CN112998974A - Crawler-type stair climbing wheelchair - Google Patents
Crawler-type stair climbing wheelchair Download PDFInfo
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- CN112998974A CN112998974A CN202110194808.8A CN202110194808A CN112998974A CN 112998974 A CN112998974 A CN 112998974A CN 202110194808 A CN202110194808 A CN 202110194808A CN 112998974 A CN112998974 A CN 112998974A
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- bevel gear
- wheel
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- rotating shaft
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- 230000009194 climbing Effects 0.000 title description 13
- 230000005484 gravity Effects 0.000 claims abstract description 22
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 17
- 239000000725 suspension Substances 0.000 claims description 86
- 230000005540 biological transmission Effects 0.000 claims description 46
- 230000035939 shock Effects 0.000 claims description 40
- 239000006096 absorbing agent Substances 0.000 claims description 24
- 238000010521 absorption reaction Methods 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 9
- 238000005457 optimization Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1089—Anti-tip devices
Abstract
The invention relates to the field of medical treatment, in particular to a crawler-type stair-climbing wheelchair. The wheelchair can climb over steps, go upstairs and downstairs, adjust the gravity center of the wheelchair in driving scenes such as ramps and stairs, and realize all-terrain driving by self-locking of the ramps. The three planet wheels on the planet carrier rotate around respective axes and do rotation when going upstairs and downstairs, the planet carrier rotates and does not rotate, the three planet wheels on the planet carrier rotate while being meshed with the sun wheel to rotate, the planet carrier revolves around the sun wheel to climb across the stairs, the bidirectional pawl does not walk backwards when the wheelchair climbs upwards on the stairs, and the wheelchair does not tilt forwards when going downstairs.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a crawler-type stair-climbing wheelchair.
Background
The wheelchair is a common medical machine, and the wide application is taken a walk instead of on straight road surface or ramp road surface for the disabled, but then can't solve to the visible ladder everywhere in the life, stair, and only lean on the difficult control of both arms in ramp driving process, and the wheelchair can appear back strolling when going uphill, and the wheelchair can appear leaning forward when going downhill, and the wheelchair focus can not be adjusted simultaneously.
Disclosure of Invention
The invention aims to provide a crawler-type stair climbing wheelchair which can climb over stairs, go up and down the stairs, adjust the gravity center of the wheelchair in driving scenes such as ramps, stairs and the like, realize self-locking of the ramps and realize all-terrain driving.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a stair wheelchair is climbed to crawler-type, includes wheelchair automobile body assembly, drive front axle, front wheel steering suspension assembly, two separation and reunion front wheel assemblies, drive rear axle, rear wheel multi-link suspension, rear wheel assembly, its characterized in that: the wheelchair body assembly is connected with the driving front axle, the wheelchair body assembly is connected with the front wheel steering suspension assembly, the wheelchair body assembly is connected with the driving rear axle, the wheelchair body assembly is connected with the rear wheel multi-link suspension, the driving front axle is connected with the front wheel steering suspension assembly, the driving front axle device is connected with the double-clutch front wheel assembly, the driving rear axle is connected with the rear wheel multi-link suspension, the driving rear axle is connected with the rear wheel assembly, and the rear wheel multi-link suspension is connected with the rear wheel assembly.
As a further optimization of the technical scheme, the invention provides a crawler-type stair climbing wheelchair, wherein a wheelchair body assembly comprises a wheelchair frame, a chair with adjustable gravity center, a chair rotating shaft, a hydraulic rod I, a frame connecting rod, a side guard plate, a handrail frame, a pedal plate, an electric control operating platform, an input motor, a motor frame, a front axle seat, a rear axle seat, a belt, a central transmission shaft and a motor limiting block, the wheelchair frame is rotatably connected with the chair with adjustable gravity center, the wheelchair frame is fixedly connected with the chair rotating shaft, the wheelchair frame is rotatably connected with the frame connecting rod, the wheelchair frame is fixedly connected with the side guard plate and the handrail frame, the wheelchair frame is fixedly connected with the electric control operating platform, the wheelchair frame is fixedly connected with the input motor, the wheelchair frame is fixedly connected with the front axle seat, the wheelchair frame is fixedly connected with the rear axle seat, the chair with adjustable gravity center is rotatably connected with the chair rotating, the gravity center adjustable seat is rotatably connected with the pedal plate, the first hydraulic rod is fixedly connected with the frame connecting rod, the input motor is fixedly connected with the motor frame through a motor limiting block, the input motor is connected with the central transmission shaft through a belt, and the motor frame is rotatably connected with the central transmission shaft.
As a further optimization of the technical scheme, the crawler-type stair climbing wheelchair comprises a driving front axle, a differential bevel gear carrier I, a planetary bevel gear II, a bevel gear half shaft I, a bevel gear half shaft II, a cross universal joint I, a connecting rod I, a transmission sleeve I, a cross universal joint II and a connecting rod II, wherein the differential bevel gear carrier I is respectively in rotating connection with the planetary bevel gear I and the planetary bevel gear II, the differential bevel gear carrier I is in rotating connection with the bevel gear half shaft I, the planetary bevel gear I is meshed with a bevel gear of the bevel gear half shaft II, the planetary bevel gear II is meshed with a bevel gear of the bevel gear half shaft I, the planetary bevel gear II is meshed with a bevel gear of the bevel gear half shaft II, the bevel, the first connecting rod is connected with the first transmission sleeve in a sliding mode, the first transmission sleeve is connected with the second connecting rod through a cross universal joint, a bevel gear of the first differential bevel gear carrier is meshed with a bevel gear of the central transmission shaft, and the first bevel gear half shaft and the second bevel gear half shaft are rotatably connected with the front axle seat.
As a further optimization of the technical scheme, the invention relates to a crawler-type stair climbing wheelchair, wherein a front wheel steering suspension assembly comprises a steering frame, a first steering connecting rod, a second hydraulic rod, a steering pull rod, an upper suspension body, a first upper connecting rod, a second lower suspension body, a first lower connecting rod, a first shock absorber, a first shock absorbing spring, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a steering frame sleeve, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft and an eighth rotating shaft, the steering frame is rotatably connected with the first steering connecting rod through the fifth rotating shaft, the steering frame is rotatably connected with the second steering connecting rod through the sixth rotating shaft, the steering frame is rotatably connected with the upper suspension body, the steering frame is rotatably connected with the lower suspension body, the first steering connecting rod is rotatably connected with the eight steering pull rod through the eighth rotating shaft, the second steering connecting rod is rotatably connected with the seventh rotating shaft, the upper connecting rod I is rotatably connected with the front axle seat through a rotating shaft II, the lower suspension body is rotatably connected with the lower connecting rod I through a rotating shaft III, the lower connecting rod I is rotatably connected with the front axle seat through a rotating shaft IV, the lower connecting rod I is fixedly connected with the shock absorber I, the shock absorber I is fixedly connected with the front axle seat, the shock absorbing spring I penetrates through the shock absorber and is pressed between the lower connecting rod I and the front axle seat together, and the bogie is rotatably connected with the connecting rod II through a bogie sleeve.
As a further optimization of the technical scheme, the invention relates to a crawler-type stair climbing wheelchair, which comprises a double-clutch cover body, a front wheel output shaft, a planetary gear carrier, a first clutch, a second clutch, a clutch spring, a sun wheel, a first planetary gear, a second planetary gear, a third planetary gear, a thrust ball bearing, a front wheel crawler, a sun wheel sleeve, a sun wheel end cover, a first planetary gear shaft, a second planetary gear shaft and a third planetary gear shaft, wherein the double-clutch cover body is rotationally connected with the front wheel output shaft through the clutch, the double-clutch cover body is rotationally connected with the planetary gear carrier through the second clutch, the double-clutch cover body is connected with the planetary gear carrier through the clutch spring, the front wheel output shaft is rotationally connected in an inner hole of the planetary gear carrier, the front wheel output shaft is rotationally connected with the sun wheel through the sun wheel sleeve, and the front wheel output, the planet carrier is rotationally connected with the planet wheel I through the planet wheel shaft I, the planet carrier is rotationally connected with the planet wheel II through the planet wheel shaft II, the planet carrier is rotationally connected with the planet wheel tee through the planet wheel shaft III, the sun wheel is respectively meshed with the planet wheel I, the planet wheel II and the planet wheel III, the thrust ball bearing is arranged between the planet carrier and the sun wheel, the front wheel crawler is coated on the planet wheel I, the planet wheel II and the planet wheel III, and the double clutch cover body is fixedly connected with the connecting rod II.
As a further optimization of the technical scheme, the crawler-type stair climbing wheelchair comprises a driving rear axle, a differential bevel gear carrier II, a planetary bevel gear III, a planetary bevel gear IV, a bevel gear half shaft III, a bevel gear half shaft IV, a cross universal joint III, a connecting rod III, a transmission sleeve II, a cross universal joint IV and a rear wheel output shaft, wherein an extension rod of the differential bevel gear carrier II is respectively in rotating connection with the planetary bevel gear III and the planetary bevel gear IV, the differential bevel gear carrier II is in rotating connection with the bevel gear half shaft III, the planetary bevel gear III is meshed with a bevel gear of the bevel gear half shaft IV, the planetary bevel gear IV is meshed with a bevel gear of the bevel gear half shaft III, the bevel gear III is connected with the connecting rod tee through the cross universal joint III, the connecting rod III is connected with the transmission sleeve II in a sliding mode, the transmission sleeve II is connected with the output shaft of the rear wheel through a cross universal joint IV, a bevel gear of the differential bevel gear carrier II is meshed with a bevel gear of the central transmission shaft, and a bevel gear half shaft III and a bevel gear half shaft IV are rotationally connected with the rear axle seat.
As a further optimization of the technical scheme, the crawler-type stair climbing wheelchair comprises a rear wheel multi-link suspension, an upper link II, a lower link II, a damper II, a damping spring II, a rotating shaft nine, a rotating shaft ten, a rotating shaft eleven and a rotating shaft twelve, wherein the suspension is connected with the upper link II through the rotating shaft nine, the suspension is connected with the lower link II through the rotating shaft eleven, the upper link II is connected with a rear axle seat through the rotating shaft ten, the lower link II is connected with the rear axle seat through the rotating shaft twelve, the lower link II is fixedly connected with the damper II, the damper II is fixedly connected with the rear axle seat, and the damping spring II penetrates through the damper II and is pressed between the lower link II and the rear axle seat.
As a further optimization of the technical scheme, the crawler-type stair climbing wheelchair comprises a driving wheel, a driven wheel holder, a driven wheel shaft, a holder adjusting device, an auxiliary wheel, a rotating shaft thirteen, a bidirectional pawl, a pawl spring, a rear wheel crawler and a rotating shaft fourteen, wherein the driving wheel is connected with the driven wheel through the driven wheel holder, the driving wheel is rotatably connected with the holder adjusting device, the driven wheel is rotatably connected with the driven wheel holder through the driven wheel shaft, the driven wheel holder is connected with the auxiliary wheel through the rotating shaft thirteen, the driven wheel holder is connected with the bidirectional pawl through the rotating shaft fourteen, the bidirectional pawl is fixedly connected with the pawl spring, the bidirectional pawl is clamped between gear tooth gaps of the driven wheel, the rear wheel crawler wraps the driving wheel and the driven wheel, and the.
The beneficial effects of the invention are as follows:
the invention relates to a crawler-type stair climbing wheelchair.A central transmission shaft is driven by an input motor through a belt to rotate and transmit power to a front axle and a rear axle, the center of gravity of a seat is adjusted through a hydraulic rod I when going upstairs or downstairs (slopes), the inclination angle of the seat is proper, a front-rear axle differential mechanism controls an inner half shaft and an outer half shaft to rotate in a differential mode when turning, the power is transmitted to the front axle and the rear axle through a cross universal joint, the front axle and the rear axle both adopt multi-connecting-rod suspensions to reduce jolts when going upstairs or downstairs, the hydraulic rod II is a power source for steering a front wheel to control a steering angle, and a steering pull rod controls; the two running modes can be switched by double clutches, when the vehicle runs on a flat road, the sun gear rotates, the planet gear carrier does not rotate, the three planet gears on the planet gear carrier rotate around respective axes, when the vehicle goes upstairs and downstairs, the planet gear carrier rotates, the sun gear does not rotate, the three planet gears on the planet gear carrier revolve around the sun gear while meshing with the sun gear to rotate, and thus the vehicle goes across stairs; when going up and down a slope, the retainer adjusting device controls the driven wheel to be attached to the stairs, namely the rear wheel track is attached to the stairs, and the bidirectional pawl realizes unidirectional locking, namely the wheelchair does not walk backwards when climbing up the stairs and does not lean forwards when going down the stairs.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a first general structural diagram of the present invention;
FIG. 2 is a second overall structural schematic of the present invention;
FIG. 3 is a third schematic view of the overall structure of the present invention;
FIG. 4 is a first schematic view of the front wheel structure of the present invention;
FIG. 5 is a schematic rear wheel construction of the present invention;
FIG. 6 is a first schematic structural view of the wheelchair body assembly of the present invention;
FIG. 7 is a second schematic structural view of a wheelchair body assembly of the present invention;
FIG. 8 is a schematic view of the drive front axle configuration of the present invention;
FIG. 9 is a first schematic structural view of a front wheel steering suspension assembly of the present invention;
FIG. 10 is a second schematic structural view of a front wheel steering suspension assembly of the present invention;
FIG. 11 is a third schematic structural view of a front wheel steering suspension assembly of the present invention;
FIG. 12 is a schematic view of the truck structure of the present invention;
FIG. 13 is a second schematic view of the front wheel construction of the present invention;
FIG. 14 is a first structural schematic view of a dual clutch front wheel assembly in accordance with the present invention;
FIG. 15 is a second structural schematic view of the dual clutch front wheel assembly of the present invention;
FIG. 16 is a third schematic view of the front wheel construction of the present invention;
FIG. 17 is a schematic view of the drive rear axle configuration of the present invention;
FIG. 18 is a schematic diagram of a rear wheel multi-link suspension of the present invention;
FIG. 19 is a rear wheel assembly construction schematic of the present invention;
FIG. 20 is a first schematic view of the bi-directional pawl of the present invention;
fig. 21 is a second schematic view of the bi-directional ratchet structure of the present invention.
In the figure: a wheelchair body assembly 1; a wheelchair frame 1-1; the gravity center of the chair can be adjusted by 1-2; a seat spindle 1-3; 1-4 of a hydraulic rod I; 1-5 of a frame connecting rod; 1-6 of side guard plate; 1-7 of armrest frames; 1-8 parts of a pedal; 1-9 of an electric control console; inputting motors 1-10; 1-11 of a motor frame; front axle vehicle seats 1-12; rear axle seats 1-13; 1-14 of belts; a central drive shaft 1-15; 1-16 parts of a motor limiting block; driving the front axle 2; a differential bevel gear carrier I2-1; 2-2 parts of a first planet bevel gear; 2-3 of a second planetary bevel gear; bevel gear half shafts I2-4; a bevel gear half shaft II 2-5; 2-6 parts of a cross universal joint I; 2-7 of a first connecting rod; 2-8 parts of a first transmission sleeve; 2-9 parts of a cross universal joint II; 2-10 parts of a second connecting rod; a front wheel steering suspension assembly 3; 3-1 of a bogie; a first steering connecting rod 3-2; a second steering connecting rod 3-3; 3-4 parts of a second hydraulic rod; 3-5 of a steering pull rod; 3-6 parts of an upper suspension body; 3-7 parts of an upper connecting rod I; 3-8 parts of a lower suspension body; 3-9 parts of a lower connecting rod I; 3-10 parts of a first shock absorber; 3-11 parts of a damping spring I; 3-12 parts of a first rotating shaft; 3-13 parts of a second rotating shaft; 3-14 parts of a rotating shaft III; a fourth rotating shaft is 3-15; bogie sleeves 3-16; 3-17 parts of a rotating shaft; six rotating shafts 3-18; a rotating shaft seven is 3-19; eight rotating shafts 3-20; a double-clutch front wheel assembly 4; a double clutch cover 4-1; a front wheel output shaft 4-2; planet carrier 4-3; 4-4 parts of a first clutch; a second clutch 4-5; clutch springs 4-6; 4-7 of sun gear; 4-8 of a planet wheel I; 4-9 of a second planet wheel; 4-10 parts of planet wheel III; 4-11 parts of thrust ball bearing; 4-12 of front wheel pedrail; 4-13 of a sun gear sleeve; sun gear end caps 4-14; 4-15 parts of a first planet wheel shaft; 4-16 parts of a second planet wheel shaft; 4-17 parts of a third planet wheel shaft; driving the rear axle 5; a differential bevel gear carrier II 5-1; a third planetary bevel gear 5-2; planet bevel gears four 5-3; bevel gear half shaft three 5-4; bevel gear half shaft four 5-5; 5-6 parts of a cross universal joint; 5-7 of a connecting rod III; 5-8 parts of a second transmission sleeve; 5-9 parts of a cross universal joint; 5-10 parts of a rear wheel output shaft; a rear wheel multi-link suspension 6; a suspension body 6-1; the upper connecting rod II 6-2; 6-3 parts of a second lower connecting rod; 6-4 of a second shock absorber; 6-5 parts of a damping spring II; 6-6 parts of a rotating shaft; ten 6-7 of rotating shaft; eleven rotating shafts 6-8; twelve rotating shafts 6-9; a rear wheel assembly 7; comprises a driving wheel 7-1; a driven wheel 7-2; a driven wheel retainer 7-3; 7-4 of a driven wheel shaft; a cage adjusting device 7-5; 7-6 of auxiliary wheels; thirteen 7-7 parts of rotating shaft; 7-8 of a bidirectional pawl; a pawl spring 7-9; 7-10 parts of rear wheel track; fourteen rotating shafts 7-11.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The fixed connection in the device is realized by fixing in modes of welding, thread fixing and the like, and different fixing modes are used in combination with different use environments; the rotary connection means that the bearing is arranged on the shaft in a drying mode, a spring retainer ring groove is formed in the shaft or the shaft hole, and the elastic retainer ring is clamped in the retainer ring groove to achieve axial fixation of the bearing and achieve rotation; the sliding connection refers to the connection through the sliding of the sliding block in the sliding groove or the guide rail; the hinge joint is a movable connection mode on connecting parts such as a hinge, a pin shaft, a short shaft and the like; the required sealing positions are sealed by sealing rings or O-shaped rings.
The first embodiment is as follows:
the embodiment will be described with reference to fig. 1-21, and a crawler-type stair-climbing wheelchair comprises a wheelchair body assembly 1, a driving front axle 2, a front wheel steering suspension assembly 3, a double-clutch front wheel assembly 4, a driving rear axle 5, a rear wheel multi-link suspension 6 and a rear wheel assembly 7, the wheelchair body assembly 1 is connected with a driving front axle 2, the wheelchair body assembly 1 is connected with a front wheel steering suspension assembly 3, the wheelchair body assembly 1 is connected with a driving rear axle 5, the wheelchair body assembly 1 is connected with a rear wheel multi-link suspension 6, the driving front axle 2 is connected with the front wheel steering suspension assembly 3, the driving front axle device 2 is connected with a double-clutch front wheel assembly 4, the driving rear axle 5 is connected with a rear wheel multi-link suspension 6, the driving rear axle 5 is connected with a rear wheel assembly 7, and the rear wheel multi-link suspension 6 is connected with a rear wheel assembly 7.
The second embodiment is as follows:
the embodiment is described below with reference to fig. 1-21, and the embodiment will be further described, wherein the wheelchair body assembly 1 includes a wheelchair frame 1-1, a gravity-adjustable seat 1-2, a seat rotating shaft 1-3, a hydraulic rod 1-4, a frame connecting rod 1-5, a side guard plate 1-6, an armrest frame 1-7, a pedal plate 1-8, an electric control console 1-9, an input motor 1-10, a motor frame 1-11, a front axle seat 1-12, a rear axle seat 1-13, a belt 1-14, a central transmission shaft 1-15, and a motor stopper 1-16, the wheelchair frame 1-1 is rotatably connected with the gravity-adjustable seat 1-2, the wheelchair frame 1-1 is fixedly connected with the seat rotating shaft 1-3, a wheelchair frame 1-1 is rotationally connected with a frame connecting rod 1-5, the wheelchair frame 1-1 is fixedly connected with a side guard plate 1-6 and an armrest frame 1-7, the wheelchair frame 1-1 is fixedly connected with an electric control console 1-9, the wheelchair frame 1-1 is fixedly connected with an input motor 1-10, the wheelchair frame 1-1 is fixedly connected with a front axle saddle 1-12, the wheelchair frame 1-1 is fixedly connected with a rear axle saddle 1-13, a gravity center adjustable seat 1-2 is rotationally connected with a seat rotating shaft 1-3, the gravity center adjustable seat 1-2 is rotationally connected with a hydraulic rod 1-4, the gravity center adjustable seat 1-2 is rotationally connected with a pedal 1-8, and the hydraulic rod 1-4 is fixedly connected with the frame connecting rod 1-5, the input motor 1-10 is fixedly connected with the motor frame 1-11 through a motor limiting block 1-16, the input motor 1-10 is connected with the central transmission shaft 1-15 through a belt 1-14, and the motor frame 1-11 is rotatably connected with the central transmission shaft 1-15;
when the electric wheelchair is used, the input motor 1-10 on the motor frame 1-11 starts to work, the belt 1-14 drives the central transmission shaft 1-15 to rotate and transmit power to the front axle and the rear axle, the gravity center adjustable seat 1-2 can rotate around the seat rotating shaft 1-3 according to road condition information to adjust the gravity center of the seat when going upstairs or downstairs (slopes), the hydraulic rod 1-4 contracts to enable the seat to incline forwards at a proper angle when going upstairs (slopes), the hydraulic rod 1-4 extends to enable the seat to incline backwards at a proper angle when going downstairs (slopes), the gravity center of the wheelchair when going upstairs or downstairs is kept, and the electric control console 1-9 controls signals such as mode switching, speed and the like of the wheelchair.
The third concrete implementation mode:
the embodiment is described below with reference to fig. 1-21, and the embodiment further describes the first embodiment, the driving front axle 2 includes a differential bevel gear carrier one 2-1, a planetary bevel gear one 2-2, a planetary bevel gear two 2-3, a bevel gear half-shaft one 2-4, a bevel gear half-shaft two 2-5, a cross universal joint one 2-6, a connecting rod one 2-7, a transmission sleeve one 2-8, a cross universal joint two 2-9, and a connecting rod two 2-10, the differential bevel gear carrier one 2-1 is respectively connected with the planetary bevel gear one 2-2 and the planetary bevel gear two 2-3 in a rotating manner, the differential bevel gear carrier one 2-1 is connected with the bevel gear half-shaft one 2-4 in a rotating manner, the planetary bevel gear one 2-2 is meshed with the bevel gear end of the bevel gear half-shaft 2-4, the first planetary bevel gear 2-2 is meshed with the bevel gear end of a second bevel gear half shaft 2-5, the second planetary bevel gear 2-3 is meshed with the bevel gear end of a first bevel gear half shaft 2-4, the second planetary bevel gear 2-3 is meshed with the bevel gear end of a second bevel gear half shaft 2-5, the first bevel gear half shaft 2-4 is connected with a first connecting rod 2-7 through a first cross universal joint 2-6, the first connecting rod 2-7 is connected with a first transmission sleeve 2-8 in a sliding manner, the first transmission sleeve 2-8 is connected with a second connecting rod 2-10 through a second cross universal joint 2-9, the bevel gear of a first differential bevel gear carrier 2-1 is meshed with the bevel gear end of a central transmission shaft 1-15, and the first bevel gear half shaft 2-4 and the second bevel gear half shaft 2-5 are rotationally connected with a front;
the central transmission shaft 1-15 is meshed with a bevel gear of a differential bevel gear carrier I2-1 to transmit power to a front axle, the differential bevel gear carrier I2-1 drives a bevel gear half shaft I2-4 and a bevel gear half shaft II 2-5 to rotate in the process of straight driving of the wheelchair, namely when the half shafts on two sides have no rotation speed difference, the bevel gear I2-2 and the bevel gear II 2-3 revolve along with the differential bevel gear carrier I2-1 and do not rotate around respective axes, the front axle power output is realized by differential rotation because the bevel gear half shaft I2-4 and the bevel gear half shaft II 2-5 are respectively meshed with the bevel gear I2-2 and the bevel gear II 2-3 to rotate in the process of curved driving of the wheelchair, namely when the half shafts on two sides have the rotation speed difference, the connecting rod I2-7 is driven to rotate by a cross universal joint I2-6, the first transmission sleeve 2-8 is driven to rotate through the first connecting rod 2-7, and then the second connecting rod 2-10 is driven to rotate through the second cross universal joint 2-9, so that power is transmitted to front axle wheels.
The fourth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 21, and the embodiment will be further described, wherein the front wheel steering suspension assembly 3 includes a bogie 3-1, a first steering link 3-2, a second steering link 3-3, a second hydraulic rod 3-4, a steering rod 3-5, an upper suspension body 3-6, a first upper link 3-7, a lower suspension body 3-8, a first lower link 3-9, a first shock absorber 3-10, a first shock absorbing spring 3-11, a first rotating shaft 3-12, a second rotating shaft 3-13, a third rotating shaft 3-14, a fourth rotating shaft 3-15, a bogie sleeve 3-16, a fifth rotating shaft 3-17, a sixth rotating shaft 3-18, a seventh rotating shaft 3-19, and an eighth rotating shaft 3-20, the bogie 3-1 and the first steering link 3-2 are rotatably connected through the fifth rotating shaft 3-17, a bogie 3-1 is rotatably connected with a second steering connecting rod 3-3 through a sixth rotating shaft 3-18, the bogie 3-1 is rotatably connected with an upper suspension body 3-6, the bogie 3-1 is rotatably connected with a lower suspension body 3-8, a first steering connecting rod 3-2 is rotatably connected with a first steering pull rod 3-5 through a eighth rotating shaft 3-20, the second steering connecting rod 3-3 is rotatably connected with a second hydraulic rod 3-4 through a seventh rotating shaft 3-19, the upper suspension body 3-6 is rotatably connected with a first upper connecting rod 3-7 through a first rotating shaft 3-12, the first upper connecting rod 3-7 is rotatably connected with a front axle saddle 1-12 through a second rotating shaft 3-13, the lower suspension body 3-8 is rotatably connected with a first lower connecting rod 3-9 through a third rotating shaft 3-14, the first lower connecting rod 3-9 is rotatably connected with a front axle saddle 1-12 through a fourth rotating shaft 3-15, the lower connecting rod I3-9 is fixedly connected with the shock absorber I3-10, the shock absorber I3-10 is fixedly connected with the front axle seat 1-12, the shock absorption spring I3-11 penetrates through the shock absorber I3-10 and is pressed between the lower connecting rod I3-9 and the front axle seat 1-12, and the bogie 3-1 is rotatably connected with the connecting rod II 2-10 through a bogie sleeve 3-16;
the front wheel multi-link suspension part is characterized in that an upper link I3-7 is respectively connected with a front axle saddle 1-12 and an upper suspension body 3-6 through a plurality of rotating shafts, a lower link I3-9 is respectively connected with the front axle saddle 1-12 and a lower suspension body 3-8, the upper suspension body 3-6 is connected with the lower suspension body 3-8 through a rotating shaft of a steering frame 3-1, and the suspension part and a frame realize shock absorption through a shock absorber I3-10 and a shock absorption spring I3-11 so as to reduce jolt when going upstairs and downstairs; in the front wheel steering part, a bogie 3-1 is controlled by the suspension part to swing up and down under the limitation of the degree of freedom of the suspension part, a steering connecting rod I3-2 and a steering connecting rod II 3-3 are arranged on two sides of the front wheel steering part through a rotating shaft five 3-17 and a rotating shaft six 3-18 and are respectively connected with a hydraulic rod II 3-4 and a steering pull rod 3-5, the hydraulic rod II 3-4 is a power source for steering the front wheels to control the steering angle, and the steering pull rod 3-5 controls the wheels on the other side to keep synchronous and same-angle steering motion.
The fifth concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 21, and the present embodiment further describes the first embodiment, where the double-clutch front wheel assembly 4 includes a double-clutch cover 4-1, a front wheel output shaft 4-2, a planet carrier 4-3, a clutch one 4-4, a clutch two 4-5, a clutch spring 4-6, a sun wheel 4-7, a planet wheel one 4-8, a planet wheel two 4-9, a planet wheel three 4-10, a thrust ball bearing 4-11, a front wheel track 4-12, a sun wheel sleeve 4-13, a sun wheel end cover 4-14, a planet wheel shaft one 4-15, a planet wheel shaft two 4-16, and a planet wheel shaft three 4-17, where the double-clutch cover 4-1 and the front wheel output shaft 4-2 are rotationally connected through the clutch one 4-4, the double-clutch cover body 4-1 is rotationally connected with the planet carrier 4-3 through a clutch II 4-5, the double-clutch cover body 4-1 is connected with the planet carrier 4-3 through a clutch spring 4-6, the front wheel output shaft 4-2 is sleeved in an inner hole of the planet carrier 4-3 and rotationally connected with the sun wheel 4-7 through a sun wheel sleeve 4-13, the front wheel output shaft 4-2 is fixedly connected with a sun wheel end cover 4-14, the planet carrier 4-3 is rotationally connected with the planet wheel I4-8 through a planet wheel shaft I4-15, the planet carrier 4-3 is rotationally connected with the planet wheel II 4-9 through a planet wheel shaft II 4-16, the planet carrier 4-3 is rotationally connected with the planet wheel III 4-10 through a planet wheel shaft III 4-17, the sun gear 4-7 is meshed with the planet gear I4-8, the planet gear II 4-9 and the planet gear III 4-10 respectively, the thrust ball bearing 4-11 is arranged between the planet gear carrier 4-3 and the sun gear 4-7, the front wheel track 4-12 is covered on the planet gear I4-8, the planet gear II 4-9 and the planet gear III 4-10, and the double-clutch cover body 4-1 is fixedly connected with the connecting rod II 2-10;
the wheelchair has two running modes, mode switching is realized through double clutches, when the wheelchair runs on a flat road, namely the clutch I4-4 controls the front wheel output shaft 4-2 to be connected with the connecting rod II 2-10, the connecting rod II 2-10 drives the front wheel output shaft 4-2 to rotate, the front wheel output shaft 4-2 drives the sun wheel 4-7 to rotate, the planet wheel carrier 4-3 does not rotate at the moment, the planet wheel I4-8, the planet wheel II 4-9 and the planet wheel III 4-10 on the planet wheel I are respectively meshed with the sun wheel 4-7 and rotate around respective gear axes to drive the front wheel crawler belt 4-12 to move, and straight road surface running and ramp running are realized; when going upstairs and downstairs, namely the clutch II 4-5 controls the planet carrier 4-3 to be connected with the connecting rod II 2-10, the connecting rod II 2-10 drives the planet carrier 4-3 to rotate, at the moment, the sun gear 4-7 does not rotate, the planet wheels I4-8, the planet wheels II 4-9 and the planet wheels III 4-10 on the planet carrier 4-3 revolve around the sun gear 4-7 while meshing and rotating with the sun gear 4-7, so as to cross the stairway, and the thrust ball bearing 4-11 is arranged between the planet carrier 4-3 and the sun gear 4-7.
The sixth specific implementation mode:
the following describes the present embodiment with reference to fig. 1 to 21, which further describes the first embodiment, the driving rear axle 5 includes a differential bevel gear carrier two 5-1, a planetary bevel gear three 5-2, a planetary bevel gear four 5-3, a bevel gear half-shaft three 5-4, a bevel gear half-shaft four 5-5, a cross universal joint three 5-6, a connecting rod three 5-7, a transmission sleeve two 5-8, a cross universal joint four 5-9, and a rear wheel output shaft 5-10, the differential bevel gear carrier two 5-1 is respectively rotationally connected with the planetary bevel gear three 5-2 and the bevel gear four 5-3, the differential bevel gear carrier two 5-1 is rotationally connected with the bevel gear half-shaft three 5-4, the planetary bevel gear three 5-2 is engaged with the bevel gear end of the bevel gear half-shaft three 5-4, the planetary bevel gear III 5-2 is meshed with the bevel gear end of a bevel gear half shaft IV 5-5, the planetary bevel gear IV 5-3 is meshed with the bevel gear end of a bevel gear half shaft III 5-4, the planetary bevel gear IV 5-3 is meshed with the bevel gear end of a bevel gear half shaft IV 5-5, the bevel gear half shaft III 5-4 is connected with a connecting rod III 5-7 through a cross universal joint III 5-6, the connecting rod III 5-7 is connected with a transmission sleeve II 5-8 in a sliding manner, the transmission sleeve II 5-8 is connected with a rear wheel output shaft 5-10 through a cross universal joint IV 5-9, the bevel gear of a differential bevel gear carrier II 5-1 is meshed with the bevel gear end of a central transmission shaft 1-15, and the bevel gear half shaft III 5-4 and the bevel gear half shaft IV 5-5 are rotationally connected with a rear axle;
the central transmission shaft 1-15 is meshed with a bevel gear of a differential bevel gear carrier II 5-1 to transmit power to a rear axle, the differential bevel gear carrier II 5-1 drives a bevel gear half shaft III 5-4 and a bevel gear half shaft IV 5-5 to rotate in the process of straight driving of the wheelchair, namely when the half shafts on two sides have no rotation speed difference, the bevel gear III 5-2 and the bevel gear IV 5-3 revolve along with the differential bevel gear carrier II 5-1 and do not rotate around respective axes, the front axle power output is realized by differential rotation because the bevel gear half shaft III 5-4 and the bevel gear half shaft IV 5-5 are respectively meshed with the bevel gear III 5-2 and the bevel gear IV 5-3 to rotate in the process of curved driving of the wheelchair, namely when the half shafts on two sides have the rotation speed difference, the connecting rod III 5-7 is driven to rotate by a cross universal joint III 5-6, the connecting rod III 5-7 drives the transmission sleeve II 5-8 to rotate, and then the cross universal joint IV 5-9 drives the rear wheel output shaft 5-10 to rotate, so that power is transmitted to the rear axle wheels.
The seventh embodiment:
the following describes the present embodiment with reference to fig. 1 to 21, and the present embodiment further describes the first embodiment, where the rear wheel multi-link suspension 6 includes a suspension body 6-1, an upper link two 6-2, a lower link two 6-3, a damper two 6-4, a damper spring two 6-5, a rotating shaft nine 6-6, a rotating shaft ten 6-7, a rotating shaft eleven 6-8, and a rotating shaft twelve 6-9, the suspension body 6-1 and the upper link two 6-2 are connected by the rotating shaft nine 6-6, the suspension body 6-1 and the lower link two 6-3 are connected by the rotating shaft eleven 6-8, the upper link two 6-2 and the rear axle seat 1-13 are connected by the rotating shaft ten 6-7, the lower link two 6-3 and the rear axle seat 1-13 are connected by the rotating shaft twelve 6-9, the lower connecting rod II 6-3 is fixedly connected with the shock absorber II 6-4, the shock absorber II 6-4 is fixedly connected with the rear axle seat 1-13, and the shock absorption spring II 6-4 penetrates through the shock absorber II 6-4 and is pressed between the lower connecting rod II 6-3 and the rear axle seat 1-13;
the rear wheel multi-link suspension part is characterized in that an upper link II 6-2 is respectively connected with a rear axle seat 1-13 and a suspension body 6-1 through a plurality of rotating shafts, a lower link II 6-3 is respectively connected with the rear axle seat 1-13 and the suspension body 6-1, and shock absorption is realized between the suspension part and a frame through a shock absorber II 6-4 and a shock absorption spring II 6-5 so as to reduce jolt when a user goes up and down stairs.
The specific implementation mode is eight:
the following describes the present embodiment with reference to fig. 1 to 21, and the present embodiment further describes the first embodiment, where the rear wheel assembly 7 includes a driving wheel 7-1, a driven wheel 7-2, a driven wheel holder 7-3, a driven wheel shaft 7-4, a holder adjusting device 7-5, an auxiliary wheel 7-6, a rotating shaft thirteen 7-7, a bidirectional pawl 7-8, a pawl spring 7-9, a rear wheel track 7-10, and a rotating shaft fourteen 7-11, the driving wheel 7-1 is connected with the driven wheel 7-2 through the driven wheel holder 7-3, the driving wheel 7-1 is rotationally connected with the holder adjusting device 7-5, the driven wheel 7-2 is rotationally connected with the driven wheel holder 7-3 through the driven wheel shaft 7-4, the driven wheel holder 7-3 is connected with the auxiliary wheel 7-6 through the rotating shaft thirteen 7-7, a driven wheel retainer 7-3 is connected with a bidirectional pawl 7-8 through a rotating shaft fourteen 7-11, the bidirectional pawl 7-8 is fixedly connected with one end of a pawl spring 7-9, the bidirectional pawl 7-8 is clamped between gear tooth gaps of a driven wheel 7-2, a rear wheel track 7-10 is coated on a driving wheel 7-1 and the driven wheel 7-2, and the driving wheel 7-1 is fixedly connected with a rear wheel output shaft 5-10;
the rear wheel output shaft 5-10 drives the driving wheel 7-1 to rotate, the driven wheel retainer 7-3 is connected with the driving wheel 7-1 and the driven wheel 7-2, when going up and down, the angle of the driven wheel retainer 7-3 is controlled through the retainer adjusting device 7-5 on the driving wheel 7-1, namely the driven wheel 7-2 is controlled to be attached to the stair, namely the rear wheel track 7-10 is attached to the stair, the bidirectional pawl 7-8 can realize unidirectional locking, when going up the stair, the pawl head of the pawl is adjusted backwards to be attached to the gear teeth of the driven wheel 7-2, when the driven wheel 7-2 rotates forwards (climbs the stair upwards), the pawl moves upwards in the cavity along the involute of the driven wheel 7-2, the pawl automatically resets under the action of the pawl spring 7-9, and when the driven wheel 7-2 has the tendency, because the other surface of the pawl is almost attached to the gear tooth surface of the driven wheel 7-2, the pawl cannot be lifted, so that locking is realized, namely, the wheelchair can climb up stairs but does not walk for a long time, and on the contrary, the wheelchair does not lean forward when going down stairs.
The invention relates to a crawler-type stair climbing wheelchair, which has the working principle that: when the electric wheelchair is used, the input motor 1-10 on the motor frame 1-11 starts to work, the belt 1-14 drives the central transmission shaft 1-15 to rotate and transmit power to the front axle and the rear axle, the gravity center adjustable seat 1-2 can rotate around the seat rotating shaft 1-3 according to road condition information to adjust the gravity center of the seat when going upstairs or downstairs (slopes), the hydraulic rod 1-4 contracts to enable the seat to incline forwards at a proper angle when going upstairs (slopes), the hydraulic rod 1-4 extends to enable the seat to incline backwards at a proper angle when going downstairs (slopes), the gravity center of the wheelchair when going upstairs or downstairs is kept, and the electric control console 1-9 controls signals such as mode switching, speed and the like of the wheelchair. The central transmission shaft 1-15 is meshed with a bevel gear of a differential bevel gear carrier I2-1 to transmit power to a front axle, the differential bevel gear carrier I2-1 drives a bevel gear half shaft I2-4 and a bevel gear half shaft II 2-5 to rotate in the process of straight driving of the wheelchair, namely when the half shafts on two sides have no rotation speed difference, the bevel gear I2-2 and the bevel gear II 2-3 revolve along with the differential bevel gear carrier I2-1 and do not rotate around respective axes, the front axle power output is realized by differential rotation because the bevel gear half shaft I2-4 and the bevel gear half shaft II 2-5 are respectively meshed with the bevel gear I2-2 and the bevel gear II 2-3 to rotate in the process of curved driving of the wheelchair, namely when the half shafts on two sides have the rotation speed difference, the connecting rod I2-7 is driven to rotate by a cross universal joint I2-6, the first transmission sleeve 2-8 is driven to rotate through the first connecting rod 2-7, and then the second connecting rod 2-10 is driven to rotate through the second cross universal joint 2-9, so that power is transmitted to front axle wheels. The front wheel multi-link suspension part is characterized in that an upper link I3-7 is respectively connected with a front axle saddle 1-12 and an upper suspension body 3-6 through a plurality of rotating shafts, a lower link I3-9 is respectively connected with the front axle saddle 1-12 and a lower suspension body 3-8, the upper suspension body 3-6 is connected with the lower suspension body 3-8 through a rotating shaft of a steering frame 3-1, and the suspension part and a frame realize shock absorption through a shock absorber I3-10 and a shock absorption spring I3-11 so as to reduce jolt when going upstairs and downstairs; in the front wheel steering part, a bogie 3-1 is controlled by the suspension part to swing up and down under the limitation of the degree of freedom of the suspension part, a steering connecting rod I3-2 and a steering connecting rod II 3-3 are arranged on two sides of the front wheel steering part through a rotating shaft five 3-17 and a rotating shaft six 3-18 and are respectively connected with a hydraulic rod II 3-4 and a steering pull rod 3-5, the hydraulic rod II 3-4 is a power source for steering the front wheels to control the steering angle, and the steering pull rod 3-5 controls the wheels on the other side to keep synchronous and same-angle steering motion. The wheelchair has two running modes, mode switching is realized through double clutches, when the wheelchair runs on a flat road, namely the clutch I4-4 controls the front wheel output shaft 4-2 to be connected with the connecting rod II 2-10, the connecting rod II 2-10 drives the front wheel output shaft 4-2 to rotate, the front wheel output shaft 4-2 drives the sun wheel 4-7 to rotate, the planet wheel carrier 4-3 does not rotate at the moment, the planet wheel I4-8, the planet wheel II 4-9 and the planet wheel III 4-10 on the planet wheel I are respectively meshed with the sun wheel 4-7 and rotate around respective gear axes to drive the front wheel crawler belt 4-12 to move, and straight road surface running and ramp running are realized; when going upstairs and downstairs, namely the clutch II 4-5 controls the planet carrier 4-3 to be connected with the connecting rod II 2-10, the connecting rod II 2-10 drives the planet carrier 4-3 to rotate, at the moment, the sun gear 4-7 does not rotate, the planet wheels I4-8, the planet wheels II 4-9 and the planet wheels III 4-10 on the planet carrier 4-3 revolve around the sun gear 4-7 while meshing and rotating with the sun gear 4-7, so as to cross the stairway, and the thrust ball bearing 4-11 is arranged between the planet carrier 4-3 and the sun gear 4-7. The central transmission shaft 1-15 is meshed with a bevel gear of a differential bevel gear carrier II 5-1 to transmit power to a rear axle, the differential bevel gear carrier II 5-1 drives a bevel gear half shaft III 5-4 and a bevel gear half shaft IV 5-5 to rotate in the process of straight driving of the wheelchair, namely when the half shafts on two sides have no rotation speed difference, the bevel gear III 5-2 and the bevel gear IV 5-3 revolve along with the differential bevel gear carrier II 5-1 and do not rotate around respective axes, the front axle power output is realized by differential rotation because the bevel gear half shaft III 5-4 and the bevel gear half shaft IV 5-5 are respectively meshed with the bevel gear III 5-2 and the bevel gear IV 5-3 to rotate in the process of curved driving of the wheelchair, namely when the half shafts on two sides have the rotation speed difference, the connecting rod III 5-7 is driven to rotate by a cross universal joint III 5-6, the connecting rod III 5-7 drives the transmission sleeve II 5-8 to rotate, and then the cross universal joint IV 5-9 drives the rear wheel output shaft 5-10 to rotate, so that power is transmitted to the rear axle wheels. The rear wheel multi-link suspension part is characterized in that an upper link II 6-2 is respectively connected with a rear axle seat 1-13 and a suspension body 6-1 through a plurality of rotating shafts, a lower link II 6-3 is respectively connected with the rear axle seat 1-13 and the suspension body 6-1, and shock absorption is realized between the suspension part and a frame through a shock absorber II 6-4 and a shock absorption spring II 6-5 so as to reduce jolt when a user goes up and down stairs. The rear wheel output shaft 5-10 drives the driving wheel 7-1 to rotate, the driven wheel retainer 7-3 is connected with the driving wheel 7-1 and the driven wheel 7-2, when going up and down, the angle of the driven wheel retainer 7-3 is controlled through the retainer adjusting device 7-5 on the driving wheel 7-1, namely the driven wheel 7-2 is controlled to be attached to the stair, namely the rear wheel track 7-10 is attached to the stair, the bidirectional pawl 7-8 can realize unidirectional locking, when going up the stair, the pawl head of the pawl is adjusted backwards to be attached to the gear teeth of the driven wheel 7-2, when the driven wheel 7-2 rotates forwards (climbs the stair upwards), the pawl moves upwards in the cavity along the involute of the driven wheel 7-2, the pawl automatically resets under the action of the pawl spring 7-9, and when the driven wheel 7-2 has the tendency, because the other surface of the pawl is almost attached to the gear tooth surface of the driven wheel 7-2, the pawl cannot be lifted, so that locking is realized, namely, the wheelchair can climb up stairs but does not walk for a long time, and on the contrary, the wheelchair does not lean forward when going down stairs.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (8)
1. The utility model provides a stair wheelchair is climbed to crawler-type which characterized in that: comprises a wheelchair body assembly (1), a driving front axle (2), a front wheel steering suspension assembly (3), a double-clutch front wheel assembly (4), a driving rear axle (5), a rear wheel multi-link suspension (6) and a rear wheel assembly (7), wherein the wheelchair body assembly (1) is connected with the driving front axle (2), the wheelchair body assembly (1) is connected with the front wheel steering suspension assembly (3), the wheelchair body assembly (1) is connected with the driving rear axle (5), the wheelchair body assembly (1) is connected with the rear wheel multi-link suspension (6), the driving front axle (2) is connected with the front wheel steering suspension assembly (3), the driving front axle device (2) is connected with the double-clutch front wheel assembly (4), the driving rear axle (5) is connected with the rear wheel multi-link suspension (6), and the driving rear axle (5) is connected with the rear wheel assembly (7), the rear wheel multi-link suspension (6) is connected with the rear wheel assembly (7).
2. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the wheelchair body assembly (1) comprises a wheelchair frame (1-1), a gravity center adjustable seat (1-2), a seat rotating shaft (1-3), a hydraulic rod I (1-4), a frame connecting rod (1-5), a side guard plate (1-6), a handrail frame (1-7), a pedal plate (1-8), an electric control operating platform (1-9), an input motor (1-10), a motor frame (1-11), a front axle seat (1-12), a rear axle seat (1-13), a belt (1-14), a central transmission shaft (1-15) and a motor limiting block (1-16), wherein the wheelchair frame (1-1) is rotatably connected with the gravity center adjustable seat (1-2), and the wheelchair frame (1-1) is fixedly connected with the seat rotating shaft (1-3), a wheelchair frame (1-1) is rotationally connected with a frame connecting rod (1-5), the wheelchair frame (1-1) is fixedly connected with a side guard plate (1-6) and an armrest frame (1-7), the wheelchair frame (1-1) is fixedly connected with an electric control console (1-9), the wheelchair frame (1-1) is fixedly connected with an input motor (1-10), the wheelchair frame (1-1) is fixedly connected with a front axle saddle (1-12), the wheelchair frame (1-1) is fixedly connected with a rear axle saddle (1-13), a gravity center adjustable seat (1-2) is rotationally connected with a seat rotating shaft (1-3), the gravity center adjustable seat (1-2) is rotationally connected with a hydraulic rod I (1-4), and the gravity center adjustable seat (1-2) is rotationally connected with a pedal plate (1-8), the hydraulic rod I (1-4) is fixedly connected with the frame connecting rod (1-5), the input motor (1-10) is fixedly connected with the motor frame (1-11) through the motor limiting block (1-16), the input motor (1-10) is connected with the central transmission shaft (1-15) through the belt (1-14), and the motor frame (1-11) is rotatably connected with the central transmission shaft (1-15).
3. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the driving front axle (2) comprises a differential bevel gear carrier I (2-1), a planetary bevel gear I (2-2), a planetary bevel gear II (2-3), a bevel gear half shaft I (2-4), a bevel gear half shaft II (2-5), a cross universal joint I (2-6), a connecting rod I (2-7), a transmission sleeve I (2-8), a cross universal joint II (2-9) and a connecting rod II (2-10), wherein the differential bevel gear carrier I (2-1) is respectively in rotary connection with the planetary bevel gear I (2-2) and the planetary bevel gear II (2-3), the differential bevel gear carrier I (2-1) is in rotary connection with the bevel gear half shaft I (2-4), the planetary bevel gear I (2-2) is meshed with the bevel gear end of the bevel gear half shaft I (2-4), the first planetary bevel gear (2-2) is meshed with the bevel gear end of a second bevel gear half shaft (2-5), the second planetary bevel gear (2-3) is meshed with the bevel gear end of a first bevel gear half shaft (2-4), the second planetary bevel gear (2-3) is meshed with the bevel gear end of a second bevel gear half shaft (2-5), the first bevel gear half shaft (2-4) is connected with a first connecting rod (2-7) through a first cross universal joint (2-6), the first connecting rod (2-7) is in sliding connection with a first transmission sleeve (2-8), the first transmission sleeve (2-8) is connected with a second connecting rod (2-10) through a second cross universal joint (2-9), the bevel gear end of a first differential bevel gear carrier (2-1) is meshed with the bevel gear end of a central transmission shaft (1-15), the bevel gear half shaft I (2-4) and the bevel gear half shaft II (2-5) are rotationally connected with the front axle saddle (1-12).
4. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the front wheel steering suspension assembly (3) comprises a steering frame (3-1), a steering connecting rod I (3-2), a steering connecting rod II (3-3), a hydraulic rod II (3-4), a steering pull rod (3-5), an upper suspension body (3-6), an upper connecting rod I (3-7), a lower suspension body (3-8), a lower connecting rod I (3-9), a shock absorber I (3-10), a shock absorption spring I (3-11), a rotating shaft I (3-12), a rotating shaft II (3-13), a rotating shaft III (3-14), a rotating shaft IV (3-15), a steering frame sleeve (3-16), a rotating shaft V (3-17), a rotating shaft VI (3-18), a rotating shaft VII (3-19) and a rotating shaft VIII (3-20), wherein the steering frame (3-1) and the steering connecting rod I (3-2) are rotatably connected through the rotating shaft V (3-17) Then, a bogie (3-1) is rotatably connected with a bogie connecting rod II (3-3) through a rotating shaft six (3-18), the bogie (3-1) is rotatably connected with an upper suspension body (3-6), the bogie (3-1) is rotatably connected with a lower suspension body (3-8), a bogie connecting rod I (3-2) is rotatably connected with a steering pull rod (3-5) through a rotating shaft eight (3-20), the bogie connecting rod II (3-3) is rotatably connected with a hydraulic rod II (3-4) through a rotating shaft seven (3-19), the upper suspension body (3-6) is rotatably connected with an upper connecting rod I (3-7) through a rotating shaft one (3-12), the upper connecting rod I (3-7) is rotatably connected with a front axle seat (1-12) through a rotating shaft two (3-13), the lower suspension body (3-8) is rotatably connected with the lower connecting rod I (3-9) through a rotating shaft III (3-14), the lower connecting rod I (3-9) is rotatably connected with the front axle seat (1-12) through a rotating shaft IV (3-15), the lower connecting rod I (3-9) is fixedly connected with the shock absorber I (3-10), the shock absorber I (3-10) is fixedly connected with the front axle seat (1-12), the shock absorption spring I (3-11) penetrates through the shock absorber I (3-10) and is pressed between the lower connecting rod I (3-9) and the front axle seat (1-12), and the bogie (3-1) is rotatably connected with the connecting rod II (2-10) through a bogie sleeve (3-16).
5. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the double-clutch front wheel assembly (4) comprises a double-clutch cover body (4-1), a front wheel output shaft (4-2), a planet wheel carrier (4-3), a clutch I (4-4), a clutch II (4-5), a clutch spring (4-6), a sun wheel (4-7), a planet wheel I (4-8), a planet wheel II (4-9), a planet wheel III (4-10), a thrust ball bearing (4-11), a front wheel crawler belt (4-12), a sun wheel sleeve (4-13), a sun wheel end cover (4-14), a planet wheel shaft I (4-15), a planet wheel shaft II (4-16) and a planet wheel shaft III (4-17), wherein the double-clutch cover body (4-1) is rotationally connected with the front wheel output shaft (4-2) through the clutch I (4-4), the double-clutch cover body (4-1) is rotationally connected with the planet gear carrier (4-3) through a second clutch (4-5), the double-clutch cover body (4-1) is connected with the planet gear carrier (4-3) through a clutch spring (4-6), the front wheel output shaft (4-2) is sleeved in an inner hole of the planet gear carrier (4-3) and rotationally connected with the inner hole of the planet gear carrier, the front wheel output shaft (4-2) is rotationally connected with the sun wheel (4-7) through a sun wheel sleeve (4-13), the front wheel output shaft (4-2) is fixedly connected with the sun wheel end cover (4-14), the planet gear carrier (4-3) is rotationally connected with the planet wheel I (4-8) through a first planet wheel shaft (4-15), the planet gear carrier (4-3) is rotationally connected with the planet wheel II (4-9) through a second planet wheel shaft (4-16), the planet gear carrier (4-3) is rotationally connected with the planet gear III (4-10) through a planet gear shaft III (4-17), the sun gear (4-7) is respectively meshed with the planet gear I (4-8), the planet gear II (4-9) and the planet gear III (4-10), the thrust ball bearing (4-11) is arranged between the planet gear carrier (4-3) and the sun gear (4-7), the front wheel crawler belt (4-12) is coated on the planet gear I (4-8), the planet gear II (4-9) and the planet gear III (4-10), and the double clutch cover body (4-1) is fixedly connected with the connecting rod II (2-10).
6. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the driving rear axle (5) comprises a differential bevel gear carrier II (5-1), a planetary bevel gear III (5-2), a planetary bevel gear IV (5-3), a bevel gear half shaft III (5-4), a bevel gear half shaft IV (5-5), a cross universal joint III (5-6), a connecting rod III (5-7), a transmission sleeve II (5-8), a cross universal joint IV (5-9) and a rear wheel output shaft (5-10), wherein the differential bevel gear carrier II (5-1) is respectively in rotating connection with the planetary bevel gear III (5-2) and the planetary bevel gear IV (5-3), the differential bevel gear carrier II (5-1) is in rotating connection with the bevel gear half shaft III (5-4), the planetary bevel gear III (5-2) is meshed with the bevel gear end of the bevel gear half shaft III (5-4), the third planetary bevel gear (5-2) is meshed with the conical tooth end of the fourth bevel gear half shaft (5-5), the fourth planetary bevel gear (5-3) is meshed with the conical tooth end of the third bevel gear half shaft (5-4), the fourth planetary bevel gear (5-3) is meshed with the conical tooth end of the fourth bevel gear half shaft (5-5), the third bevel gear half shaft (5-4) is connected with the third connecting rod (5-7) through a cross universal joint (5-6), the third connecting rod (5-7) is connected with the second transmission sleeve (5-8) in a sliding manner, the second transmission sleeve (5-8) is connected with the output shaft (5-10) of the rear wheel through a cross universal joint (5-9), the conical tooth end of the second differential bevel gear carrier (5-1) is meshed with the conical tooth end of the central transmission shaft (1-15), the bevel gear half shaft three (5-4) and the bevel gear half shaft four (5-5) are rotationally connected with the rear axle seat (1-13).
7. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the rear wheel multi-link suspension (6) comprises a suspension body (6-1), an upper link II (6-2), a lower link II (6-3), a damper II (6-4), a damping spring II (6-5), a rotating shaft nine (6-6), a rotating shaft ten (6-7), a rotating shaft eleven (6-8) and a rotating shaft twelve (6-9), wherein the suspension body (6-1) is connected with the upper link II (6-2) through the rotating shaft nine (6-6), the suspension body (6-1) is connected with the lower link II (6-3) through the rotating shaft eleven (6-8), the upper link II (6-2) is connected with a rear axle seat (1-13) through the rotating shaft ten (6-7), the lower link II (6-3) is connected with the rear axle seat (1-13) through the rotating shaft twelve (6-9), the lower connecting rod II (6-3) is fixedly connected with the shock absorber II (6-4), the shock absorber II (6-4) is fixedly connected with the rear axle seat (1-13), and the shock absorption spring II (6-4) penetrates through the shock absorber II (6-4) and is pressed between the lower connecting rod II (6-3) and the rear axle seat (1-13).
8. The crawler-type stair-climbing wheelchair according to claim 1, wherein: the rear wheel assembly (7) comprises a driving wheel (7-1), a driven wheel (7-2), a driven wheel retainer (7-3), a driven wheel shaft (7-4), a retainer adjusting device (7-5), an auxiliary wheel (7-6), a rotating shaft thirteen (7-7), a bidirectional pawl (7-8), a pawl spring (7-9), a rear wheel crawler belt (7-10) and a rotating shaft fourteen (7-11), wherein the driving wheel (7-1) is connected with the driven wheel (7-2) through the driven wheel retainer (7-3), the driving wheel (7-1) is rotationally connected with the retainer adjusting device (7-5), the driven wheel (7-2) is rotationally connected with the driven wheel retainer (7-3) through the driven wheel shaft (7-4), a driven wheel retainer (7-3) is connected with an auxiliary wheel (7-6) through a rotating shaft thirteen (7-7), the driven wheel retainer (7-3) is connected with a bidirectional pawl (7-8) through a rotating shaft fourteen (7-11), the bidirectional pawl (7-8) is fixedly connected with a pawl spring (7-9), the bidirectional pawl (7-8) is clamped between gear tooth gaps of a driven wheel (7-2), a rear wheel crawler belt (7-10) is coated on a driving wheel (7-1) and the driven wheel (7-2), and the driving wheel (7-1) is fixedly connected with a rear wheel output shaft (5-10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110194808.8A CN112998974A (en) | 2021-02-21 | 2021-02-21 | Crawler-type stair climbing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110194808.8A CN112998974A (en) | 2021-02-21 | 2021-02-21 | Crawler-type stair climbing wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112998974A true CN112998974A (en) | 2021-06-22 |
Family
ID=76405013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110194808.8A Pending CN112998974A (en) | 2021-02-21 | 2021-02-21 | Crawler-type stair climbing wheelchair |
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| Country | Link |
|---|---|
| CN (1) | CN112998974A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774334A (en) * | 2010-02-26 | 2010-07-14 | 重庆大江工业有限责任公司 | Through drive axle with hyperboloid bevel gear |
| CN105082997A (en) * | 2015-08-24 | 2015-11-25 | 昆明理工大学 | Combined tractor |
| CN108514478A (en) * | 2018-05-14 | 2018-09-11 | 河南理工大学 | A kind of novel electric wheel chair for climbing stairs |
| CN109899410A (en) * | 2019-04-23 | 2019-06-18 | 吉林博承传动系统科技有限公司 | A kind of duplicate gear planet row type electric vehicle two keeps off gearbox and its shift control method |
| CN210680319U (en) * | 2019-06-13 | 2020-06-05 | 广州汽车集团股份有限公司 | Suspension system |
-
2021
- 2021-02-21 CN CN202110194808.8A patent/CN112998974A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774334A (en) * | 2010-02-26 | 2010-07-14 | 重庆大江工业有限责任公司 | Through drive axle with hyperboloid bevel gear |
| CN105082997A (en) * | 2015-08-24 | 2015-11-25 | 昆明理工大学 | Combined tractor |
| CN108514478A (en) * | 2018-05-14 | 2018-09-11 | 河南理工大学 | A kind of novel electric wheel chair for climbing stairs |
| CN109899410A (en) * | 2019-04-23 | 2019-06-18 | 吉林博承传动系统科技有限公司 | A kind of duplicate gear planet row type electric vehicle two keeps off gearbox and its shift control method |
| CN210680319U (en) * | 2019-06-13 | 2020-06-05 | 广州汽车集团股份有限公司 | Suspension system |
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