CN111789718A - Wheel-track combined type autonomous stair climbing wheelchair and control method thereof - Google Patents
Wheel-track combined type autonomous stair climbing wheelchair and control method thereof Download PDFInfo
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- CN111789718A CN111789718A CN202010633557.4A CN202010633557A CN111789718A CN 111789718 A CN111789718 A CN 111789718A CN 202010633557 A CN202010633557 A CN 202010633557A CN 111789718 A CN111789718 A CN 111789718A
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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
- A61G5/10—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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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Abstract
The invention belongs to the technical field of wheelchairs and discloses a wheel-track combined type autonomous stair climbing wheelchair and a control method thereof. The driving mechanism and the crawler belt transmission mechanism comprise two groups which are respectively used for driving the hub mechanism and the crawler belt walking mechanism on two sides of the seat; the hub mechanism is used for the smooth ground operation of the wheelchair; the crawler traveling mechanism is used for climbing a ladder of the wheelchair; the braking mechanism is used for braking the hub mechanism and the crawler traveling mechanism, and the buffer mechanism is used for the smooth over-lifting of the wheelchair. The crawler traveling mechanism is assisted by the electronic controller, the angle between the crawler traveling mechanism and the seat can be adjusted, the crawler traveling mechanism is kept parallel to the stairs, and a user always keeps a horizontal position state, so that the crawler traveling mechanism is suitable for complex terrains such as the stairs, and the riding comfort and safety are facilitated.
Description
Technical Field
The invention belongs to the technical field of wheelchairs, and particularly relates to a wheel-track combined type autonomous stair climbing wheelchair and a control method thereof.
Background
At present, the wheelchair is an essential tool for the old, the weak and the disabled with the lower limbs, but the use of the common wheelchair is greatly limited by the obstacles, so that the wheelchair can not be used when facing complex terrains such as steps and stairs, the autonomous traveling of the crowd is influenced, and the inconvenience is brought to the life of the crowd. Therefore, it becomes important to design a self-contained obstacle crossing wheelchair with high adaptability. The wheelchair that can the cat ladder hinder more can divide into according to its transmission mode: star wheel type, crawler type and stepping support type. The star wheel type wheelchair is large in size, the width and height of the step are limited, the fluctuation of the center of gravity is large when the wheelchair climbs the ladder, the comfort level is poor, the wheelchair is easy to slip, and the safety is not high; the resistance of the crawler-type wheelchair is large when the crawler-type wheelchair travels on flat ground, and the turning at the corner is not flexible; the driving mechanism of the step-by-step supporting wheelchair is complex, the control requirement is high, and the manufacturing cost is high.
The existing wheel-track combined wheelchair mostly adopts four hubs for advancing, and can climb stairs, but has redundant structure and poor flexibility, and can not realize complete autonomous stair climbing.
Through the above analysis, the problems and defects of the prior art are as follows: the existing wheel-track combined wheelchair mostly adopts four hubs for advancing, has redundant structure and poor flexibility, and can not realize complete autonomous stair climbing.
The difficulty in solving the above problems and defects is: designing a wheel-track composite structure wheelchair control algorithm; and the power failure self-locking protection is carried out on the two-wheel-track composite structure.
The significance of solving the problems and the defects is as follows: the wheelchair with the wheel-track composite structure is guaranteed to run stably and safely, and the wheelchair can be guaranteed to be locked and cannot be started in a power-off state, so that the wheelchair is guaranteed to have sufficient power to realize algorithm and guarantee stability of running of the wheelchair.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a wheel-track combined type self-stair climbing wheelchair and a control method thereof.
The wheel-track combined type autonomous stair climbing wheelchair is realized in the way that the wheel-track combined type autonomous stair climbing wheelchair is provided with a seat, a driving mechanism, a braking mechanism, a hub mechanism, a track transmission mechanism, a track travelling mechanism, a buffer mechanism and an electronic controller;
the seat is provided with a seat armrest, a seat backrest and a pedal;
the driving mechanisms are provided with two groups, and each group of driving mechanisms is provided with a driving motor, a universal joint, a bevel gear transmission shaft, a transmission shaft bearing and a transmission bevel gear;
the brake mechanism is provided with a brake push rod, a brake connecting rod, a brake bent rod, an electromagnet frame, a brake transverse rod, a brake flange, a brake shaft and a brake gear;
the two groups of hub mechanisms are respectively arranged at two sides below the seat, and each group of hub mechanisms is provided with a hub, a front axle bevel gear, a front axle bearing and a front axle transmission shaft;
the crawler belt transmission mechanisms are provided with two groups, and each group is provided with a front axle output gear, a front axle output shaft bearing, a coupler, a rear axle input shaft bearing, a rear axle input gear, a rear axle bevel gear, a rear axle intermediate shaft, a driving straight gear, a driven straight gear, a rear axle transmission shaft and a rear axle bearing;
the two groups of crawler traveling mechanisms are respectively arranged below the seat and close to the bottom plates on the two sides, and are provided with crawler baffles, a crawler pressing rod, a pressing wheel, a connecting flange, a crawler driving wheel, a crawler driven wheel, a front beam and a rear beam;
the buffer mechanism is arranged right below the bottom plate and is provided with a buffer wheel, a buffer frame bracket, a buffer push rod frame, a buffer push rod and a buffer frame;
further, the driving motor is connected with a front axle transmission shaft of a front axle bevel gear through a universal joint and a bevel gear transmission shaft, and a wheel hub is arranged on the outer side of the front axle transmission shaft; the front axle bevel gear is connected with a crawler belt transmission mechanism.
Further, the driving motor is connected with a bevel gear transmission shaft through a universal joint; and a transmission shaft bearing is fixed on the bevel gear transmission shaft through a flange.
Furthermore, one end of the brake push rod, one end of the brake connecting rod and the turning point of the brake bent rod are fixed with one side of the electromagnet frame and can rotate around a fixed center; the brake cross rod is inverted L-shaped, two ends of the brake cross rod on one side of the brake flange are respectively connected with one brake connecting rod and the other end of the brake push rod, two ends of the brake cross rod on the other side of the brake flange are respectively connected with the other end of the other brake connecting rod and one end of the brake bent rod, the other ends of the two brake bent rods are connected with the electromagnet, and one ends of the two brake connecting rods are connected through meshing with teeth.
Furthermore, the brake flange is connected to one end of the brake shaft, and the other end of the brake flange is connected with the brake gear; the brake shaft is axially and radially fixed through a brake bearing; the brake shaft and the bevel gear transmission shaft are in meshed transmission connection with the transmission bevel gear through the brake gear at the tail end.
Furthermore, two ends of the front axle transmission shaft are respectively connected with the wheel hub and the front axle bevel gear, and two sides of the front axle bevel gear are respectively meshed with the transmission bevel gear and the front axle output gear; the front axle transmission shaft, the bevel gear transmission shaft, the brake shaft and the front axle output shaft are distributed in the front axle gear box in a cross shape, and the axes of the front axle transmission shaft, the bevel gear transmission shaft, the brake shaft and the front axle output shaft are all positioned on the same horizontal plane.
Further, the front axle output shaft is connected with the rear axle input shaft through a coupler; the rear axle input shaft and the rear axle intermediate shaft are in meshed transmission connection with a rear axle bevel gear through a rear axle input gear arranged at the tail end respectively, and the rear axle intermediate shaft and the rear axle transmission shaft are in meshed transmission connection with a driving straight gear through a driven straight gear arranged at the tail end respectively; the rear axle input gear, the rear axle bevel gear, the driven straight gear, the driving straight gear and the rear axle intermediate shaft are all distributed in the rear axle gear box; the jackshaft carries out axial and radial fixed through installing in the bearing at box both ends, and all bearings are all fixed on the rear axle gear box through the bolt.
Furthermore, gear teeth are arranged on the outer circumference of the crawler belt driving wheel fixed at one end of the rear axle transmission shaft; the connecting flange is fixed on the track baffle; the axes of the track driven wheels of the track travelling mechanism are positioned on the same horizontal line, the obtuse angle between the horizontal line and the connecting line passing through the axes of the tail end track driven wheel and the track driving wheel is an angle, and a pressing wheel for tensioning the track is arranged at an included angle; the pressing wheel is arranged at one end of a track pressing rod, the track pressing rod is in a crank shape, and the inflection point is fixed on a connecting bolt of the track baffle; the two crawler baffle plates form a basic frame of the crawler walking mechanism on one side; the left crawler belt walking mechanism and the right crawler belt walking mechanism are connected through a rear beam and a front beam; the crawler driven wheels are orderly arranged below the crawler baffle; one end of the electric push rod is connected with the back beam of the crawler traveling mechanism, and the other end of the electric push rod is connected with the push rod support.
Furthermore, the longitudinal section of the buffer frame is in a crutch shape, one end of the buffer frame is provided with a buffer wheel, the other end of the buffer frame is connected with one end of a buffer push rod, and the knee point is connected with the back beam through a buffer frame bracket; the buffering push rod is of a three-section structure, and the other end of the buffering push rod is connected with the bottom plate through a buffering push rod frame.
Another object of the present invention is to provide a method for controlling the wheel-track combined type autonomous stair climbing wheelchair, which comprises:
when walking on the flat ground, the crawler belt walking mechanism is lifted, the wheel hub lands, and each action during walking on the flat ground is realized by controlling the rotating speed of the driving motor; when the rotating speeds and the rotating directions of the two driving motors are the same, the wheelchair can move forwards or backwards on the flat ground; when the two driving motors rotate in opposite directions or rotate in the same direction at different speeds, the reversing action on the flat ground can be realized; the electronic controller processes the signals fed back by the sensors, adjusts the output power and the steering of the two driving motors, and adjusts the wheelchair to walk on the flat ground in real time so as to keep the stability and the balance of the wheelchair; when the wheelchair needs to be braked, the electronic controller drives the two brake bent rods to clamp and push the brake cross rods on the two sides of the brake flange inwards and outwards by controlling the opening and closing of the electromagnet, so that the brake flange is clamped and loosened, the bevel gear transmission shaft controls the power input of the whole wheelchair along with the tightness of the brake flange, and the brake of the wheelchair is controlled;
before climbing stairs, under the adjustment of an electronic controller, an electric push rod extends to adjust the angle between the crawler travelling mechanism and the stairs, so that the crawler travelling mechanism is stably contacted with the stairs, and a seat is kept at a horizontal position; the crawler belt walking mechanism lands on the ground, and realizes the stair climbing action and the reversing action in the stair climbing process by controlling the two driving motors; when the rotating speed and the rotating direction of the two driving motors are the same, the wheelchair can climb stairs or descend the stairs; when the two driving motors are in opposite rotation directions or in the same rotation speed, the wheelchair realizes the reversing action in the process of going up and down stairs; when the person excessively climbs and downstairs, the buffer frame is pushed by the buffer push rod to expand downwards; after the transition is finished, the crawler traveling mechanism and the buffer frame are slowly retracted; the wheelchair is driven by the hub mechanism to continue to run on the flat ground.
By combining all the technical schemes, the invention has the advantages and positive effects that: the crawler traveling mechanism is assisted by the electronic controller, the angle between the crawler traveling mechanism and the seat can be adjusted under the action of the electric push rod, so that the crawler traveling mechanism is kept parallel to the stairs, a user always keeps the horizontal position state, the crawler traveling mechanism is suitable for complex terrains such as the stairs, the riding comfort and the safety are facilitated, and the crawler traveling mechanism is basically free of the auxiliary control of other people in the using process.
The hub mechanism is only provided with two hubs, the vehicle can stably travel on a flat ground (including a flat ramp), the vehicle can flexibly turn, the turning radius is close to 0, and the vehicle is suitable for being used in a small space. The rear wheel buffer mechanism can be lowered when necessary to buffer the impact of stairs or other complex terrains on the wheelchair, so that the phenomena of derailment and locking of the wheelchair crawler are avoided, the mechanical vibration or interference on the wheelchair when going up and down the stairs is reduced, and the stability of the mechanism is improved. The buffer mechanism can also be unfolded together with the crawler walking mechanism to lift the height of the seat above the ground, so that the convenience is brought to the daily life of the passengers.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a wheel-track combined type autonomous stair climbing wheelchair according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a pedal, a driving motor and a hub according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a backplane structure provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electromagnet support according to an embodiment of the present invention;
FIG. 5 is a schematic view of a top plate support structure provided by an embodiment of the present invention;
FIG. 6 is a schematic structural view of a front axle gearbox provided by an embodiment of the present invention;
FIG. 7 is a schematic view of another side structure of the base plate according to the embodiment of the present invention;
FIG. 8 is a schematic structural view of a front axle gearbox provided in accordance with an embodiment of the present invention;
FIG. 9 is a schematic structural view of a rear axle gearbox provided in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of a track configuration provided by an embodiment of the present invention;
FIG. 11 is a schematic view of a front beam structure provided by an embodiment of the present invention;
fig. 12 is a schematic structural view of a back surface of a front beam provided in an embodiment of the present invention;
fig. 13 is a schematic top view of a wheel-track combined type autonomous stair climbing wheelchair according to an embodiment of the present invention;
in the figure: 1. a foot pedal; 2. a drive motor; 3. a hub; 4. a handrail; 5. a seat back; 6. a battery assembly; 7. a track baffle; 8. a buffer wheel; 9. a crawler belt; 10. a roof support; 11. a base plate; 12. a front axle gear box; 13. a track pressure lever; 14. a pinch roller; 15. a coupling; 16. a rear axle gear box; 17. a push rod bracket; 18. an electric push rod; 19. a brake push rod; 20. a brake link; 21. braking the bent rod; 22. an electromagnet support; 23. a brake lever; 24. a brake gear; 25. a brake shaft; 26. a brake bearing; 27. a brake flange; 28. a universal joint; 29. a bevel gear drive shaft; 30. a drive shaft bearing; 31. a transmission bevel gear; 32. a front axle bevel gear; 33. a front axle bearing; 34. a front axle drive shaft; 35. a front axle output gear; 36. A front axle output shaft; 37. a front axle output shaft bearing; 38. a rear axle input shaft; 39. a rear axle input bearing; 40. a gear; 41. a rear axle bevel gear; 42. a rear axle intermediate shaft; 43. a driving spur gear; 44. a driven spur gear; 45. a rear axle drive shaft; 46. a rear axle bearing; 47. a connecting flange; 48. a track drive wheel; 49. a track driven wheel; 50. a front beam; 51. a buffer frame; 52. a buffer bracket; 53. a buffer push rod frame; 54. A buffer push rod; 55. a back beam.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a wheel-track combined type autonomous stair climbing wheelchair and a control method thereof, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 13, the wheel-track combined type autonomous stair climbing wheelchair provided by the present invention comprises: the pedal plate 1, the driving motor 2, the wheel hub 3, the armrest 4, the seat back 5, the battery assembly 6, the track baffle plate 7, the buffer wheel 8, the track 9, the top plate support 10, the bottom plate 11, the front axle gear box 12, the track pressure rod 13, the pinch roller 14, the coupler 15, the rear axle gear box 16, the push rod support 17, the electric push rod 18, the brake push rod 19, the brake connecting rod 20, the brake bent rod 21, the electromagnet frame 22, the brake cross rod 23, the brake gear 24, the brake shaft 25, the brake bearing 26, the brake flange 27, the universal joint 28, the bevel gear shaft 29, the drive shaft bearing 30, the drive bevel gear 31, the front axle bevel gear 32, the front axle bearing 33, the front axle drive shaft 34, the front axle output gear 35, the front axle output shaft 36, the front axle output shaft bearing 37, the rear axle input shaft 38, the rear axle input shaft bearing 39, the gear 40, the rear, Rear axle intermediate shaft 42, driving spur gear 43, driven spur gear 44, rear axle transmission shaft 45, rear axle bearing 46, connecting flange 47, crawler driving wheel 48, crawler driven wheel 49, front beam 50, buffer frame 51, buffer frame bracket 52, buffer push rod frame 53, buffer push rod 54 and rear beam 55.
The seat is provided with a seat armrest 4, a seat back 5, and a footrest 1.
The driving mechanisms are provided with two groups, and each group of driving mechanisms is provided with a driving motor 2, a universal joint 28, a bevel gear transmission shaft 29, a transmission shaft bearing 30 and a transmission bevel gear 31.
The brake mechanism is provided with a brake push rod 19, a brake connecting rod 20, a brake bent rod 21, an electromagnet frame 22, a brake cross rod 23, a brake flange 27, a brake shaft 25 and a brake gear 24.
The two groups of hub mechanisms are respectively arranged on two sides below the seat, and each group of hub mechanisms is provided with a hub 3, a front axle bevel gear 32, a front axle bearing 33 and a front axle transmission shaft 34.
The crawler belt transmission mechanisms are provided with two groups, and each crawler belt transmission mechanism is provided with a front axle output gear 35, a front axle output shaft 36, a front axle output shaft bearing 37, a coupler 15, a rear axle input shaft 38, a rear axle input shaft bearing 39, a rear axle input gear 40, a rear axle bevel gear 41, a rear axle intermediate shaft 42, a driving straight gear 43, a driven straight gear 44, a rear axle transmission shaft 45 and a rear axle bearing 46.
The crawler traveling mechanisms are provided with two groups, are respectively arranged below the seat and close to the bottom plates 11 on two sides, and are provided with crawler baffles 7, a crawler 9, a crawler pressure bar 13, a pressing wheel 14, a connecting flange 47, a crawler driving wheel 48, a crawler driven wheel 49, a front beam 50 and a rear beam 55.
The buffer mechanism is arranged right below the bottom plate 11 and is provided with a buffer wheel 8, a buffer frame bracket 52, a buffer push rod frame 53, a buffer push rod 54 and a buffer frame 51.
Preferably, the driving motor 2 is connected with a front axle transmission shaft 34 of a front axle bevel gear 32 through a universal joint 28 and a bevel gear transmission shaft 29, and a hub 3 is arranged outside the front axle transmission shaft. The front axle bevel gear 32 is connected to a track drive.
Preferably, the driving motor 2 is connected with a bevel gear transmission shaft 29 through a universal joint 28; a propeller shaft bearing 30 is flange-fixed to the bevel gear propeller shaft 29.
Preferably, the brake push rod 19, one end of the brake link 20 and the inflection point of the brake bent rod 21 are fixed to one side of the electromagnet holder 22 and can rotate around a fixed center. The brake cross bar 23 is inverted L-shaped, two ends of the brake cross bar 23 on one side of the brake flange 24 are respectively connected with one brake connecting bar 20 and the other end of the brake push rod 19, two ends of the brake cross bar 23 on the other side of the brake flange 24 are respectively connected with the other end of the other brake connecting bar 20 and one end of the brake bent bar 21, the other ends of the two brake bent bars 21 are connected with the electromagnet, and one ends of the two brake connecting bars 20 are connected through meshing with teeth.
Preferably, the brake flange 24 is connected to one end of the brake shaft 25, and the other end is connected to the brake gear 24. The brake shaft 25 is axially and radially fixed by a brake bearing 26. The brake shaft 25 and the bevel gear transmission shaft 29 are in meshed transmission connection with a transmission bevel gear 31 through a brake gear 32 at the tail end.
Preferably, two ends of the front axle transmission shaft 34 are respectively connected with the hub 3 and the front axle bevel gear 32, and two sides of the front axle bevel gear 32 are respectively meshed with the transmission bevel gear 31 and the front axle output gear 35; the front axle transmission shaft 34, the bevel gear transmission shaft 29, the brake shaft 25 and the front axle output shaft 36 are distributed in the front axle gear box 12 in a cross shape, and the axes are all positioned on the same horizontal plane.
Preferably, the front axle output shaft 3 and the rear axle input shaft 38 are connected by a coupling 15. The rear axle input shaft 38 and the rear axle intermediate shaft 42 are in meshed transmission connection with a rear axle bevel gear 41 through a rear axle input gear 40 arranged at the tail end respectively, and the rear axle intermediate shaft 42 and the rear axle transmission shaft 45 are in meshed transmission connection with a driving spur gear 43 through a driven spur gear 44 arranged at the tail end respectively; the rear axle input gear 40, the rear axle bevel gear 41, the driven straight gear 44, the driving straight gear 43 and the rear axle intermediate shaft 42 are all distributed in the rear axle gear box 16. The intermediate shaft is axially and radially fixed by bearings mounted at both ends of the box body, and all the bearings are fixed on the rear axle gear box 16 by bolts.
Preferably, gear teeth are arranged on the outer circumference of the track driving wheel 48 fixed at one end of the rear axle transmission shaft 45; the attachment flange 47 is fixed to the track apron 7. The axes of 6 track driven wheels 49 of the track walking mechanism are on the same horizontal line, the obtuse angle between the horizontal line and the connecting line passing through the axes of the tail end track driven wheel 49 and the track driving wheel 48 is 135 degrees, and a pressing wheel 14 for tensioning the track is arranged at the included angle. The pinch roller 14 is arranged at one end of the crawler belt pressure lever 13, the crawler belt pressure lever 13 is in a crank shape, and the inflection point is fixed on a connecting bolt of the crawler belt baffle 7; the two crawler baffle plates 7 form a basic frame of a crawler walking mechanism on one side; the left and right crawler traveling mechanisms are connected to each other by a rear beam 55 and a front beam 50. The track follower 49 is arranged in line below the track apron 7. One end of the electric push rod 18 is connected with a rear beam 55 of the crawler travel mechanism, and the other end is connected with the push rod support 17.
Preferably, the longitudinal section of the buffer frame 51 is in a shape of a crutch, one end of the buffer frame is provided with the buffer wheel 8, the other end of the buffer frame is connected with one end of the buffer push rod 54, and the crutch is connected with the back beam 55 through the buffer frame bracket 52. The buffer push rod 54 is of a three-section structure, and the other end of the buffer push rod is connected with the bottom plate 11 through a buffer push rod frame 53.
In the invention, ZD MOTOR/middle and large Z2BLD25-48 model speed reduction DC MOTOR rated voltage 48v rated power 25w is used, and factory equipment 1: 60, and outputting a rotation speed of 60r/min allowable torque of 3 N.M; the power supply adopts a 48v lithium battery pack, and the model is not required; the electric push rod adopts a Borui prosperous motor IP54A model with 12v150 stroke; the brake push rod, the brake connecting rod and the brake bent rod are formed by cutting a 304 stainless steel metal plate and bending. (ii) a The transmission gear adopts 1-die 50-tooth bevel gear, the brake gear adopts 1-die 30-tooth bevel gear, and the driving straight gear and the driven straight gear both adopt 1-die 30-tooth straight gear; the connecting flange is a nonstandard workpiece with the inner diameter of 10mm and the outer disc of 30mm and the thickness of 5mm, and the model of the linear bearing is LMK10 LUU; the track assembly is an ATV self-cleaning rubber track (only comprising a track, a driven wheel and a driving wheel, but not comprising a frame, and can be replaced by similar products without special requirements); the buffering support is a plate shearing and bending process; the structures of the track side plate and the chassis are both 3mm stainless steel plate wire cutting; the outer side plate of the crawler belt is a stainless steel plate with the thickness of 1mm, and the stainless steel plate is processed by wire cutting; the pressing wheel adopts a 3-inch silent rubber wheel; the track compression bar is cut and processed by a stainless steel wire with the diameter of 2 mm; the walking wheels are 24-inch rubber wheels; the transmission shafts are all 10mm stainless steel optical axes; the electromagnet is an ELE-P30/25DC24v large-suction electromagnet and can provide 1.5kg of maximum suction force. The universal joint is WS1 with the inner diameter of 10mm, and the other unexplained parts are non-standard parts processed by a plate shearing and bending process.
The working principle of the invention is as follows: when walking on flat ground, the crawler belt walking mechanism is lifted, the wheel hub 3 lands, and each action when walking on flat ground is realized by controlling the rotating speed of the driving motor 2; when the rotating speed and the rotating direction of the two driving motors 2 are the same, the wheelchair moves forwards or backwards on the flat ground; when the two driving motors 2 rotate in opposite directions or rotate in the same direction at different speeds, the flat reversing action can be realized. The electronic controller processes the signals fed back by the sensors and adjusts the output power and the steering of the two driving motors 2, so that the wheelchair can be adjusted to walk on the flat ground in real time to keep the stability and the balance of the wheelchair; when the wheelchair needs to be braked, the electronic controller drives the two brake bent rods 22 to clamp and push the brake cross rods 23 on the two sides of the brake flange 24 inwards by controlling the on and off of the electromagnet, so that the brake flange 24 is clamped and loosened, the bevel gear transmission shaft 29 controls the power input of the whole wheelchair along with the tightness of the brake flange 24, and the brake of the wheelchair is further controlled.
Before climbing stairs, under the regulation of an electronic controller, an electric push rod 18 extends to regulate the angle between the crawler travelling mechanism and the stairs, so that the crawler travelling mechanism is stably contacted with the stairs, and a seat is kept at a horizontal position; the crawler traveling mechanism lands on the ground, and realizes the stair climbing action and the reversing action in the stair climbing process by controlling the two driving motors 2; when the rotating speed and the rotating direction of the two driving motors 2 are the same, the wheelchair can climb stairs or descend the stairs; when the two driving motors 2 are opposite in rotation direction or different in rotation speed in the same rotation direction, the wheelchair can realize reversing action in the process of going upstairs and downstairs. When the person climbs up and down the stairs excessively, the buffer frame 51 is pushed by the buffer push rod 54 to be unfolded downwards, so that the crawler traveling mechanism is ensured to stably fall from the stairs to the flat ground. After the transition is completed, the crawler traveling mechanism and the buffer frame 51 are slowly retracted; the wheelchair can continue to run on the flat ground under the drive of the hub mechanism.
The invention carries out finite element analysis on a product bottom plate in a model stage, the material is 304 stainless steel, the self weight of the material is about 2.6KG, the density is 7,700KG/m ^3, the yield strength of the material is as follows: 6.20422e +08N/m 2, tensile strength: 7.23826e +08N/m 2. And in the finite element, each mounting hole of the product bottom plate model is fixed by a standard clamp, 1000N uniform load is applied to the whole bottom plate, the maximum stress of the material is 2.790e +08N/m ^2 and is smaller than the yield strength of the material, which is obtained by analysis report, 7.23826e +08N/m ^2, and the structural strength of the whole bottom plate meets the safety requirement. The maximum deformation is 1.032e +00mm, the maximum deformation position is not at the main structure position, the maximum deformation amount of the main mechanism position is less than 1.000e-01mm, and the maximum deformation amount is within the design requirement range.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like, as used herein, refer to directions or positional relationships based on the orientation or positional relationship shown in the drawings, for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.
Claims (10)
1. The utility model provides a wheel-track combined type is building wheelchair independently climbs which characterized in that, wheel-track combined type is building wheelchair independently climbs and is provided with:
a drive mechanism for providing power;
a brake mechanism for braking;
a hub mechanism for supporting and walking;
a track transmission mechanism for transmission;
a crawler traveling mechanism for traveling;
the damping and buffering mechanism and the electronic controller are used.
2. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 1, wherein the seat is provided with armrests, a backrest, and a footboard;
the driving mechanisms are provided with two groups, and each group of driving mechanisms is provided with a driving motor, a universal joint, a bevel gear transmission shaft, a transmission shaft bearing and a transmission bevel gear;
the brake mechanism is provided with a brake push rod, a brake connecting rod, a brake bent rod, an electromagnet frame, a brake cross rod, a brake flange, a brake shaft and a brake gear;
the two groups of hub mechanisms are respectively arranged at two sides below the seat, and each group of hub mechanisms is provided with a hub, a front axle bevel gear, a front axle bearing and a front axle transmission shaft;
the crawler belt transmission mechanisms are provided with two groups, and each group is provided with a front axle output gear, a front axle output shaft bearing, a coupler, a rear axle input shaft bearing, a rear axle input gear, a rear axle bevel gear, a rear axle intermediate shaft, a driving straight gear, a driven straight gear, a rear axle transmission shaft and a rear axle bearing;
the two groups of crawler traveling mechanisms are respectively arranged below the seat and close to the bottom plates on the two sides, and are provided with crawler baffles, a crawler pressing rod, a pressing wheel, a connecting flange, a crawler driving wheel, a crawler driven wheel, a front beam and a rear beam;
the buffer mechanism is arranged right below the bottom plate and is provided with a buffer wheel, a buffer frame bracket, a buffer push rod frame, a buffer push rod and a buffer frame;
the driving motor is connected with a front axle transmission shaft of a front axle bevel gear through a universal joint and a bevel gear transmission shaft, and a wheel hub is arranged on the outer side of the front axle transmission shaft; the front axle bevel gear is connected with a crawler belt transmission mechanism.
3. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 2, wherein the driving motor is connected with a bevel gear transmission shaft through a universal joint; and a transmission shaft bearing is fixed on the bevel gear transmission shaft through a flange.
4. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 2, wherein the brake push rod, one end of the brake connecting rod and the turning point of the brake bent rod are fixed to one side of the electromagnet frame and can rotate around a fixed center; the brake cross rod is of an inverted L shape, two ends of the brake cross rod on one side of the brake flange are respectively connected with one brake connecting rod and the other end of the brake push rod, two ends of the brake cross rod on the other side of the brake flange are respectively connected with the other end of the other brake connecting rod and one end of the brake bent rod, the other ends of the two brake bent rods are connected with the electromagnet, and one ends of the two brake connecting rods are connected through meshing with teeth.
5. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 4, wherein the brake flange is connected to one end of the brake shaft, and the other end is connected to the brake gear; the brake shaft is axially and radially fixed through a brake bearing; the brake shaft and the bevel gear transmission shaft are in meshed transmission connection with the transmission bevel gear through a brake gear at the tail end.
6. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 2, wherein two ends of the front axle transmission shaft are respectively connected with the wheel hub and the front axle bevel gear, and two sides of the front axle bevel gear are respectively engaged with the transmission bevel gear and the front axle output gear; the front axle transmission shaft, the bevel gear transmission shaft, the brake shaft and the front axle output shaft are distributed in the front axle gear box in a cross manner, and the axes of the front axle transmission shaft, the bevel gear transmission shaft, the brake shaft and the front axle output shaft are all positioned on the same horizontal plane.
7. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 2, wherein the front axle output shaft is connected with the rear axle input shaft through a coupling; the rear axle input shaft and the rear axle intermediate shaft are in meshed transmission connection with a rear axle bevel gear through a rear axle input gear arranged at the tail end respectively, and the rear axle intermediate shaft and the rear axle transmission shaft are in meshed transmission connection with a driving straight gear through a driven straight gear arranged at the tail end respectively; the rear axle input gear, the rear axle bevel gear, the driven straight gear, the driving straight gear and the rear axle intermediate shaft are uniformly distributed in the rear axle gear box; the jackshaft carries out axial and radial fixed through installing in the bearing at box both ends, and all bearings are all fixed on the rear axle gear box through the bolt.
8. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 2, wherein the outer circumference of the track driving wheel fixed at one end of the rear axle transmission shaft is provided with wheel teeth; the connecting flange is fixed on the track baffle; the axes of the track driven wheels of the track travelling mechanism are positioned on the same horizontal line, the obtuse angle between the horizontal line and a connecting line passing through the axes of the tail end track driven wheel and the track driving wheel is an angle, and a pressing wheel for tensioning the track is arranged at an included angle; the pressing wheel is arranged at one end of a track pressing rod, the track pressing rod is in a crank shape, and the inflection point is fixed on a connecting bolt of the track baffle; the two crawler baffle plates form a basic frame of the crawler walking mechanism on one side; the left crawler belt walking mechanism and the right crawler belt walking mechanism are connected through a rear beam and a front beam; the crawler driven wheels are orderly arranged below the crawler baffle; one end of the electric push rod is connected with the back beam of the crawler traveling mechanism, and the other end of the electric push rod is connected with the push rod support.
9. The wheel-track combined type autonomous stair climbing wheelchair as claimed in claim 2, wherein the longitudinal section of the buffer frame is in a shape of a crutch, one end of the buffer frame is provided with a buffer wheel, the other end of the buffer frame is connected with one end of a buffer push rod, and the inflection point is connected with the back beam through a buffer frame bracket; the buffering push rod is of a three-section structure, and the other end of the buffering push rod is connected with the bottom plate through a buffering push rod frame.
10. A method for controlling a wheel-track combined type autonomous stair climbing wheelchair according to any one of claims 1 to 9, wherein the method for controlling the wheel-track combined type autonomous stair climbing wheelchair comprises:
when walking on flat ground, the crawler belt walking mechanism is lifted, the wheel hub lands, and each action when walking on flat ground is realized by controlling the rotating speed of the driving motor; when the rotating speeds and the rotating directions of the two driving motors are the same, the wheelchair can move forwards or backwards on the flat ground; when the two driving motors rotate in opposite directions or rotate in the same direction and rotate at different speeds, the reversing action on the flat ground can be realized; the electronic controller processes the signals fed back by the sensors, adjusts the output power and the steering of the two driving motors, and adjusts the wheelchair to walk on the flat ground in real time so as to keep the stability and the balance of the wheelchair; when the wheelchair needs to be braked, the electronic controller drives the two brake bent rods to clamp and push the brake transverse rods on the two sides of the brake flange inwards and outwards by controlling the opening and closing of the electromagnet, so that the brake flange is clamped and loosened, the bevel gear transmission shaft controls the power input of the whole wheelchair along with the tightness of the brake flange, and the brake of the wheelchair is controlled;
before climbing stairs, under the adjustment of an electronic controller, an electric push rod extends to adjust the angle between the crawler travelling mechanism and the stairs, so that the crawler travelling mechanism is stably contacted with the stairs, and a seat is kept at a horizontal position; the crawler belt walking mechanism lands on the ground, and realizes the stair climbing action and the reversing action in the stair climbing process by controlling the two driving motors; when the rotating speed and the rotating direction of the two driving motors are the same, the wheelchair can climb or descend stairs; when the two driving motors are in opposite rotation directions or in the same rotation speed, the wheelchair realizes the reversing action in the process of going up and down stairs; when the person excessively climbs and downstairs, the buffer frame is pushed by the buffer push rod to expand downwards; after the transition is finished, the crawler traveling mechanism and the buffer frame are slowly retracted; the wheelchair is driven by the hub mechanism to continue to run on the flat ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010633557.4A CN111789718A (en) | 2020-07-02 | 2020-07-02 | Wheel-track combined type autonomous stair climbing wheelchair and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010633557.4A CN111789718A (en) | 2020-07-02 | 2020-07-02 | Wheel-track combined type autonomous stair climbing wheelchair and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111789718A true CN111789718A (en) | 2020-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010633557.4A Pending CN111789718A (en) | 2020-07-02 | 2020-07-02 | Wheel-track combined type autonomous stair climbing wheelchair and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114209170A (en) * | 2021-12-10 | 2022-03-22 | 王克华 | Intelligent seat for office work and massage |
| CN114209170B (en) * | 2021-12-10 | 2024-06-04 | 广东国景家具集团有限公司 | Dual-purpose intelligent seat of official working and massage |
-
2020
- 2020-07-02 CN CN202010633557.4A patent/CN111789718A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114209170A (en) * | 2021-12-10 | 2022-03-22 | 王克华 | Intelligent seat for office work and massage |
| CN114209170B (en) * | 2021-12-10 | 2024-06-04 | 广东国景家具集团有限公司 | Dual-purpose intelligent seat of official working and massage |
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