CN111437113A - Intelligent wheelchair for helping the old to climb stairs - Google Patents
Intelligent wheelchair for helping the old to climb stairs Download PDFInfo
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- CN111437113A CN111437113A CN202010401835.3A CN202010401835A CN111437113A CN 111437113 A CN111437113 A CN 111437113A CN 202010401835 A CN202010401835 A CN 202010401835A CN 111437113 A CN111437113 A CN 111437113A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 230000003028 elevating effect Effects 0.000 claims abstract 17
- 230000005012 migration Effects 0.000 claims abstract 6
- 238000013508 migration Methods 0.000 claims abstract 6
- 230000005540 biological transmission Effects 0.000 claims description 45
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000009194 climbing Effects 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—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
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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 application discloses supplementary old person stair device of going up and down, including support frame, elevating gear, lead screw horizontal migration device, lead screw elevating gear, the support frame be square frame structure, four corners that the support frame is square frame set up a lead screw elevating gear respectively, and two lead screw elevating gear synchronous elevating motion of front side, two lead screw elevating gear synchronous elevating motion of rear side, a athey wheel is fixed to every lead screw elevating gear's lower extreme, lead screw horizontal migration device remove along the fore-and-aft direction, lead screw horizontal migration device all is provided with an elevating gear from top to bottom at diagonal border position, the stair height difference in different places, according to the stair automatically regulated of co-altitude, four athey wheels contact with ground occasionally on going up the stair, increased the area of contact of machine with the step, the security is high.
Description
Technical Field
The invention relates to a device for assisting old people to go up and down stairs, belonging to the field of old people assisting instruments
Background
In recent years, the aging problem of our country society is more serious, and the total number of our country's aged population is predicted to increase to 2.7 hundred million people in 2023 years according to the current development trend.
According to medical research, the aged people, with the age, may cause adverse phenomena such as reduction of flexibility of movable joints of the body, reduction of balance ability in standing and moving, and the like.
The economic high-speed development of China, people's standard of living is constantly improved, and many people live into buildings with elevators, but some buildings with certain height but without elevators are still reserved in some places. And like a bridge, the stairs of tourist attractions bring great trouble to the old who is inconvenient in legs and feet.
The intelligent degree and the security performance about assisting old person to go up stair device are not high in the existing market, the operation is inconvenient, and the device has great limitation for the old person. In view of the situation, an innovative structural design is invented to assist the old people in going up and down stairs, and the machine can stably, efficiently and automatically go up stairs of various sizes under automatic control.
Disclosure of Invention
The invention aims to: the machine is respectively lifted or lowered by two scissor type lifting devices and four lead screw lifting devices. And the two shear type lifting devices and the four lead screw lifting devices horizontally move by one lead screw horizontal moving device, so that the function of going upstairs and downstairs is realized.
The technical scheme includes that the device for assisting the old to go up and down stairs comprises a support frame 13, a lifting device, a lead screw horizontal moving device 4 and a lead screw lifting device, wherein the support frame 13 is of a square frame structure, the four corners of the square frame of the support frame 13 are respectively provided with the lead screw lifting device, the two lead screw lifting devices on the front side are in synchronous lifting motion, the two lead screw lifting devices on the rear side are in synchronous lifting motion, the lower end of each lead screw lifting device is fixedly provided with a crawler wheel, the lead screw horizontal moving device 4 moves along the front and rear directions, and the lead screw horizontal moving device 4 is provided with the up-down lifting device at the edge position of a diagonal line.
The screw lifting device comprises a first screw lifting device 2, a second screw lifting device 6, a third screw lifting device 9 and a fourth screw lifting device 11, the fourth screw lifting device 11 comprises a lifting frame four 11-1, a fourth lifting screw 11-2, a sliding rod four 11-3, a fourth lifting chain wheel 11-4 and a fourth lifting motor 11-5, the fourth lifting screw 11-2 is arranged along the vertical direction, the fourth lifting chain wheel 11-4 is fixed at the upper end of the fourth lifting screw 11-2, the upper end of the fourth lifting screw 11-2 penetrates through the fourth lifting chain wheel 11-4 upwards and is fixedly connected with an output shaft of the fourth lifting motor 11-5, the fourth lifting motor 11-5 is fixed at the upper end of a corner of the right rear side of the square frame structure of the support frame 13, the lower end of the fourth lifting screw 11-2 is rotatably installed at the lower end of a corner of the right rear side of the square frame structure of the, the upper end of the fourth lifting frame 11-1 and the fourth lifting screw rod 11-2 form a spiral pair to rotate, the fourth sliding rod 11-3 and the fourth lifting screw rod 11-2 are arranged in parallel, the upper end and the lower end of the fourth sliding rod 11-3 are respectively fixed at the upper end and the lower end of the support frame 13, the upper end of the fourth lifting frame 11-1 and the fourth sliding rod 11-3 are in sliding fit along the up-down direction, the lower end of the fourth lifting frame 11-1 is fixed with a four track wheel support frame of a four track wheel 10, the fourth screw rod lifting device 11 and the first screw rod lifting device 2 are identical in structure, the second screw rod lifting device 6 and the third screw rod lifting device 9 are identical in structure, the fourth screw rod lifting device 11 and the second screw rod lifting device 6 are basically symmetrical to each other in left-right symmetrical;
the lifting chain wheel IV 11-4 and the lifting chain wheel II of the lifting device II 6 form chain transmission through the chain I12, and the lifting chain wheel IV of the lead screw lifting device I2 and the lifting chain wheel III of the lifting device III 9 form chain transmission through the chain II 14.
The lead screw horizontal moving device 4 comprises a moving plate 4-1, a slide bar I4-2, a sliding lead screw 4-3, a large belt wheel 4-4, a synchronous belt 4-5, a translation motor 4-6, a small belt wheel 4-7 and a slide bar II 4-8, wherein the large belt wheel 4-4 is fixed at the rear part of the sliding lead screw 4-3, the large belt wheel 4-4 and the small belt wheel 4-7 form belt transmission through the synchronous belt 4-5, the translation motor 4-6 is fixed at the upper part of the rear end of a support frame 13, the small belt wheel 4-7 is fixed at the output shaft of the translation motor 4-6, the sliding lead screw 4-3 is horizontally arranged along the front-back direction, the front end and the rear end of the sliding lead screw 4-3 are respectively and rotatably arranged at the front end and the rear end of the upper part of the middle of the support frame 13, the left side and the right side of the sliding screw rod 4-3 are respectively provided with a sliding rod II 4-8 and a sliding rod I4-2, the front end and the rear end of the sliding rod II 4-8 and the front end and the rear end of the sliding rod I4-2 are respectively fixed at the front end and the rear end of the upper part of the supporting frame 13, the sliding rod I4-2, the sliding rod II 4-8 and the sliding screw rod 4-3 are arranged in parallel, and the sliding rod I4-2 and the sliding rod II 4-8 are both connected with the upper part of the movable plate.
The up-down lifting device comprises a first scissor type lifting device 3 and a second scissor type lifting device 7, the first scissor type lifting device 3 is fixed on the right front side of the moving plate 4-1, the second scissor type lifting device 7 is fixed on the left rear side of the moving plate 4-1, and the first scissor type lifting device 3 and the second scissor type lifting device 7 are identical in structure.
The crawler wheel comprises a crawler wheel I1, a crawler wheel II 5, a crawler wheel III 8 and a crawler wheel IV 10, the crawler wheel I1, the crawler wheel II 5, the crawler wheel III 8 and the crawler wheel IV 10 are identical in structure, the crawler wheel I comprises a crawler wheel support frame 1-1, a crawler belt I1-2, a round bar I1-3, a round bar II 1-4, a transmission belt 1-5, a transmission big belt wheel 1-6, a crawler big belt wheel 1-7, a crawler small belt wheel I1-8, a crawler small belt wheel II 1-9, a crawler wheel motor 1-10, a crawler wheel motor shaft 1-11, a transmission small belt wheel 1-12 and a round bar III 1-13, the crawler wheel motor 1-10 is fixed on the crawler wheel support frame 1-1, and a transmission small belt wheel 1-12 is fixed on the crawler wheel motor shaft 1-11 of the crawler wheel motor 1-10, the small transmission belt wheels 1-12 and the large transmission belt wheels 1-6 form belt transmission through transmission belts 1-5, the large transmission belt wheels 1-6 are rotatably installed on the upper portion of the support frame 1-1, the large transmission belt wheels 1-6 and the large crawler belt wheels 1-7 are fixedly connected through the first round rods 1-3, the second round rods 1-4 and the third round rods 1-13, the large crawler belt wheels 1-7, the second small crawler belt wheels 1-9 and the first small crawler belt wheels 1-8 form belt transmission through the first crawler belts 1-2, the second small crawler belt wheels 1-9 and the first small crawler belt wheels 1-8 are respectively rotatably installed on the front side and the rear side of the lower end of the support frame 1-1, and the first crawler belts 1-2 are used for walking.
The left front corner, the left rear corner, the right front corner and the right rear corner of the support frame 13 which is a square frame are respectively provided with a third lead screw lifting device 9, a second lead screw lifting device 6, a first lead screw lifting device 2 and a fourth lead screw lifting device 11, the lower ends of the third lead screw lifting device 9, the second lead screw lifting device 6, the first lead screw lifting device 2 and the fourth lead screw lifting device 11 are respectively fixed with a third crawler wheel support frame of a third crawler wheel 8, a second crawler wheel support frame of a second crawler wheel 5, a crawler wheel support frame of a first crawler wheel 1 and a fourth crawler wheel support frame of a fourth crawler wheel 10.
The scissor type lifting device I3 comprises a lower bottom plate 3-1, a sliding support 3-2, a scissor type lifting device screw rod 3-4, a nut 3-5, an upper bottom plate 3-6, a scissor type lifting device motor 3-7, a lower slideway 3-9, a fixed support 3-10 and a telescoping mechanism, wherein the telescoping mechanism comprises two sets of multi-layer X-shaped scissor assemblies which are completely identical and parallel to each other and are correspondingly arranged on the left side and the right side of the lower bottom plate 3-1, the scissor assemblies on the same layer are composed of two connecting rods 3-8 with the middle parts hinged together so as to have revolute pairs, two adjacent layers of scissor assemblies are hinged together through one end parts of the connecting rods 3-3 arranged at the two ends of the connecting rods 3-8, the other end parts of the connecting rods 3-3 are hinged with the two end parts of the connecting rods 3-8 of the two adjacent layers of scissor, the left end and the right end of the lower bottom plate 3-1 are respectively provided with a lower slideway 3-9 along the front-back direction, the rear end parts of the lower end connecting rods 3-8 of the left and right multilayer X-shaped scissors fork assemblies are respectively hinged with the rear end of one lower slideway 3-9, and the front end parts of the lower end connecting rods 3-8 of the left and right multilayer X-shaped scissors fork assemblies are respectively connected with one lower slideway 3-9 in a sliding manner; the left end and the right end of the lower side of the upper bottom plate 3-6 are respectively provided with an upper slideway arranged along the front-back direction, the rear end parts of upper end connecting rods 3-8 of the left-side and right-side multilayer X-shaped scissors fork assemblies are respectively hinged with the rear end of the upper slideway, and the front end parts of the upper end connecting rods 3-8 of the left-side and right-side multilayer X-shaped scissors fork assemblies are respectively connected with the upper slideway in a sliding manner; the upper bottom plate 3-6 is fixedly provided with a scissors type lifting device motor 3-7, an output shaft of the scissors type lifting device motor 3-7 is fixedly provided with one end of a lifting device screw rod 3-4, the other end of the lifting device screw rod 3-4 is rotatably arranged on the upper bottom plate 3-6, a nut 3-5 is screwed on the lifting device screw rod 3-4, and the nut 3-5 drives the end part of a connecting rod 3-8 which is connected with the upper slideway in a sliding mode to move back and forth along the upper slideway.
The seat 15 is fixed to the upper end of the support frame 13.
The up-down lifting device is replaced by an electric lifting platform.
Compared with the prior art, the invention has the following advantages:
1. in actual life, the height of each stair section at different places can be different, the mechanical device can be automatically adjusted according to the stairs with different heights,
2. the device has four athey wheels and ground contact when going upstairs, has increased the area of contact with the step, easily keeps the focus, and it is more steady, safe to go upstairs.
3. The stair steps are smooth and easy to slide, and the wheel set of the stair climbing device consists of a crawler belt, so that the stair climbing device has large friction on the ground and is not easy to slide.
4. Compared with other machines on the market, the intelligent robot has the advantages of simple operation, high intelligent degree and easy independent operation of the old.
Drawings
Fig. 1 is a first general structural diagram of an intelligent wheelchair for helping the old to climb stairs.
Fig. 2 is a schematic diagram of the general structure of the intelligent wheelchair for helping the old to climb stairs.
Fig. 3 is a general structure schematic diagram of the intelligent old-people-assisting stair-climbing wheelchair with the seat.
Fig. 4 is a first structural schematic diagram of the first crawler wheel.
Fig. 5 is a schematic structural diagram of the first crawler wheel.
Fig. 6 is a schematic structural diagram of a scissor lift device I.
Fig. 7 is a schematic structural view of the lead screw horizontal movement device.
Fig. 8 is a schematic structural view of the fourth lifting device.
Fig. 9 is a schematic structural view of a first step when the machine assists the elderly to ascend stairs.
Fig. 10 is a schematic structural view of a second step when the machine assists the elderly to ascend stairs.
Fig. 11 is a schematic structural view of the third step when the machine assists the elderly to ascend stairs.
Fig. 12 is a schematic structural view of the fourth step when the machine assists the elderly to ascend stairs.
Fig. 13 is a first structural schematic diagram of the sixth step when the machine assists the elderly to go upstairs.
Fig. 14 is a second structural schematic diagram of the sixth step when the machine assists the elderly to ascend stairs.
Fig. 15 is a schematic structural view of a second step of the machine assisting an elderly person to descend stairs.
Fig. 16 is a schematic structural view of the fifth step when the machine assists the elderly to descend stairs.
Detailed Description
The invention relates to an intelligent old-age-assisting stair-climbing wheelchair, which comprises: the track wheel I1, the lead screw lifting device I2, the scissors type lifting device I3, the lead screw horizontal moving device 4, the track wheel II 5, the lead screw lifting device II 6, the scissors type lifting device II 7, the track wheel III 8, the lead screw lifting device III 9, the track wheel IV 10, the lead screw lifting device IV 11, the chain I12, the support frame 13, the chain II 14 and the seat 15 define the front-back, up-down and left-right directions of the application according to the front-back, up-down and left-right directions of a user so as to describe the application.
The first crawler wheel comprises a first crawler wheel support frame 1-1, a first crawler 1-2, a first round rod 1-3, a second round rod 1-4, a transmission belt 1-5, a large transmission belt wheel 1-6, a large crawler belt wheel 1-7, a small crawler belt wheel 1-8, a small crawler belt wheel 1-9, a crawler wheel motor 1-10, a crawler wheel motor shaft 1-11, a small transmission belt wheel 1-12 and a round rod three 1-13, wherein the crawler wheel motor 1-10 is fixed on the first crawler wheel support frame 1-1, the small transmission belt wheel 1-12 is fixed on the crawler wheel motor shaft 1-11 of the crawler wheel motor 1-10, the small transmission belt wheel 1-12 and the large transmission belt wheel 1-6 form belt transmission through the transmission belt 1-5, the large transmission belt wheel 1-6 is rotatably installed on the upper portion of the first support frame 1-1, the large transmission belt wheels 1-6 are fixedly connected with the large crawler belt wheels 1-7 through the first round rods 1-3, the second round rods 1-4 and the third round rods 1-13, the large crawler belt wheels 1-7, the second crawler belt wheels 1-9 and the first crawler belt wheels 1-8 form belt transmission through the first crawler belts 1-2, the second crawler belt wheels 1-9 and the first crawler belt wheels 1-8 are respectively and rotatably installed on the front side and the rear side of the lower end of the support frame 1-1, and the first crawler belts 1-2 are used for walking.
The first crawler wheel 1, the second crawler wheel 5, the third crawler wheel 8 and the fourth crawler wheel 10 are identical in structure, and the support frame 13 is of a square frame structure.
The scissor type lifting device I3 comprises a lower bottom plate 3-1, a sliding support 3-2, a scissor type lifting device screw rod 3-4, a nut 3-5, an upper bottom plate 3-6, a scissor type lifting device motor 3-7, a lower slideway 3-9, a fixed support 3-10 and a telescoping mechanism, wherein the telescoping mechanism comprises two sets of multi-layer X-shaped scissor assemblies which are completely identical and parallel to each other and are correspondingly arranged on the left side and the right side of the lower bottom plate 3-1, the scissor assemblies on the same layer are composed of two connecting rods 3-8 with the middle parts hinged together so as to have revolute pairs, two adjacent layers of scissor assemblies are hinged together through one end parts of the connecting rods 3-3 arranged at the two ends of the connecting rods 3-8, the other end parts of the connecting rods 3-3 are hinged with the two end parts of the connecting rods 3-8 of the two adjacent layers of scissor, the left end and the right end of the lower bottom plate 3-1 are respectively provided with a lower slideway 3-9 along the front-back direction, the rear end parts of the lower end connecting rods 3-8 of the left and right multilayer X-shaped scissors fork assemblies are respectively hinged with the rear end of one lower slideway 3-9, and the front end parts of the lower end connecting rods 3-8 of the left and right multilayer X-shaped scissors fork assemblies are respectively connected with one lower slideway 3-9 in a sliding manner; the left end and the right end of the lower side of the upper bottom plate 3-6 are respectively provided with an upper slideway arranged along the front-back direction, the rear end parts of upper end connecting rods 3-8 of the left-side and right-side multilayer X-shaped scissors fork assemblies are respectively hinged with the rear end of the upper slideway, and the front end parts of the upper end connecting rods 3-8 of the left-side and right-side multilayer X-shaped scissors fork assemblies are respectively connected with the upper slideway in a sliding manner; the upper bottom plate 3-6 is fixedly provided with a scissors type lifting device motor 3-7, an output shaft of the scissors type lifting device motor 3-7 is fixedly provided with one end of a lifting device screw rod 3-4, the other end of the lifting device screw rod 3-4 is rotatably arranged on the upper bottom plate 3-6, a nut 3-5 is screwed on the lifting device screw rod 3-4, and the nut 3-5 drives the end part of a connecting rod 3-8 which is connected with the upper slideway in a sliding mode to move back and forth along the upper slideway. Scissor lifts are conventional in the art and will not be described in detail herein.
The lead screw horizontal moving device 4 comprises a moving plate 4-1, a first sliding rod 4-2, a sliding lead screw 4-3, a large belt wheel 4-4, a synchronous belt 4-5, a translation motor 4-6, a small belt wheel 4-7 and a second sliding rod 4-8. A large belt wheel 4-4 is fixed at the rear part of a sliding screw rod 4-3, the large belt wheel 4-4 and a small belt wheel 4-7 form belt transmission through a synchronous belt 4-5, a translation motor 4-6 is fixed at the upper part of the rear end of a support frame 13, an output shaft of the translation motor 4-6 fixes the small belt wheel 4-7, the sliding screw rod 4-3 is horizontally arranged along the front and rear direction, the front end and the rear end of the sliding screw rod 4-3 are respectively rotatably arranged at the front end and the rear end of the upper part of the middle of the support frame 13, the sliding screw rod 4-3 and the upper end of a movable plate 4-1 form spiral pair transmission, a sliding rod two 4-8, a sliding rod one 4-2, a sliding rod two 4-8, the front end and the rear end of the sliding rod one 4-2 are, At the rear end, a first sliding rod 4-2, a second sliding rod 4-8 and a sliding screw rod 4-3 are arranged in parallel, and the first sliding rod 4-2 and the second sliding rod 4-8 are both connected with the upper part of the moving plate 4-1 in a sliding manner.
The four lead screw lifting device 11 comprises a four lifting frame 11-1, a four lifting lead screw 11-2, a four sliding rod 11-3, a four lifting chain wheel 11-4 and a four lifting motor 11-5, wherein the four lifting lead screw 11-2 is arranged along the vertical direction, the upper end of the four lifting lead screw 11-2 is fixed with the four lifting chain wheel 11-4, the upper end of the four lifting lead screw 11-2 upwards passes through the four lifting chain wheel 11-4 and then is fixedly connected with an output shaft of the four lifting motor 11-5, the four lifting motor 11-5 is fixed at the upper end of a corner of the right rear side of the square frame structure of the support frame 13, the lower end of the four lifting lead screw 11-2 is rotatably arranged at the lower end of the corner of the right rear side of the square frame structure of the support frame 13, and the upper end of the four lifting frame 11-1, the four slide bars 11-3 and the four lifting screws 11-2 are arranged in parallel, the upper ends and the lower ends of the four slide bars 11-3 are respectively fixed at the upper end and the lower end of a support frame 13, the upper ends of the four lifting frames 11-1 are in sliding fit with the four slide bars 11-3 along the up-down direction, the lower ends of the four lifting frames 11-1 are fixed with four crawler wheels of four crawler wheels 10, the four screw lifting devices 11 are identical in structure with the first screw lifting device 2, the two screw lifting devices 6 are identical in structure with the third screw lifting device 9, the four screw lifting devices 11 are basically symmetrical to the left-right symmetrical plane of the second screw lifting device 6, and the difference is that the upper ends of the two lifting screws of the second screw lifting device 6 are.
The lifting chain wheel IV 11-4 and the lifting chain wheel II of the lifting device II 6 form chain transmission through the chain I12, and the lifting chain wheel IV of the lead screw lifting device I2 and the lifting chain wheel III of the lifting device III 9 form chain transmission through the chain II 14.
The right front side of the moving plate 4-1 is fixed with a first scissor type lifting device 3, the left rear side of the moving plate 4-1 is fixed with a second scissor type lifting device 7, and the first scissor type lifting device 3 and the second scissor type lifting device 7 are identical in structure.
The left front corner, the left rear corner, the right front corner and the right rear corner of the support frame 13 which is a square frame are respectively provided with a third lead screw lifting device 9, a second lead screw lifting device 6, a first lead screw lifting device 2 and a fourth lead screw lifting device 11, the lower ends of the third lead screw lifting device 9, the second lead screw lifting device 6, the first lead screw lifting device 2 and the fourth lead screw lifting device 11 are respectively fixed with a third crawler wheel support frame of a third crawler wheel 8, a second crawler wheel support frame of a second crawler wheel 5, a crawler wheel support frame of a first crawler wheel 1 and a fourth crawler wheel support frame of a fourth crawler wheel 10.
The seat 15 is fixed on the upper end of the support frame 13.
When the machine assists the elderly to go upstairs:
the first step is as follows: when the sensor on the scissor lift mechanism 3 detects a step, the sliding screw 4-3 is rotated to move the scissor lift mechanism 3 and the scissor lift mechanism 7 horizontally forward by a step width, as shown in fig. 9.
The second step is that: the screw rods of the scissor type lifting devices on the first scissor type lifting device 3 and the second scissor type lifting device 7 rotate, so that the first scissor type lifting device 3 and the second scissor type lifting device 7 are lifted to the height of one step, and the lifting screw rods on the second screw rod lifting device 6 and the fourth screw rod lifting device 11 rotate, so that the second crawler wheel 5 and the fourth crawler wheel 10 are lowered to the height of one step, as shown in fig. 10.
The third step: the rotation of the sliding screw 4-3 moves the support frame 13 forward by a distance of one step width as shown in fig. 11.
The fourth step: the screw of the scissor lift devices on the first scissor lift device 3 and the second scissor lift device 7 rotates, so that the height of the first scissor lift device 3 and the second scissor lift device 7 is reduced by more than one step, as shown in fig. 12.
The fifth step: and repeating the first step to the fourth step, wherein in the second step, the screw rod does not need to rotate when the second screw rod lifting device 6 and the fourth screw rod lifting device 11 lift the screw rod.
And a sixth step: when the last step is raised, as shown in fig. 13. The rotation of the sliding lead screw 4-3 causes the carriage to move forward by the step width distance as shown in fig. 14. And the screw rods of the scissor type lifting devices on the first scissor type lifting device 3 and the second scissor type lifting device 7 rotate, so that the first scissor type lifting device 3 and the second scissor type lifting device 7 descend slightly higher than the height of one step, and the sliding screw rods 4-3 rotate to enable the first scissor type lifting device 3 and the second scissor type lifting device 7 to horizontally move forward by a distance of one step width.
When the machine assists the elderly to descend stairs.
The first step is as follows: the sliding screw 4-3 rotates to enable the first scissor type lifting device 3 and the second scissor type lifting device 7 to horizontally move a distance of one step width backwards, and the screw of the first scissor type lifting device 3 and the second scissor type lifting device 7 rotates to enable the first scissor type lifting device 3 and the second scissor type lifting device 7 to be lifted a little higher than the height of one step, as shown in fig. 14.
The second step is that: the sliding screw 4-3 rotates to enable the support frame to move backwards by the distance of one step width, and the screw lifting device II 6 and the screw lifting device IV 11 lift the screw to rotate, so that the crawler wheel II 5 and the crawler wheel IV 10 descend by the height of one step, as shown in FIG. 15.
The third step: and the screw rods of the scissor type lifting devices on the scissor type lifting device I3 and the scissor type lifting device II 7 rotate, so that the height of the scissor type lifting device I3 and the scissor type lifting device II 7 is slightly higher than that of one step.
The fourth step: and repeating the first step to the third step, wherein the screw rod does not need to rotate when the screw rod lifting device II 6 and the screw rod lifting device IV 11 lift the screw rod in the second step.
The fifth step: when it drops to only one step left, as shown in fig. 16. And the second lead screw lifting device 6 and the fourth lead screw lifting device 11 lift the lead screws to rotate, so that the second crawler wheel 5 and the fourth crawler wheel 10 rise by the height of one step, the first scissors type lifting device 3 and the second scissors type lifting device 7 are rotated, so that the first scissors type lifting device 3 and the second scissors type lifting device 7 are lowered by a little higher than the height of one step, and the sliding lead screws 4-3 rotate to enable the first scissors type lifting device 3 and the second scissors type lifting device 7 to horizontally move by the distance of one step width to the back.
When the ground moves, the scissor type lifting device I3 and the scissor type lifting device II 7 are in a contraction state.
Claims (9)
1. Supplementary old person goes up and down stairs device, its characterized in that: including support frame (13), elevating gear, lead screw horizontal migration device (4), lead screw elevating gear, support frame (13) be square frame structure, four corners that support frame (13) are square frame set up a lead screw elevating gear respectively, and two synchronous elevating motion of lead screw elevating gear of front side, two synchronous elevating motion of lead screw elevating gear of rear side, a athey wheel is fixed to every lead screw elevating gear's lower extreme, lead screw horizontal migration device (4) remove along the fore-and-aft direction, lead screw horizontal migration device (4) all are provided with an oscilaltion device at diagonal border position.
2. The device for assisting the elderly to ascend and descend stairs according to claim 1, wherein: the screw lifting device comprises a first screw lifting device (2), a second screw lifting device (6), a third screw lifting device (9) and a fourth screw lifting device (11), wherein the fourth screw lifting device (11) comprises a fourth lifting frame (11-1), a fourth lifting screw (11-2), a fourth sliding rod (11-3), a fourth lifting chain wheel (11-4) and a fourth lifting motor (11-5), the fourth lifting screw (11-2) is arranged along the vertical direction, the fourth lifting chain wheel (11-4) is fixed at the upper end of the fourth lifting screw (11-2), the upper end of the fourth lifting screw (11-2) penetrates upwards through the fourth lifting chain wheel (11-4) and is fixedly connected with an output shaft of the fourth lifting motor (11-5), and the fourth lifting motor (11-5) is fixed at the upper end of the corner of the right rear side of the square frame structure of the support frame (13), the lower end of a fourth lifting screw rod (11-2) is rotatably arranged at the lower end of a corner at the right rear side of a square frame structure of a support frame (13), the upper end of a fourth lifting frame (11-1) and the fourth lifting screw rod (11-2) form a spiral pair to rotate, a fourth sliding rod (11-3) and the fourth lifting screw rod (11-2) are arranged in parallel, the upper end and the lower end of the fourth sliding rod (11-3) are respectively fixed at the upper end and the lower end of the support frame (13), the upper end of the fourth lifting frame (11-1) is in sliding fit with the fourth sliding rod (11-3) along the up-down direction, the lower end of the fourth lifting frame (11-1) is fixed with a fourth crawler wheel support frame of a fourth crawler wheel (10), the fourth screw rod lifting device (11) has the same structure as the first screw rod lifting device (2), and the second screw rod, the fourth screw lifting device (11) is basically symmetrical to the left-right symmetrical plane of the second screw lifting device (6), and the upper end of the second lifting screw of the second screw lifting device (6) is rotatably arranged on the support frame (13);
the fourth lifting chain wheel (11-4) and the second lifting chain wheel of the second lifting device (6) form chain transmission through the first chain (12), and the fourth lifting chain wheel of the first lead screw lifting device (2) and the third lifting chain wheel of the third lifting device (9) form chain transmission through the second chain (14).
3. The device for assisting the elderly to ascend and descend stairs according to claim 2, wherein: the lead screw horizontal moving device (4) comprises a moving plate (4-1), a sliding rod I (4-2), a sliding lead screw (4-3), a large belt wheel (4-4), a synchronous belt (4-5), a translation motor (4-6), a small belt wheel (4-7) and a sliding rod II (4-8), wherein the large belt wheel (4-4) is fixed at the rear part of the sliding lead screw (4-3), the large belt wheel (4-4) and the small belt wheel (4-7) form belt transmission through the synchronous belt (4-5), the translation motor (4-6) is fixed at the upper part of the rear end of a support frame (13), the small belt wheel (4-7) is fixed at an output shaft of the translation motor (4-6), the sliding lead screw (4-3) is horizontally arranged along the front-back direction, and the front part and the rear part of the, The rear ends of the sliding screw rods (4-3) and the upper end of the movable plate (4-1) form spiral pair transmission, the left side and the right side of the sliding screw rods (4-3) are respectively provided with a sliding rod II (4-8) and a sliding rod I (4-2), the front ends and the rear ends of the sliding rod II (4-8) and the sliding rod I (4-2) are respectively fixed at the front end and the rear end of the upper part of the support frame (13), the sliding rod I (4-2), the sliding rod II (4-8) and the sliding screw rod (4-3) are arranged in parallel, and the sliding rod I (4-2) and the sliding rod II (4-8) are both in sliding connection with the upper part of the movable plate (4-1).
4. The device for assisting the elderly to ascend and descend stairs according to claim 3, wherein: the up-down lifting device comprises a first scissor type lifting device (3) and a second scissor type lifting device (7), the first scissor type lifting device (3) is fixed on the right front side of the moving plate (4-1), the second scissor type lifting device (7) is fixed on the left rear side of the moving plate (4-1), and the first scissor type lifting device (3) and the second scissor type lifting device (7) are identical in structure.
5. The device for assisting the elderly to ascend and descend stairs according to claim 4, wherein: the crawler wheel comprises a crawler wheel I (1), a crawler wheel II (5), a crawler wheel III (8) and a crawler wheel IV (10), the crawler wheel I (1), the crawler wheel II (5), the crawler wheel III (8) and the crawler wheel IV (10) have the same structure, the crawler wheel I comprises a crawler wheel support frame (1-1), a crawler belt I (1-2), a round bar I (1-3), a round bar II (1-4), a transmission belt (1-5), a large transmission belt wheel (1-6), a large crawler belt wheel (1-7), a small crawler belt wheel I (1-8), a small crawler belt wheel II (1-9), a crawler wheel motor (1-10), a crawler wheel motor shaft (1-11), a small transmission belt wheel (1-12) and a round bar III (1-13), the crawler wheel motor (1-10) is fixed on the crawler wheel support frame (1-1), a small transmission belt wheel (1-12) is fixed on a crawler wheel motor shaft (1-11) of a crawler wheel motor (1-10), the small transmission belt wheel (1-12) and a large transmission belt wheel (1-6) form belt transmission through a transmission belt (1-5), the large transmission belt wheel (1-6) is rotatably installed on the upper part of the support frame (1-1), the large transmission belt wheel (1-6) and the large crawler belt wheel (1-7) form belt transmission through a first round rod (1-3), a second round rod (1-4) and a third round rod (1-13), the large crawler belt wheel (1-7) and the small crawler belt wheel (1-9) and the small crawler belt wheel (1-8) form belt transmission through a first crawler belt (1-2), the second crawler belt wheel (1-9) and the first crawler belt wheel (1-8) are respectively rotatably installed on the front side of the lower end of the support frame (1-1), The first crawler belt (1-2) is used for walking on the rear side of the lower end.
6. The device for assisting the elderly to ascend and descend stairs according to claim 5, wherein: the crawler wheel three-support frame of the crawler wheel three (8), the crawler wheel two-support frame of the crawler wheel two (5), the crawler wheel one-support frame of the crawler wheel one (1) and the crawler wheel four-support frame of the crawler wheel four (10) are respectively fixed at the lower ends of the left front corner, the left rear corner, the right front corner and the right rear corner of the support frame (13) which is a square frame, and a lead screw lifting device three (9), a lead screw lifting device two (6), a lead screw lifting device one (2) and a lead screw lifting device four (11).
7. The device for assisting the elderly to ascend and descend stairs according to claim 6, wherein: the scissor type lifting device I (3) comprises a lower bottom plate (3-1), a sliding support (3-2), a scissor type lifting device screw rod (3-4), a nut (3-5), an upper bottom plate (3-6), a scissor type lifting device motor (3-7), a lower slideway (3-9), a fixed support (3-10) and a telescopic mechanism, wherein the telescopic mechanism comprises two sets of scissor assemblies which are identical and parallel to each other and are correspondingly arranged on the left side and the right side of the lower bottom plate (3-1) and in an X shape, the scissor assembly on the same layer comprises two connecting rods (3-8) with rotating pairs, the middle parts of the scissor assemblies on the two adjacent layers are hinged together through one end parts of the connecting rods (3-3) arranged at the two ends of the connecting rods (3-8), the other end of the connecting rod (3-3) is hinged with two end parts of a connecting rod (3-8) of two adjacent layers of scissors assemblies of the other side of the scissors assembly, a lower slideway (3-9) is respectively arranged at the left end and the right end of the lower bottom plate (3-1) along the front-back direction, the rear end parts of the lower end connecting rods (3-8) of the left side and the right side of the multilayer X-shaped scissors assembly are respectively hinged with the rear end of one lower slideway (3-9), and the front end parts of the lower end connecting rods (3-8) of the left side and the right side of the multilayer X-shaped scissors assembly are respectively connected with one lower slideway (3-9) in a sliding manner; the left end and the right end of the lower side of the upper bottom plate (3-6) are respectively provided with an upper slideway arranged along the front-back direction, the rear end parts of upper end connecting rods (3-8) of the left and right multilayer X-shaped scissors fork assemblies are respectively hinged with the rear end of the upper slideway, and the front end parts of the upper end connecting rods (3-8) of the left and right multilayer X-shaped scissors fork assemblies are respectively connected with the upper slideway in a sliding manner; the upper bottom plate (3-6) is fixedly provided with a scissor type lifting device motor (3-7), an output shaft of the scissor type lifting device motor (3-7) is fixedly provided with one end of a lifting device screw rod (3-4), the other end of the lifting device screw rod (3-4) is rotatably arranged on the upper bottom plate (3-6), a nut (3-5) is screwed on the lifting device screw rod (3-4), and the nut (3-5) drives the end part of a connecting rod (3-8) which is connected with the upper slideway in a sliding mode to move back and forth along the upper slideway.
8. The device for assisting the elderly to ascend or descend stairs according to any one of claims 1 to 7, wherein: the seat (15) is fixed at the upper end of the support frame (13).
9. The device for assisting the elderly to ascend or descend stairs according to any one of claims 1 to 7, wherein: the up-down lifting device is replaced by an electric lifting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010401835.3A CN111437113A (en) | 2020-05-13 | 2020-05-13 | Intelligent wheelchair for helping the old to climb stairs |
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| CN202010401835.3A CN111437113A (en) | 2020-05-13 | 2020-05-13 | Intelligent wheelchair for helping the old to climb stairs |
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| CN111437113A true CN111437113A (en) | 2020-07-24 |
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| CN202010401835.3A Pending CN111437113A (en) | 2020-05-13 | 2020-05-13 | Intelligent wheelchair for helping the old to climb stairs |
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