CN112168519A

CN112168519A - Multi-shaft driving self-adaptive wheelchair

Info

Publication number: CN112168519A
Application number: CN202011309455.3A
Authority: CN
Inventors: 兰小青; 路兰兰; 王玉庆; 张彬; 尹小伟; 刘建民
Original assignee: Henan Yiheng Medical Equipment Co ltd
Current assignee: Henan Yiheng Medical Equipment Co ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-01-05

Abstract

A multi-shaft driving self-adaptive wheelchair comprises an underframe, a seat and a backrest, wherein a plurality of idler wheels are installed on the underframe, a lifting column in the vertical direction is installed on the underframe, the lower part of the seat is hinged on the lifting column, and two ends of a first linear driving device are respectively hinged on the lifting column and the lower part of the seat; the back of the chair is fixedly connected with a bracket, the backrest is hinged with the bracket through a hinge shaft A, and the backrest is connected with a rotation driving device; the rotation driving device is: the backrest is fixedly connected with a crank, the crank is hinged to the support through a hinge shaft A, two ends of the third linear driving device are hinged to the lifting column and the crank respectively, a leg frame is hinged to the front portion of the seat, and two ends of the second linear driving device are hinged to the leg frame and the lower portion of the seat respectively. The wheelchair can be better used for nursing the old and patients.

Description

Multi-shaft driving self-adaptive wheelchair

Technical Field

The invention relates to a wheelchair, in particular to a multi-shaft driving wheelchair, and belongs to the technical field of electromechanics.

Background

The wheelchair is the supplementary walking transfer apparatus that old person and patient used commonly, and current wheelchair generally can adjust the angle of height, back, nevertheless has very big gap in the aspect of with patient's adaptability, for example to patient's shank support comfort aspect, handrail adjustment, the back adjustment after patient's health need move can adapt to the aspect of etc. as follows specifically: in the process of adjusting the angle of the backrest, after the backrest rotates, the armrests on the two sides of the wheelchair are required to keep the original angle, because the armrests can feel uncomfortable when rotating along with the backrest, the angle of the armrests on a plurality of wheelchairs is manually adjusted at present, and the angle adjustment of a plurality of structures is discontinuous and cannot be adjusted to the optimal state suitable for a patient; the existing wheelchair backrest comprises a backrest cushion, the backrest cushion is fixedly connected to a backrest frame, the angle of the backrest is realized by driving the rotation of the backrest frame, when the backrest frame rotates, the backrest cushion and the backrest rotate simultaneously, because the backrest cushion has a certain thickness, the backrest cushion and the backrest rotate in different axes, the position of the backrest cushion relative to a human body after adjustment is deviated, patients on the wheelchair are required to move to realize the matching with the position of the backrest cushion under many conditions, the patients on the wheelchair are generally groups with movement function disorder, the moving position cannot be easily completed for the patients, so that how to overcome the deviation of the relative position of the backrest cushion and the human body in the adjustment of the angle of the backrest of the wheelchair backrest cushion is a problem to be solved in the design of the wheelchair, and the existing wheelchair is provided with steerable rollers to enable the wheelchair to be pushed and also to be steered in the pushing process, the problem that exists in present wheelchair turns to is that steering mechanism is very nimble, turns to and basically has not resistance or resistance undersize, leads to following two problems like this easily: firstly, too fast when turning to, lead to turning to fiercely, make the passenger catch up to very uncomfortable, especially the patient feels worse under the condition that has hypertension, vertigo, cardiovascular disease, and cerebrovascular disease, make the patient receive the stimulus easily, secondly in the straight line in-process slightly the component force gyro wheel of left and right directions will shift, lead to the walking route skew, the patient also can bring uncomfortable sense under the condition of taking. The above are all problems to be solved in the existing wheelchairs.

Disclosure of Invention

The present invention aims to overcome the above problems in current wheelchairs and to provide a multi-axis drive adaptive wheelchair.

In order to realize the purpose of the invention, the following technical scheme is adopted: a multi-shaft driving self-adaptive wheelchair comprises an underframe, a seat and a backrest, wherein a plurality of idler wheels are installed on the underframe, a lifting column in the vertical direction is installed on the underframe, the lower part of the seat is hinged on the lifting column, and two ends of a first linear driving device are respectively hinged on the lifting column and the lower part of the seat; the back of the chair is fixedly connected with a bracket, the backrest is hinged with the bracket through a hinge shaft A, and the backrest is connected with a rotation driving device; the rotation driving device is as follows: the backrest is fixedly connected with a crank, the crank is hinged to the support through a hinge shaft A, two ends of the third linear driving device are hinged to the lifting column and the crank respectively, a leg frame is hinged to the front portion of the seat, and two ends of the second linear driving device are hinged to the leg frame and the lower portion of the seat respectively.

Further, the method comprises the following steps of; the leg frame adopts a telescopic rod structure, the telescopic rod comprises a fixed rod and a movable rod sleeved with the fixed rod, one end of a linear driving device II is hinged with the fixed rod, two ends of a linear driving device IV are respectively hinged on the fixed rod and the movable rod, and the lower end of the movable rod is connected with a pedal.

Further, the method comprises the following steps of; the backrest comprises a backrest cushion, the backrest cushion is connected to a backrest frame, a crank is fixedly connected with the backrest frame, a track along the direction of a spine of a human body is fixedly arranged on the backrest frame, the backrest cushion is arranged on the track in a sliding mode, a first connecting rod is connected to the support in a fixed connection mode, the upper end of the first connecting rod is hinged to a second connecting rod, a sliding block is arranged at the end of the second connecting rod, a sliding groove is fixedly arranged at the rear portion of the backrest cushion, the sliding groove is provided with an upper surface and a lower surface, and the sliding block is located between the upper surface and the lower surface.

Further, the method comprises the following steps of; the support is provided with a long hole, the first connecting rod is provided with a pin shaft A, the pin shaft A is inserted into the long hole and fixedly connected with the support, the pin shaft A is provided with a locking device, and the sliding block is provided with a bearing.

Further, the method comprises the following steps of; the wheelchair is provided with a handrail constant-angle retaining mechanism, the handrail constant-angle retaining mechanism comprises a corner piece hinged on a hinge shaft A, the hinge shaft A is fixedly connected on a support, a hinge point of the hinge shaft A and the corner piece is positioned at a corner part of the corner piece, a connecting rod A is hinged at one edge A end part of the corner piece, the other end of the connecting rod A is hinged on a lifting column, a hinge point of a linear driving device I and the lifting column, a hinge point of the connecting rod A and one edge A end part of the corner piece and a central point of the hinge shaft A form a parallelogram, a connecting rod B is hinged at the other edge B end part of the corner piece, the other end of the connecting rod B is fixedly connected with a handrail frame, the handrail frame is rotatably connected with a backrest frame through the hinge shaft B, and a hinge point of the other edge B end part, The fixed point between the connecting rod B and the armrest frame, the central point of the articulated shaft B and the central point of the articulated shaft A form another parallelogram.

Further, the method comprises the following steps of; the handrail frame end has the arc seam, fixedly connected with round pin axle B on connecting rod B, round pin axle B inserts and establishes in the arc seam, is connected with locking mechanism on round pin axle B, loosens locking mechanism, adjustable round pin axle B is in the position of arc seam.

Further, the method comprises the following steps of; the roller comprises a steering roller, the steering roller is arranged on a roller frame, a rotating shaft is fixedly connected to the roller frame, the rotating shaft is rotatably arranged in a shaft sleeve, a friction block is arranged in the shaft sleeve, the friction block is in contact fit with the rotating shaft, a spring is arranged on the friction block in an upward pressing mode, the spring is bound in the shaft sleeve up and down, and the shaft sleeve is arranged on an underframe.

Further, the method comprises the following steps of; the friction block is arranged at the upper end of the rotating shaft in a pressing mode, the spring is arranged on the upper portion of the friction block in a pressing mode, the adjusting bolt is connected in the shaft sleeve on the upper portion of the spring in a rotating mode, and the adjusting bolt presses the spring.

Further, the method comprises the following steps of; the upper end of the rotating shaft is conical, a conical hole matched with the upper end of the rotating shaft is formed in the friction block, the upper end of the rotating shaft is inserted into the conical hole, a spring is arranged on the upper end face of the friction block in a pressing mode, and an adjusting bolt is screwed in a shaft sleeve on the upper portion of the spring and presses the spring.

Further, the method comprises the following steps of; the inner wall of the shaft sleeve is provided with a groove in the vertical direction, the peripheral surface of the friction block is provided with an ear key, and the ear key is arranged in the groove in a vertical sliding manner.

The invention has the positive and beneficial technical effects that: firstly, the wheelchair has more adjusting shafts, the lifting shafts and the linear driving devices from the first to the fourth can respectively drive the lifting of the seat, the angle adjustment of the backrest, the lifting of the leg frame and the telescopic adjustment of the leg frame, the wheelchair can meet the requirements of different patients in an all-round way, the wheelchair adopts damping wheels, the turning is soft, eliminates the discomfort brought to the patient by the traditional wheelchair when the wheelchair turns too fast, the wheelchair adopts a self-adjusting constant angle armrest mechanism, the armrest can keep a constant angle after the backrest angle adjustment and the seat angle adjustment, avoids manual adjustment, the wheelchair has the advantages that the armrests are reliably bound, the backrest cushion and the backrest frame slide relatively under the action of the first connecting rod and the second connecting rod when the angle of the backrest is adjusted, so that a patient can adapt to the backrest cushion well in the adjusting process and after adjustment, and the wheelchair can be better used for nursing the old and patients.

Drawings

FIG. 1 is an overall schematic view of one aspect of the present invention.

Fig. 2 is an overall schematic view of another aspect of the invention.

Fig. 3 is a partially schematic view taken in section.

Figure 4 is a schematic view of figure 3 with the seat back frame removed.

Fig. 5 is a schematic view of a first embodiment of a diverting roller.

Fig. 6 is a schematic view of a second embodiment of a diverting roller.

Fig. 7 is a view of the internal components of a second embodiment of a diverting roller.

Detailed Description

In order to more fully explain the implementation of the present invention, examples of the implementation of the present invention are provided. These examples are merely illustrative of the present invention and do not limit the scope of the present invention.

The invention is explained in further detail in connection with the accompanying drawings, in which: 1: a chassis; 2: a lifting column; 3: an electric push rod I; 4: a connecting rod A; 5: a support; 6: a corner fitting; 7: a first link; 8: a connecting rod B; 9: a second link; 10: a pin shaft A; 11: an arc-shaped seam; 12: a back of chair frame; 13: a backrest cushion; 14: a hinged shaft B; 15: a handrail frame; 16: a hinged shaft A; 17: an electric push rod III; 18: a seat; 19: a second electric push rod; 20: fixing the rod; 21: a movable rod; 22: a foot pedal; 23: a steering roller; 24: a roller frame; 25: a shaft sleeve; 26: edge B; 27: edge A; 28: a crank; 29: a slider; 30: a chute; 31: a rotating shaft; 32: a bearing; 33: a friction block; 34: a spring; 35: adjusting the bolt; 36: a taper shape; 37: a tapered hole; 38: an ear key; 39: an electric push rod IV; 40: a long hole; 41: pin shaft A

In this application, linear drive device has adopted electric putter, and of course, linear drive device can also adopt current equipment such as linear electric motor, its spring, electric cylinder. In this application, be provided with battery or power, controller for control electric putter.

The lifting column can adopt an air spring, and can also adopt a screw rod lifting structure, a gear rack lifting structure and the like to realize the lifting of the wheelchair, and a battery or a power supply and a controller can be arranged for the lifting of the wheelchair.

As shown in the attached drawings, the multi-shaft driving self-adaptive wheelchair comprises an underframe 1, a seat 18 and a backrest, wherein a plurality of idler wheels are installed on the underframe, a lifting column 2 in the vertical direction is installed on the underframe, the lower part of the seat is hinged on the lifting column, and two ends of an electric push rod I3 are respectively hinged on the lifting column and the lower part of the seat; the rear part of the seat is fixedly connected with a bracket 5, and the backrest is hinged with the bracket 5 through a hinge shaft A16; the rotation driving device is as follows: the backrest is fixedly connected with a crank 28, the crank 28 is hinged on the bracket 5 through a hinged shaft A, two ends of an electric push rod III 4 are respectively hinged on the lifting column and the crank, a leg frame is hinged on the front part of the seat, and two ends of a linear driving device II are respectively hinged on the leg frame and the lower part of the seat. In this embodiment, the leg frame is of a telescopic rod structure, the telescopic rod includes a fixed rod 20 and a movable rod 21 sleeved with the fixed rod, one end of the second electric push rod 19 is hinged to the fixed rod, two ends of the fourth electric push rod 39 are respectively hinged to the fixed rod and the movable rod, and the lower end of the movable rod is connected to a pedal 22.

The backrest comprises a backrest cushion 13, the backrest cushion is connected to a backrest frame 12, a crank 28 is fixedly connected with the backrest frame 12, a track along the direction of a spine of a human body is fixedly arranged on the backrest frame, the track can be a groove-shaped track, the backrest cushion 13 is arranged on the track in a sliding mode, a first connecting rod 7 is fixedly connected to a support, the upper end of the first connecting rod is hinged to a second connecting rod 9, a sliding block 29 is arranged at the end portion of the second connecting rod, a sliding groove 30 is fixedly arranged at the rear portion of the backrest cushion, the sliding groove is provided with an upper surface and a lower surface, and the sliding block is located between the upper surface and the lower surface. More optimally, a long hole 40 is formed in the support, a pin shaft A41 is arranged on the first connecting rod 7, the pin shaft A is inserted into the long hole and fixedly connected with the support, a locking device is arranged on the pin shaft A, and a bearing is arranged on the sliding block. The sliding friction force can be reduced by rotating the bearing when the sliding block slides in the sliding groove. The locking device can adopt that a locking nut is screwed on the pin shaft A on two sides of the long hole, the position of the pin shaft A in the long hole can be adjusted after the nut is loosened, and the displacement of the backrest cushion along the track can be adjusted when the backrest rotates by a certain angle by adjusting the position of the pin shaft A in the long hole.

The wheelchair is provided with a handrail constant angle retaining mechanism, the handrail constant angle retaining mechanism comprises a corner piece 6 hinged on a hinge shaft A16, the hinge shaft A is fixedly connected on a support, a hinge point of the hinge shaft A and the corner piece is positioned at a corner part of the corner piece, a connecting rod A4 is hinged at the end part of one edge A27 of the corner piece, the other end of the connecting rod A is hinged on the lifting column 2, a hinge point of an electric push rod 17 and the lifting column, a hinge point of the connecting rod A and the end part of one edge A27 of the corner piece and a central point of the hinge shaft A form a parallelogram, a connecting rod B8 is hinged at the end part of the other edge B26 of the corner piece 6, the other end of the connecting rod B8 is fixedly connected with a handrail frame 15, the handrail frame is rotatably connected with a backrest frame through the hinge shaft B14, and a hinge point of the other edge, The fixed point between the connecting rod B and the armrest frame, the central point of the articulated shaft B and the central point of the articulated shaft A form another parallelogram. More optimally, the end part of the handrail frame 15 is provided with an arc-shaped seam 11, a pin shaft B10 is fixedly connected to the connecting rod B, the pin shaft B is inserted into the arc-shaped seam, a locking mechanism is connected to the pin shaft B, and the position of the pin shaft B in the arc-shaped seam can be adjusted by loosening the locking mechanism. The locking mechanism can be realized by screwing nuts on the pin shafts B on the two sides of the arc-shaped seam, the pin shafts B are fixedly connected with the handrail frame by screwing the nuts, the positions of the pin shafts B in the arc-shaped seam can be adjusted by loosening the nuts, and the initial angle of the handrail frame can be adjusted by adjusting the positions of the pin shafts B in the arc-shaped seam.

Further, the method comprises the following steps of; the roller comprises a steering roller 23, the steering roller is arranged on a roller frame 24, a rotating shaft 31 is fixedly connected to the roller frame, the rotating shaft is rotatably arranged in a shaft sleeve 25, a friction block 33 is arranged in the shaft sleeve, the friction block is in contact fit with the rotating shaft, a spring 34 is arranged on the friction block in a pressing mode, the spring is bound in the shaft sleeve up and down, and the shaft sleeve is arranged on the underframe.

First embodiment of the diverting roller: the friction block 33 is pressed at the upper end of the rotating shaft 31, the spring 34 is pressed at the upper part of the friction block, the adjusting bolt 35 is screwed in the shaft sleeve at the upper part of the spring, and the adjusting bolt is pressed on the spring. The adjusting bolt is screwed in the shaft sleeve through threads.

First embodiment of the diverting roller: the upper end of the rotating shaft is conical, the conical shape is shown as 36, a conical hole 37 matched with the upper end of the rotating shaft is formed in the friction block, the upper end of the rotating shaft is inserted into the conical hole, a spring 34 is arranged on the upper end face of the friction block in a pressing mode, an adjusting bolt 35 is screwed in a shaft sleeve on the upper portion of the spring, and the adjusting bolt presses the spring.

As a further optimization of the steering roller, the inner wall of the shaft sleeve is provided with a vertical groove, the outer peripheral surface of the friction block is provided with an ear key 38, and the ear key is arranged in the groove in a vertical sliding mode. The ear key can prevent the friction block from rotating in the rotating process of the rotating shaft.

The wheelchair can be provided with an intelligent terminal which communicates with wheelchair passengers through mobile networks such as CDMA, GPRS and the like. The battery can be installed on the wheelchair, the rollers at the rear part are driven by the motor, the motor is connected to the controller, and the receiving and transmitting device can be arranged on the controller to control the wheelchair through the remote controller. The above techniques are all widely used at present.

The wheelchair can be provided with a radar sensor for avoiding obstacles, and the radar sensor is connected to the controller. The radar sensor has ready application on vehicles as an obstacle avoidance device.

When the backrest angle is adjusted by the aid of the electric push rod pushing crank, the angle of the backrest frame is changed, the backrest cushion and the backrest frame support are arranged in a sliding mode, the sliding groove is pulled by the sliding block and slides between the sliding block and the backrest cushion, the backrest cushion slides downwards when the backrest frame is placed backwards, the backrest cushion slides upwards when the backrest frame is placed forwards, the purpose of self-adaptive backrest adjustment can be achieved, relative displacement between the position of a human body and the backrest cushion is avoided as far as possible, and comfort of passengers is guaranteed.

When the angle of the backrest is adjusted, the armrest constant-angle retaining mechanism adopts two parallel four-bar mechanisms which are mutually related, the angle of the armrest can be adjusted by the position of the pin shaft B in the arc-shaped seam, after the angle is set, the armrest frame is constantly parallel to the edge B, the edge A is constantly parallel to the lifting column, and the included angle between the edge A and the edge B is fixed, so that the armrest frame can retain a constant angle in the process of adjusting the angle of the backrest.

The damping wheel is adopted by the steering idler wheel in the wheelchair, so that the steering is not too fast when the wheelchair is steered, uncomfortable feeling of a rider is avoided, the damping force can be adjusted by the spring, and the damping wheel can automatically compensate after the friction plate is abraded.

After the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention, and it is intended that all simple modifications, equivalent changes and modifications made to the above embodiments based on the technical spirit of the present invention shall fall within the technical scope of the present invention, and the present invention shall not be limited to the embodiments illustrated in the description.

Claims

1. The utility model provides a multiaxis drive self-adaptation wheelchair, includes chassis, seat, back, installs a plurality of gyro wheels on the chassis, installs the lift post of vertical direction on the chassis, its characterized in that: the lower part of the seat is hinged on the lifting column, and two ends of the linear driving device I are respectively hinged on the lifting column and the lower part of the seat; the back of the chair is fixedly connected with a bracket, the backrest is hinged with the bracket through a hinge shaft A, and the backrest is connected with a rotation driving device; the rotation driving device is as follows: the backrest is fixedly connected with a crank, the crank is hinged to the support through a hinge shaft A, two ends of the third linear driving device are hinged to the lifting column and the crank respectively, a leg frame is hinged to the front portion of the seat, and two ends of the second linear driving device are hinged to the leg frame and the lower portion of the seat respectively.

2. The multi-axis driven adaptive wheelchair as claimed in claim 1, wherein: the leg frame adopts a telescopic rod structure, the telescopic rod comprises a fixed rod and a movable rod sleeved with the fixed rod, one end of a linear driving device II is hinged with the fixed rod, two ends of a linear driving device IV are respectively hinged on the fixed rod and the movable rod, and the lower end of the movable rod is connected with a pedal.

3. The multi-axis driven adaptive wheelchair as claimed in claim 1, wherein: the backrest comprises a backrest cushion, the backrest cushion is connected to a backrest frame, a crank is fixedly connected with the backrest frame, a track along the direction of a spine of a human body is fixedly arranged on the backrest frame, the backrest cushion is arranged on the track in a sliding mode, a first connecting rod is connected to the support in a fixed connection mode, the upper end of the first connecting rod is hinged to a second connecting rod, a sliding block is arranged at the end of the second connecting rod, a sliding groove is fixedly arranged at the rear portion of the backrest cushion, the sliding groove is provided with an upper surface and a lower surface, and the sliding block is located between the upper surface and the lower surface.

4. The multi-axis driven adaptive wheelchair as claimed in claim 3, wherein: the support is provided with a long hole, the first connecting rod is provided with a pin shaft A, the pin shaft A is inserted into the long hole and fixedly connected with the support, the pin shaft A is provided with a locking device, and the sliding block is provided with a bearing.

5. The multi-axis driven adaptive wheelchair as claimed in claim 1, wherein: the wheelchair is provided with a handrail constant-angle retaining mechanism, the handrail constant-angle retaining mechanism comprises a corner piece hinged on a hinge shaft A, the hinge shaft A is fixedly connected on a support, a hinge point of the hinge shaft A and the corner piece is positioned at a corner part of the corner piece, a connecting rod A is hinged at one edge A end part of the corner piece, the other end of the connecting rod A is hinged on a lifting column, a hinge point of a linear driving device I and the lifting column, a hinge point of the connecting rod A and one edge A end part of the corner piece and a central point of the hinge shaft A form a parallelogram, a connecting rod B is hinged at the other edge B end part of the corner piece, the other end of the connecting rod B is fixedly connected with a handrail frame, the handrail frame is rotatably connected with a backrest frame through the hinge shaft B, and a hinge point of the other edge B end part, The fixed point between the connecting rod B and the armrest frame, the central point of the articulated shaft B and the central point of the articulated shaft A form another parallelogram.

6. The multi-axis driven adaptive wheelchair as claimed in claim 1, wherein: the handrail frame end has the arc seam, fixedly connected with round pin axle B on connecting rod B, round pin axle B inserts and establishes in the arc seam, is connected with locking mechanism on round pin axle B, loosens locking mechanism, adjustable round pin axle B is in the position of arc seam.

7. The multi-axis driven adaptive wheelchair as claimed in claim 1, wherein: the roller comprises a steering roller, the steering roller is arranged on a roller frame, a rotating shaft is fixedly connected to the roller frame, the rotating shaft is rotatably arranged in a shaft sleeve, a friction block is arranged in the shaft sleeve, the friction block is in contact fit with the rotating shaft, a spring is arranged on the friction block in an upward pressing mode, the spring is bound in the shaft sleeve up and down, and the shaft sleeve is arranged on an underframe.

8. The multi-axis driven adaptive wheelchair as claimed in claim 7, wherein: the friction block is arranged at the upper end of the rotating shaft in a pressing mode, the spring is arranged on the upper portion of the friction block in a pressing mode, the adjusting bolt is connected in the shaft sleeve on the upper portion of the spring in a rotating mode, and the adjusting bolt presses the spring.

9. The multi-axis driven adaptive wheelchair as claimed in claim 7, wherein: the upper end of the rotating shaft is conical, a conical hole matched with the upper end of the rotating shaft is formed in the friction block, the upper end of the rotating shaft is inserted into the conical hole, a spring is arranged on the upper end face of the friction block in a pressing mode, and an adjusting bolt is screwed in a shaft sleeve on the upper portion of the spring and presses the spring.

10. A multi-axis driven adaptive wheelchair as claimed in claim 8 or 9, wherein: the inner wall of the shaft sleeve is provided with a groove in the vertical direction, the peripheral surface of the friction block is provided with an ear key, and the ear key is arranged in the groove in a vertical sliding manner.