ends of the front swing rod, the end part of the second cross rod is fixedly connected to a position between two ends of the rear swing rod, and the distance between the end part of the front swing rod connected with the first connecting rod and the second connecting rod and the first cross rod is equal to the distance between the end part of the rear swing rod connected with the first connecting rod and the second cross rod.
the wheelchair further comprises the self-adaptive posture adjusting mechanism, two sides of the seat are respectively provided with a connecting frame, and the connecting frames are connected with the support through the self-adaptive posture adjusting mechanism so that the seat can still keep a vertical posture when climbing stairs. This use neotype self-adaptation guiding mechanism makes the seat still keep vertical gesture when climbing stair with the help of the action of gravity, and the structure is simpler, and it is lower to make and use cost, has solved among the current wheel-track combined type stair climbing wheelchair that seat gesture guiding mechanism is more complicated, makes and use cost higher problem.
Drawings
Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:
Fig. 1 is a schematic structural diagram of a wheel-track combined stair-climbing wheelchair with an adaptive posture adjustment function according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a connecting frame and a support in a wheel-track combined stair-climbing wheelchair with a self-adaptive posture adjustment function according to an embodiment of the present invention, which are connected by a self-adaptive posture adjustment mechanism;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a partial schematic view of a connecting frame of a wheel-track combined stair-climbing wheelchair with an adaptive posture adjustment function according to an embodiment of the present invention;
Fig. 5 is a partial schematic view of a support in a wheel-track combined stair-climbing wheelchair with an adaptive posture adjustment function according to an embodiment of the invention.
List of reference numerals:
11. A lower bracket; 12. an upper bracket; 2. a seat; 21. a handrail; 22. a connecting frame; 31. a front crawler wheel; 32. a rear crawler wheel; 33. a crawler guide wheel; 41. a front wheel; 42. a rear wheel; 511. a first cross bar; 512. a front swing link; 521. a second cross bar; 522. a rear swing rod; 531. a first link; 532. a second link; 533. a third cross bar; 534. a fourth cross bar; 54. a telescopic hydraulic cylinder; 55. a swing lever; 56. a return spring; 6. a self-adaptive attitude adjustment mechanism; 61. a ball head; 62. a ball socket; 63. a first magnetic member; 64. a second magnetic member.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; either directly or indirectly through intervening media, or through the communication between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
referring to fig. 1 to 3, fig. 1 is a schematic structural view of a wheel-track combined stair-climbing wheelchair with a self-adaptive posture adjustment function according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a connecting frame and a support in a wheel-track combined stair-climbing wheelchair with a self-adaptive posture adjustment function according to an embodiment of the present invention, which are connected by a self-adaptive posture adjustment mechanism; fig. 3 is an enlarged view of a portion a in fig. 2.
as shown in fig. 1 to 3, the wheel-track combined stair-climbing wheelchair (hereinafter referred to as a wheelchair) with the self-adaptive posture adjustment function includes a support, a seat 2 disposed on the support, a track traveling mechanism, and four traveling wheels. The support comprises a lower support 11 and an upper support 12 which are fixedly connected, the upper support 12 is connected with the seat 2, two sides of the lower support 11 are respectively provided with a crawler travel mechanism, the crawler travel mechanism comprises a front crawler wheel 31 positioned at the front part of the wheelchair, a rear crawler wheel 32 positioned at the rear part of the wheelchair and a crawler guide wheel 33, and a crawler (not shown in the figure) is supported on the front crawler wheel 31, the rear crawler wheel 32 and the crawler guide wheel 33. The wheelchair further comprises a switching mechanism arranged on the lower support 11, and the switching mechanism is used for switching the relative heights of the crawler travelling mechanism and the travelling wheels so as to realize travelling through the crawler travelling mechanism or the travelling wheels. The wheelchair further comprises an adaptive posture adjusting mechanism 6, connecting frames 22 are respectively arranged on two sides of the seat 2, and the connecting frames 22 are connected with the upper support 12 through the adaptive posture adjusting mechanism 6 so that the seat 2 can still keep a vertical posture when climbing stairs under the action of gravity.
Specifically, armrests 21 are respectively arranged on two sides of the seat 2, a connecting frame 22 is arranged on the lower portion of each armrest 21, and the connecting frame 22 is connected with the upper support 12 through the self-adaptive posture adjusting mechanism 6, so that the seat 2 can still keep a vertical posture when climbing stairs under the action of gravity. Specifically, as shown in fig. 2 and 3, the adaptive posture adjustment mechanism 6 includes two ball pin mechanisms respectively provided on both sides of the wheelchair, each of the ball pin mechanisms including a ball 61 fixed to the link frame 22 and a socket 62 fixed to the upper frame 12, the ball 61 being accommodated in the socket 62. When the crawler belt runs from the flat ground to the steps of the stairs in the ground contact state of the crawler belt walking mechanism, the lower support 11 and the upper support 12 incline at corresponding angles, and the seat 2 comprises a ball 61 which rotates relative to the ball socket 62 at a certain angle under the action of gravity, so that the seat 2 and the seat on the seat are in a vertical posture. During the travel of the crawler travel mechanism from the flat ground to the stairs, the angles of the lower and upper frames 11 and 12 are changed, and the ball 61 is rotated with respect to the ball socket 62 by the gravity during the process, thereby maintaining the vertical posture of the seat 2 throughout the process. Through such self-adaptation gesture guiding mechanism, can rely on the gesture of gravity automatic adjustment seat 2, make it keep vertical gesture, optimized user's use and experienced. In addition, the self-adaptive posture adjusting mechanism is simple in structure and low in manufacturing cost.
It will be appreciated by those skilled in the art that the location of the attachment frame 22 at the lower portion of the armrest 21 is merely a preferred embodiment and that those skilled in the art will be able to adjust it as needed to suit the particular application, e.g., the attachment frame 22 may be located above the armrest 21, e.g., 30mm, 40mm, etc. above the armrest 21.
in an alternative embodiment, the adaptive posture adjustment mechanism 6 includes rotating shafts provided on both sides of the seat 2, the rotating shafts being pivotally connected to the connecting frame 22 and the upper frame 12, respectively, and the seat 2 is maintained in an upright state by swinging with respect to the upper frame 12 by the action of gravity.
With reference to fig. 4 and 5 and with continuing reference to fig. 2 and 3, fig. 4 is a partial schematic view of a connecting frame of a wheel-track combined stair-climbing wheelchair with an adaptive posture adjustment function according to an embodiment of the present invention; fig. 5 is a partial schematic view of a support in a wheel-track combined stair-climbing wheelchair with an adaptive posture adjustment function according to an embodiment of the invention. Preferably, the adaptive attitude adjusting mechanism 6 further includes an attitude adjustment damper mechanism provided between the link frame 22 and the upper bracket 12 for reducing an adaptive adjustment speed of the seat 2 with respect to the upper bracket 12.
Specifically, as shown in fig. 4 and 5, the link frame 22 includes two parallel flat plates provided at the lower portion of each armrest 21, a ball 61 is provided between the two flat plates and accommodated in a ball socket 62, and the seat 2 can swing back and forth with respect to the upper bracket 12 with the swing axis perpendicular to the flat plates. The attitude adjustment damper mechanism includes a plurality of first magnetic members 63, which may be magnets, provided on the surface of the flat plate, the plurality of first magnetic members 63 being distributed around the swing axis, and a plurality of second magnetic members 64, which may be magnets, provided on the side of the upper bracket 1 opposite to the surface of the flat plate on which the first magnetic members 63 are provided, the plurality of second magnetic members 64 being distributed around the swing axis. When the seat 2 does not swing with respect to the upper bracket 12, the plurality of first magnetic members 63 and the plurality of second magnetic members 64 are in one-to-one correspondence and attracted to each other. When the upper bracket 12 is inclined, the connecting frame 22 of the seat 2 swings relative to the upper bracket 12 under the action of gravity, and during the swinging process, part of the first magnetic members 63 are respectively aligned with part of the second magnetic members 64 and mutually attracted, so that resistance for preventing the connecting frame 22 from swinging relative to the upper bracket 12 is generated, the swinging speed is further reduced, and the phenomenon that the seat 2 swings to a vertical posture due to too high swinging speed and then continuously swings forwards to a larger extent is avoided. In addition, when walking on the flat ground, the problem that the seat 2 swings seriously back and forth due to the change of the walking speed can be avoided, and the stability of the seat during walking is improved.
It will be appreciated by those skilled in the art that the first magnetic member may be a magnet and the second magnetic member a magnet is merely one specific embodiment, and those skilled in the art will be able to adjust it as necessary to suit a particular application, for example, the first and second magnetic members may both be electromagnets, or the first magnetic member may be a magnet and the second magnetic member may be an electromagnet, etc. In addition, the posture adjusting and buffering mechanism can also be a damping cylinder which is respectively connected with the connecting frame and the bracket. The damping cylinder comprises a cylinder body and a piston rod sliding in the cylinder body, the end of the cylinder body is in pivot connection with a connecting frame of the seat, the extending end of the piston rod is in pivot connection with the upper support, a damping hole is formed in the damping cylinder body, air enters and exits the cylinder through the damping hole, and therefore certain damping is generated in the process that the piston moves relative to the cylinder body, and the swinging speed of the seat 2 relative to the upper support 12 is further reduced.
With continued reference to fig. 1, the switching mechanism is preferably a synchronous switching mechanism, and the four road wheels are connected with the lower bracket 11 through the synchronous switching mechanism. The crawler traveling mechanism is fixed to the lower frame 11. The synchronous switching mechanism includes a first swing mechanism located at a front portion of the lower bracket 11, a second swing mechanism located at a rear portion of the lower bracket 11, a link assembly pivotally connecting the first swing mechanism and the second swing mechanism, and a driving device. The four walking wheels comprise two front wheels 41 close to the front part of the lower support 11 and two rear wheels 42 close to the rear part of the lower support 11, the first swing mechanism is connected with the rotating shafts of the two front wheels 41, the second swing mechanism is connected with the rotating shafts of the two rear wheels 42, the driving mechanism drives the second swing mechanism to swing, and the first swing mechanism is driven to swing under the action of the connecting rod assembly.
Specifically, the first swing mechanism includes a first cross bar 511 and two parallel front swing bars 512, the first cross bar 511 is pivotally connected to the lower bracket 11, two ends of the first cross bar 511 are respectively and fixedly connected to a position between two end portions of the front swing bar 511, and a lower end of the front swing bar 511 is connected to a rotating shaft of the front wheel 41. The connecting rod assembly comprises a first connecting rod 531 and a second connecting rod 532, and the front ends of the first connecting rod 531 and the second connecting rod 532 are respectively pivoted with the upper ends of the two front swing rods 512; the second swing mechanism comprises a second cross rod 521 and two parallel rear swing rods 522, the second cross rod 521 is pivotally connected with the lower bracket 11, two ends of the second cross rod 521 are respectively and fixedly connected to positions between two ends of the rear swing rods 522, the lower ends of the rear swing rods 522 are connected with a rotating shaft of the rear wheel 42, and the rear ends of the first connecting rod 531 and the second connecting rod 532 are respectively and pivotally connected with the upper ends of the two rear swing rods 522. The first cross bar 511 and the second cross bar 521 are parallel to each other, the distance between the front end of the first connecting rod 531 and the first cross bar 511 is equal to the distance between the rear end of the first connecting rod 531 and the second cross bar 521, and the distance between the front end of the second connecting rod 532 and the first cross bar 511 is equal to the distance between the rear end of the second connecting rod 532 and the second cross bar 521, i.e. a double-rocker mechanism is formed, so that the front wheel 41 and the rear wheel 42 can swing in the same direction. The swing lever 55 is fixed to the second cross bar 521. The driving device comprises a telescopic hydraulic cylinder 54, the end of the cylinder body of the telescopic hydraulic cylinder 54 is connected with the lower frame 11, and the extending end of the piston rod of the telescopic hydraulic cylinder 54 is pivotally connected with the end of the swinging rod 55. The wheelchair further includes a return spring 56, one end of the return spring 56 is pivotally connected to the lower frame 11, the other end of the return spring 56 is pivotally connected to the end of the swing lever 55, and the return spring 56 is located on the opposite side of the swing lever 55 from the telescopic hydraulic cylinder 54 and always maintains an elastic force.
when the telescopic hydraulic cylinder 54 is in a pressure-relieved state, the telescopic rod of the telescopic hydraulic cylinder 54 is in a retracted state due to the elastic force of the return spring 56, at this time, the two front wheels 41 and the two rear wheels 42 are in contact with the ground, the lines of action of the supporting forces of the ground to the front wheels 41 and the rear wheels 42 are respectively deviated from the axes of the first crossbar 511 and the second crossbar 521 and are located at a forward position, the front swing lever 512 has a torque in a clockwise direction (the orientation shown in fig. 1) around the axis of the first crossbar 511, the rear swing lever 522 has a torque in a clockwise direction (the orientation shown in fig. 1) around the axis of the second crossbar 521, and the elastic force of the return spring acts on the swing lever 55 to cause the swing lever 55 to generate a torque in a counterclockwise direction (the orientation shown in fig. 1) around the axis of the second crossbar 521. In a state where the wheelchair is not seated, the piston rod of the telescopic hydraulic cylinder 54 is compressed into the cylinder and generates a supporting force to the swing lever 55, and the supporting force causes the swing lever 55 to generate a torque in the clockwise direction (the orientation shown in fig. 1) about the axis of the second crossbar 521 to the second crossbar 521. The clockwise torque and the counterclockwise torque received by the second crossbar 521 are equal to each other, so that the front wheel and the rear wheel of the wheelchair are in a ground contact state. When the wheelchair is in a state in which the wheelchair is occupied by a person, the torque transmitted to the second crossbar 521 by the force of the ground acting on the front wheels 41 and the rear wheels 42 is increased, the return spring 56 is further compressed, the elastic force of the return spring 56 is increased, the second crossbar 521 is subjected to force balance, and the front wheels 41 and the rear wheels 42 are maintained in a state of contact with the ground. The amount of compression of the return spring by the wheelchair occupant after the wheelchair is seated is much smaller than the amount of compression of the return spring when the swing lever 55 swings and the traveling wheels swing upward and retract.
When the wheelchair runs on the flat ground, the walking wheels can cause the wheelchair to bump up and down due to the unevenness of the ground and the inertia of the walking, and at the moment, the stress of the reset spring can be changed to generate small-amplitude expansion and contraction, so that the vibration reduction effect in the walking process is achieved, and the comfort level of a rider is improved. When the wheelchair needs to go up and down stairs, the operation of the telescopic hydraulic cylinder 54 is controlled, the piston rod of the telescopic hydraulic cylinder 54 extends out of the cylinder body by a set length so as to push the swing rod 55 to swing anticlockwise (in the orientation shown in fig. 1) around the axis of the second cross bar 521, at the moment, the return spring 56 generates a preset compression amount, the front swing rod 512 and the rear swing rod 522 respectively rotate clockwise around the axes of the first cross bar 511 and the second cross bar 521 so as to enable the front wheel 41 and the rear wheel 42 to swing to a position above the bottom surface of the crawler travel mechanism, at the moment, the crawler travel mechanism is in contact with the ground, and the wheelchair goes up or down stairs through the crawler. Through such synchronous switching mechanism, can the height of synchronous adjustment walking wheel for crawler travel mechanism to make a plurality of walking wheels rise in step or descend, make the highly steady change of whole wheelchair among the switching process, avoided the switching in-process to rock and easily produce the problem of empting. In addition, through the height of adjustment walking wheel, can make the whole focus height of wheelchair at the in-process wheelchair of climbing the building lower to the in-process that makes the wheelchair go up and down stairs is more steady, and the security is higher. And foretell switching mechanism only needs to set up a drive arrangement just can drive a plurality of walking wheels simultaneously and go up and down, has guaranteed the synchronism of a plurality of walking wheel adjustments, has reduced drive arrangement's quantity simultaneously, the cost is reduced.
Those skilled in the art will appreciate that the multiple road wheels including two front wheels and two rear wheels is only one specific embodiment, and those skilled in the art can adjust the multiple road wheels as needed to suit the specific application, for example, the multiple road wheels may include one front wheel and two rear wheels, the two rear wheels are connected to two ends of the second cross bar through rear swing links, and the front wheel is connected to the first yaw bar through one front swing link; the plurality of road wheels may include two front wheels and a rear wheel, the two front wheels are connected with both ends of the first cross bar through a front swing link, the rear wheel is connected with the second yaw bar through a rear swing link, and the like. In addition, the swing rod 55 is fixed on the second cross bar 521, the telescopic hydraulic cylinder 54 drives the swing rod 55 to swing and further drives the second cross bar 521 to rotate, and a person skilled in the art may also fix the swing rod 55 on the first cross bar 511 as required, the telescopic hydraulic cylinder 54 drives the swing rod 55 to swing and drive the first cross bar 511 to rotate, the first cross bar 511 drives the front swing rod 512 to swing, and the front swing rod 512 drives the rear swing rod 522 to swing through the first connecting rod 531 and the second connecting rod 532. Furthermore, it is also a preferred embodiment that the driving means is a telescopic hydraulic cylinder, which can be adjusted as required by the person skilled in the art to suit the specific application, e.g. the driving means can be a telescopic cylinder, an electric push rod, etc.
Preferably, the front ends of the first and second links 531 and 532 are fixedly connected with a third crossbar 533, and the rear ends of the first and second links 531 and 532 are fixedly connected with a fourth crossbar 534. Through the arrangement of the third cross bar 533 and the fourth cross bar 534, the stability of the first link 531 and the second link 532 in driving the front swing link 512 and the rear swing link 522 can be enhanced.
In an alternative embodiment, the front end of the first link 531 is pivotally connected to the upper end of the front swing link 512, the rear end of the first link 531 is pivotally connected to a position between the lower end of the rear swing link 522 and the second crossbar 521, the front end of the second link 532 is pivotally connected to the upper end of the front swing link 512, the rear end of the second link 532 is pivotally connected to a position between the lower end of the rear swing link 522 and the second crossbar 521, the distance between the front end of the first link 531 and the first crossbar 511 is equal to the distance between the rear end of the first link 531 and the second crossbar 521, and the distance between the front end of the second link 532 and the first crossbar 511 is equal to the distance between the rear end of the second link 532 and the second crossbar 521. When the driving device drives the swing lever 55 to swing, the swing directions of the front swing lever 512 and the rear swing lever 522 are opposite to each other. In this way, in the process of switching the ground contact state of the crawler travel mechanism to the ground contact state of the road wheels, the front wheels 41 swing backward and the rear wheels 42 swing forward, so that friction with the ground can be avoided at the moment when the crawler travel mechanism is disengaged from the ground.
In an alternative embodiment, the return spring 56 may not be provided and the telescopic hydraulic cylinder 54 is a bi-directional hydraulic cylinder that maintains the ground engaging wheels in a ground engaging condition by internal pressure of the telescopic hydraulic cylinder 54. When the crawler belt traveling mechanism needs to be switched to be grounded, a piston rod of the telescopic hydraulic cylinder 54 is controlled to extend, the swinging rod 55 is driven to swing, the second cross rod 521 is driven to rotate, the rear swinging rod 522 is driven to swing, and meanwhile, the front swinging rod 512 is driven to swing synchronously under the action of the first connecting rod 531 and the second connecting rod 532, so that the front wheel 41 and the rear wheel 42 are lifted synchronously.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A wheel-track combined stair climbing wheelchair with a self-adaptive posture adjustment function comprises a support, a seat, a track travelling mechanism and a plurality of travelling wheels, wherein the seat, the track travelling mechanism and the travelling wheels are arranged on the support, the wheelchair further comprises a switching mechanism arranged on the support, the switching mechanism is used for switching the relative heights of the track travelling mechanism and the travelling wheels so as to realize travelling through the track travelling mechanism or the travelling wheels,
The wheelchair is characterized by further comprising a self-adaptive posture adjusting mechanism, connecting frames are arranged on two sides of the seat respectively, and the connecting frames are connected with the support through the self-adaptive posture adjusting mechanism so that the seat can still keep a vertical posture when climbing stairs under the action of gravity.
2. The wheel-track composite stair climbing wheelchair as claimed in claim 1, wherein the adaptive posture adjustment mechanism comprises two ball pin mechanisms respectively disposed at both sides of the wheelchair, each of the ball pin mechanisms comprising a ball socket fixedly connected to the bracket and a ball head fixedly connected to the connecting frame, the ball head being received in the ball socket so as to maintain the vertical posture of the seat when climbing stairs under the action of gravity.
3. The wheel-track combined stair climbing wheelchair as claimed in claim 2, wherein the adaptive posture adjustment mechanism further comprises a posture adjustment buffer mechanism disposed between the connecting frame and the support, the posture adjustment buffer mechanism being configured to reduce an adaptive adjustment speed of the seat relative to the support.
4. The wheel-track combined stair climbing wheelchair as claimed in claim 3, wherein the posture adjustment buffering mechanism is a damping cylinder connected to the connecting frame and the support respectively.
5. the wheel-track composite stair-climbing wheelchair of claim 3, wherein the posture adjustment buffer mechanism comprises a plurality of first magnetic members disposed on the connecting frame and a plurality of second magnetic members disposed on the bracket, and the first magnetic members and the second magnetic members attract each other.
6. The wheel-track combined stair-climbing wheelchair according to claim 1, wherein the adaptive posture adjusting mechanism is disposed at a lower portion of an armrest of the seat.
7. The wheel-track combined stair climbing wheelchair according to any one of claims 1 to 6, wherein the switching mechanism is a synchronous switching mechanism, the plurality of road wheels are connected with the bracket through the synchronous switching mechanism, and the synchronous switching mechanism is used for synchronously adjusting the heights of the plurality of road wheels relative to the crawler traveling mechanism.
8. The wheel-track combined stair climbing wheelchair as claimed in claim 7, wherein the plurality of road wheels comprise two front wheels and two rear wheels, the synchronous switching mechanism comprises a first swing mechanism, a second swing mechanism, a connecting rod assembly pivotally connecting the first swing mechanism and the second swing mechanism, and a driving device, the first swing mechanism is connected with the rotating shafts of the two front wheels, the second swing mechanism is connected with the rotating shafts of the two rear wheels, and the driving device is used for driving the first swing mechanism or the second swing mechanism to swing.
9. The wheel-track combined stair climbing wheelchair as claimed in claim 8, wherein the first swing mechanism comprises a first cross bar and two parallel front swing bars fixedly connected with the first cross bar, the first cross bar is pivotally connected with the bracket, and a rotating shaft of the front wheel is connected with a first end of the front swing bar;
The second swing mechanism comprises a second cross rod and two parallel rear swing rods fixedly connected with the second cross rod, the second cross rod is pivotally connected with the bracket, and a rotating shaft of the rear wheel is connected with the first end of the rear swing rod;
The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third cross rod and a fourth cross rod, wherein the third cross rod and the fourth cross rod are respectively connected with the first connecting rod and the second connecting rod at two ends;
the driving device is used for driving the first cross rod or the second cross rod to rotate.
10. The wheel-track composite stair climbing wheelchair of claim 9 wherein the first and second crossbars are parallel to each other;
the end part of the first cross rod is fixedly connected to a position between two ends of the front swing rod, the end part of the second cross rod is fixedly connected to a position between two ends of the rear swing rod, and the distance between the end part of the front swing rod connected with the first connecting rod and the second connecting rod and the first cross rod is equal to the distance between the end part of the rear swing rod connected with the first connecting rod and the second cross rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910865301.3A CN110547923A (en) | 2019-09-12 | 2019-09-12 | Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910865301.3A CN110547923A (en) | 2019-09-12 | 2019-09-12 | Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110547923A true CN110547923A (en) | 2019-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910865301.3A Pending CN110547923A (en) | 2019-09-12 | 2019-09-12 | Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function |
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| CN (1) | CN110547923A (en) |
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| CN112356042A (en) * | 2020-10-29 | 2021-02-12 | 郑州轻工业大学 | Fire scene rescue robot |
| CN114795698A (en) * | 2022-04-20 | 2022-07-29 | 刘鑫 | Intelligent stair climbing wheelchair |
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Application publication date: 20191210 |