CN111714302B - Multi-plane-use stair-climbing wheelchair - Google Patents
Multi-plane-use stair-climbing wheelchair Download PDFInfo
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- CN111714302B CN111714302B CN202010729937.8A CN202010729937A CN111714302B CN 111714302 B CN111714302 B CN 111714302B CN 202010729937 A CN202010729937 A CN 202010729937A CN 111714302 B CN111714302 B CN 111714302B
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- crawler
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- ball screw
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- clamping groove
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/101—Wheelchairs having brakes of the parking brake type, e.g. holding the wheelchair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1013—Wheelchairs having brakes engaging the wheel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- 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
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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
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
Abstract
The invention discloses a multi-plane stair-climbing wheelchair which is divided into three parts, namely a seat whole body, a chair frame whole body and a crawler belt whole body. The seat is provided with a backrest, armrests and a seat in the whole body, and the inclination degree of the backrest is adjusted by adjusting the positions of clamping grooves at the lower parts of the armrests. The seat is integrally connected with the crawler through a ball screw and a hydraulic rod, and the horizontal state of the seat in the stair climbing process is controlled by adjusting the lengths of the ball screw and the hydraulic rod, so that the aim of shock absorption can be fulfilled in the driving process; the whole crawler belt is integrally connected with the chair frame. The chair frame integrally comprises a chair frame, a driving wheel and universal wheels, and a fault self-locking system is arranged at the main crawler belt, so that the condition that the stairs climb to cause a fault and casualties is avoided. The auxiliary crawler belt is connected with the non-power wheel of the main crawler belt through a steering engine, and can adapt to stairs with different inclination degrees. All the wheels adopt independent power devices, and the functions of turning and the like can be realized in a small space.
Description
Technical Field
The invention relates to the technical field of wheelchairs, in particular to a multi-plane stair-climbing wheelchair.
Background
The existing wheelchair is more intelligent, has liberated both hands of people, and can be independently controlled by a rider. For example, chinese utility model patent publication No. CN210019986U discloses "a seat with stair climbing function", which enables a wheelchair to climb stairs by installing a back-to-track frame. The stair climbing mode has the defects that manual operation is needed to reach the first section of steps and the steps are adaptive to the shapes of the steps, full automation cannot be achieved, meanwhile, in the stair climbing or descending process, a human body cannot be guaranteed to be in a horizontal plane, the influence of the inclination degree of the steps is easily caused, and the comfort degree of a user is greatly reduced.
In addition, when the road surface is bumpy, and the road surface is small, the functions of shock absorption and obstacle crossing cannot be achieved. In the further design, the seat occupant cannot adjust the inclination degree of the backrest, so that the problems of waist pain and the like caused by long-time sitting of the seat occupant are easily caused, and the comfort level of the seat occupant is finally influenced.
Disclosure of Invention
The invention aims to provide a multi-plane stair climbing wheelchair, which can be adjusted to be a deck chair, can run on a bumpy road surface and can go up and down stairs, and greatly increases the space available for the wheelchair.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a multi-plane stair climbing wheelchair, which comprises a backrest, a seat body, a base and a whole crawler belt, wherein the backrest is hinged to the rear side of the seat body, the inclination angle of the backrest is adjustable, the base is installed at the bottom of the seat body through a connecting piece, the whole crawler belt comprises a crawler belt bottom plate, a left crawler belt assembly and a right crawler belt assembly, the left crawler belt assembly and the right crawler belt assembly are symmetrically distributed on two sides of the bottom of the crawler belt bottom plate, the crawler belt bottom plate is connected with the base and the seat body through a ball screw, the ball screw driven by a motor sequentially penetrates through the crawler belt bottom plate and the base from bottom to top and then is hinged with the bottom surface of the seat body, and a screw; the four corners of base are provided with the landing leg respectively, and the universal wheel is installed to two landing leg bottoms that are located the wheelchair front side, and the drive wheel is installed to two landing leg bottoms that are located the wheelchair rear side.
Preferably, the both sides of pedestal are provided with left handrail and right handrail respectively, the one end of left handrail and right handrail respectively with the left and right sides of back is fixed mutually, and the bottom equipartition of two handrail other ends has a plurality of draw-in grooves, this draw-in groove be used for with the support top end looks joint on the pedestal left and right sides limit, adjust through changing the draw-in groove position with support top joint the inclination of back.
Preferably, the ball screws comprise a front ball screw and a rear ball screw, the two ball screws are symmetrically arranged in front and back and connect the track bottom plate, the base and the base body, the tops of the sliding rods of the two ball screws are hinged with the bottom surface of the base body, and the tops of the sliding rods of the two ball screws are in transmission connection with the motor and the coupler; the nut on the front ball screw and the nut on the rear ball screw are fixedly connected with the track bottom plate, when a motor of the ball screw works, the ball screw is driven to rotate, and then the relative positions of the front ball screw nut and the rear ball screw nut on the sliding rod are changed, so that the relative distance between the track bottom plate and the base body is adjusted.
Preferably, the motors of the front ball screw and the rear ball screw are arranged independently, and the rotating speeds of the two motors can be the same or different; front hydraulic rods and rear hydraulic rods are symmetrically arranged between the track bottom plate and the seat body, one ends of the two hydraulic rods are fixed to the top surface of the track bottom plate, and the other ends of the two hydraulic rods are fixedly connected with the bottom surface of the seat body.
Preferably, the driving wheels comprise a left driving wheel and a right driving wheel, and the right driving wheel and the left driving wheel adopt mutually independent power sources.
Preferably, the left side crawler assembly comprises a left main crawler, a left auxiliary crawler, a left crawler steering engine clamping groove, a left crawler auxiliary wheel clamping groove and a left crawler motor, the right side crawler assembly comprises a right main crawler, a right auxiliary crawler, a right crawler steering engine clamping groove, a right crawler auxiliary wheel clamping groove and a right crawler motor, the bottoms of the four corners of the crawler bottom plate are respectively connected with the left crawler steering engine clamping groove, the left crawler auxiliary wheel clamping groove, the right crawler steering engine clamping groove and the right crawler auxiliary wheel clamping groove through bearing hydraulic rods, two ends of the left main crawler are respectively in transmission connection with belt wheels at the left crawler steering engine clamping groove and the left crawler auxiliary wheel clamping groove, and two ends of the right main crawler are respectively in transmission connection with belt wheels at the right crawler steering engine clamping groove and the right crawler auxiliary wheel clamping; the right main crawler belt and the left main crawler belt are respectively connected with a right auxiliary crawler belt and a left auxiliary crawler belt.
Preferably, a left hydraulic brake pad and a right hydraulic brake pad are respectively arranged at the power wheel in the belt wheels of the left main track and the right main track.
Preferably, the left side crawler belt assembly and the right side crawler belt assembly are identical in structure, and the crawler belt assemblies on the two sides are arranged correspondingly; the left crawler auxiliary wheel clamping groove is connected with the left main crawler through a bearing, the extending end of the left crawler auxiliary wheel clamping groove is fixedly connected with a left auxiliary crawler steering engine, a steering wheel of the left auxiliary crawler steering engine is fixedly connected with the left auxiliary crawler, and the left auxiliary crawler is enabled to deflect at different angles through controlling the left auxiliary crawler steering engine.
Preferably, the right main track and the left main track adopt independent power systems, the right main track is in transmission connection with a right track motor, and the left main track is in transmission connection with a left track motor.
Preferably, the brake system further comprises a fault self-locking system, wherein a brake motor in the fault self-locking system is fixedly connected with the track bottom plate, and the brake motor is connected with the brake block clamping groove through a hydraulic pipe arranged on the rigid body support; when the current appears unusually in the main circuit board of wheelchair, the brake motor work, drive the piston structure motion with the motor bottom setting for the pressure increase in the liquid pipe that is connected with piston structure and sets up on the rigid body support, the other end and the brake block draw-in groove intercommunication of liquid pipe, thereby make brake block draw-in groove hydraulic pressure increase, promote the brake block in the brake block draw-in groove to pop out, the brake block that is located crawler drive wheel both sides is used for playing the braking action to the crawler drive wheel.
Compared with the prior art, the invention has the following beneficial technical effects:
the multi-plane stair climbing wheelchair effectively increases the reachable space range of the wheelchair through the design of a mechanical structure, and can be controlled by a rider to autonomously run on flat roads, bumpy roads, stairs and other environments. In the process of going upstairs and downstairs, the safety of passengers is ensured through the designed fault self-locking system. Meanwhile, the backrest of the wheelchair can be adjusted in inclination angle, so that the rider has better comfort, and the reclining and sitting actions of the rider can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a right rear oblique view of the entire track;
FIG. 3 is an oblique left-rear view of the entire track;
FIG. 4 is a right side track exploded view;
fig. 5 is a working diagram of the structure of the track swing arm, specifically, fig. 5a is a state diagram of the track being unfolded, fig. 5b is a state diagram of the track being unfolded by 45 degrees, fig. 5c is a state diagram of the track being unfolded by 135 degrees, fig. 5d is a state diagram of the track being unfolded by 180 degrees, and fig. 5e is a state diagram of the track being unfolded by more than 180 degrees (for the process of going downstairs);
FIG. 6 is an assembled view of the ball screw with other parts, specifically, FIG. 6a is a front oblique view of the ball screw, and FIG. 6b is a rear oblique view of the ball screw;
fig. 7 shows the working state of the ball screw during going upstairs and downstairs, specifically, fig. 7a shows the working state of the ball screw during going upstairs, and fig. 7b shows the working state of the ball screw during going downstairs.
Fig. 8 is a structural diagram of a fault self-locking system, specifically, fig. 8a is an oblique view of a self-locking system in a non-working state, fig. 8b is an oblique view of a self-locking system in a working state, fig. 8c is a top view of the self-locking system in a non-working state, and fig. 8d is a top view of the self-locking system in a working state.
In the figure, 1, a backrest, 2, a right handrail, 3, a left handrail, 4, a seat body, 5, a base, 6, a left universal wheel, 7, a right universal wheel, 8, a front ball screw, 9, a rear ball screw, 10, a right driving wheel, 11, a left driving wheel, 12, a whole crawler belt, 13, a front hydraulic rod, 14, a rear hydraulic rod, 15, a bearing hydraulic rod, 16, a right main crawler belt, 17, a right auxiliary crawler belt, 18, a left hydraulic brake block, 19, a left crawler steering engine clamping groove, 20, a left crawler auxiliary wheel clamping groove, 21, a crawler base plate, 22, a left crawler motor, 23, a left main crawler belt, 24, a right hydraulic brake block, 25, a left auxiliary crawler belt, 26, a right crawler auxiliary wheel clamping groove, 27, a right crawler clamping groove, 28, a right crawler motor, 29, a bearing, 30, a left auxiliary crawler steering engine, 31, a front ball screw, 32, 33, a rear ball screw, 34, a rear ball screw nut, 35. the device comprises a seat and base rear connecting piece, 36 a seat and base front connecting piece, 37 a caterpillar driving wheel, 38 a brake block, 39, a brake block clamping groove, 40, a liquid pipe, 41 and a brake motor.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a multi-plane stair climbing wheelchair, which can be adjusted to be a deck chair, can run on a bumpy road surface and can go up and down stairs, and greatly increases the space available for the wheelchair.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-8, the present embodiment provides a multi-plane wheelchair for climbing stairs, which comprises a seat body 4, a backrest 1, a right armrest 2, and a left armrest 3. The lower part of the seat body 4 is connected with a front ball screw 8, a rear ball screw 9, a front hydraulic rod 13 and a rear hydraulic rod 14, thereby being connected with the whole crawler belt 12. The inclination degree of the backrest 1 is adjusted by adjusting the positions of the clamping grooves of the right handrail 2 and the left handrail 3, so that the backrest is suitable for different people.
Further, base 5 links firmly with the whole 12 of track, adjust the position of ball screw nut through the motor of control preceding ball screw 8 and back ball screw 9 department, through the motor control to preceding ball screw 8 and back ball screw 9, the relative height of front and back between the whole 12 of adjustment track and pedestal 4 guarantees that pedestal 4 is in the horizontality, preceding hydraulic stem 13 and back hydraulic stem 14 play the effect of auxiliary stay simultaneously, the structural damage of having avoided leading to because preceding ball screw 8 and back ball screw 9 intensity are not enough, the seat safety has been guaranteed jointly to these parts is in the horizontal plane state.
The cylindrical structures on the upper parts of the front ball screw slide rod 31 and the rear ball screw slide rod 33 are the installation positions of the motor and the coupler, and meanwhile, the structure on the top end of the front ball screw slide rod and the rear ball screw slide rod can be ensured to be connected with the bottom end of the seat body 4, and a degree of freedom capable of rotating exists between the front ball screw slide rod and the rear ball screw slide rod. The front ball screw nut 32 and the rear ball screw nut 34 are fixedly connected with the track bottom plate 21 at the connection position above or below the track bottom plate 21. The seat body 4 and the base 5 are fixedly connected through a seat and base rear connecting piece 35 and a seat and base front connecting piece 36. When the motor of the ball screw works, the ball screw is driven to rotate, so that the relative positions of the front ball screw nut 32 and the rear ball screw nut 34 and the front ball screw slide bar 31 and the rear ball screw slide bar 33 are influenced, and the relative distance between the track bottom plate 21 and the seat body 4 is influenced.
In the process of going upstairs and downstairs, the rotating speed of the motor is adjusted, so that the front ball screw nut 32 and the rear ball screw nut 34 move to different positions on the front ball screw slide bar 31 and the rear ball screw slide bar 33, the distances from the front end and the rear end of the seat body 4 to the front end and the rear end of the track bottom plate 21 are different, the whole track 12 is always in contact with the stairs due to the action of gravity, and the seat body 4 can be located on a horizontal plane by controlling the motors in the front ball screw 8 and the rear ball screw 9.
In order to realize the flexible direction change of the wheelchair, in the embodiment, the base 5 is connected with the left universal wheel 6, the right universal wheel 7, the right driving wheel 10 and the left driving wheel 11 adopt independent power design, the turning can be completed in a smaller range, and the left universal wheel 6 and the right universal wheel 7 play a role in supporting and can flexibly change the direction.
In this embodiment, the crawler assembly 12 includes a bearing hydraulic rod 15, a right main crawler 16, a right auxiliary crawler 17, a left hydraulic brake pad 18, a left crawler steering engine clamping groove 19, a left crawler auxiliary wheel clamping groove 20, a crawler bottom plate 21, a left crawler motor 22, a left main crawler 23, a right hydraulic brake pad 24, a left auxiliary crawler 25, a right crawler auxiliary wheel clamping groove 26, a right crawler steering engine clamping groove 27, a right crawler motor 28, a bearing 29, and a left auxiliary crawler steering engine 30.
Specifically, the connection relationship between the above components in the crawler belt unit 12 is as follows: the crawler base plate 21 is connected with the nuts of the front ball screw 8 and the rear ball screw 9 above the crawler base plate, and the crawler base plate 21 is connected with the other ends of the front hydraulic rod 13 and the rear hydraulic rod 14 and is fixedly connected with the base 5; meanwhile, the bottom surface of the crawler bottom plate 21 is connected with a left crawler steering engine clamping groove 19, a left crawler auxiliary wheel clamping groove 20, a right crawler auxiliary wheel clamping groove 26 and a right crawler steering engine clamping groove 27 through the bearing hydraulic rod 15, the whole weight is reduced, the bearing hydraulic rod 15 serves as a connecting body of a crawler and a wheelchair frame, the impact relieving effect can be achieved, the influence of crawler oscillation on the whole wheelchair is reduced, and the shock absorption effect can be achieved for the whole wheelchair.
Furthermore, the right main crawler belt 16 and the left main crawler belt 23 are in transmission connection with belt wheels which are output from the left crawler belt steering engine clamping groove 19, the left crawler belt auxiliary wheel clamping groove 20, the right crawler belt steering engine clamping groove 27 and the right crawler belt auxiliary wheel clamping groove 26, and the right hydraulic brake block 24 and the left hydraulic brake block 18 are installed at power wheels of the two main crawler belts, so that the situation that a power system breaks down to cause people to be injured is prevented, and particularly, the safety of a rider in the stair climbing process is guaranteed.
The right main crawler belt 16 and the left main crawler belt 23 are respectively connected with a right auxiliary crawler belt 17 and a left auxiliary crawler belt 25, and the main crawler belt and the auxiliary crawler belts are connected through auxiliary crawler belt steering engines to form a swing arm mechanism. Taking the left side track as an example, left track auxiliary wheel clamping groove 20 is connected with left main track 23 through bearing 29, the end that stretches out of left track auxiliary wheel clamping groove 20 and left auxiliary track steering wheel 30 fixed connection, the steering wheel of left auxiliary track steering wheel 30 and left auxiliary track 25 looks fixed connection, guarantee that left main track 23 rotates the in-process and does not influence the state of left track auxiliary wheel clamping groove 20 and left auxiliary track steering wheel 30, make left auxiliary track 25 deflect different angles through the control to left auxiliary track steering wheel 30 simultaneously, the right side track principle is similar.
The right main crawler 16 and the left main crawler 23 adopt independent power systems, the right main crawler 16 is fixedly connected with a right crawler motor 28, the left main crawler 23 is fixedly connected with a left crawler motor 22, and turning can be completed in a small range by controlling the rotating speeds of the two motors.
Example one
When the wheelchair runs on a bumpy road surface, the wheel-track mode is switched to the track mode, the motor of the ball screw is driven to rotate in the reverse direction at the moment, the ball screw is driven to rotate, the ball screw nut is driven to do downward axial movement along the ball screw, and therefore the whole track 12 is released. The main crawler belt lands, the auxiliary crawler belt steering engine does not work at the moment, and the auxiliary crawler belt is folded. Then the running work is finished by controlling the rotating speed of the left track motor 22 and the right track motor 28, and the turning is realized by controlling the speed difference of the two motors, and when the track mode is adopted, the running is stable, but the speed is slower.
Example two
When the wheelchair runs on a flat road surface, the wheel-track mode is switched to the wheel mode, the motor of the ball screw is driven to rotate in the positive direction at the moment, the ball screw is driven to rotate, the ball screw nut is driven to do upward axial movement along the ball screw, and therefore the track is integrally retracted, and the wheels touch the ground. At the moment, the rotation speed of the driving wheel motor is controlled to complete the work of turning, advancing and the like, and when a wheel type mode is adopted, the advancing is stable and the speed is high.
EXAMPLE III
When the wheelchair is used for lying and resting, the main belt lands by switching the wheel-crawler mode to the crawler mode, then the auxiliary crawler steering engine starts to work, the auxiliary belt rotates 180 degrees and is unfolded to the horizontal direction by controlling the auxiliary crawler steering engine, the whole wheelchair is ensured to have a larger contact area with the ground, and finally the inclination degree of the backrest 1 can be adjusted by adjusting the armrests, so that the wheelchair can reach the most comfortable angle. The adjustment of the angle of the seat back allows the occupant to lie or sit upright.
Example four
When the wheelchair is used for climbing stairs or going downstairs, the main belt lands by switching the wheel-crawler mode to the crawler mode.
When going upstairs, a mode of going upstairs backwards is adopted. And at the first step of the upstairs, the auxiliary crawler steering engine works to enable the auxiliary crawler to be unfolded to the inclined angle same as the stairs, and the plane of the auxiliary crawler is parallel to the plane of the stairs at the moment. And then the track power system is started, the main track and the auxiliary track rotate simultaneously, the main track and the auxiliary track climb up continuously, and after one end of the main track starts to leave the ground, the included angle between the main track and the auxiliary track is adjusted through controlling the auxiliary track steering engine, so that the contact area between the main track and the auxiliary track and the ground is the largest, and the driving safety is ensured. In the process of climbing stairs, the distance between the ball screw nut and the base is continuously adjusted by adjusting the rotating direction and the rotating speed of the ball screw below the seat, so that the seat plane is ensured to be in a horizontal state. After the vehicle reaches the roof, the included angle between the auxiliary belt and the main belt is adjusted through controlling the auxiliary crawler steering engine, so that the auxiliary belt is recovered, the included angle between the auxiliary belt and the main belt is 0 degree, and the vehicle returns to a crawler running mode.
When going downstairs, the auxiliary crawler steering engine works at the first step of the downstairs of the stairs, so that the auxiliary belt is unfolded to the inclined angle same as the stairs, and the plane of the auxiliary crawler is parallel to the plane of the stairs. And then the crawler power system is started, the main crawler and the auxiliary crawler rotate simultaneously and move downwards continuously, and after one end of the main crawler leaves the ground, the included angle between the main crawler and the auxiliary crawler is adjusted by controlling the auxiliary crawler steering engine, so that the contact area between the main crawler and the ground and the contact area between the auxiliary crawler and the ground are the largest, and the driving safety is ensured. In the process of going downstairs, the distance between the ball screw nut and the base is continuously adjusted by adjusting the rotating direction and the rotating speed of the ball screw below the seat, so that the seat plane is ensured to be in a horizontal state. After the vehicle reaches the bottom of a building, an included angle between the auxiliary belt and the main belt is adjusted through controlling the auxiliary crawler steering engine, so that the auxiliary belt is recovered, the included angle between the auxiliary belt and the main belt is 0 degree, and the vehicle returns to a crawler running mode.
EXAMPLE five
When the current of the main circuit board of the wheelchair is abnormal, namely the power system of the wheelchair breaks down, the fault self-locking system is started at the moment, the brake motor 41 works to drive the piston connected with the brake motor to move, so that the pressure intensity in the liquid pipe 40 arranged on the rigid support is increased, the brake pad clamping groove 39 is driven to be hydraulically increased, the brake pad 38 is promoted to pop up to be in contact with the crawler driving wheels 37 on the left side and the right side of the whole crawler, and the braking effect is achieved.
In the whole stair climbing process, if the problems of motor failure or power failure and the like occur, the wheelchair locks the crawler wheels through the self-locking system, so that the safety of a rider is ensured.
The invention relates to a multi-plane stair climbing wheelchair which is mainly divided into three parts, namely a seat whole body, a chair frame whole body (a base 5) and a crawler belt whole body. The seat is provided with a backrest 1, armrests and a seat body 4 in the whole, and the inclination degree of the backrest 1 is adjusted by adjusting the positions of clamping grooves at the lower parts of the armrests. The seat is integrally connected with the crawler belt body 12 through a ball screw and a hydraulic rod, and the crawler belt body 12 is integrally connected with the chair frame. The chair frame integrally comprises a chair frame, a driving wheel and a universal wheel. The upper part of a track support (namely a track bottom plate 21) in the track whole body 12 is connected with the seat through a ball screw and a hydraulic rod, and the horizontal state of the seat in the process of climbing stairs is controlled by adjusting the length of the ball screw and the hydraulic rod. The side of the track support is connected with the main track through a hydraulic rod, and the purpose of shock absorption can be achieved in the running process. The main track is provided with a fault self-locking system, so that the fault is ensured to occur in the stair climbing process without causing casualties. The auxiliary crawler belt is connected with the non-power wheel of the main crawler belt through a steering engine, and can adapt to stairs with different inclination degrees. All the wheels adopt independent power devices, and the functions of turning and the like can be realized in a small space.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. The utility model provides a building wheelchair is climbed in multiplanar use which characterized in that: the backrest is hinged to the rear side of the seat body, the inclination angle of the backrest is adjustable, the base is installed at the bottom of the seat body through a connecting piece, the whole track comprises a track bottom plate, a left track assembly and a right track assembly, the left track assembly and the right track assembly are symmetrically distributed on two sides of the bottom of the track bottom plate, the track bottom plate is connected with the base and the seat body through a ball screw, the ball screw driven by a motor sequentially penetrates through the track bottom plate and the base from bottom to top and then is hinged to the bottom surface of the seat body, and a screw nut is fixed with the track bottom plate; the four corners of the base are respectively provided with a supporting leg, the bottoms of the two supporting legs positioned on the front side of the wheelchair are provided with universal wheels, and the bottoms of the two supporting legs positioned on the rear side of the wheelchair are provided with driving wheels;
the ball screws comprise a front ball screw and a rear ball screw, the two ball screws are symmetrically arranged in front and back and connect the track bottom plate, the base and the base body, the tops of the sliding rods of the two ball screws are hinged with the bottom surface of the base body, and the tops of the sliding rods of the two ball screws are in transmission connection with the motor and the coupler; the nut on the front ball screw and the nut on the rear ball screw are fixedly connected with the track bottom plate, when a motor of the ball screw works, the ball screw is driven to rotate, and then the relative positions of the front ball screw nut and the rear ball screw nut on the sliding rod are changed, so that the relative distance between the track bottom plate and the base body is adjusted; the motors of the front ball screw and the rear ball screw are arranged independently, and the rotating speeds of the two motors can be the same or different; a front hydraulic rod and a rear hydraulic rod are symmetrically arranged between the track bottom plate and the seat body, one end of each of the two hydraulic rods is fixed on the top surface of the track bottom plate, and the other end of each of the two hydraulic rods is fixedly connected with the bottom surface of the seat body; the driving wheel comprises a left driving wheel and a right driving wheel, and the right driving wheel and the left driving wheel adopt mutually independent power sources.
2. The multi-planar use stair-climbing wheelchair of claim 1, wherein: the both sides of pedestal are provided with left handrail and right handrail respectively, the one end of left side handrail and right handrail respectively with the left and right sides of back is fixed mutually, and the bottom equipartition of two handrail other ends has a plurality of draw-in grooves, this draw-in groove be used for with the support top end looks joint on the pedestal left and right sides limit adjusts through the draw-in groove position that changes and support top joint the inclination of back.
3. The multi-planar use stair-climbing wheelchair of claim 1, wherein: the left side crawler assembly comprises a left main crawler, a left auxiliary crawler, a left crawler steering engine clamping groove, a left crawler auxiliary wheel clamping groove and a left crawler motor, the right side crawler assembly comprises a right main crawler, a right auxiliary crawler, a right crawler steering engine clamping groove, a right crawler auxiliary wheel clamping groove and a right crawler motor, and the bottoms of the four corners of the crawler bottom plate are respectively connected with the left crawler steering engine clamping groove, the left crawler auxiliary wheel clamping groove, the right crawler steering engine clamping groove and the right crawler auxiliary wheel clamping groove through bearing hydraulic rods; the two ends of the left main track are in transmission connection with belt wheels at a left track steering engine clamping groove and a left track auxiliary wheel clamping groove respectively, and the two ends of the right main track are in transmission connection with belt wheels at a right track steering engine clamping groove and a right track auxiliary wheel clamping groove respectively; the right main crawler belt and the left main crawler belt are respectively connected with a right auxiliary crawler belt and a left auxiliary crawler belt.
4. The multi-planar use stair-climbing wheelchair of claim 3, wherein: and a left hydraulic brake pad and a right hydraulic brake pad are respectively arranged at the power wheel in the belt wheel of the left main track and the right main track.
5. The multi-planar use stair-climbing wheelchair of claim 3, wherein: the left side crawler belt assembly and the right side crawler belt assembly are identical in structure, and the crawler belt assemblies on the two sides are arranged correspondingly; the left crawler auxiliary wheel clamping groove is connected with the left main crawler through a bearing, the extending end of the left crawler auxiliary wheel clamping groove is fixedly connected with a left auxiliary crawler steering engine, a steering wheel of the left auxiliary crawler steering engine is fixedly connected with the left auxiliary crawler, and the left auxiliary crawler is enabled to deflect at different angles through controlling the left auxiliary crawler steering engine.
6. The multi-planar use stair-climbing wheelchair of claim 3, wherein: the right main track and the left main track are independent power systems, the right main track is in transmission connection with a right track motor, and the left main track is in transmission connection with a left track motor.
7. The multi-planar use stair-climbing wheelchair of claim 4, wherein: the brake motor in the fault self-locking system is fixedly connected with the track bottom plate, and the brake motor is connected with the brake block clamping groove through a hydraulic pipe arranged on the rigid body support; when the current appears unusually in the main circuit board of wheelchair, the brake motor work, drive the piston structure motion with the motor bottom setting for the pressure increase in the liquid pipe that is connected with piston structure and sets up on the rigid body support, the other end and the brake block draw-in groove intercommunication of liquid pipe, thereby make brake block draw-in groove hydraulic pressure increase, promote the brake block in the brake block draw-in groove to pop out, the brake block that is located crawler drive wheel both sides is used for playing the braking action to the crawler drive wheel.
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| CN202010729937.8A CN111714302B (en) | 2020-07-27 | 2020-07-27 | Multi-plane-use stair-climbing wheelchair |
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| CN202010729937.8A CN111714302B (en) | 2020-07-27 | 2020-07-27 | Multi-plane-use stair-climbing wheelchair |
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| CN111714302A CN111714302A (en) | 2020-09-29 |
| CN111714302B true CN111714302B (en) | 2021-06-29 |
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| CN202010729937.8A Active CN111714302B (en) | 2020-07-27 | 2020-07-27 | Multi-plane-use stair-climbing wheelchair |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113133876B (en) * | 2021-03-23 | 2022-06-07 | 青岛理工大学 | Intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and use method |
| CN113116648B (en) * | 2021-04-13 | 2023-04-25 | 聊城大学 | Shock-absorbing stair climbing obstacle surmounting device and wheelchair |
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| CN111714302A (en) | 2020-09-29 |
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