CN110584896A - Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair - Google Patents
Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair Download PDFInfo
- Publication number
- CN110584896A CN110584896A CN201910897152.9A CN201910897152A CN110584896A CN 110584896 A CN110584896 A CN 110584896A CN 201910897152 A CN201910897152 A CN 201910897152A CN 110584896 A CN110584896 A CN 110584896A
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- stair climbing
- wheel
- fixedly connected
- driving
- plate
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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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
- A61G5/10—Parts, details or accessories
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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
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
Abstract
The invention discloses a stair climbing wheel, a stair climbing walking mechanism, a stair climbing wheelchair frame and a full-automatic stair climbing wheelchair, and belongs to the field of stair climbing wheelchairs. The stair climbing wheel comprises a rear wheel assembly and a front wheel assembly, wherein the rear wheel assembly and the front wheel assembly respectively comprise a wheel carrier; the stair climbing walking mechanism comprises stair climbing wheels, and also comprises a front support and a rear support which are connected with each other; the fully automatic stair climbing wheelchair comprises the stair climbing wheelchair frame and a seat, wherein the seat frame is connected with a sliding plate in a sliding manner; the invention relates to a full-automatic stair climbing wheel which has safe and reliable performance, can move on flat ground and can go up and down stairs.
Description
Technical Field
The invention relates to the technical field of stair climbing wheelchairs, in particular to a stair climbing wheel, a stair climbing walking mechanism, a stair climbing wheelchair frame and a full-automatic stair climbing wheelchair.
Background
With the arrival of an aging society and the increase of the number of disabled people, more and more overpasses, steps of parks, cells going upstairs and downstairs and the like, the demand of the old and the disabled people on auxiliary walking tools is increased day by day, the function of the wheelchair in the life of the old and the disabled people is more and more important, and the wheelchair becomes the only travel tool for the old and the disabled people; the stair climbing wheelchair is a service machine, is an indispensable rehabilitation and walk-substituting tool for old people or physically disabled people, can conveniently go out and carry out physical exercise with the help of the old people and disabled people of the wheelchair, and is very important in designing a full-automatic stair climbing wheelchair which has reasonable price and safe and reliable performance, can move on the flat ground and can go up and down stairs, and the development of the wheelchair with the stair climbing function has great practical significance.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a stair climbing wheel, a stair climbing walking mechanism, a stair climbing wheelchair frame and a full-automatic stair climbing wheelchair.
In order to achieve the purpose, the invention adopts the following technical scheme:
stair climbing wheel, including rear wheel assembly and front wheel assembly, rear wheel assembly and front wheel assembly all include the wheel carrier, all turn to on the wheel carrier and be connected with the wheel, fixedly connected with driven gear that crawls on the wheel carrier of rear wheel assembly and front wheel assembly, all rotate on the wheel carrier of rear wheel assembly and front wheel assembly and be connected with the walking axle, the walking axle of rear wheel assembly pass through drive mechanism with the wheel linkage.
Preferably, the transmission mechanism comprises a first driving conical gear fixedly sleeved on the traveling shaft, the wheel carrier is rotatably connected with a transmission shaft, one end of the transmission shaft is fixedly connected with a first driven conical gear meshed with the first driving conical gear, the other end of the transmission shaft is fixedly connected with a second driving conical gear, and a central shaft of the wheel is fixedly connected with a second driven conical gear meshed with the second driving conical gear.
Stair climbing running gear, including claim 1 or 2 the stair climbing wheel, still include continuous fore-stock and after-poppet, the wheel carrier of back wheel assembly passes through the walking axle and rotates to be connected on the after-poppet, the wheel carrier of front wheel assembly passes through the walking axle and connects on the fore-stock, fixedly connected with walking driving motor on the after-poppet, walking driving motor drive end with the walking axle fixed link to each other, equal fixedly connected with creeping driving motor on fore-stock and the after-poppet, creeping driving motor drive end all is connected with the driving gear that crawls with the driven gear meshing of crawling through the link gear.
Preferably, the linkage mechanism on the rear support comprises a first gearbox, the input end of the first gearbox is connected with the output end of the crawling driving motor, and the output end of the first gearbox is fixedly connected with the crawling driving gear;
the linkage mechanism on the front support comprises a second gearbox, the input end of the second gearbox is connected with the output end of the crawling driving motor, the output end of the second gearbox is rotatably connected with a steering rod through a first connecting plate, one end, far away from the first connecting plate, of the steering rod is rotatably connected with a second connecting plate, and the second connecting plate is fixedly connected to the crawling driving gear.
The stair climbing wheelchair frame comprises a seat frame and the stair climbing travelling mechanism according to claim 3, wherein a sliding plate is connected to the bottom side of the seat frame in a sliding mode, the upper ends of a front support and a rear support are rotatably connected with the sliding plate, a first screw sleeve is fixedly connected to the front support, a first stepping motor is fixedly connected to the rear support, a first screw matched with the first screw sleeve is fixedly connected to the driving end of the first stepping motor, and the front support and the rear support are connected to form a triangular mechanism.
Preferably, the bottom side of the seat frame is fixedly connected with a second stepping motor, the driving end of the second stepping motor is fixedly connected with a second screw rod, and the sliding plate is provided with a screw hole matched with the second screw rod.
Preferably, the sliding plate is connected with a half gear, the front bracket or the rear bracket is fixedly connected with a third stepping motor, and a driving end of the third stepping motor is connected with a pinion which is meshed with the half gear.
A fully automatic stair climbing wheelchair comprising a stair climbing wheelchair frame according to claim 5 and a seat attached to the wheelchair frame.
Preferably, the seat comprises a bottom plate on the seat frame, the front end of the bottom plate is rotatably connected with a front plate, the upper end of the front plate is rotatably connected with a seat plate, the rear end of the bottom plate is rotatably connected with a backup plate, one end, far away from the front plate, of the seat plate is rotatably connected with the backup plate, and an adjusting mechanism is connected between the rear end of the seat frame and the backup plate.
Preferably, the adjusting mechanism comprises a fourth stepping motor which is rotatably connected to the seat frame, the driving end of the fourth stepping motor is connected with a third screw, and the back side of the backup plate is rotatably connected with a second screw sleeve matched with the third screw.
Compared with the prior art, the invention provides a stair climbing wheel, a stair climbing walking mechanism, a stair climbing wheelchair frame and a full-automatic stair climbing wheelchair, and the stair climbing wheel, the stair climbing wheelchair frame and the full-automatic stair climbing wheelchair frame have the following beneficial effects:
1. the stair climbing wheel, the rear wheel assembly and the front wheel assembly adopt a four-impeller design, and all the sizes are closely combined with the sizes and the structures of stairs of different occasions, so that two working conditions, namely flat ground running and stair climbing states, are considered; the rear wheel assembly is provided with a concentric dual-power mechanism, large wheels and small wheels are provided with power sources and can be controlled at will, walking on the flat ground is driven by small wheels through a walking shaft, the rotation of a crawling driven gear drives the rotation of an integral wheel frame to realize large wheel transmission when going upstairs, crawling motion is realized, the large wheels can be used for crawling when going downstairs, a planetary wheel transmission mechanism is used in four impellers in the walking process on the flat ground, concentric dual-power transmission is perfectly realized, random control can be realized, spiral bevel gear transmission is used in planetary wheel transmission, and the advantages of strong power, stable transmission and low noise are fully utilized;
2. this stair-climbing running gear through the actuating mechanism on fore-stock and the after-poppet, drives the driven gear of crawling and realizes rotatory function of crawling, thereby drives the walking axle and rotates and realize driving the wheel and rotate, realizes the walking motion.
3. According to the stair climbing wheelchair frame, the adjustable span frame mechanism consisting of the front support, the rear support and the seat frame adopts a triangular mechanism, the advantage of simple structure and good stability of the triangular mechanism is fully utilized, and the transmission mechanism with the first screw rod and the first screw rod sleeve is additionally arranged on the horizontal edge of the triangular mechanism, so that the span of the front wheel and the rear wheel of the wheelchair frame is timely changed under the working condition, and the requirements of different working conditions are met; a second stepping motor is fixedly connected to the bottom side of the seat frame, a second screw rod is fixedly connected to the driving end of the second stepping motor, and a screw hole matched with the second screw rod is formed in the sliding plate to form a seat front and back adjusting mechanism;
when the span of the front wheel and the rear wheel is large, the wheelchair is lowered, and the seat frame can move back and forth, so that a user can conveniently get on and off the wheelchair or pick up objects falling on the ground; when the span adjusting mechanism is matched with the seat front-back adjusting mechanism to lift the wheelchair and move the seat frame backwards, the aim is to ensure that the center of gravity of a user is more stable, safer and more comfortable when the user runs on flat ground or climbs stairs; when the span adjusting mechanism is matched with the seat front and back adjusting mechanism to adjust the span of the wheelchair to be minimum and simultaneously move the seat frame backwards, the aim is that when a user turns in a narrow space such as a stair slow walking platform, the center of gravity is more stable, safer and comfortable while the minimum turning radius is obtained;
the sliding plate is connected with a half gear, the front support or the rear support is fixedly connected with a third stepping motor, the driving end of the third stepping motor is connected with a pinion which is meshed with the half gear to form a seat horizontal adjusting mechanism, so that the seat can be timely adjusted to be horizontal when the front wheel and the rear wheel generate a height difference during the process of going upstairs and downstairs, the safety of a user is protected, and the riding comfort of the user is enhanced.
4. The full-automatic stair climbing wheelchair has a parallelogram structure, the seat is driven by the fourth stepping motor to deform, and the wheelchair can be unfolded into a 180-degree horizontal state during rest and used as a bed for a user to rest and sleep.
Drawings
FIG. 1 is a schematic structural view of a rear wheel assembly of a stair climbing wheel according to the present invention;
FIG. 2 is a schematic structural view of a front wheel assembly of the stair climbing wheel of the present invention;
FIG. 3 is a schematic top view of the fully automatic stair-climbing wheelchair of the present invention;
FIG. 4 is a schematic structural view of a fully automatic stair-climbing wheelchair according to the present invention;
fig. 5 is a front view of the fully automatic stair climbing wheelchair of the present invention.
In the figure: 1. a wheel carrier; 2. a wheel; 3. a crawling driven gear; 4. a traveling shaft; 5. a first driving bevel gear; 501. a second driving bevel gear; 6. a drive shaft; 7. a first driven bevel gear; 8. a second driven bevel gear; 9. a front bracket; 10. a rear bracket; 11. a crawling driving motor; 101. a travel driving motor; 12. a crawling driving gear; 13. a first gearbox; 14. a second gearbox; 15. a first connecting plate; 16. a steering lever; 17. a second connecting plate; 18. a seat frame; 19. a sliding plate; 20. a first screw housing; 21. a first stepper motor; 22. a first screw; 23. a second stepping motor; 24. a second screw; 25. a half gear; 26. a third step motor; 2601. a pinion gear; 27. a seat; 28. a base plate; 29. a front plate; 30. a seat plate; 31. a backup plate; 32. a fourth stepping motor; 33. a third screw; 34. and a second screw sleeve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-5, the stair climbing wheel comprises a rear wheel assembly and a front wheel assembly, wherein the rear wheel assembly and the front wheel assembly respectively comprise a wheel carrier 1, the wheel carriers 1 are connected with wheels 2 in a rotating manner, crawling driven gears 3 are fixedly connected to the wheel carriers 1 of the rear wheel assembly and the front wheel assembly, walking shafts 4 are respectively connected to the wheel carriers 1 of the rear wheel assembly and the front wheel assembly in a rotating manner, and the walking shafts 4 of the rear wheel assembly are linked with the wheels 2 through a transmission mechanism; the rear wheel assembly and the front wheel assembly adopt a four-impeller design, and all the sizes are closely combined with the sizes and the structures of stairs in different occasions, so that two working conditions, namely flat ground running and stair climbing states, are considered;
the transmission mechanism comprises a first driving conical gear 5 fixedly sleeved on the walking shaft 4, the wheel carrier 1 is rotatably connected with a transmission shaft 6, one end of the transmission shaft 6 is fixedly connected with a first driven conical gear 7 meshed with the first driving conical gear 5, the other end of the transmission shaft 6 is fixedly connected with a second driving conical gear 501, and a central shaft of the wheel 2 is fixedly connected with a second driven conical gear 8 meshed with the second driving conical gear 501;
the rear wheel assembly has designed concentric double dynamical mechanism, big small wheel all has the power source, and can control at will, the level land walking uses the steamboat transmission through walking shaft 4, the rotation that drives whole wheel carrier 1 through the rotation of crawling driven gear 3 when going upstairs realizes using the bull wheel transmission, realize crawling motion, can use the bull wheel to crawl when going downstairs, planet wheel drive mechanism has been used in four impellers of level land walking process, perfect realization concentric double dynamical transmission, and can control at will, spiral bevel gear transmission has been used in the planet wheel transmission, make full use of its powerful, the transmission is steady, the advantage that the noise is little.
The stair climbing walking mechanism comprises the stair climbing wheel of claim 1 or 2, and further comprises a front support 9 and a rear support 10 which are connected, wherein a wheel carrier 1 of the rear wheel assembly is rotatably connected to the rear support 10 through a walking shaft 4, the wheel carrier 1 of the front wheel assembly is connected to the front support 9 through the walking shaft 4, a walking driving motor 101 is fixedly connected to the rear support 10, a driving end of the walking driving motor 101 is fixedly connected with the walking shaft 4, crawling driving motors 11 are fixedly connected to the front support 9 and the rear support 10, and driving ends of the crawling driving motors 11 are connected to crawling driving gears 12 which are meshed with crawling driven gears 3 through a linkage mechanism;
the linkage mechanism on the rear bracket 10 comprises a first gearbox 13, the input end of the first gearbox 13 is connected with the output end of the crawling driving motor 11, and the output end of the first gearbox 13 is fixedly connected with the crawling driving gear 12;
the linkage mechanism on the front support 9 comprises a second gearbox 14, the input end of the second gearbox 14 is connected with the output end of the crawling driving motor 11, the output end of the second gearbox 14 is rotatably connected with a steering rod 16 through a first connecting plate 15, one end, far away from the first connecting plate 15, of the steering rod 16 is rotatably connected with a second connecting plate 17, and the second connecting plate 17 is fixedly connected to the crawling driving gear 12; through the actuating mechanism on fore-stock 9 and the after-poppet 10, drive 3 driven gears of crawling and realize rotatory function of crawling, thereby it rotates to drive walking shaft 4 and realize driving wheel 2 and rotate, realizes the walking motion.
The stair climbing wheelchair frame comprises a seat frame 18 and a stair climbing walking mechanism of claim 3, wherein a sliding plate 19 is connected to the bottom side of the seat frame 18 in a sliding manner, the upper ends of a front support 9 and a rear support 10 are rotatably connected with the sliding plate 19, a first screw sleeve 20 is fixedly connected to the front support 9, a first stepping motor 21 is fixedly connected to the rear support 10, a first screw 22 matched with the first screw sleeve 20 is fixedly connected to the driving end of the first stepping motor 21, and the front support 9 and the rear support 10 are connected to form a triangular mechanism;
a second stepping motor 23 is fixedly connected to the bottom side of the seat frame 18, a second screw 24 is fixedly connected to the driving end of the second stepping motor 23, and a screw hole matched with the second screw 24 is formed in the sliding plate 19;
a half gear 25 is connected to the sliding plate 19, a third stepping motor 26 is fixedly connected to the front support 9 or the rear support 10, and a pinion 2601 meshed with the half gear 25 is connected to the driving end of the third stepping motor 26; the adjustable span frame mechanism composed of the front support 9, the rear support 10 and the seat frame 18 adopts a triangular mechanism, the advantage of simple structure and good stability of the triangular mechanism is fully utilized, and the transmission mechanism with the first screw rod 22 and the first screw rod sleeve 20 is additionally arranged on the horizontal side of the triangular mechanism, so that the span of the front wheel and the rear wheel of the frame can be timely changed under the working condition of the frame, and the requirements of different working conditions can be met; a second stepping motor 23 is fixedly connected to the bottom side of the seat frame 18, a second screw 24 is fixedly connected to the driving end of the second stepping motor 23, and a screw hole matched with the second screw 24 is formed in the sliding plate 19 to form a seat front and rear adjusting mechanism;
when the span of the front wheel and the rear wheel is large, the wheelchair is lowered, and the seat frame 18 can move forwards and backwards so as to enable a user to conveniently get on and off the wheelchair or pick up objects falling on the ground; when the span adjusting mechanism is matched with the seat front-back adjusting mechanism to lift the wheelchair and move the seat frame 18 backwards, the aim is to ensure that the center of gravity of a user is more stable, safer and more comfortable when the user runs on flat ground or climbs stairs; when the span adjusting mechanism is matched with the seat front-back adjusting mechanism to adjust the span of the wheelchair to be minimum and simultaneously move the seat frame 18 backwards, the aim is that when a user turns in a narrow space such as a stair slow-walking platform, the center of gravity is more stable, safer and comfortable while the minimum turning radius is obtained;
the sliding plate 19 is connected with a half gear 25, the front support 9 or the rear support 10 is fixedly connected with a third stepping motor 26, and the driving end of the third stepping motor 26 is connected with a pinion 2601 meshed with the half gear 25 to form a horizontal adjusting mechanism of the seat, so that the seat can be properly adjusted to be horizontal when the front wheel and the rear wheel have a height difference during the upstairs and downstairs processes, the safety of a user is protected, and the riding comfort of the user is enhanced.
A fully automatic stair climbing wheelchair, comprising a stair climbing wheelchair frame and a seat 27 according to claim 5, wherein the seat 27 is connected to the seat frame 18;
the seat 27 comprises a bottom plate 28 on the seat frame 18, the front end of the bottom plate 28 is rotatably connected with a front plate 29, the upper end of the front plate 29 is rotatably connected with a seat plate 30, the rear end of the bottom plate 28 is rotatably connected with a backup plate 31, one end of the seat plate 30 far away from the front plate 29 is rotatably connected with the backup plate 31, and an adjusting mechanism is connected between the rear end of the seat frame 18 and the backup plate 31;
the adjusting mechanism comprises a fourth stepping motor 32 which is rotationally connected to the seat frame 18, the driving end of the fourth stepping motor 32 is connected with a third screw 33, and the back side of the backup plate 31 is rotationally connected with a second screw sleeve 34 matched with the third screw 33; the seat 27 is a parallelogram structure, and the fourth stepping motor 32 drives the seat 27 to deform, so that the seat can be unfolded to a 180-degree horizontal state during rest, and can be used as a bed for a user to rest and sleep.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a climb building wheel, its characterized in that includes rear wheel assembly and front wheel assembly, rear wheel assembly and front wheel assembly all include wheel carrier (1), all go up to be connected with wheel (2) on wheel carrier (1), fixedly connected with crawls driven gear (3) on wheel carrier (1) of rear wheel assembly and front wheel assembly, all rotate on wheel carrier (1) of rear wheel assembly and front wheel assembly and be connected with walking axle (4), walking axle (4) of rear wheel assembly pass through drive mechanism with wheel (2) linkage.
2. The stair climbing wheel according to claim 1, wherein the transmission mechanism comprises a first driving bevel gear (5) fixedly sleeved on the traveling shaft (4), the wheel carrier (1) is rotatably connected with a transmission shaft (6), one end of the transmission shaft (6) is fixedly connected with a first driven bevel gear (7) meshed with the first driving bevel gear (5), the other end of the transmission shaft (6) is fixedly connected with a second driving bevel gear (501), and a central shaft of the wheel (2) is fixedly connected with a second driven bevel gear (8) meshed with the second driving bevel gear (501).
3. The building climbing walking mechanism is characterized by comprising the building climbing wheel as claimed in claim 1 or 2, and further comprising a front support (9) and a rear support (10) which are connected, wherein a wheel carrier (1) of the rear wheel assembly is rotatably connected onto the rear support (10) through a walking shaft (4), the wheel carrier (1) of the front wheel assembly is connected onto the front support (9) through the walking shaft (4), a walking driving motor (101) is fixedly connected onto the rear support (10), a driving end of the walking driving motor (101) is fixedly connected with the walking shaft (4), a crawling driving motor (11) is fixedly connected onto the front support (9) and the rear support (10), and the driving end of the crawling driving motor (11) is connected with a crawling driving gear (12) meshed with a crawling driven gear (3) through a linkage mechanism.
4. The stair climbing walking mechanism according to claim 3, wherein the linkage mechanism on the rear bracket (10) comprises a first gearbox (13), an input end of the first gearbox (13) is connected with an output end of the crawling driving motor (11), and an output end of the first gearbox (13) is fixedly connected with the crawling driving gear (12);
the linkage mechanism on the front support (9) comprises a second gearbox (14), the input end of the second gearbox (14) is connected with the output end of the crawling driving motor (11), the output end of the second gearbox (14) is rotatably connected with a steering rod (16) through a first connecting plate (15), one end, far away from the first connecting plate (15), of the steering rod (16) is rotatably connected with a second connecting plate (17), and the second connecting plate (17) is fixedly connected to the crawling driving gear (12).
5. A stair climbing wheelchair frame, characterized by comprising a seat frame (18) and the stair climbing walking mechanism of claim 3, wherein a sliding plate (19) is slidably connected to the bottom side of the seat frame (18), the upper ends of a front support (9) and a rear support (10) are rotatably connected with the sliding plate (19), a first screw sleeve (20) is fixedly connected to the front support (9), a first stepping motor (21) is fixedly connected to the rear support (10), a first screw (22) matched with the first screw sleeve (20) is fixedly connected to the driving end of the first stepping motor (21), and a triangular mechanism is formed after the front support (9) and the rear support (10) are connected.
6. The stair climbing wheelchair frame according to claim 5, wherein a second stepping motor (23) is fixedly connected to the bottom side of the seat frame (18), a second screw (24) is fixedly connected to the driving end of the second stepping motor (23), and a screw hole matched with the second screw (24) is formed in the sliding plate (19).
7. The stair climbing wheelchair frame according to claim 5, wherein a half gear (25) is connected to the sliding plate (19), a third stepping motor (26) is fixedly connected to the front bracket (9) or the rear bracket (10), and a pinion (2601) meshed with the half gear (25) is connected to the driving end of the third stepping motor (26).
8. A fully automatic stair climbing wheelchair, characterized in that it comprises a stair climbing wheelchair frame according to claim 5 and a seat (27), said seat (27) being connected to the seat frame (18).
9. The fully automatic stair climbing wheelchair as claimed in claim 8, wherein the seat (27) comprises a bottom plate (28) on the seat frame (18), a front plate (29) is rotatably connected to the front end of the bottom plate (28), a seat plate (30) is rotatably connected to the upper end of the front plate (29), a back plate (31) is rotatably connected to the rear end of the bottom plate (28), one end of the seat plate (30) far away from the front plate (29) is rotatably connected to the back plate (31), and an adjusting mechanism is connected between the rear end of the seat frame (18) and the back plate (31).
10. The fully automatic stair climbing wheelchair according to claim 9, wherein the adjusting mechanism comprises a fourth stepping motor (32) rotatably connected to the seat frame (18), a third screw (33) is connected to a driving end of the fourth stepping motor (32), and a second screw sleeve (34) matched with the third screw (33) is rotatably connected to the back side of the backup plate (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910897152.9A CN110584896B (en) | 2019-09-23 | 2019-09-23 | Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910897152.9A CN110584896B (en) | 2019-09-23 | 2019-09-23 | Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110584896A true CN110584896A (en) | 2019-12-20 |
| CN110584896B CN110584896B (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910897152.9A Expired - Fee Related CN110584896B (en) | 2019-09-23 | 2019-09-23 | Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717315A (en) * | 2020-07-15 | 2020-09-29 | 长春工业大学 | Stair climbing vehicle with triangular wheel train |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112842723A (en) * | 2021-02-07 | 2021-05-28 | 杭州乐好电梯有限公司 | Stair climbing method, stair climbing wheel set and stair climbing wheelchair with wheel set |
| CN113022500A (en) * | 2021-03-01 | 2021-06-25 | 内蒙古机电职业技术学院 | Intelligent car washing station |
| CN113397850A (en) * | 2021-07-28 | 2021-09-17 | 谷晓强 | Wheelchair capable of climbing stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201280164Y (en) * | 2008-03-17 | 2009-07-29 | 崔秉印 | Electric three-wheel wheelchair without obstruction |
| CN202096375U (en) * | 2011-06-10 | 2012-01-04 | 杜福 | Stair wheelchair |
| CN102319154B (en) * | 2011-08-16 | 2013-05-01 | 上海电机学院 | Stair climbing wheel chair |
| CN107669423A (en) * | 2017-11-10 | 2018-02-09 | 攀枝花学院 | Multifunctional wheelchair |
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2019
- 2019-09-23 CN CN201910897152.9A patent/CN110584896B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717315A (en) * | 2020-07-15 | 2020-09-29 | 长春工业大学 | Stair climbing vehicle with triangular wheel train |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112842723A (en) * | 2021-02-07 | 2021-05-28 | 杭州乐好电梯有限公司 | Stair climbing method, stair climbing wheel set and stair climbing wheelchair with wheel set |
| CN113022500A (en) * | 2021-03-01 | 2021-06-25 | 内蒙古机电职业技术学院 | Intelligent car washing station |
| CN113022500B (en) * | 2021-03-01 | 2022-09-23 | 内蒙古机电职业技术学院 | Intelligent car washing station |
| CN113397850A (en) * | 2021-07-28 | 2021-09-17 | 谷晓强 | Wheelchair capable of climbing stairs |
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