CN113712747B - Dual-purpose intelligent wheelchair for flat ground and stairs and application method thereof - Google Patents
Dual-purpose intelligent wheelchair for flat ground and stairs and application method thereof Download PDFInfo
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- CN113712747B CN113712747B CN202110978483.2A CN202110978483A CN113712747B CN 113712747 B CN113712747 B CN 113712747B CN 202110978483 A CN202110978483 A CN 202110978483A CN 113712747 B CN113712747 B CN 113712747B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The application relates to a dual-purpose intelligent wheelchair for flat ground and stairs and a use method thereof, wherein the dual-purpose intelligent wheelchair comprises a stool, side plates are arranged on two sides of the stool, armrests are arranged on the upper parts of the side plates, and a control assembly is arranged on each armrest; the inner side of the side plate is provided with a front auxiliary supporting mechanism and a rear auxiliary supporting mechanism in a swinging way; the outer side surfaces of the single side plates are respectively provided with a crawler mechanism, the single crawler mechanism is in a pentagonal structure which is symmetrical in front-back, the crawler mechanism swings forwards or backwards relative to the side plates through a stair climbing auxiliary mechanism, the outer sides of the crawler mechanisms are respectively provided with a rotating wheel, and the power transmission mechanism drives the rotating wheels to rotate or drives a driving wheel at the top of the crawler mechanism to rotate; the power transmission mechanism drives the rotating wheel to rotate and run under the condition of flat ground, the power transmission mechanism drives the crawler mechanism to drive under the condition of stairs, and meanwhile, the crawler mechanism swings relative to the stool through the stair climbing auxiliary mechanism to realize stair climbing.
Description
Technical Field
The application relates to the technical field of wheelchairs, in particular to a dual-purpose intelligent wheelchair for flat ground and stairs and a use method thereof.
Background
The wheelchair is not only a walking aid for the elderly, disabled and handicapped, but also an exercise aid. The wheelchair should be comfortable during travel on level ground and climbing stairs, and it is very important to ensure the levelness of the bench during travel of the seat, especially when encountering obstacles. In the prior art, the smooth comfort level of wheelchair running, especially the stability in the stair climbing process, cannot be effectively ensured, so that the experience of users is poor.
Disclosure of Invention
Aiming at the defects in the prior art, the inventor provides the dual-purpose intelligent wheelchair for the flat ground and the stairs and the use method thereof, which have reasonable structures, thereby realizing dual purposes of the flat ground and the stairs and greatly improving the use convenience.
The technical scheme adopted by the application is as follows:
the dual-purpose intelligent wheelchair for the flat ground and the stairs comprises a stool, wherein side plates are symmetrically and downwards arranged on two sides of the stool, handrails are respectively arranged on the outer side surfaces of the side plates, and a control assembly is arranged on each handrail; a front auxiliary supporting mechanism and a rear auxiliary supporting mechanism are respectively arranged at the front and the rear of the inner sides of the two side plates in a swinging way; the outer side surface of the single side plate is respectively provided with a crawler mechanism, the single crawler mechanism is in a pentagonal structure which is symmetrical in front-back direction, the crawler mechanism swings forwards or backwards relative to the side plate through a stair climbing auxiliary mechanism, and the outer side of the crawler mechanism is respectively provided with a rotating wheel; the crawler belt type automatic feeding device also comprises a power transmission mechanism, wherein the power transmission mechanism drives the rotating wheel to rotate or drives the driving wheel at the top of the crawler belt mechanism to rotate.
As a further improvement of the above technical scheme:
the crawler mechanism has the structure that: the crawler belt is characterized by comprising a backboard arranged on the outer side face of a side plate, wherein a driving wheel is rotatably arranged at the top of the outer side face of the backboard, driven wheels are symmetrically rotatably arranged at the front end and the rear end of the outer side face of the backboard, the same driven wheels are rotatably arranged at the front and rear intervals at the edge of the lower part of the backboard, a crawler belt is arranged on the outer sides of the driving wheel and all driven wheels in a winding manner, and the crawler belt is of a pentagonal structure.
The power transmission mechanism is arranged between the two side plates and drives the corresponding crawler mechanism or the rotating wheel to rotate through the rotating shaft which penetrates out outwards; the backboard of the crawler mechanism is also provided with an arc hole, the arc hole is concentric with the driving wheel, and the arc hole is used for the rotating shaft driving the rotating wheel to pass out.
The control assembly comprises a plurality of buttons distributed on handrails at two sides, and the buttons are used for selecting a flat ground state, selecting a stair climbing state, controlling start and stop and controlling speed; one of the handrails is also provided with a display, and the current running state and the temperature and humidity condition are displayed through the display; still include loudspeaker, report the state information that corresponds with the button through loudspeaker.
The front plate and the rear plate are arranged between the two side plates at intervals, the front auxiliary supporting mechanism and the stair climbing auxiliary mechanism are arranged on the front plate, and the rear auxiliary supporting mechanism and the power transmission mechanism are arranged on the rear plate.
The power transmission mechanism has the structure that: the stair climbing device comprises a driving motor fixedly arranged on a rear plate, wherein a driving gear is arranged at the output end of the driving motor, an intermediate gear and a travelling gear are simultaneously engaged and assembled on the outer circumference of the driving gear, and a stair climbing gear is externally engaged and assembled on the intermediate gear; the middle gear, the travelling gear and the stair climbing gear are respectively and rotatably arranged on the inner side surface of the side plate, overrunning clutches are respectively arranged at the centers of the middle gear and the travelling gear, so that the middle gear is driven to drive when the driving gear rotates clockwise and forwards, and the travelling gear is driven to drive when the driving gear rotates anticlockwise and backwards; the walking gear and the stair climbing gear drive the rotating wheel and the crawler belt mechanism which are corresponding to the outer side through the rotating shaft respectively.
The stair climbing auxiliary mechanism has the structure that: the stair climbing device comprises a stair climbing motor arranged on the bottom surface of a front plate, wherein the top of the stair climbing motor is rotationally connected with the bottom surface of the front plate through a first rotary joint, the output end of the stair climbing motor faces downwards and is connected with a screw rod, a first nut component is arranged on the screw rod through a screw pair, a supporting beam extending towards two sides is fixedly arranged outside the first nut component, and the outer end head of the supporting beam is fixedly arranged with crawler mechanisms corresponding to the two sides.
The front auxiliary supporting mechanism and the rear auxiliary supporting mechanism are identical in structure, the front auxiliary supporting mechanism extends forwards to the front of the rotating wheel, and the rear auxiliary supporting mechanism extends backwards to the rear of the rotating wheel.
The structure of the front auxiliary supporting mechanism is as follows: the support motor is rotatably mounted on the front side of the front plate through a second rotary joint, the output end of the support motor faces forwards and is connected with a screw, a second nut component is mounted on the screw through a screw pair in a matched mode, a middle cross beam extending towards two sides is mounted on the outer end of the nut component, side rods are fixedly mounted on the outer end of the middle cross beam respectively, an upper cross beam is mounted on the top ends of the two side rods in a common rotation mode, two ends of the upper cross beam are fixedly mounted on the inner side faces of side plates on the two sides, and the lower ends of the two side rods incline downwards forwards and are rotatably mounted with auxiliary wheels on the end portions.
The application method of the dual-purpose intelligent wheelchair for the flat ground and the stairs comprises the following steps:
selecting a current running state through a control component;
when the wheelchair is in a flat ground running state, the power transmission mechanism drives the rotating wheel to rotate forwards, so that running is realized, the wheelchair is supported by the rotating wheel, and the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism are used as auxiliary supports; the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism swing back and forth relative to the side plates and the stool to adjust the angle between the front auxiliary supporting mechanism and the ground, so that the steady state of the stool in the driving process is maintained;
when in a stair climbing state, the stair climbing auxiliary mechanism works and drives the crawler mechanism to swing relative to the side plates and the stool, the front lower side surface of the crawler mechanism is attached to stairs, meanwhile, the power transmission mechanism drives the crawler mechanism to drive forward to walk when climbing stairs, and the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism carry out auxiliary supporting relative to the side plates and the stool through front-back swing adjustment, so that the stable state of the stool in the stair climbing process is maintained.
The beneficial effects of the application are as follows:
the application has compact and reasonable structure, convenient operation, the power transmission mechanism drives the rotating wheel to rotate and run in the condition of flat ground, the power transmission mechanism drives the crawler mechanism to drive in the condition of stairs, and meanwhile, the crawler mechanism swings relative to the stool through the stair climbing auxiliary mechanism to realize stair climbing;
the application also includes the following advantages;
through the setting of around auxiliary support mechanism, it cooperates with runner or caterpillar fungus mechanism, when supporting the wheelchair, through the swing of around auxiliary support mechanism for the bench, effective angle regulation keeps the stationarity of bench.
Drawings
Fig. 1 is a schematic structural view of the present application.
Fig. 2 is a schematic structural view (another view, a partial explosion display) of the present application.
FIG. 3 is a schematic view of the installation of the power transmission mechanism of the present application between the crawler mechanism and the runner.
Fig. 4 is a schematic structural view of the stair climbing assistance mechanism and the front assistance support mechanism of the present application.
Wherein: 1. a rotating wheel; 2. a control assembly; 3. a stool; 4. a power transmission mechanism; 5. a front plate; 6. a stair climbing auxiliary mechanism; 7. a front auxiliary supporting mechanism; 8. a crawler mechanism; 9. a rear plate; 10. a rear auxiliary supporting mechanism;
11. a hand ring; 21. a controller; 31. a side plate; 32. an armrest;
41. a driving motor; 42. a drive gear; 43. an intermediate gear; 44. stair climbing gears; 45. a traveling gear;
61. rotating the first joint; 62. a stair climbing motor; 63. a first nut component; 64. a support beam;
71. rotating the second joint; 72. an upper cross beam; 73. supporting a motor; 74. a middle cross beam; 75. a second nut component; 76. a side bar; 77. an auxiliary wheel;
81. a back plate; 82. driven wheel; 83. a driving wheel; 84. a track; 811. arc-shaped holes.
Detailed Description
The following describes specific embodiments of the present application with reference to the drawings.
As shown in fig. 1 and 2, the dual-purpose intelligent wheelchair for flat stairs of the embodiment comprises a stool 3, wherein side plates 31 are symmetrically and downwards arranged on two sides of the stool 3, armrests 32 are respectively arranged on the upper parts of the outer side surfaces of the side plates 31, and a control assembly 2 is arranged on each armrest 32; front auxiliary supporting mechanisms 7 and rear auxiliary supporting mechanisms 10 are respectively arranged at the front and rear of the inner sides of the two side plates 31 in a swinging manner; the outer side surfaces of the single side plates 31 are respectively provided with a crawler belt mechanism 8, the single crawler belt mechanism 8 is in a pentagonal structure which is symmetrical in front-back, the crawler belt mechanism 8 swings forwards or backwards relative to the side plates 31 through the stair climbing auxiliary mechanism 6, and the outer sides of the crawler belt mechanism 8 are respectively provided with a rotating wheel 1; the crawler belt conveyor also comprises a power transmission mechanism 4, wherein the power transmission mechanism 4 drives the rotating wheel 1 to rotate or drives the driving wheel 83 at the top of the crawler belt mechanism 8 to rotate.
The power transmission mechanism 4 drives the rotating wheel 1 to rotate and run under the condition of flat ground, the power transmission mechanism 4 drives the crawler belt mechanism 8 to drive under the condition of stairs, meanwhile, the crawler belt mechanism 8 swings relative to the stool 3 through the stair climbing auxiliary mechanism 6 to realize stair climbing, and under the two conditions, the front auxiliary supporting mechanism 10 and the rear auxiliary supporting mechanism 10 are matched to keep the stability of the stool 3, so that dual purposes of flat ground and stairs are realized.
The pentagonal crawler mechanism 8 is contacted with the stairs from the inclined downward edge when climbing stairs, so as to be beneficial to going up and down the stairs.
The crawler mechanism 8 has the structure that: the crawler belt type automobile seat comprises a backboard 81 arranged on the outer side surface of a side plate 31, wherein a driving wheel 83 is rotatably arranged on the top of the outer side surface of the backboard 81, driven wheels 82 are symmetrically rotatably arranged at the front end and the rear end of the outer side surface of the backboard 81, identical driven wheels 82 are rotatably arranged at the lower edge of the backboard 81 at intervals back and forth, crawler belts 84 are arranged on the outer sides of the driving wheel 83 and all the driven wheels 82 in a surrounding manner, and the crawler belts 84 are of pentagonal structures; the driving wheel 83 above is driven to rotate by the power transmission mechanism 4, so as to drive the driven wheel 82 to rotate, and the caterpillar 84 is driven.
The power transmission mechanism 4 is arranged between the two side plates 31, and the power transmission mechanism 4 drives the corresponding crawler mechanism 8 or the rotating wheel 1 to rotate through the rotating shaft penetrating outwards; the backboard 81 of the crawler mechanism 8 is also provided with an arc hole 811, the arc hole 811 is concentric with the driving wheel 83, and the arc hole 811 is used for penetrating out a rotating shaft for driving the rotating wheel 1 to rotate; the arc-shaped holes 811 assist in the smoothness of the swing of the crawler 8 relative to the stool 3 under the drive of the stair climbing auxiliary mechanism 6.
The control assembly 2 comprises a plurality of buttons distributed on handrails 32 at two sides, and the buttons are used for selecting a flat ground state, selecting a stair climbing state, controlling start and stop and controlling speed; one of the armrests 32 is also provided with a display by which the current running state and the temperature and humidity conditions are displayed; the mobile phone also comprises a loudspeaker, status information corresponding to the button is broadcasted through the loudspeaker, and related information can be sent to other equipment which is convenient to operate, such as a mobile phone, by the Bluetooth module.
The front plate 5 is also provided with a temperature and humidity sensor, a levelness sensor and a controller 21 in sequence, and the controller 21 is electrically connected with the control assembly 2, the temperature and humidity sensor, the levelness sensor, the power transmission mechanism 4, the stair climbing auxiliary mechanism 6, the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10; through the input of the control component 2, the running state of the land or stairs is switched by the controller 21, the corresponding power mechanism works, the current temperature and humidity value is monitored in real time through the temperature and humidity sensor, and the horizontal stability of the current stool 3 is monitored in real time through the levelness sensor.
A front plate 5 and a rear plate 9 are arranged between the two side plates 31 at intervals in the front-rear direction, a front auxiliary supporting mechanism 7 and a stair climbing auxiliary mechanism 6 are arranged on the front plate 5, and a rear auxiliary supporting mechanism 10 and a power transmission mechanism 4 are arranged on the rear plate 9.
In this embodiment, the front plate 5 has an L-shaped structure with a front opening, and the rear plate 9 has a vertical plate.
As shown in fig. 3, the power transmission mechanism 4 has a structure in which: the device comprises a driving motor 41 fixedly arranged on the front side surface of a rear plate 9, wherein a driving gear 42 is arranged at the output end of the driving motor 41, an intermediate gear 43 and a travelling gear 45 are simultaneously engaged and assembled on the outer circumference of the driving gear 42, and a stair climbing gear 44 is externally engaged and assembled on the intermediate gear 43; the middle gear 43, the walking gear 45 and the stair climbing gear 44 are respectively and rotatably arranged on the inner side surface of the side plate 31, the center of the middle gear 43 and the center of the walking gear 45 are respectively provided with an overrunning clutch, so that the middle gear 43 is driven to drive when the driving gear 42 rotates clockwise and forwards, and the walking gear 45 is driven to drive when the driving gear 42 rotates anticlockwise and backwards; the walking gear 45 and the stair climbing gear 44 drive the corresponding rotating wheel 1 and the crawler mechanism 8 at the outer side through the rotating shaft respectively.
The intermediate gear 43 is an axial double-layer synchronizing gear, one of which is meshed with the drive gear 42 and the other of which is meshed with the stair climbing gear 44.
Through setting up of the overrunning clutch, the driving gear 42 drives one of the engaged intermediate gear 43 and the running gear 45 to rotate when rotating in different directions, thereby driving one of the rotating wheel 1 or the crawler mechanism 8 to drive, and the driving motor 41 is a main power source for running in two different states of the land and the stairs.
In this embodiment, the power transmission mechanism 4 is located between the front plate 5 and the rear plate 9.
As shown in fig. 4, the stair climbing assistance mechanism 6 has a structure that: the stair climbing device comprises a stair climbing motor 62 arranged on the bottom surface of a front plate 5, wherein the top of the stair climbing motor 62 is rotationally connected with the bottom surface of the front plate 5 through a first rotary joint 61, the output end of the stair climbing motor 62 faces downwards and is connected with a screw rod, a first nut component 63 is arranged on the screw rod through a screw pair, a supporting beam 64 extending towards two sides is fixedly arranged outside the first nut component 63, and the outer end of the supporting beam 64 is fixedly arranged on crawler mechanisms 8 corresponding to the two sides.
The stair climbing motor 62 works, the screw rod rotates, the first nut component 63 moves axially relative to the screw rod, the first support beam 64 is driven to move axially along the screw rod, and the support beam 64 is fixedly installed with the backboard 81 of the crawler 8 due to the fact that the stair climbing motor 62 is connected with the front plate 5 in a rotating mode through the first rotating joint 61, so that the crawler 8 is driven to swing forwards or backwards relative to the stool 3, and the front lower side face of the crawler 84 in the crawler 8 is enabled to be close to the stair in contact during stair climbing.
The front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 have the same structure, the front auxiliary supporting mechanism 7 extends forwards to the front of the rotating wheel 1, and the rear auxiliary supporting mechanism 10 extends backwards to the rear of the rotating wheel 1.
The structure of the front auxiliary supporting mechanism 7 is as follows: the front plate 5 comprises a supporting motor 73 rotatably mounted on the front side surface of the front plate 5 through a second rotary joint 71, the output end of the supporting motor 73 faces forward and is connected with a screw rod, a second nut assembly 75 is mounted on the screw rod through a screw pair in a matched mode, a middle cross beam 74 extending to two sides is mounted on the outer end of the second nut assembly 75, side rods 76 are fixedly mounted on the outer end of the middle cross beam 74 respectively, an upper cross beam 72 is rotatably mounted on the top ends of the two side rods 76 in a common mode, two ends of the upper cross beam 72 are fixedly mounted on the inner side surfaces of side plates 31 on the two sides, and the lower ends of the two side rods 76 incline forwards and downwards and are rotatably mounted with auxiliary wheels 77 at the end portions.
The supporting motor 73 works to drive the screw rod to rotate, so that the second nut component 75 on the screw rod moves along the axial direction of the screw rod, and then the side rods 76 at the two ends are pushed forward or pulled backward through the middle cross beam 74, so that the side rods 76 swing forward or backward relative to the side plates 31 at the two sides and the stool 3 above through the upper cross beam 72, the acting point of the auxiliary wheels 77 at the lower end of the side rods 76 on the ground relative to the stool 3 is changed, and the levelness of the stool 3 relative to the ground is changed through the simultaneous adjustment of the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10, so that the adjustment of the stability of the stool is assisted.
In this embodiment, the upper beam 72 may be fixedly mounted or rotatably mounted between both ends thereof and the side plates 31.
By arranging the front and rear auxiliary supporting mechanisms 10, the front and rear auxiliary supporting mechanisms are matched with the rotating wheels 1 or the crawler belt mechanisms 8, and the front and rear auxiliary supporting mechanisms 10 can effectively adjust the angle relative to the swing of the stool 3 while supporting the wheelchair, so that the stability of the stool 3 is maintained.
In the embodiment, the power transmission mechanism 4 comprises two groups, and the two groups respectively drive the rotating wheels 1 and the crawler mechanisms 8 at the two sides to transmit; the two groups of power transmission mechanisms 4 are driven by one driving motor 41, and the driving motor 41 is a double-spindle output motor; or the two groups of power transmission mechanisms 4 are respectively driven by corresponding driving motors 41, and the two driving motors 41 are symmetrically and oppositely arranged on the rear plate 9.
In this embodiment, the outer side surface of the rotating wheel 1 is further extended with a hand ring 11 along the circumferential direction, and the hand ring 11 is convenient for the user to hold, and is also helpful for hand exercise.
In this embodiment, the back edge of the stool 3 is also provided with an upward facing chair back.
Through the swing of preceding auxiliary stay mechanism 7 for bench 3, combine the initial setting of supporting motor 73, obtain its swing angle, and the current angle of bench 3 then can be obtained by the levelness sensor monitoring on the front bezel 5 to make bench 3 keep level steady through the swing of preceding auxiliary stay mechanism 7 in the stair climbing process, obtain the inclination who corresponds the stair, and then help the smoothness nature of stair climbing.
The application method of the dual-purpose intelligent wheelchair for the flat ground and the stairs comprises the following steps:
the control component 2 selects the current running state, presses a button corresponding to the flat ground state, switches to the flat ground running state, presses a button corresponding to the stair climbing state, and switches to the stair climbing running state;
when the wheelchair is in a flat ground running state, the power transmission mechanism 4 drives the rotating wheel 1 to rotate forwards, so that running is realized, the rotating wheel 1 supports the wheelchair, and the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 are used as auxiliary supports; the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 are used for adjusting the angle between the front and back swinging of the stool 3 relative to the side plate 31 and the ground so as to keep the steady state of the stool 3 during running;
the power transmission mechanism 4 drives the rotating wheel 1 to work in the following way: the controller 21 controls the driving motor 41 to rotate reversely, the driving gear 42 rotates anticlockwise, the walking gear 45 meshed with the driving gear 42 rotates clockwise, the walking gear 45 drives the rotating wheel 1 to rotate clockwise through the outwards extending rotating shaft, walking is achieved, and the intermediate gear 43 does not rotate along with the anticlockwise rotation of the driving gear 42 due to the existence of the overrunning clutch.
In a stair climbing state, the stair climbing auxiliary mechanism 6 works to drive the crawler belt mechanism 8 to swing relative to the side plates 31 and the stool 3, the front lower side surface of the crawler belt mechanism 8 is attached to stairs, meanwhile, the power transmission mechanism 4 drives the crawler belt mechanism 8 to forward drive to walk when climbing stairs, and the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 perform auxiliary supporting relative to the side plates 31 and the back and forth swing adjustment of the stool 3 and keep the stable state of the stool 3 in the stair climbing process;
the specific mode of driving the crawler belt mechanism 8 by the power transmission mechanism 4 is as follows: the controller 21 controls the driving motor 41 to rotate positively, the driving gear 42 rotates clockwise, the intermediate gear 43 meshed with the driving gear 42 rotates anticlockwise to drive the stair climbing gear 44 to rotate clockwise, and the stair climbing gear 44 drives the driving wheel 83 in the crawler mechanism 8 to rotate clockwise through the outwards extending rotating shaft, so that the crawler 84 is driven to drive forwards; the running gear 45 does not rotate with the clockwise rotation of the driving gear 42 due to the overrunning clutch.
In this embodiment, the driving gear 42 drives the stair climbing gear 44 and the traveling gear 45 to rotate clockwise and counterclockwise, and the other side is reversed.
The intelligent wheelchair disclosed by the application realizes dual purposes of land leveling and stairs, greatly improves the use convenience and comfort and improves the use experience of customers.
The above description is intended to illustrate the application and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the application.
Claims (6)
1. The utility model provides a dual-purpose intelligent wheelchair of level land stair, includes sits bench (3), its characterized in that: side plates (31) are symmetrically and downwards arranged on two sides of the stool (3), handrails (32) are respectively arranged on the upper parts of the outer side surfaces of the side plates (31), and a control assembly (2) is arranged on each handrail (32); front auxiliary supporting mechanisms (7) and rear auxiliary supporting mechanisms (10) are respectively arranged at the front and the rear of the inner sides of the two side plates (31) in a swinging way; the outer side surfaces of the single side plates (31) are respectively provided with a crawler mechanism (8), the single crawler mechanism (8) is in a pentagonal structure which is symmetrical in front-back direction, the crawler mechanism (8) swings forwards or backwards relative to the side plates (31) through a stair climbing auxiliary mechanism (6), and the outer sides of the crawler mechanisms (8) are respectively provided with a rotating wheel (1); the crawler belt type vehicle further comprises a power transmission mechanism (4), wherein the power transmission mechanism (4) drives the rotating wheel (1) to rotate or drives a driving wheel (83) at the top of the crawler belt mechanism (8) to rotate;
the crawler mechanism (8) has the structure that: the automatic lifting device comprises a back plate (81) arranged on the outer side surface of a side plate (31), wherein a driving wheel (83) is rotatably arranged at the top of the outer side surface of the back plate (81), driven wheels (82) are symmetrically rotatably arranged at the front end and the rear end of the outer side surface of the back plate (81), the same driven wheels (82) are rotatably arranged at the front and rear intervals at the lower edge of the back plate (81), a crawler belt (84) is arranged around the driving wheel (83) and the outer sides of all the driven wheels (82), and the crawler belt (84) is in a pentagonal structure;
the power transmission mechanism (4) is arranged between the two side plates (31), and the power transmission mechanism (4) drives the corresponding crawler mechanism (8) or the rotating wheel (1) to rotate through the rotating shaft which penetrates outwards; an arc hole (811) is further formed in the back plate (81) of the crawler mechanism (8), the arc hole (811) is concentric with the driving wheel (83), and the arc hole (811) is used for enabling a rotating shaft driving the rotating wheel (1) to rotate to penetrate out;
a front plate (5) and a rear plate (9) are arranged between the two side plates (31) at intervals in the front-back direction, the front auxiliary supporting mechanism (7) and the stair climbing auxiliary mechanism (6) are arranged on the front plate (5), and the rear auxiliary supporting mechanism (10) and the power transmission mechanism (4) are arranged on the rear plate (9);
the front auxiliary supporting mechanism (7) and the rear auxiliary supporting mechanism (10) are identical in structure, the front auxiliary supporting mechanism (7) extends forwards to the front of the rotating wheel (1), and the rear auxiliary supporting mechanism (10) extends backwards to the rear of the rotating wheel (1);
the pentagonal crawler mechanism (8) is in contact with the stairs from the inclined downward edge when climbing stairs, so that the stair climbing is facilitated.
2. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 1, wherein: the control assembly (2) comprises a plurality of buttons distributed on handrails (32) at two sides, and the buttons are used for selecting a flat ground state, selecting a stair climbing state, controlling start and stop and controlling speed; one of the armrests (32) is also provided with a display, and the current running state and the temperature and humidity condition are displayed through the display; still include loudspeaker, report the state information that corresponds with the button through loudspeaker.
3. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 1, wherein: the power transmission mechanism (4) has the structure that: the stair climbing device comprises a driving motor (41) fixedly arranged on a rear plate (9), wherein a driving gear (42) is arranged at the output end of the driving motor (41), an intermediate gear (43) and a traveling gear (45) are simultaneously meshed and assembled on the outer circumference of the driving gear (42), and a stair climbing gear (44) is externally meshed and assembled on the intermediate gear (43); the middle gear (43), the walking gear (45) and the stair climbing gear (44) are respectively and rotatably arranged on the inner side surface of the side plate (31), overrunning clutches are respectively arranged at the circle centers of the middle gear (43) and the walking gear (45), so that the middle gear (43) is driven to drive when the driving gear (42) rotates clockwise and forwards, and the walking gear (45) is driven to drive when the driving gear (42) rotates anticlockwise and backwards; the walking gear (45) and the stair climbing gear (44) drive the rotating wheel (1) and the crawler mechanism (8) which are corresponding to the outer side through the rotating shaft respectively.
4. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 1, wherein: the stair climbing auxiliary mechanism (6) has the structure that: the stair climbing device comprises a stair climbing motor (62) arranged on the bottom surface of a front plate (5), wherein the top of the stair climbing motor (62) is rotationally connected with the bottom surface of the front plate (5) through a first rotary joint (61), the output end of the stair climbing motor (62) faces downwards and is connected with a screw rod, a first nut component (63) is arranged on the screw rod through a screw pair, a supporting beam (64) extending towards two sides is fixedly arranged outside the first nut component (63), and the outer end of the supporting beam (64) is fixedly arranged with crawler mechanisms (8) corresponding to the two sides.
5. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 1, wherein: the front auxiliary supporting mechanism (7) is characterized in that: including rotating through rotary joint two (71) and installing in the supporting motor (73) of front bezel (5) leading flank, supporting motor (73) output forward and link up and install the lead screw, install nut subassembly two (75) through the screw pair cooperation on the lead screw, nut subassembly two (75) externally mounted has middle cross beam (74) to both sides extension, middle cross beam (74) outer end is fixed respectively and is installed side lever (76), entablature (72) are installed in the common rotation of two side lever (76) tops, entablature (72) both ends are adorned admittedly with curb plate (31) medial surface of both sides, auxiliary wheel (77) are installed in tip rotation to two side lever (76) lower extreme forward downward sloping.
6. A method for using the dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 1, which is characterized in that: the method comprises the following steps:
selecting a current driving state through a control component (2);
when the wheelchair is in a flat ground running state, the power transmission mechanism (4) drives the rotating wheel (1) to rotate forwards, so that running is realized, the rotating wheel (1) supports the wheelchair, and the front auxiliary supporting mechanism (7) and the rear auxiliary supporting mechanism (10) are used as auxiliary supports; the front auxiliary supporting mechanism (7) and the rear auxiliary supporting mechanism (10) are used for adjusting the angle between the front and back swing of the stool (3) relative to the side plate (31) and the ground so as to keep the steady state of the stool (3) in the driving process;
when in a stair climbing state, the stair climbing auxiliary mechanism (6) works, the crawler belt mechanism (8) is driven to swing relative to the side plates (31) and the stool (3), the front lower side surface of the crawler belt mechanism (8) is attached to stairs, meanwhile, the power transmission mechanism (4) drives the crawler belt mechanism (8) to drive forward to walk when climbing stairs, and the front auxiliary supporting mechanism (7) and the rear auxiliary supporting mechanism (10) are used for carrying out auxiliary supporting relative to the side plates (31) and the back-and-forth swing adjustment of the stool (3) and keep a stable state of the stool (3) in the stair climbing process.
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| CN202110978483.2A CN113712747B (en) | 2021-08-25 | 2021-08-25 | Dual-purpose intelligent wheelchair for flat ground and stairs and application method thereof |
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| CN202110978483.2A CN113712747B (en) | 2021-08-25 | 2021-08-25 | Dual-purpose intelligent wheelchair for flat ground and stairs and application method thereof |
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| CN113712747A CN113712747A (en) | 2021-11-30 |
| CN113712747B true CN113712747B (en) | 2023-09-05 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116158918A (en) * | 2023-02-22 | 2023-05-26 | 中山小神童创新科技有限公司 | Stair climbing machine |
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| CN113712747A (en) | 2021-11-30 |
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