CN113303984A - Obstacle-crossing type electric wheelchair - Google Patents
Obstacle-crossing type electric wheelchair Download PDFInfo
- Publication number
- CN113303984A CN113303984A CN202110509745.0A CN202110509745A CN113303984A CN 113303984 A CN113303984 A CN 113303984A CN 202110509745 A CN202110509745 A CN 202110509745A CN 113303984 A CN113303984 A CN 113303984A
- Authority
- CN
- China
- Prior art keywords
- motor
- rod
- hydraulic cylinder
- screw
- driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000001174 ascending effect Effects 0.000 abstract description 5
- 230000004888 barrier function Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000032683 aging Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010061363 Skeletal injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1064—Arrangements for adjusting the seat adjusting the depth of the seat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an obstacle-crossing electric wheelchair, wherein the middle part of a backrest is also connected on a seat plate through an armrest rod piece, the armrest rod piece is driven by a first motor and a second motor to adjust the angle of the backrest relative to the seat plate, a leg supporting plate is connected on the seat plate, the included angle of the leg supporting plate relative to the seat plate is driven by a hydraulic cylinder to adjust, two rows of rolling bearings and two rows of racks are fixed at the bottom of the seat plate, the seat plate can slide along a bottom plate, the bottom plate is provided with a pair of gears, the seat plate is controlled by the meshing of a fourth motor driving gear and the racks, the position on the bottom plate is provided with four lead screws, the third lead screw and the fifth lead screw are respectively driven by a third motor and a fifth motor, the fourth lead screw and the fifth lead screw are driven by a first chain and a second chain, the included angle between a supporting leg and the seat plate is changed by the driving of the motors on the lead, the rear wheel and the middle wheel are driven by a motor, and the bottom of the leg supporting plate is provided with a front wheel. The invention realizes the functions of crossing barriers such as steps and depressions, ascending and descending stairs, ascending and descending ramps, full lying and semi lying, has high stability and safety and has simple structure.
Description
Technical Field
The invention relates to the technical field of wheelchairs, in particular to an obstacle-crossing electric wheelchair.
Background
In recent years, the population of many countries in the world is aging, including China, which has become one of the countries in the world with the most aging population, and is also one of the countries with the fastest population aging development. The aged population over 60 years old has reached around 6 billion worldwide. The population of the aged 60 years old and older reaches 1.32 hundred million in China, accounts for 10 percent of the total population in China, and continuously increases at a speed of 3.32 percent every year. The large number of the disabled people and the old people lying in bed for a long time makes the problem of helping the old and the disabled increasingly become a great social problem. The wheelchair has the main function of assisting the daily lives of the old and the disabled, wherein typical products comprise wheelchair products for assisting the old and the disabled with inconvenient legs and feet to go out, and nursing the old suffering from chronic diseases, the old in an empty nest family, the weak after hospitalization, the patients losing self-care ability such as paralysis and hemiparalysis, the people suffering from cardiovascular and cerebrovascular diseases, bone injury maintainers and the like. Through the discovery of wheelchairs in the research market, the existing wheelchairs are single in function and cannot meet the social requirements, and due to the shortage of domestic barrier-free infrastructure, the existing wheelchairs are difficult to live like normal people in the society, so that timely and high-quality medical care and life guarantee are provided for old people and disabled people, the life quality of the old people and the disabled people is effectively improved, the existing wheelchairs are social problems to be urgently solved, and the existing wheelchairs are more important for people to pay attention. The wheelchair is an essential life assisting tool for the old, the weak and the physically disabled, and the application demand of the wheelchair is increased along with the increase of the aging of the population and the increase of the physically disabled. The multifunctional electric wheelchair capable of lifting height due to cross-domain obstacle is designed, and can well solve the problem of the traveling quality of the disabled or the disabled under the condition of saving manpower, material resources and financial resources.
Disclosure of Invention
The present invention is directed to an obstacle-crossing electric wheelchair to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
an obstacle-crossing electric wheelchair comprises a backrest and leg supporting plates, wherein the bottom of the backrest is connected to two sides of a seat plate through a shaft, the middle of the backrest is connected to the seat plate through a handrail rod piece, the handrail rod piece is driven by a first motor and a second motor to adjust the angle of the backrest relative to the seat plate, the leg supporting plates are connected to the seat plate, a hydraulic cylinder is used for driving and adjusting the included angle of the leg supporting plates relative to the seat plate, two rows of rolling bearings and two rows of racks are fixed at the bottom of the seat plate, the seat plate can slide along a bottom plate, a pair of gears are arranged on the bottom plate, the seat plate is controlled through meshing of a fourth motor driving gear and the racks, four lead screws are arranged at the bottom of the bottom plate, the third lead screw and the fifth lead screw are respectively driven by a third motor and a fifth motor, the fourth lead screw and the fifth lead screw are driven by a first chain and a second chain, the four lead screws are connected to supporting legs, and the included angles of the supporting legs and the seat plate are changed through the motor driving on the lead screws, the landing leg comprises the pneumatic cylinder, and the flexible length that is used for adjusting the landing leg of piston rod, rear wheel and well wheel are connected to the piston rod end of landing leg, and rear wheel and well wheel are by motor drive, and leg layer board lower part is equipped with the footboard, and leg layer board bottom is equipped with the front wheel.
As a further scheme of the invention, the backrest is connected with the seat plate through a pin shaft, the armrest rod member comprises an armrest, a first support rod and a second support rod, one end of the armrest is connected with the middle part of the edge of the backrest through a pin shaft, the other end of the armrest is connected with one end of the first support rod through a pin shaft, the other end of the first support rod is connected with the seat plate through a pin shaft, a parallel four-rod mechanism is formed by the backrest, the seat plate, the armrest and the first support rod, the second support rod is a vertical connecting rod in space, one end of the second support rod is connected with the middle part of the first support rod through a pin shaft, the other end of the second support rod penetrates through a sliding hole in the seat plate and is fixed on a second threaded slide block, the second threaded slide block is matched on a second screw rod and is driven by a second motor, the screw rod is driven by the motor to rotate, the threaded slide block and the second support rod are driven to move, so that the first support rod rotates around the pin shaft, and the angle of the backrest relative to the seat plate is adjusted.
As a further scheme of the invention, two rows of rolling bearings and two rows of racks are fixed at the bottom of the seat plate, the rolling bearings can slide on a sliding rail of the bottom plate, the racks are meshed with gears of the bottom plate, the gears are connected to a gear shaft through gear keys, the gear shaft is constrained on the bottom plate by a bearing fixing block and is driven by a fourth motor, and the gears and the racks are meshed through the fourth motor to move the relative position of the seat plate on the bottom plate.
As a further scheme of the invention, a first fixed block, a second fixed block, a third fixed block, a fourth fixed block, a third motor, a fourth motor, a fifth motor, a third support rod, a battery and a battery fixing piece are fixed on the bottom plate, and a third screw rod, a fourth screw rod, a fifth screw rod and a sixth screw rod are fixed through a bearing; the wheelchair support leg is composed of hydraulic cylinder parts, one end of a first hydraulic cylinder body is connected with a third threaded slide block through a hinge, the third threaded slide block is matched on a third screw rod, a chain wheel is fixed at the tail end of the screw rod, the third screw rod is driven by a third motor fixed on a bottom plate, the middle part of the first hydraulic cylinder is hinged with one end of a fourth supporting rod, the other end of the fourth supporting rod is hinged on a second fixed block on the bottom plate, a parallel four-bar mechanism is formed by the third screw rod, the fourth supporting rod, the first hydraulic cylinder and the third threaded slide block, the third motor drives the third screw rod to rotate so as to enable the third threaded slide block to move, so that the included angle of the first hydraulic cylinder relative to the bottom plate is adjusted, the middle wheel comprises a first middle wheel and a second middle wheel, the other end of a hydraulic rod of the first hydraulic cylinder is connected with a first middle wheel, and the first middle wheel is driven by a sixth motor; one end of a cylinder body of the second hydraulic cylinder is connected with a sixth threaded slide block through a hinge, the sixth threaded slide block is matched on a sixth screw rod, the tail end of the screw rod is connected with a chain wheel, the power of a third screw rod is transmitted to the sixth screw rod through a second chain, the chain wheel has the same rotating speed due to the size, one end of a fifth support rod is hinged to the middle part of the second hydraulic cylinder, the other end of the fifth support rod is hinged to a third fixed block on the bottom plate, a parallel four-bar mechanism is formed by the sixth screw rod, the fifth support rod, the second hydraulic cylinder and the sixth threaded slide block, the chain drives the sixth screw rod to rotate and drives the sixth threaded slide block to move, so that the included angle of the second hydraulic cylinder relative to the bottom plate is synchronously adjusted, the included angle is the same as that of the first hydraulic cylinder, the other end of the cylinder rod of the second hydraulic cylinder is connected with a second middle wheel, and the second middle wheel is driven by a seventh motor.
As a further scheme of the invention, one end of a cylinder body of a fourth hydraulic cylinder is connected with a fifth threaded slide block through a hinge, the fifth threaded slide block is matched on a fifth screw rod, a chain wheel is fixed at the tail end of the screw rod, the fifth screw rod is driven by a fifth motor fixed on a bottom plate, the middle part of the fourth hydraulic cylinder is hinged with one end of a seventh supporting rod, the other end of the seventh supporting rod is hinged on a fourth fixed block on the bottom plate, a parallel four-bar mechanism is formed by the fifth screw rod, the seventh supporting rod, the fourth hydraulic cylinder and the fifth threaded slide block, the fifth motor drives the fifth screw rod to rotate, so that the third threaded slide block moves, an included angle of the fourth hydraulic cylinder relative to the bottom plate is adjusted, the other end of a hydraulic rod of the fourth hydraulic cylinder is connected with a rear wheel, and the rear wheel is driven by an eighth motor; one end of a cylinder body of the third hydraulic cylinder is connected with a fourth threaded slide block through a hinge, the fourth threaded slide block is matched on a fourth screw rod, the tail end of the screw rod is connected with a chain wheel, the power of a fifth screw rod is transmitted to the fourth screw rod through a first chain, the chain wheel has the same rotating speed due to the consistent size, the middle of the third hydraulic cylinder is hinged with one end of a sixth supporting rod, the other end of the sixth supporting rod is hinged on a first fixed block on a bottom plate, a parallel four-bar mechanism is formed by the fourth screw rod, the sixth supporting rod, the third hydraulic cylinder and the fourth threaded slide block, the chain drives the fourth screw rod to rotate so as to enable the fourth threaded slide block to move, therefore, the included angle of the third hydraulic cylinder relative to the bottom plate is adjusted, the included angle of the third hydraulic cylinder is synchronous with the fourth hydraulic cylinder, the other end of the cylinder rod of the third hydraulic cylinder is connected with a rear wheel, and the rear wheel is driven by a seventh motor.
As a further scheme of the invention, a first bearing fixing block, a second bearing fixing block, an eleventh motor, a third bearing fixing block, a twelfth motor, a fifth hydraulic cylinder, a fixing plate, a thirteenth motor, a sliding block, a fourth bearing fixing block and a fifth bearing fixing block are arranged on the leg supporting plate; the pedal is fixed on the rotating rod, the rotating rod is constrained on the leg supporting plate by the first bearing fixing block, the eleventh motor drives the rotating rod to adjust the angle of the pedal, the middle part of the front wheel slide rod is connected with the eighth thread slide block and the seventh thread slide block, the tail end of the front wheel slide rod is connected with the front wheel, the front wheel comprises a first front wheel and a second front wheel, the first front wheel is driven by the motor, and the second front wheel is driven by the motor; the fifth hydraulic cylinder is fixed on the leg supporting plate, and the hydraulic rod contracts to drive the third supporting rod to adjust the included angle of the leg supporting plate relative to the seat plate. The eighth screw thread sliding block and the seventh screw thread sliding block are respectively matched on an eighth screw rod and a seventh screw rod, the eighth screw rod is restrained on the leg supporting plate by a fourth bearing fixing block and a fifth bearing fixing block and is driven by a thirteenth motor, the seventh screw rod is restrained on the leg supporting plate by a second bearing fixing block and a third bearing fixing block and is driven by a twelfth motor, the twelfth motor and the thirteenth motor have the same rotating speed, and when the motors drive the eighth screw rod and the seventh screw rod to rotate, the screw thread sliding block and the screw thread sliding block are pushed to move, so that the front wheel sliding rod is driven to extend out.
Compared with the prior art, the invention provides a barrier crossing type electric wheelchair backrest which is connected with one side of a seat plate through a pin shaft, the angle of the backrest is adjusted through a parallel four-bar mechanism by a motor, a leg supporting plate is connected with the other side of the seat plate through a pin shaft structure, the angle of a foot supporting plate is adjusted through a hydraulic device, the bottom of the seat plate is connected with a supporting leg through a connecting rod mechanism, a middle wheel and a rear wheel are fixed on the supporting leg, wheels are driven by the motor, the connecting rod mechanism is controlled by a built-in motor, a screw rod and a chain, the supporting leg is provided with a hydraulic part, a sliding rod capable of sliding is arranged on the leg supporting plate, the length of the sliding rod is adjusted through the driving of the motor, a front wheel with the motor is connected on the sliding rod, the height of the wheelchair and the angle and the height of the supporting leg of the wheelchair can be adjusted through the motor, the connecting rod mechanism and the hydraulic device, so that barriers such as steps and hollow areas and barriers as well as up and down stairs and up and down ramps can be realized through the steps, Full-lying and half-lying functions, high stability and safety and simple structure.
Drawings
Drawings
FIG. 1 is an isometric view of a barrier-spanning electric wheelchair;
FIG. 2 is a top plan view of the obstacle crossing electric wheelchair;
FIG. 3 is a partial schematic view of the backrest of the obstacle-crossing electric wheelchair
FIG. 4 is a schematic view of the interior of the obstacle crossing electric wheelchair;
FIG. 5 is a partial schematic view of a lifting structure of the obstacle-crossing electric wheelchair;
FIG. 6 is a schematic view of a lifting and driving structure of the obstacle-crossing electric wheelchair;
FIG. 7 is a schematic view of a structure of an obstacle-crossing electric wheelchair leg rest;
FIG. 8 is a schematic diagram of the movement of a seat plate of a barrier-crossing electric wheelchair;
FIG. 9 is a schematic view of a full-lying structure of the obstacle-crossing electric wheelchair;
FIG. 10 is a schematic view of a barrier-crossing electric wheelchair crossing a barrier;
FIG. 11 is a schematic view of the obstacle crossing electric wheelchair ascending and descending stairs;
FIG. 12 is a schematic view of an obstacle crossing electric wheelchair for ascending and descending;
FIG. 13 is a schematic diagram of an application of a ride-through obstacle electric wheelchair elevation scenario;
in the figure: 1, a backrest; 2, a handrail rod piece; 3, sitting plates; 4, a bottom plate; 5, supporting legs; 6, a rear wheel; 7, a middle wheel; 8 front wheels; 9 a pedal; a 10-leg pallet; 61, a first rear wheel; 62 rear wheel two; 71 a first middle wheel; 72 middle wheel two; 201 an armrest; 202 a first strut; 203 second struts; 204 sliding holes; 301 rolling bearing; 302 rack bar; 303 a first motor; 304 a first threaded slider; 305 a first lead screw; 306 a pin shaft; 307 a second threaded slide; 308 a second lead screw; 309 a second motor; 401 a first fixed block; 402 a third threaded slider; 403 a fourth threaded slider; 404 a third lead screw; 405 a fourth lead screw; 406 a second fixed block; 407 a third motor; 408 a fourth motor; 409 a gear; 410 a third strut; 411 fifth fixed block; 412 a fifth motor; 413 a third fixed block; 414 fifth lead screw; 415 a fifth thread slider; 416 a sixth lead screw; 417 a sixth thread slider; 418 fourth fixed block; 419 a first chain; 420 batteries; 421 a battery securing tab; 422 a second chain; 701 a sixth motor; 702 a first hydraulic cylinder; 703 a fourth strut; 704 a seventh motor; 705 a second hydraulic cylinder; 706 a fifth strut; 601 a seventh motor; 602 a third hydraulic cylinder; 603 a sixth strut; 604 an eighth motor; 605 a fourth hydraulic cylinder; 606 a seventh strut; 801 ninth motor; 802 a first bearing mount block; 804 rotating the rod; 805 a tenth electric machine; 806 second bearing fixing blocks; 807 an eleventh electric machine; 808 a seventh threaded slider; 809 seventh lead screw; 810 a third bearing fixing block; 811 a twelfth motor; 812 a fifth hydraulic cylinder; 813 a fixing sheet; 814 hydraulic rods; 815 a thirteenth motor; 816, a sliding block; 817 fourth bearing fixing block; 818 an eighth thread slider; 819 eighth lead screw; 820 a fifth bearing fixing block; 821 front wheel slide bar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art without creative efforts based on the technical solutions of the present invention belong to the protection scope of the present invention.
As shown in fig. 1-9, an obstacle-crossing electric wheelchair comprises a backrest 1 and leg support plates 10, wherein the bottom of the backrest 1 is connected to both sides of a seat plate 3, the middle part of the backrest 1 is connected to the seat plate 3 through an armrest rod 2, the armrest rod 2 is driven by a first motor 303 and a second motor 309 to adjust the angle of the backrest 1 relative to the seat plate 3, the leg support plates 10 are connected to the seat plate 3, the included angle of the leg support plates 10 relative to the seat plate 3 is adjusted by a hydraulic cylinder 812, two rows of rolling bearings 301 and two rows of racks 302 are fixed at the bottom of the seat plate 3, the seat plate 3 can slide along a bottom plate 4, the bottom plate 4 is provided with a pair of gears 409, the positions of the seat plate 3 on the bottom plate 4 are controlled by the engagement of the gears 409 and the racks 302 through a fourth motor 408, four lead screws are arranged at the bottom of the bottom plate 4, and a third lead screw 404 and a fifth lead screw 414 are respectively driven by a third motor 407 and a fifth motor 412, the fourth screw rod 405 and the fifth screw rod 414 are driven by a first chain 419 and a second chain 422, four supporting legs 5 are connected to the screw rods, the included angle between each supporting leg 5 and the seat plate 3 is changed through the driving of a motor on the screw rods, each supporting leg 5 is composed of a hydraulic cylinder, the length of each supporting leg is adjusted through the expansion and contraction of a piston rod, the tail ends of the piston rods of the supporting legs 5 are connected with a rear wheel 6 and a middle wheel 7, the rear wheel 6 and the middle wheel 7 are driven by the motor, a pedal 9 is arranged on the lower portion of the leg supporting plate 10, and a front wheel 8 is arranged at the bottom of the leg supporting plate 10.
In this embodiment, the backrest 1 is connected to the seat plate 3 by a pin 306, the armrest rod 2 includes an armrest 201, a first support rod 202 and a second support rod 203, one end of the armrest 201 is connected to the middle of the edge of the backrest 1 by a pin, the other end is connected to one end of the first support rod 202 by a pin, the other end of the first support rod 202 is connected to the seat plate 3 by a pin, a parallel four-bar mechanism is formed by the backrest 1, the seat plate 3, the armrest 201 and the first support rod 202, the second support rod 203 is a vertical connecting rod in space, one end is connected to the middle of the first support rod 202 by a pin, the other end passes through a slide hole 204 on the seat plate 3 and is fixed on a second threaded slider 307, the second threaded slider 307 is fitted on a second lead screw 308 and driven by a second motor 309, the screw rod 308 is driven by the motor 309 to rotate, which drives the threaded slider 307 and the second support rod 203 to move, so that the first support rod 202 rotates around the pin shaft, and the angle of the backrest 1 relative to the seat plate is adjusted.
In this embodiment, two rows of rolling bearings 301 and two rows of racks 302 are fixed at the bottom of the seat plate 3, the rolling bearings 301 can slide on the sliding rails of the bottom plate 4, the racks 302 are engaged with the gears 409 of the bottom plate 4, the gears 409 are connected to the gear shaft through gear keys, the gear shaft is constrained on the bottom plate 4 by the bearing fixing block 411, and is driven by the fourth motor 408, and the relative position of the seat plate 3 on the bottom plate 4 is moved through the engagement of the gears and the racks by the fourth motor.
In this embodiment, a first fixed block 401, a second fixed block 406, a third fixed block 413, a fourth fixed block 413, a third motor 407, a fourth motor 408, a fifth motor 412, a third support rod 410, a battery 420, and a battery fixing plate 421 are fixed on the bottom plate 4, and a third lead screw 404, a fourth lead screw 405, a fifth lead screw 414, and a sixth lead screw 416 are fixed through a bearing; the wheelchair leg is composed of hydraulic cylinder components, one end of the cylinder body of a first hydraulic cylinder 702 is connected with a third thread slide block 402 through a hinge, the third thread slide block 402 is matched on a third screw rod 404, the tail end of the screw rod is fixed with a chain wheel, the third screw rod 404 is driven by a third motor 407 fixed on a bottom plate, the middle part of the first hydraulic cylinder 702 is hinged with one end of a fourth supporting rod 703, the other end of the fourth supporting rod is hinged on a second fixed block 406 on the bottom plate, a parallel four-bar mechanism is composed of the third screw rod 404, the fourth supporting rod 703, the first hydraulic cylinder 702 and the third thread slide block 402, the third motor 407 drives the third screw rod 404 to rotate to enable the third thread slide block 402 to move, thereby adjusting the included angle of the first hydraulic cylinder 702 relative to the bottom plate, wherein the middle wheel 7 comprises a first middle wheel 71 and a second middle wheel 72, the other end of the hydraulic rod of the first hydraulic cylinder is connected with the first middle wheel 71, and the first middle wheel 71 is driven by a sixth motor 701; one end of the second hydraulic cylinder 705 is connected with a sixth threaded slider 417 through a hinge, the sixth threaded slider is matched on a sixth screw rod 416, the tail end of the screw rod 416 is connected with a chain wheel, the power of the third lead screw 404 is transmitted to the sixth lead screw 416 through the second chain 422, and the size of the chain wheel is the same, the middle part of the second hydraulic cylinder 705 is hinged with one end of a fifth supporting rod 706, the other end of the fifth supporting rod is hinged on a third fixed block 413 on the bottom plate, a parallel four-bar mechanism is formed by a sixth screw rod 416, the fifth supporting rod 706, the second hydraulic cylinder 705 and a sixth thread sliding block 417, the chain drives the sixth screw rod 416 to rotate, the sixth thread sliding block 417 is driven to move, so as to synchronously adjust the included angle of the second hydraulic cylinder 705 relative to the bottom plate, and synchronously have the same angle with the first hydraulic cylinder 702, the other end of the rod of the second hydraulic cylinder is connected with a second middle wheel 72, and the second middle wheel 72 is driven by a seventh motor 704.
In this embodiment, one end of a cylinder body of a fourth hydraulic cylinder 605 is connected to a fifth threaded slider 415 through a hinge, the fifth threaded slider 415 is matched on a fifth screw 414, a chain wheel is fixed at the tail end of the screw, the fifth screw 414 is driven by a fifth motor 412 fixed on the bottom plate, the middle of the fourth hydraulic cylinder 605 is hinged to one end of a seventh supporting rod 606, the other end of the seventh supporting rod is hinged to a fourth fixed block 418 on the bottom plate, a parallel four-bar mechanism is formed by the fifth screw 414, the seventh supporting rod 606, the fourth hydraulic cylinder 605 and the fifth threaded slider 415, the fifth motor 412 drives the fifth screw 414 to rotate, so that the third threaded slider 402 moves, thereby adjusting the included angle of the fourth hydraulic cylinder 605 relative to the bottom plate, the other end of a hydraulic rod of the fourth hydraulic cylinder is connected with a rear wheel 62, and the rear wheel 62 is driven by an eighth motor 604; one end of the cylinder body of the third hydraulic cylinder 602 is connected with a fourth threaded slide block 403 through a hinge, the fourth threaded slide block is matched on a fourth screw rod 405, the tail end of the screw rod 405 is connected with a chain wheel, the power of the fifth screw 414 is transmitted to the fourth screw 405 through the first chain 419, the sprocket has the same rotating speed because the size is consistent, the middle part of the third hydraulic cylinder 602 is hinged with one end of the sixth supporting rod 603, the other end of the sixth supporting rod is hinged on the first fixed block 401 on the bottom plate, the fourth screw 405, the sixth supporting rod 603, the third hydraulic cylinder 602 and the fourth screw slider 403 form a parallel four-bar mechanism, the chain drives the fourth screw 405 to rotate to make the fourth screw slider 403 move, thereby adjusting the included angle of the third hydraulic cylinder 602 relative to the base plate and having the same angle with the fourth hydraulic cylinder 605 synchronously, the other end of the cylinder rod of the third hydraulic cylinder is connected with a rear wheel 61, and the rear wheel 61 is driven by a seventh motor 601.
In this embodiment, the leg supporting plate 10 has a first bearing fixing block 802, a second bearing fixing block 806, an eleventh motor 807, a third bearing fixing block 810, a twelfth motor 811, a fifth hydraulic cylinder 812, a fixing plate 813, a thirteenth motor 815, a sliding block 816, a fourth bearing fixing block 817, and a fifth bearing fixing block 820; a pedal 9 is fixed on a rotating rod 804, the rotating rod is constrained on the leg supporting plate by a first bearing fixing block 802, the eleventh motor 807 drives the rotating rod to adjust the angle of the pedal, an eighth threaded slide block 818 and a seventh threaded slide block 808 are connected to the middle part of a front wheel slide rod 821, the tail end of the front wheel slide rod is connected with a front wheel 8, the front wheel 8 comprises a first front wheel 81 and a second front wheel 82, the first front wheel 81 is driven by the motor 801, and the second front wheel 82 is driven by the motor 805; a fifth hydraulic cylinder 812 is fixed to the leg rest, and the hydraulic rod 814 retracts to drive the third rod 410 to adjust the angle of the leg rest 10 relative to the seat. The eighth threaded slider 818 and the seventh threaded slider 808 are respectively matched with an eighth screw rod 819 and a seventh screw rod 809, the eighth screw rod is constrained on the leg supporting plate by a fourth bearing fixing block 817 and a fifth bearing fixing block 820 and is driven by a thirteenth motor 815, the seventh screw rod is constrained on the leg supporting plate by a second bearing fixing block 806 and a third bearing fixing block 810 and is driven by a twelfth motor 811, the twelfth motor and the thirteenth motor have the same rotating speed, and when the motors drive the eighth screw rod 819 and the seventh screw rod 809 to rotate, the threaded slider 818 and the threaded slider 808 are pushed to move, so that the front wheel sliding rod is driven to extend.
As shown in fig. 10, the obstacle crossing process includes the steps of: when the wheelchair is in a normal walking state, when the running process of the wheelchair approaches to an obstacle such as a trunk, a ditch and the like, oil is fed into a rodless cavity of the fifth hydraulic cylinder 812, so that the hydraulic rod 814 extends out, and the leg supporting plate 10 is pushed to be lifted and is higher than the obstacle; at the moment, the middle wheel motor comprises a sixth motor 701 and a seventh motor 704, the rear wheel motor comprises a seventh motor 601 and an eighth motor 604 (hereinafter, the motors are collectively called as a middle wheel motor and a rear wheel motor to drive the wheelchair to move forwards to enable the leg supporting plate 10 to cross an obstacle, the wheelchair continues to drive the middle wheel to approach the obstacle, a fifth hydraulic cylinder 812 has a rod cavity with oil inlet to enable a hydraulic rod 814 to retract, the leg supporting plate 10 moves downwards to enable the front wheel to contact the ground, a third motor 408 drives a gear 409 to rotate to drive the seat plate to move forwards to increase the distance between the front wheel and the middle wheel, so that the center of gravity of a person is between the front wheel and the middle wheel, a third motor 407 operates to drive a third lead screw 404 and a sixth lead screw 416 to rotate to enable a third thread sliding block 402 and a sixth thread sliding block 417 to move backwards, so that the first hydraulic cylinder 702 and a second hydraulic cylinder 705 lift upwards to form a small included angle with the seat plate, the height is higher than the obstacle, the front wheel motor and the rear wheel motor drive the rear wheel motor to drive the rear wheel to move forwards to enable the rear wheel to approach the wheelchair to approach the obstacle, and the third motor The screw rod 404 and the sixth screw rod 416 rotate to enable the third thread slider 402 and the sixth thread slider 417 to move forwards, so that the included angle between the first hydraulic cylinder 702 and the second hydraulic cylinder 705 and the seat plate is enlarged and falls to the opposite side of the obstacle, and the middle wheel is in contact with the ground; the fifth motor 412 operates to drive the fourth screw rod 405 and the fifth screw rod 414 to rotate, so that the fourth thread slide block 403 and the fifth thread slide block 415 move forwards, the included angle between the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605 and the seat plate becomes smaller, the third hydraulic cylinder and the fourth hydraulic cylinder 605 lift upwards, the height of the third hydraulic cylinder is higher than that of the obstacle, and at the moment, the middle wheel and the front wheel motor drive the wheelchair to move forwards until the rear wheels completely cross the obstacle; the fifth motor 412 rotates reversely to drive the fourth screw rod 405 and the fifth screw rod 414 to enable the fourth thread slide block 403 and the fifth thread slide block 415 to move backwards, and the included angles between the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605 and the seat plate are increased to enable the rear wheels to be in full contact with the ground; the fourth motor 408 drives the gear 409 to rotate reversely to drive the seat plate to move backward to return to the original position, so that the obstacle crossing process is completed. If the obstacle is too high in the process, the hydraulic rods of the first hydraulic cylinder 702, the second hydraulic cylinder 705, the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605 and the front wheel slide rod can be extended to increase the distance between the front wheel, the middle wheel and the rear wheel, so that the process is completed by the steps.
The schematic diagram of the steps of going upstairs is shown in fig. 11(a), when the wheelchair is in a normal walking state and meets a step, the hub motor of the wheelchair rotates to enable the middle wheel to be close to the edge of the step, the hydraulic synchronization loop enables the hydraulic rods of the first hydraulic cylinder 702, the second hydraulic cylinder 705, the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605 (hereinafter, the middle leg comprises the first hydraulic cylinder 702 and the second hydraulic cylinder 705, and the rear leg comprises the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605) to extend out to lift the wheelchair to a proper height, and if the height is insufficient, the included angles between the four leg hydraulic cylinders and the seat plate can be adjusted by the third motor 407 and the fifth motor 412 to further lift the wheelchair. The leg supporting plate 10 is driven by a fifth hydraulic cylinder 812 to be lifted to a height higher than the height of the step, a thirteenth motor 815 and a twelfth motor 811 drive a seventh screw rod 809 and an eighth screw rod 819 to rotate so as to enable a front wheel slide rod to extend out and drop a front wheel on the step, the drive of the third motor 407 reduces the included angle of the middle supporting leg to lift the middle wheel, and meanwhile, the hydraulic cylinder rod of the middle supporting leg is retracted so as to enable the height of the middle wheel to be higher than the height of the step; the front wheel and the rear wheel are driven by the motors to enable the wheelchair to move forwards until the middle wheel contacts with the step and the rear wheel hub is locked, and the seat plate is driven by the fourth motor 408 to drive the gear rack to push out the seat plate, so that the center of gravity of a person is between the front wheel and the middle wheel; the fifth motor 412 drives the rear wheel supporting legs to be lifted, and meanwhile, the hydraulic cylinder rods of the rear wheel supporting legs are retracted; the front wheels and the middle motor drive the wheelchair to move forwards until the rear wheel legs completely cross the steps and the rear wheels contact the ground; the hub of the front wheel is locked, and the seat plate is driven by the motor 408 to move backwards and retract to the original position. The third motor 407 and the fifth motor 412 work simultaneously and rotate reversely to increase the angle between the supporting legs and the seat plate, so that the wheelchair is lifted to the normal driving height, meanwhile, the front wheel slide bar retracts the front wheel under the action of the twelfth motor 811 and the thirteenth motor 815, and the fifth hydraulic cylinder 812 drives the leg supporting plate 10 to be adjusted to the normal driving height, so that the process of going upstairs is completed.
When the wheelchair normally travels and meets steps, the wheelchair travels forwards until the middle wheel contacts the edge of the step, the leg support plate is lifted upwards under the drive of the fifth hydraulic cylinder 812, and at the moment, the included angle between the front wheel support leg and the rear wheel support leg is reduced under the drive of the third motor 407 and the fifth motor 412, so that the height of the wheelchair is reduced to the minimum; the front wheel slide bar extends out under the drive of a thirteenth motor 815 and a twelfth motor 811 until the front wheel contacts the ground; the middle and rear wheel hubs are locked, and the seat plate is pushed out by the fourth motor 408 to make the center of gravity of the person fall between the front wheel and the middle wheel. The front wheel motor and the rear wheel motor drive the wheelchair to move forwards until the rear wheel contacts the edge of the step, the middle wheel support legs are opened under the drive of the third motor 407, and the hydraulic cylinder rod of the middle wheel support legs extends out to enable the middle wheel to contact the ground without obstacle; the front wheels and the middle wheel motor drive the wheelchair to move forwards and completely cross the stairs, the rear wheel supporting legs fall under the drive of the fifth motor 412, and the hydraulic cylinder rods of the rear wheel supporting legs extend out to enable the rear wheels to contact the ground without obstacles; the thirteenth motor 815 and the twelfth motor 811 drive to retract the front wheel slide bar, and at the same time the fifth hydraulic cylinder 812 adjusts the leg support plate to the normal driving height and retracts the hydraulic cylinder rods of the middle wheel support bar and the rear wheel support bar, lowering the wheelchair to the normal driving height, and thus completing the process of going down the stairs.
The process of climbing and descending the obstacle-crossing multifunctional electric wheelchair is shown in fig. 12: the traditional wheelchair can only ensure that the seat surface is parallel to the slope when going up and down, and people feel uncomfortable when the wheelchair is in the running process. According to the wheelchair, the seat surface of the wheelchair is kept parallel to the ground by adjusting the rear wheel supporting legs and the front wheel supporting legs to different lengths through the cooperation of the eleventh motor 807, the twelfth motor 811, the first hydraulic cylinder 702, the 5 second hydraulic cylinder 705, the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605 in the process of ascending and descending, so that the comfort degree of a human body is greatly increased.
The scene of adjusting the height of the multifunctional electric wheelchair crossing obstacles is widely applied, for example, as shown in fig. 13, the height of the wheelchair can be adjusted by a motor 807 and a motor 812, or the height of the wheelchair can be further increased by extending the hydraulic rods of the first hydraulic cylinder 702, the second hydraulic cylinder 705, the third hydraulic cylinder 602 and the fourth hydraulic cylinder 605 to adapt to different scenes.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An obstacle-crossing electric wheelchair is characterized by comprising a backrest (1) and leg supporting plates (10), wherein the bottom of the backrest (1) is connected to two sides of a seat plate (3) through a shaft, the middle of the backrest (1) is connected to the seat plate (3) through a handrail rod (2), the handrail rod (2) is driven by a first motor (303) and a second motor (309) to adjust the angle of the backrest (1) relative to the seat plate (3), the leg supporting plates (10) are connected to the seat plate (3), a hydraulic cylinder (812) is used for driving and adjusting the included angle of the leg supporting plates (10) relative to the seat plate (3), two rows of rolling bearings (301) and two rows of racks (302) are fixed at the bottom of the seat plate (3), the seat plate (3) can slide along the bottom plate (4), the bottom plate (4) is provided with a pair of gears (409), and the positions of the seat plate (3) on the bottom plate (4) are controlled by meshing of the gears (409) and the racks (302) through a fourth motor (408), there are four lead screws bottom plate (4), third lead screw (404) and fifth lead screw (414) are driven through third motor (407) and fifth motor (412) respectively, fourth lead screw (405) and fifth lead screw (414) are by first chain (419) and second chain (422) transmission, four landing legs (5) are connected on the lead screw, motor drive through on the lead screw is used for changing the contained angle of landing leg (5) and seat (3), landing leg (5) comprise the pneumatic cylinder, the flexible length that is used for adjusting the landing leg of piston rod, rear wheel (6) and middle wheel (7) are being connected to the piston rod end of landing leg (5), rear wheel (6) and middle wheel (7) are by motor drive, leg layer board (10) lower part is equipped with footboard (9), leg layer board (10) bottom is equipped with front wheel (8).
2. The obstacle-crossing electric wheelchair as claimed in claim 1, wherein the backrest (1) is connected to the seat (3) by a pin (306), the armrest rod (2) comprises an armrest (201), a first support rod (202) and a second support rod (203), one end of the armrest (201) is connected to the middle of the edge of the backrest (1) by a pin, the other end of the armrest rod is connected to one end of the first support rod (202) by a pin, the other end of the first support rod (202) is connected to the seat (3) by a pin, a parallel four-bar mechanism is formed by the backrest (1), the seat (3), the armrest (201) and the first support rod (202), the second support rod (203) is a vertical connecting bar in space, one end of the second support rod is connected to the middle of the first support rod (202) by a pin, the other end of the first support rod passes through a sliding hole (204) in the seat (3) and is fixed on a second threaded slider (307), and the second threaded slider (307) is matched on a second lead screw (308), the backrest is driven by a second motor (309), the screw rod (308) is driven to rotate by the motor (309), the threaded sliding block (307) and the second supporting rod (203) are driven to move, the first supporting rod (202) rotates around the pin shaft, and therefore the angle of the backrest (1) relative to the seat plate is adjusted.
3. The obstacle-crossing electric wheelchair as claimed in claim 1, wherein two rows of rolling bearings (301) and two rows of racks (302) are fixed at the bottom of the seat plate (3), the rolling bearings (301) can slide on the sliding rails of the bottom plate (4), the racks (302) are meshed with the gears (409) of the bottom plate (4), the gears (409) are connected to a gear shaft through gear keys, the gear shaft is constrained on the bottom plate (4) by the bearing fixing block (411) and is driven by a fourth motor (408), and the gears and the racks are meshed through the fourth motor to move the relative position of the seat plate (3) on the bottom plate (4).
4. The obstacle-crossing electric wheelchair as claimed in claim 1, wherein a first fixing block (401), a second fixing block (406), a third fixing block (413), a fourth fixing block (413), a third motor (407), a fourth motor (408), a fifth motor (412), a third support rod (410), a battery (420) and a battery fixing plate (421) are fixed on the base plate (4), and a third screw (404), a fourth screw (405), a fifth screw (414) and a sixth screw (416) are fixed through bearings; the wheelchair supporting leg is composed of hydraulic cylinder components, one end of a cylinder body of a first hydraulic cylinder (702) is connected with a third threaded slide block (402) through a hinge, the third threaded slide block (402) is matched on a third screw rod (404), a chain wheel is fixed at the tail end of the screw rod, the third screw rod (404) is driven by a third motor (407) fixed on a bottom plate, one end of a fourth supporting rod (703) is hinged at the middle part of the first hydraulic cylinder (702), the other end of the fourth supporting rod is hinged on a second fixed block (406) on the bottom plate, a parallel four-bar mechanism is formed by the third screw rod (404), the fourth supporting rod (703), the first hydraulic cylinder (702) and the third threaded slide block (402), the third motor (407) drives the third screw rod (404) to rotate so as to enable the third threaded slide block (402) to move, and further adjust the included angle of the first hydraulic cylinder (702) relative to the bottom plate, and a middle wheel (7) comprises a first middle wheel, the other end of the hydraulic rod of the first hydraulic cylinder is connected with a first middle wheel (71), and the first middle wheel (71) is driven by a sixth motor (701); one end of a cylinder body of a second hydraulic cylinder (705) is connected with a sixth threaded sliding block (417) through a hinge, the sixth threaded sliding block is matched on a sixth screw rod (416), the tail end of the screw rod (416) is connected with a chain wheel, the power of a third screw rod (404) is transmitted to the sixth screw rod (416) through a second chain (422), the chain wheel has the same rotating speed due to the size, the middle part of the second hydraulic cylinder (705) is hinged with one end of a fifth supporting rod (706), the other end of the fifth supporting rod is hinged on a third fixed block (413) on the bottom plate, a parallel four-rod mechanism is formed by the sixth screw rod (416), the fifth supporting rod (706), the second hydraulic cylinder (705) and the sixth threaded sliding block (417), the chain drives the sixth screw rod (416) to rotate to drive the sixth threaded sliding block (417) to move, so that the included angle of the second hydraulic cylinder (705) relative to the bottom plate is synchronously adjusted, and the included angle of the second hydraulic cylinder (705) and the included angle is synchronous with that of the first hydraulic cylinder (702), the other end of the second hydraulic cylinder rod is connected with a second intermediate wheel (72), and the second intermediate wheel (72) is driven by a seventh motor (704).
5. The obstacle-crossing electric wheelchair as claimed in claim 1, wherein one end of the cylinder body of the fourth hydraulic cylinder (605) is connected to a fifth threaded slider (415) through a hinge, the fifth threaded slider (415) is fitted to a fifth screw (414), a chain wheel is fixed to the end of the screw, the fifth screw (414) is driven by a fifth motor (412) fixed to the base plate, the middle of the fourth hydraulic cylinder (605) is hinged to one end of a seventh strut (606), the other end of the seventh strut is hinged to a fourth fixed block (418) on the base plate, a four-bar parallel mechanism is formed by the fifth screw (414), the seventh strut (606), the fourth hydraulic cylinder (605) and the fifth threaded slider (415), the fifth motor (412) drives the fifth screw (414) to rotate, so that the third threaded slider (402) moves, thereby adjusting the included angle of the fourth hydraulic cylinder (605) relative to the base plate, the other end of a hydraulic rod of the fourth hydraulic cylinder is connected with a rear wheel (62), and the rear wheel (62) is driven by an eighth motor (604); one end of the cylinder body of the third hydraulic cylinder (602) is connected with a fourth threaded slide block (403) through a hinge, the fourth threaded slide block is matched on a fourth screw rod (405), the tail end of the screw rod (405) is connected with a chain wheel, the power of a fifth screw rod (414) is transmitted to the fourth screw rod (405) through a first chain (419), the chain wheel has the same rotating speed due to the consistent size, the middle part of the third hydraulic cylinder (602) is hinged with one end of a sixth supporting rod (603), the other end of the sixth supporting rod is hinged on a first fixed block (401) on the bottom plate, a parallel four-rod mechanism is formed by the fourth screw rod (405), the sixth supporting rod (603), the third hydraulic cylinder (602) and the fourth threaded slide block (403), the chain drives the fourth screw rod (405) to rotate so that the fourth threaded slide block (403) moves, the included angle of the third hydraulic cylinder (602) relative to the bottom plate is adjusted, and the included angle of the third hydraulic cylinder (602) is synchronous with the fourth hydraulic cylinder (605), the other end of the third hydraulic cylinder rod is connected with a rear wheel (61), and the rear wheel (61) is driven by a seventh motor (601).
6. The obstacle-crossing electric wheelchair as claimed in claim 1, wherein the leg supporting plate (10) is provided with a first bearing fixing block (802), a second bearing fixing block (806), an eleventh motor (807), a third bearing fixing block (810), a twelfth motor (811), a fifth hydraulic cylinder (812), a fixing plate (813), a thirteenth motor (815), a sliding block (816), a fourth bearing fixing block (817) and a fifth bearing fixing block (820); a pedal (9) is fixed on the rotating rod (804), the rotating rod is constrained on the leg supporting plate by the first bearing fixing block (802), the eleventh motor (807) drives the rotating rod to adjust the angle of the pedal, the middle part of the front wheel sliding rod (821) is connected with the eighth threaded sliding block (818) and the seventh threaded sliding block (808), the tail end of the front wheel sliding rod is connected with the front wheel (8), the front wheel (8) comprises a first front wheel (81) and a second front wheel (82), the first front wheel (81) is driven by the motor (801), and the second front wheel (82) is driven by the motor (805); the fifth hydraulic cylinder (812) is fixed on the leg supporting plate, and the hydraulic rod (814) contracts to drive the third supporting rod (410) to adjust the included angle of the leg supporting plate (10) relative to the seat plate. The eighth threaded sliding block (818) and the seventh threaded sliding block (808) are respectively matched with an eighth screw rod (819) and a seventh screw rod (809), the eighth screw rod is constrained on the leg supporting plate by a fourth bearing fixing block (817) and a fifth bearing fixing block (820) and is driven by a thirteenth motor (815), the seventh screw rod is constrained on the leg supporting plate by a second bearing fixing block (806) and a third bearing fixing block (810) and is driven by a twelfth motor (811), the twelfth motor and the thirteenth motor have the same rotating speed, and when the motors drive the eighth screw rod (819) and the seventh screw rod (809) to rotate, the threaded sliding block (818) and the threaded sliding block (808) are pushed to move, so that the front wheel sliding rod is driven to extend out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110509745.0A CN113303984A (en) | 2021-05-11 | 2021-05-11 | Obstacle-crossing type electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110509745.0A CN113303984A (en) | 2021-05-11 | 2021-05-11 | Obstacle-crossing type electric wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113303984A true CN113303984A (en) | 2021-08-27 |
Family
ID=77372988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110509745.0A Pending CN113303984A (en) | 2021-05-11 | 2021-05-11 | Obstacle-crossing type electric wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113303984A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080100036A1 (en) * | 2006-10-31 | 2008-05-01 | Volodymyr Ivanchenko | Apparatus for transporting an invalid |
| CN103340723A (en) * | 2013-06-14 | 2013-10-09 | 燕山大学 | Electric stair-climbing wheelchair with leg-wheel combined type structure |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN107049631A (en) * | 2017-06-12 | 2017-08-18 | 深圳市井智高科机器人有限公司 | A kind of wheelchair and its method |
| CN107411901A (en) * | 2017-08-15 | 2017-12-01 | 通号空中快车有限公司 | Intelligent multifunction electric wheel-chair vehicle |
| CN107582263A (en) * | 2017-09-19 | 2018-01-16 | 大连交通大学 | A kind of novel stair climbing disabled person car |
| CN107595502A (en) * | 2017-09-04 | 2018-01-19 | 广东开放大学（广东理工职业学院） | A kind of electric wheelchair for crossing barrier function having |
| CN108175588A (en) * | 2018-02-24 | 2018-06-19 | 佳木斯大学 | A kind of double appearance electric wheelchairs of Liftable type sitting and lying and its control method |
| CN108743083A (en) * | 2018-06-19 | 2018-11-06 | 浙江机电职业技术学院 | A kind of multi-functional invalid wheelchair and its working method |
| CN110448417A (en) * | 2019-08-17 | 2019-11-15 | 厦门大学嘉庚学院 | A kind of obstacle detouring trolley and its working method |
| CN209966810U (en) * | 2019-01-25 | 2020-01-21 | 佛山市容骏医疗美容设备有限公司 | Wheelchair with adjustable backrest angle |
| CN111494109A (en) * | 2020-04-20 | 2020-08-07 | 深圳大学 | Wheelchair capable of climbing stairs |
| CN112120857A (en) * | 2020-09-30 | 2020-12-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Foldable toilet device for helping old people |
| CN212214049U (en) * | 2020-03-18 | 2020-12-25 | 宋夕超 | Hydraulic drive lifting and transverse moving type stair climbing robot |
-
2021
- 2021-05-11 CN CN202110509745.0A patent/CN113303984A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080100036A1 (en) * | 2006-10-31 | 2008-05-01 | Volodymyr Ivanchenko | Apparatus for transporting an invalid |
| CN103340723A (en) * | 2013-06-14 | 2013-10-09 | 燕山大学 | Electric stair-climbing wheelchair with leg-wheel combined type structure |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN107049631A (en) * | 2017-06-12 | 2017-08-18 | 深圳市井智高科机器人有限公司 | A kind of wheelchair and its method |
| CN107411901A (en) * | 2017-08-15 | 2017-12-01 | 通号空中快车有限公司 | Intelligent multifunction electric wheel-chair vehicle |
| CN107595502A (en) * | 2017-09-04 | 2018-01-19 | 广东开放大学（广东理工职业学院） | A kind of electric wheelchair for crossing barrier function having |
| CN107582263A (en) * | 2017-09-19 | 2018-01-16 | 大连交通大学 | A kind of novel stair climbing disabled person car |
| CN108175588A (en) * | 2018-02-24 | 2018-06-19 | 佳木斯大学 | A kind of double appearance electric wheelchairs of Liftable type sitting and lying and its control method |
| CN108743083A (en) * | 2018-06-19 | 2018-11-06 | 浙江机电职业技术学院 | A kind of multi-functional invalid wheelchair and its working method |
| CN209966810U (en) * | 2019-01-25 | 2020-01-21 | 佛山市容骏医疗美容设备有限公司 | Wheelchair with adjustable backrest angle |
| CN110448417A (en) * | 2019-08-17 | 2019-11-15 | 厦门大学嘉庚学院 | A kind of obstacle detouring trolley and its working method |
| CN212214049U (en) * | 2020-03-18 | 2020-12-25 | 宋夕超 | Hydraulic drive lifting and transverse moving type stair climbing robot |
| CN111494109A (en) * | 2020-04-20 | 2020-08-07 | 深圳大学 | Wheelchair capable of climbing stairs |
| CN112120857A (en) * | 2020-09-30 | 2020-12-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Foldable toilet device for helping old people |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110859715A (en) | Chair for assisting old people to stand | |
| CN110403776B (en) | Multifunctional intelligent wheelchair | |
| CN213157104U (en) | Full-automatic multifunctional wheelchair | |
| CN201267580Y (en) | Crawler wheel chair capable of going up stairs onwards or backwards | |
| CN110063848B (en) | Wheelchair for old people to go to toilet | |
| CN112022533A (en) | Intelligent obstacle-surmounting wheelchair of full topography crawler-type double-wheel drive photovoltaic | |
| CN209172750U (en) | A kind of nursing bed | |
| CN114028098B (en) | Nursing transfer system | |
| CN111388221A (en) | Intelligent lifting type stair climbing wheelchair | |
| CN113303984A (en) | Obstacle-crossing type electric wheelchair | |
| CN111437113A (en) | Intelligent wheelchair for helping the old to climb stairs | |
| CN211300755U (en) | Chair for assisting old people to stand | |
| CN212490461U (en) | Intelligent wheelchair for helping the old to climb stairs | |
| CN106420204A (en) | Novel electric stair-climbing vehicle | |
| CN110680634A (en) | Intelligent self-service nursing electric wheelchair | |
| CN213062685U (en) | Special medical stair device for wheelchair passenger | |
| CN202875647U (en) | Electrically propelled wheelchair integrating functions of sitting, lying, standing and lifting | |
| CN109568038A (en) | A kind of old man's stair climbing robot | |
| CN212271440U (en) | Handicapped person barrier-free stair | |
| CN111544214B (en) | Voice remote control intelligent wheelchair | |
| CN210962731U (en) | Multifunctional auxiliary device for getting on and off bed | |
| CN112796473A (en) | Over-and-under type intelligence stair with warp function | |
| CN210612379U (en) | Leveling switching mechanism for wheelchair downstairs and downhill | |
| CN201759763U (en) | Hand-push stair-climbing chair | |
| CN212575123U (en) | Intelligent nursing robot patient transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210827 |