CN112914857A - Stair climbing wheelchair capable of being spliced with bed and splicing method thereof - Google Patents
Stair climbing wheelchair capable of being spliced with bed and splicing method thereof Download PDFInfo
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- CN112914857A CN112914857A CN202110081942.7A CN202110081942A CN112914857A CN 112914857 A CN112914857 A CN 112914857A CN 202110081942 A CN202110081942 A CN 202110081942A CN 112914857 A CN112914857 A CN 112914857A
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- rotatably connected
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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
- A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
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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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
- A61G5/0808—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction
- A61G5/0833—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding front to back, e.g. reducing or expanding the overall depth of the wheelchair
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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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
- A61G5/0883—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable having locking means for maintaining a folded or unfolded condition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention relates to a stair climbing wheelchair capable of being spliced with a bed and a splicing method thereof, wherein the wheelchair comprises a frame, a seat mechanism, a seat translation mechanism, a front wheel mechanism and a rear wheel mechanism; seat translation mechanism sets up directly over the frame, seat mechanism fixed connection is in directly over seat translation mechanism, preceding wheel mechanism sets up two, connects respectively the anterior both sides in frame below, the rear wheel mechanism sets up two, connects respectively the both sides at frame below rear portion. The wheelchair can be spliced with the bed better on the basis of realizing the stair climbing function, has certain obstacle crossing capability, helps the old or disabled to realize free movement, and has the advantages of comprehensive functions, safety, comfort, strong obstacle crossing capability and the like.
Description
Technical Field
The invention relates to the technical field of nursing instruments, in particular to a stair climbing wheelchair capable of being spliced with a bed and a splicing method thereof.
Background
For floors without elevators or multiple floors, stairs severely limit the activities of the elderly or disabled. At present, domestic old and disabled people assisting nursing equipment belongs to emerging industries, the number and the types of related nursing appliances are increasing day by day, such as a wheelchair bed, a transfer robot, a stair climbing robot, a multifunctional wheelchair and the like, but the old and disabled people assisting nursing equipment has complete functions and few technologies capable of helping the old or the disabled to a greater extent, and one reason is that the old and disabled people assisting nursing equipment has higher requirements on safety, comfort and stability, particularly the stair climbing wheelchair.
The patent of the invention with the current publication number of CN110638592A discloses a wheelchair bed, which comprises a bed body, a wheelchair and a movable bed board. The bed body includes bed body support and bed body bed board, and the wheelchair includes wheelchair support and wheelchair bed board, and the wheelchair bed board is connected in the wheelchair support and can be for wheelchair support lateral shifting. Although the wheelchair bed has the splicing state that the wheelchair is spliced with the bed body and the splitting state that the wheelchair is separated from the bed body, the wheelchair bed needs to be improved, and has poor comfort and single function.
The utility model discloses a utility model patent with publication number CN207745289U discloses a transfer transport nursing robot this robot by handrail, lift seat mechanism, prevent to overturn mechanism, pedal mechanism, fuselage, direction truckle, main part supporting link, main part rotating link, chest lean on part, rigidity support part and encircle partly constitution. The robot has single function, and can not meet the requirements of old people or disabled people for going upstairs and downstairs in a duplex building home environment.
The invention patent with publication number CN105213119A discloses a stair climbing wheelchair, which mainly comprises a seat, a walking mechanism and a horizontal mechanism, wherein a planet wheel is used for realizing the moving function of a plane and a stair, the horizontal mechanism realizes the function of keeping the seat horizontal when climbing the stair, but the up-and-down jolt of the stair climbing wheelchair is obvious, and the comfort and the safety of the old are poor.
At present, technical achievements of nursing equipment for helping the old and the disabled are various, and partial mature products are put into the market, but the defects of single function, low comfort and the like generally exist. For the existing nursing equipment for helping the old and the disabled, a safe and comfortable device which can adapt to a complex nursing environment and has comprehensive functions does not exist, so that a stair climbing wheelchair which can be spliced with a bed and a splicing method are urgently needed to be researched, the wheelchair is mainly used in families, old people institutions, medical institutions and the like, and the wheelchair helps the old or the disabled to freely move to a greater extent.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a stair climbing wheelchair capable of being spliced with a bed and a splicing method thereof, which breaks through the limitation of stair stairs on the traveling of the old or the disabled, helps the old or the disabled to move from the bed to other places, and overcomes the defects of single function, low comfort, incapability of adapting to complex nursing environments such as stair stairs, etc. in the prior art.
The technical scheme adopted by the invention is as follows:
the invention provides a stair climbing wheelchair capable of being spliced with a bed, which comprises a frame, a seat mechanism, a seat translation mechanism, a front wheel mechanism and a rear wheel mechanism, wherein the frame is provided with a front wheel and a rear wheel; the seat translation mechanism is arranged right above the rack, the seat mechanism is fixedly connected right above the seat translation mechanism, two front wheel mechanisms are arranged and are respectively and symmetrically connected to two sides of the front part below the rack, and two rear wheel mechanisms are arranged and are respectively and symmetrically connected to two sides of the rear part below the rack;
the seat translation mechanism comprises a shell, a bottom plate, a stepping motor, a lead screw sliding block, a guide rail sliding block and a second electric pushing cylinder; the casing sets up in the bottom plate top and with seat mechanism fixed connection, the bottom plate is connected with the frame, just the one end and the frame rear end of bottom plate rotate to be connected, and the other end passes through the second electric push cylinder and is connected with the frame front end, step motor fixed connection is in bottom plate middle part one side, the lead screw rotates to be connected between the left and right sides at bottom plate middle part, the guide rail sets up respectively in the both sides of lead screw and rotates with the bottom plate to be connected, step motor is connected with the one end transmission of lead screw, lead screw slider sliding connection is on the lead screw, guide rail slider sliding connection is on the guide rail, just the upper portion of lead screw slider and guide rail slider all with casing fixed connection.
Furthermore, the front wheel mechanism comprises a baffle plate, an auxiliary wheel, a driving wheel, a crawler belt, a long adjusting connecting rod, a short adjusting connecting rod, a small shaft, a three-level push rod and a damping component; the baffle plates are symmetrically distributed on two sides of a central symmetry plane of the front part below the rack, and notches are formed in the middle of the baffle plates; the auxiliary wheels are arranged, the auxiliary wheels and the driving wheel are rotatably connected between the baffles on the two sides, and the crawler belt is covered on the outer sides of the driving wheel and the auxiliary wheels; the long adjusting connecting rods are symmetrically distributed on two sides of a central symmetry plane of the front wheel mechanism, one end of each long adjusting connecting rod is rotatably connected with the middle of the rack, the other end of each long adjusting connecting rod is rotatably connected with the baffle plate through a wheel shaft of the driving wheel, the short adjusting connecting rods are symmetrically distributed on two sides of the central symmetry plane of the front wheel mechanism, one end of each short adjusting connecting rod is rotatably connected with the front side of the rack, the other end of each short adjusting connecting rod is provided with a cylindrical bulge, and the cylindrical bulges are matched with notches formed in; the three-stage push rod is arranged on the central plane of the baffle, the thick end of the three-stage push rod is rotatably connected with the baffle through a small shaft, and the thin end of the three-stage push rod is rotatably connected with the cylindrical bulge; the damping components are symmetrically distributed on two sides of a central symmetry plane of the front wheel mechanism, one end of each damping component is rotationally connected with the front side of the rack, and the other end of each damping component is rotationally connected with a wheel shaft of the driving wheel; the rear wheel mechanism and the front wheel mechanism are similar in structure and opposite in direction, and the difference is that the shape of the rear side of the rear wheel mechanism is an upward oblique bulge, and the height of the bulge is greater than that of a single-section stair.
Furthermore, the damping assembly comprises an upper connecting piece, a lower connecting piece and a spring, one end of the upper connecting piece is rotatably connected with the front side of the rack, the other end of the upper connecting piece is matched with one end of the lower connecting piece through a shaft hole, the other end of the lower connecting piece is rotatably connected with a wheel shaft of the driving wheel, and the upper connecting piece can axially move relative to the lower connecting piece.
Further, the seat mechanism comprises a backrest, a seat cushion, leg cushions, a foot cushion, a posture adjusting assembly and an armrest assembly; the backrest is rotatably connected with the rear end of the cushion, the front end of the cushion is rotatably connected with the rear ends of the leg pads, and the front ends of the leg pads are rotatably connected with the foot pad; the posture adjusting assembly comprises a first electric pushing cylinder, a first connecting rod and a second connecting rod, the second connecting rod is fixedly connected to the bottom of the foot pad, one end of the first connecting rod is rotatably connected with the bottom of the cushion, the other end of the first connecting rod is rotatably connected with the second connecting rod, and the first electric pushing cylinder is connected between the first connecting rod and the bottom of the cushion; the armrest assembly is symmetrically connected between the backrest and the sides of the leg pad.
Furthermore, the armrest component comprises an armrest and a third connecting rod, one end of the armrest is rotatably connected with one side of the backrest, the other end of the armrest is rotatably connected with one end of the third connecting rod, and the other end of the third connecting rod is fixedly connected with one side of the leg pad.
A splicing method of a stair climbing wheelchair capable of being spliced with a bed comprises the following steps:
s1: in the process that the wheelchair keeps sitting to move towards the bed, the front wheel mechanism and the rear wheel mechanism are controlled, the moving direction is adjusted by utilizing the differential principle, the wheelchair is enabled to be stopped at one side of the bed, and the distance between the wheelchair and the bed is enabled to be as small as possible;
s2: extending the first electric pushing cylinder, and gradually changing the chair mechanism from a sitting posture to a lying posture;
s3: the three-stage push rods work simultaneously, the overall height of the wheelchair is reduced when the three-stage push rods extend, the overall height of the wheelchair is increased when the three-stage push rods shorten, and the three-stage push rods are adjusted until the plane of the cushion and the surface of the bed are at the same height basically;
s4: control step motor work, drive seat mechanism through the casing and to the direction translation of being close the bed to reduce the gap between seat mechanism and the bed body, accomplish the concatenation.
Compared with the prior art, the invention has the following beneficial effects:
the stair climbing wheelchair capable of being spliced with the bed is adjustable in height, can be spliced by adapting to beds with different heights, can be used for reducing gaps between the chair mechanism and the bed effectively due to the fact that the chair mechanism can move transversely, solves the problem that old people move between the bed and the wheelchair, improves comfortableness, can ensure the stair climbing function through the front wheel mechanism and the rear wheel mechanism, has certain obstacle crossing capability, and helps the old people or the disabled to move freely.
Drawings
FIG. 1 is a schematic view of the overall structure of an embodiment of a stair-climbing wheelchair capable of being spliced with a bed according to the present invention;
FIG. 2 is a schematic view of the seating mechanism in a sitting position;
FIG. 3 is a schematic perspective view of the seat translation mechanism;
FIG. 4 is a schematic view of the connection of the seat translation mechanism to the frame;
FIG. 5 is a schematic cross-sectional view of the front wheel mechanism;
FIG. 6 is a schematic structural view of a shock absorbing assembly;
FIG. 7 is a schematic view of the rear wheel mechanism of the present invention in a stair climbing configuration;
FIG. 8 is a schematic view of the present invention in a working state during climbing stairs;
FIG. 9 is a front view of an application scenario of the present invention when it is spliced to a bed;
fig. 10 is a top view of an application scenario of the present invention when it is spliced to a bed.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
It should be noted that in the description of the present invention, it should be noted that the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not mean that a device or an element must have a specific orientation, be configured in a specific orientation, and be operated.
As shown in the attached figure 1, the stair climbing wheelchair capable of being spliced with a bed comprises a frame 1, a seat mechanism 2, a seat translation mechanism 3, a front wheel mechanism 4 and a rear wheel mechanism 5; seat translation mechanism 3 sets up directly over frame 1, seat mechanism 2 fixed connection is directly over seat translation mechanism 3, front wheel mechanism 4 sets up two, connects respectively in the anterior both sides in frame 1 below, rear wheel mechanism 5 sets up two, connects respectively in the both sides at frame 1 below rear portion.
As shown in fig. 2, the seat mechanism 2 includes a backrest 21, a seat cushion 22, leg pads 23, a foot pad 24, a posture adjustment assembly 25 and an armrest assembly 26, and the backrest 21, the leg pads 23 and the foot pad 24 can be linked through the posture adjustment assembly 25 and the armrest assembly 26; the backrest 21 is rotatably connected with the front end of the seat cushion 22, the rear end of the seat cushion 22 is rotatably connected with the front end of the leg pad 23, and the rear end of the leg pad 23 is rotatably connected with the foot pad 24; the posture adjusting assembly 25 comprises a first electric pushing cylinder 251, a first connecting rod 252 and a second connecting rod 253, the second connecting rod 253 is fixedly connected to the bottom of the foot pad 24, one end of the first connecting rod 252 is rotatably connected to the bottom of the seat cushion 22, the other end of the first connecting rod 252 is rotatably connected with the second connecting rod 253, and the first connecting rod 252 is connected with the bottom of the seat cushion 22 through the first electric pushing cylinder 251; the two armrest assemblies 26 are symmetrically connected between the backrest 21 and the two sides of the leg pad 23, each armrest assembly 26 includes an armrest 261 and a third link 262, one end of the armrest 261 is rotatably connected to the side of the backrest 21, the other end of the armrest 261 is rotatably connected to one end of the third link 262, and the other end of the third link 262 is fixedly connected to the side of the leg pad 23.
As shown in fig. 3 and fig. 4, the seat translation mechanism 3 includes a housing 31, a bottom plate 32, a stepping motor 33, a first transmission gear 34, a second transmission gear 35, a lead screw 36, a guide rail 37, a second electric pushing cylinder 38, a lead screw slider 361, and a guide rail slider 371; the housing 31 is disposed directly above the floor 32 and is fixedly connected to the bottom of the seat cushion 22 of the seat mechanism 2, the rear end of the bottom plate 32 is rotatably connected with the rear side of the frame 1, the front end is connected with the front side of the frame 1 through a second electric pushing cylinder 38, the stepping motor 33 is fixedly connected with one side of the middle part of the bottom plate 32, the first transmission gear 34 is fixedly connected with a motor shaft of the stepping motor 33, the two guide rails 37 are distributed on the front side and the rear side of the screw rod 36, the screw rod 36 and the guide rails 37 are rotatably connected between the left side and the right side of the bottom plate 32, one end of the screw rod 36 is fixedly connected with a second transmission gear 35, and the first transmission gear 34 is engaged with the second transmission gear 35, the lead screw 36 is connected with two lead screw sliders 361 in a sliding manner, the guide rail 37 is connected with two guide rail sliders 371 in a sliding manner, and the upper parts of the lead screw slider 361 and the guide rail slider 371 are fixedly connected with the bottom of the shell 31.
As shown in fig. 5 and 6, the front wheel mechanism 4 comprises a baffle plate 41, an auxiliary wheel 42, a driving wheel 43, a crawler belt 44, a long adjusting link 45, a short adjusting link 46, a shock absorption assembly 47 and a three-stage push rod 48; the two baffles 41 are symmetrically distributed on two sides of a central symmetry plane of the front wheel mechanism 4 respectively, and the middle part of each baffle 41 is provided with a transverse notch 411; a plurality of auxiliary wheels 42 are arranged, the auxiliary wheels 42 and the driving wheels 43 are rotatably connected between the baffle plates 41 on the two sides, and the crawler belt 44 is covered on the outer sides of the driving wheels 43 and the auxiliary wheels 42; two long adjusting connecting rods 45 are arranged and are respectively and symmetrically distributed on two sides of the central symmetry plane of the front wheel mechanism 4, one end of each long adjusting connecting rod 45 is rotatably connected with the middle part of the rack 1, and the other end of each long adjusting connecting rod 45 is rotatably connected with the baffle plate 41 through a wheel shaft of the driving wheel 43; two short adjusting connecting rods 46 are arranged and are respectively and symmetrically distributed on two sides of the central symmetry plane of the front wheel mechanism 4, one end of each short adjusting connecting rod 46 is rotatably connected with the front side of the rack 1, the other end of each short adjusting connecting rod is provided with a cylindrical bulge 461, and the cylindrical bulge 461 is matched with a notch 411 in the middle of the baffle plate 41 in a notch manner; the third-stage push rod 48 is arranged at the central plane of the front wheel mechanism 4, the thick end of the third-stage push rod 48 is rotationally connected between the two side baffles 41 through a small shaft 481, and the thin end of the third-stage push rod 48 is rotationally connected with a cylindrical bulge 461 at the end part of the short adjusting connecting rod 46; the two shock absorption assemblies 47 are respectively and symmetrically distributed on two sides of a central symmetry plane of the front wheel mechanism 4, each shock absorption assembly 47 comprises an upper connecting piece 471, a lower connecting piece 472 and a spring 473, one end of each upper connecting piece 471 is rotatably connected with the front end of the frame 1, the other end of each upper connecting piece 471 is matched with one end of each lower connecting piece 472 to form a shaft hole, the other end of each lower connecting piece 472 is rotatably connected with a wheel shaft of the driving wheel 43, the spring 473 is installed between the outer sides of the upper connecting piece 471 and the lower connecting piece 472, and the upper connecting pieces 471 can axially move relative to the lower connecting pieces; in this embodiment, the rear wheel mechanism 5 and the front wheel mechanism 4 have substantially the same structure and opposite directions, except that the rear side of the baffle in the rear wheel mechanism 5 is a protrusion which protrudes upwards, and the height of the protrusion is greater than that of a single-section stair.
As shown in the attached drawings 7 and 8, when the wheelchair climbs a building, the rear wheels contact with the stairs firstly, and the height of the protrusions of the rear wheels is larger than that of the first section of stairs, so that the wheelchair can climb the stairs; climb the in-process of building, the skew can take place for the wheelchair focus, can install gyroscope and STM32F103 singlechip cooperation in the wheelchair and use, and the centrobaric skew of wheelchair can be detected by the gyroscope to feed back to STM32F103 singlechip, the work of single chip microcomputer control second electric push cylinder 38 makes the cushion 22 of seat mechanism 2 remain the level throughout at whole building in-process of climbing.
A splicing method of a stair climbing wheelchair capable of being spliced with a bed comprises the following steps:
s1: in the process that the wheelchair keeps sitting and moves towards the bed, the front wheel mechanism 4 and the rear wheel mechanism 5 are controlled, the moving direction is adjusted by utilizing the differential principle, the wheelchair is enabled to be stopped at one side of the bed side by side, and the distance between the wheelchair and the bed is enabled to be as small as possible, as shown in the attached figures 9 and 10;
s2: the first electric pushing cylinder 251 is controlled to extend, and the seat mechanism 2 is gradually changed from a sitting posture to a lying posture;
s3: controlling the three-stage push rods 48 to work simultaneously, wherein the overall height of the wheelchair is reduced when the three-stage push rods 48 are extended, and the overall height of the wheelchair is increased when the three-stage push rods 48 are shortened, and adjusting the overall height until the plane of the cushion 22 and the bed surface are at the same height basically;
s4: the stepping motor 33 is controlled to work to drive the lead screw 36, and the lead screw sliding block 361 and the guide rail sliding block 371 are driven to slide left and right to further drive the shell 31 and the seat mechanism 2 to integrally translate towards the direction close to the bed, so that the gap between the seat mechanism 2 and the bed body is reduced, and splicing is completed.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. The utility model provides a can climb building wheelchair with bed concatenation which characterized in that: the wheelchair comprises a frame, a seat mechanism, a seat translation mechanism, a front wheel mechanism and a rear wheel mechanism; the seat translation mechanism is arranged right above the rack, the seat mechanism is fixedly connected right above the seat translation mechanism, two front wheel mechanisms are arranged and are respectively and symmetrically connected to two sides of the front part below the rack, and two rear wheel mechanisms are arranged and are respectively and symmetrically connected to two sides of the rear part below the rack;
the seat translation mechanism comprises a shell, a bottom plate, a stepping motor, a lead screw sliding block, a guide rail sliding block and a second electric pushing cylinder; the casing sets up in the bottom plate top and with seat mechanism fixed connection, the bottom plate is connected with the frame, just the one end and the frame rear end of bottom plate rotate to be connected, and the other end passes through the second electric push cylinder and is connected with the frame front end, step motor fixed connection is in bottom plate middle part one side, the lead screw rotates to be connected between the left and right sides at bottom plate middle part, the guide rail sets up respectively in the both sides of lead screw and rotates with the bottom plate to be connected, step motor is connected with the one end transmission of lead screw, lead screw slider sliding connection is on the lead screw, guide rail slider sliding connection is on the guide rail, just the upper portion of lead screw slider and guide rail slider all with casing fixed connection.
2. The stair climbing wheelchair capable of being spliced with a bed according to claim 1, wherein: the front wheel mechanism comprises a baffle plate, an auxiliary wheel, a driving wheel, a crawler belt, a long adjusting connecting rod, a short adjusting connecting rod, a small shaft, a three-stage push rod and a damping component; the baffle plates are symmetrically distributed on two sides of a central symmetry plane of the front part below the rack, and notches are formed in the middle of the baffle plates; the auxiliary wheels are arranged, the auxiliary wheels and the driving wheel are rotatably connected between the baffles on the two sides, and the crawler belt is covered on the outer sides of the driving wheel and the auxiliary wheels; the long adjusting connecting rods are symmetrically distributed on two sides of a central symmetry plane of the front wheel mechanism, one end of each long adjusting connecting rod is rotatably connected with the middle of the rack, the other end of each long adjusting connecting rod is rotatably connected with the baffle plate through a wheel shaft of the driving wheel, the short adjusting connecting rods are symmetrically distributed on two sides of the central symmetry plane of the front wheel mechanism, one end of each short adjusting connecting rod is rotatably connected with the front side of the rack, the other end of each short adjusting connecting rod is provided with a cylindrical bulge, and the cylindrical bulges are matched with notches formed in; the three-stage push rod is arranged on the central plane of the baffle, the thick end of the three-stage push rod is rotatably connected with the baffle through a small shaft, and the thin end of the three-stage push rod is rotatably connected with the cylindrical bulge; the damping components are symmetrically distributed on two sides of a central symmetry plane of the front wheel mechanism, one end of each damping component is rotationally connected with the front side of the rack, and the other end of each damping component is rotationally connected with a wheel shaft of the driving wheel; the rear wheel mechanism and the front wheel mechanism are similar in structure and opposite in direction, and the difference is that the shape of the rear side of the rear wheel mechanism is an upward oblique bulge, and the height of the bulge is greater than that of a single-section stair.
3. The stair climbing wheelchair capable of being spliced with a bed according to claim 2, wherein: the damping assembly comprises an upper connecting piece, a lower connecting piece and a spring, one end of the upper connecting piece is rotatably connected with the front side of the rack, the other end of the upper connecting piece is matched with one end of the lower connecting piece in a shaft hole mode, the other end of the lower connecting piece is rotatably connected with a wheel shaft of the driving wheel, and the upper connecting piece can axially move relative to the lower connecting piece.
4. The stair climbing wheelchair capable of being spliced with a bed according to claim 1, wherein: the seat mechanism comprises a backrest, a cushion, leg pads, a foot pad, a posture adjusting assembly and an armrest assembly; the backrest is rotatably connected with the rear end of the cushion, the front end of the cushion is rotatably connected with the rear ends of the leg pads, and the front ends of the leg pads are rotatably connected with the foot pad; the posture adjusting assembly comprises a first electric pushing cylinder, a first connecting rod and a second connecting rod, the second connecting rod is fixedly connected to the bottom of the foot pad, one end of the first connecting rod is rotatably connected with the bottom of the cushion, the other end of the first connecting rod is rotatably connected with the second connecting rod, and the first electric pushing cylinder is connected between the first connecting rod and the bottom of the cushion; the armrest assembly is symmetrically connected between the backrest and the sides of the leg pad.
5. The stair climbing wheelchair capable of being spliced with a bed according to claim 4, wherein: the armrest component comprises an armrest and a third connecting rod, one end of the armrest is rotatably connected with one side of the backrest, the other end of the armrest is rotatably connected with one end of the third connecting rod, and the other end of the third connecting rod is fixedly connected with one side of the leg pad.
6. A splicing method of a stair climbing wheelchair capable of being spliced with a bed is characterized by comprising the following steps:
s1: in the process that the wheelchair keeps sitting to move towards the bed, the front wheel mechanism and the rear wheel mechanism are controlled, the moving direction is adjusted by utilizing the differential principle, the wheelchair is enabled to be stopped at one side of the bed, and the distance between the wheelchair and the bed is enabled to be as small as possible;
s2: extending the first electric pushing cylinder, and gradually changing the chair mechanism from a sitting posture to a lying posture;
s3: the three-stage push rods work simultaneously, the overall height of the wheelchair is reduced when the three-stage push rods extend, the overall height of the wheelchair is increased when the three-stage push rods shorten, and the three-stage push rods are adjusted until the plane of the cushion and the surface of the bed are at the same height basically;
s4: control step motor work, drive seat mechanism through the casing and to the direction translation of being close the bed to reduce the gap between seat mechanism and the bed body, accomplish the concatenation.
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| CN202110081942.7A CN112914857B (en) | 2021-01-21 | 2021-01-21 | Stair climbing wheelchair capable of being spliced with bed and splicing method thereof |
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| CN202110081942.7A CN112914857B (en) | 2021-01-21 | 2021-01-21 | Stair climbing wheelchair capable of being spliced with bed and splicing method thereof |
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| CN112914857B CN112914857B (en) | 2022-07-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056868A (en) * | 2022-05-16 | 2022-09-16 | 王维 | Obstacle crossing method of traveling device and traveling device applying same |
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| CN111839920A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Crawler-type stair climbing robot with auxiliary grapple |
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| JPH09187480A (en) * | 1995-12-30 | 1997-07-22 | Nippon Clean Engine Lab Co Ltd | Wheelchair apparatus with crawler vehicle bed |
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| CN112914857B (en) | 2022-07-01 |
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