CN116831831A - Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism - Google Patents

Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism Download PDF

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Publication number
CN116831831A
CN116831831A CN202310858345.XA CN202310858345A CN116831831A CN 116831831 A CN116831831 A CN 116831831A CN 202310858345 A CN202310858345 A CN 202310858345A CN 116831831 A CN116831831 A CN 116831831A
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CN
China
Prior art keywords
stair climbing
mounting support
travelling mechanism
double
transition mounting
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
Application number
CN202310858345.XA
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Chinese (zh)
Inventor
高翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Zhiyunhui Intelligent Technology Co ltd
Original Assignee
Dalian Zhiyunhui Intelligent Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalian Zhiyunhui Intelligent Technology Co ltd filed Critical Dalian Zhiyunhui Intelligent Technology Co ltd
Priority to CN202310858345.XA priority Critical patent/CN116831831A/en
Publication of CN116831831A publication Critical patent/CN116831831A/en
Pending legal-status Critical Current

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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
    • 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
    • A61G1/00—Stretchers
    • A61G1/017—Stretchers convertible into chairs
    • 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
    • A61G1/00—Stretchers
    • A61G1/02—Stretchers with wheels
    • 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
    • A61G1/00—Stretchers
    • A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
    • 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
    • A61G5/063—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 eccentrically mounted wheels
    • A61G5/065—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 eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds

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)
  • Nursing (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

The invention discloses a stair climbing travelling mechanism, a wheelchair with the stair climbing travelling mechanism and a medical care bed, which comprise: the middle part of the transition mounting support is provided with a gyroscope for monitoring the balance state of the transition mounting support; the telescopic bearing rods are four groups and are arranged around the bottom of the transition mounting support, and the gyroscope is connected with the telescopic bearing rods through electric signals and controls the telescopic state of the telescopic bearing rods; the double-head spindle motors are provided with two groups and are respectively and horizontally fixed at the execution ends of two adjacent telescopic bearing rods; the cam frames are provided with a plurality of groups, and the output shaft of the double-head spindle motor is fixedly connected with the center of the cam frame on the corresponding side; the edge of the end part of each triangular wheel frame is rotationally connected with a travelling wheel set; the control system is respectively connected with the gyroscope, the telescopic bearing rod, the double-head spindle motor and the traveling wheel set by electric signals, and controls the rotating state of the traveling wheel set.

Description

Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism
Technical Field
The invention belongs to the technical field of mobile robots, and particularly relates to a stair climbing travelling mechanism, and a wheelchair and a hospital bed with the stair climbing travelling mechanism.
Background
Along with the current trend of aging in society becoming more and more serious, young people gradually decrease, old people become more and more, and the contradiction of how to care for the old people and simultaneously reduce the investment of age-appropriate labor force in the aged care industry as much as possible gradually becomes one mainstream of social contradictions. The old person is inconvenient because of physical reasons go out, sits travel tools such as public transit, because the number of people is too many crowded, causes the health to be injured easily, and some balance car operation degree of difficulty of present design is big, and is too high to the equilibrium requirement of human body, is unsuitable for old person to use, and it can only use on level land in addition, can't use when old person climbs the building, and the commonality is lower, and current wheelchair can't climb building or downstairs, in the residential building that does not have the elevator, old person's trip is comparatively inconvenient.
Therefore, how to provide a stair climbing travelling mechanism and a wheelchair bed with the stair climbing travelling mechanism are problems to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a stair climbing travelling mechanism, a wheelchair and a wheelchair bed with the stair climbing travelling mechanism, which are suitable for self-care of conscious disabled patients and old people or remote monitoring care of unconscious old people and serious patients.
In order to achieve the above purpose, the invention adopts the following technical scheme: a stair climbing travelling mechanism, comprising:
the middle part of the transition installation support is provided with a gyroscope for monitoring the balance state of the transition installation support;
the telescopic bearing rods are four groups and are arranged around the bottom of the transition mounting support, and the gyroscope is electrically connected with the telescopic bearing rods and controls the telescopic state of the telescopic bearing rods;
the double-head spindle motors are two groups and are respectively and horizontally fixed at the execution ends of two adjacent telescopic bearing rods;
the cam frames are provided with a plurality of groups, and the output shaft of the double-head spindle motor is fixedly connected with the center of the cam frame on the corresponding side;
the edge of the end part of each triangular wheel frame is rotationally connected with a travelling wheel set;
the control system is respectively connected with the gyroscope, the telescopic bearing rod, the double-head spindle motor and the walking wheel set by electric signals, and controls the rotating state of the walking wheel set.
The beneficial effects of the invention are as follows: the stair climbing travelling mechanism is realized based on a transition mounting support, a telescopic bearing rod, a double-head main shaft motor, a cam frame and travelling wheel groups, when travelling on a plane, the two travelling wheel groups on the cam frame touch the ground and normally travel, at the moment, the output shaft of the double-head main shaft motor is locked and not rotated, and when climbing a stair, the travelling wheel groups are locked and not rotated, the double-head main shaft motor is used for controlling the cam frame to rotate, so that the stair climbing and downstairs processes are completed, and in the process, due to the existence of a gyroscope, the four telescopic bearing rods can be controlled in a linkage manner to work, the balance and stability of the transition mounting support are ensured, the subsequent installation and use are convenient, and the tipping is avoided.
Preferably, the travelling wheel sets all comprise brushless motors and travelling wheels, the brushless motors are fixed at the edge of the end part of the triangular wheel frame, the travelling wheels are fixed on an output shaft of the brushless motors, and the triangular wheel frame and three travelling wheel sets matched with the triangular wheel frame form a triangular wheel train.
Preferably, the brushless motors are respectively connected with the control system through electric signals, and the brushless motors control the motion state of the travelling wheels in a zero-speed full-torque control mode.
Preferably, the double-head spindle motor adopts a zero-speed full-torque control mode to control the motion state of an output shaft of the double-head spindle motor.
Preferably, cameras are arranged at the end parts of the transition mounting support, the cameras are respectively connected with control system through electric signals, and the control system is arranged on the transition mounting support.
The invention discloses a wheelchair which comprises a stair climbing travelling mechanism and a seat, wherein the seat is detachably connected to the top of a transition mounting support, the seat is a folding seat, and a bed structure is correspondingly formed in a tiling state of the seat.
The invention also discloses a medical care bed which comprises the stair climbing travelling mechanism and a bed plate, wherein the bed plate is a folding plate, the bed plate is detachably connected to the top of the transition mounting support, the folding state of the bed plate corresponds to a chair structure, and health monitoring instruments are arranged on the bed plate, so that nursing staff can monitor the state information of the old people conveniently.
The beneficial effects of the invention are as follows: the stair climbing travelling mechanism can freely change the shape by being matched with the chair seat or the bed board, is convenient for traveling, and can realize the travelling of the wheelchair on various rugged road surfaces, stairs and other special road surfaces.
Drawings
FIG. 1 is a schematic view of a stair climbing travelling mechanism of the present invention;
FIG. 2 is a stair climbing state diagram of a stair climbing travelling mechanism of the invention;
fig. 3 is a control diagram of a stair climbing travelling mechanism of the invention.
The device comprises a transition mounting support, a gyroscope, a telescopic bearing rod 3, a double-head spindle motor 4, a 5-cam frame, a 6-walking wheel set, a 61 brushless motor, 62 walking wheels, a 7-camera and a 8-control system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 3 of the drawings, a stair climbing travelling mechanism according to an embodiment of the present invention includes:
the gyroscope comprises a transition mounting support 1, wherein a gyroscope 2 for monitoring the balance state of the transition mounting support is arranged in the middle of the transition mounting support 1;
the telescopic bearing rods 3 are arranged on the periphery of the bottom of the transition mounting support 1, and the gyroscope 2 is electrically connected with the telescopic bearing rods 3 and controls the telescopic state of the telescopic bearing rods 3; the telescopic bearing rod is a hydraulic telescopic rod or an electric telescopic cylinder;
the double-head spindle motors 4 are two groups, and are respectively and horizontally fixed at the execution ends of the two adjacent telescopic bearing rods 3;
the cam frames 5 are provided with four groups, and the output shafts of the double-head spindle motors 4 are fixedly connected with the centers of the cam frames 5 on the corresponding sides;
the number of the walking wheel sets 6 is 12, and the edge of the end part of each triangular wheel frame 5 is rotationally connected with the walking wheel sets 6;
the control system 8 is respectively connected with the gyroscope 2, the telescopic bearing rod 3, the double-head spindle motor 4 and the walking wheel set 6 by electric signals, and the control system 8 controls the rotating state of the walking wheel set 6.
In other embodiments, the travelling wheel sets 6 each include a brushless motor 61 and a travelling wheel 62, the brushless motor 61 is fixed at the end edge of the triangular wheel frame 5, the travelling wheel 62 is fixed on the output shaft of the brushless motor 61, and the triangular wheel frame 5 and three travelling wheel sets matched with the triangular wheel frame form a triangular wheel train, so as to be convenient for going upstairs, downstairs or passing through rough road surfaces.
In other embodiments, the brushless motors 61 are respectively electrically connected with the control system 8, and the brushless motors 61 control the motion state of the travelling wheels 62 in a zero-speed full-torque control manner. The zero-speed full-torque control means that the braking torque of the output shaft of the brushless motor is maximum when the running speed is zero. The walking wheel is prevented from rotating when climbing stairs, and the normal stair climbing movement state of the triangle wheel train is ensured.
In other embodiments, the dual-head spindle motor 4 adopts a zero-speed full-torque control mode to control the motion state of an output shaft of the dual-head spindle motor, so that the stable state of the triangular wheel train is ensured when the plane road condition advances.
In other embodiments, cameras 7 are arranged at the ends of the transition mount 1, the cameras 7 being respectively electrically connected to a control system 8, the control system 8 being arranged on the transition mount 1. When the front of the triangle wheel train encounters resistance, the camera on the equipment acquires road condition signals, the control system controls the corresponding brushless motor and travelling wheels to be converted into a zero-speed full-force-distance mode, meanwhile, the two sets of double-head spindle motors are also changed into a stair climbing travelling mode from the zero-speed full-force-distance mode, and the output shafts of the double-head spindle motors rotate.
A wheelchair comprises a stair climbing travelling mechanism and a seat, wherein the seat is detachably connected to the top of a transition mounting support 1, the seat is a folding seat, a bed structure is correspondingly formed in a flat state of the seat, and the wheelchair structure can be formed by matching with the seat.
A medical care bed comprises a stair climbing travelling mechanism and a bed plate, wherein the bed plate is a folding plate, the bed plate is detachably connected to the top of a transition mounting support 1, and a chair structure is correspondingly formed in a folded state of the bed plate. The medical bed is formed by matching with the bed board, and the specific use mode can be adjusted in a self-adaptive way according to the requirement.
The traditional Chinese medicine nursing bed is provided with the medical monitoring equipment, so that nursing staff can be helped to monitor the state information of the old.
According to the invention, the gyroscope is arranged in the transition mounting support and used for controlling the extension and retraction of the four telescopic bearing rods, so that the balance of the transition mounting support is realized, and the occurrence of the accident that the transition mounting support is inclined forwards and backwards due to the front-back unbalance is prevented. The operation of the whole mechanism adopts the 5G internet of things and an intelligent control technology to realize automatic or remote control.
For the device and the use method disclosed in the embodiments, since the device and the use method correspond to the method disclosed in the embodiments, the description is relatively simple, and the relevant places refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. A stair climbing travelling mechanism, comprising:
the gyroscope is characterized by comprising a transition mounting support (1), wherein a gyroscope (2) for monitoring the balance state of the transition mounting support is arranged in the middle of the transition mounting support (1);
the telescopic bearing rods (3) are arranged in four groups and around the bottom of the transition mounting support (1), and the gyroscope (2) is electrically connected with the telescopic bearing rods (3) and controls the telescopic state of the telescopic bearing rods (3);
the double-head spindle motors (4) are arranged in two groups, and are respectively and horizontally fixed at the execution ends of the two adjacent telescopic bearing rods (3);
the double-head spindle motor comprises a plurality of groups of cam frames (5), wherein the cam frames (5) are fixedly connected with the centers of the cam frames (5) at the corresponding sides of the output shafts of the double-head spindle motor (4);
the edge of the end part of each triangular wheel frame (5) is rotationally connected with a travelling wheel set (6);
the control system (8), control system (8) are connected with gyroscope (2), flexible carrier bar (3), double-end spindle motor (4), walking wheelset (6) electrical signal respectively, the rotation state of walking wheelset (6) is controlled to control system (8).
2. The stair climbing travelling mechanism according to claim 1, wherein the travelling wheel sets (6) comprise brushless motors (61) and travelling wheels (62), the brushless motors (61) are fixed at the end edges of the triangular wheel frames (5), the travelling wheels (62) are fixed on output shafts of the brushless motors (61), and the triangular wheel frames (5) and three travelling wheel sets matched with the triangular wheel frames form a triangular wheel train.
3. The stair climbing travelling mechanism according to claim 2, wherein the brushless motors (61) are respectively connected with the control system (8) in an electric signal manner, and the brushless motors (61) control the movement state of travelling wheels (62) in a zero-speed full-moment control manner.
4. A stair climbing travelling mechanism according to claim 3, wherein the double-headed spindle motor (4) adopts a zero-speed full-moment control mode to control the motion state of an output shaft of the double-headed spindle motor.
5. The stair climbing travelling mechanism according to claim 4, wherein cameras (7) are arranged at the end parts of the transition mounting support (1), the cameras (7) are respectively connected with a control system (8) in an electric signal mode, and the control system (8) is arranged on the transition mounting support (1).
6. A wheelchair, which is characterized by comprising the stair climbing travelling mechanism and a seat according to any one of claims 1-5, wherein the seat is detachably connected to the top of the transition mounting support (1), the seat is a folding seat, and a bed structure is correspondingly formed in a tiling state of the seat.
7. A medical care bed, which is characterized by comprising the stair climbing travelling mechanism and a bed board according to any one of claims 1-5, wherein the bed board is a folding board, the bed board is detachably connected to the top of the transition mounting support (1), and the folding state of the bed board corresponds to a chair structure.
CN202310858345.XA 2023-07-13 2023-07-13 Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism Pending CN116831831A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310858345.XA CN116831831A (en) 2023-07-13 2023-07-13 Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310858345.XA CN116831831A (en) 2023-07-13 2023-07-13 Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism

Publications (1)

Publication Number Publication Date
CN116831831A true CN116831831A (en) 2023-10-03

Family

ID=88164997

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310858345.XA Pending CN116831831A (en) 2023-07-13 2023-07-13 Stair climbing travelling mechanism and wheelchair and medical care bed with stair climbing travelling mechanism

Country Status (1)

Country Link
CN (1) CN116831831A (en)

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