CN200984292Y - Obstacle-free automatic creeper vehicle - Google Patents

Abstract

The utility model relates to an electric stair-climbing wheelchair, especially a barrier-free automatic crawler vehicle, which is mainly used for people with lower limb disabilities and patients with weak lower limbs to go up and down stairs. It can be used to conveniently enter and exit various places with steps, and it can also be used to climb up and down stairs. Various large and medium-sized vehicles. The utility model comprises a crawler belt device, a chassis, a buffer device, a tilting device, a lifting device, a seat device and a control system. The utility model realizes stair climbing and walking by means of double drive motors, and has the functions of stable stair and stair descent, ride rest, chair lift and voice control. Compared with other existing patents, the utility model has a simpler structure and lower manufacturing cost, and it can easily switch from the state of climbing stairs to the state of walking on flat ground, or vice versa. Therefore, it is very suitable for wheelchair users.

Description

Barrier-free automatic tracked vehicle

technical field

The utility model relates to an electric stair-climbing wheelchair, in particular to a barrier-free automatic crawler vehicle, which is mainly used for people with lower limb disabilities and patients with weak lower limbs to go up and down stairs. It can be used to conveniently enter and exit various places with steps, and it can also be used to climb up and down stairs. Various large and medium-sized vehicles.

Background technique

For the elderly, infirm and those with lower limb disabilities, wheelchairs are an indispensable means of transportation for them. However, because ordinary wheelchairs do not have the function of climbing stairs, the range of activities of their users is greatly limited, and the depth and breadth of their participation in society are deeply affected. At present, there are many invention patents for stair-climbing wheelchairs abroad. However, most of them are complicated in structure and expensive, and are not fully suitable for the affordability of users in developing countries. For this reason, we have designed a kind of stair-climbing wheelchair that utilizes crawler mechanism to realize stair-climbing function.

Utility model content

The purpose of this utility model is to design a safe and convenient barrier-free automatic crawler vehicle with low cost, which can easily switch from the state of climbing stairs to the state of walking on flat ground, or vice versa.

The technical solution of the utility model is: a barrier-free automatic crawler vehicle, including a crawler device, a chassis, a buffer device, a tilting device, a lifting device, a seat device and a control system. , Motor, sprocket and crawler constitute two sets of independent walking mechanisms located on both sides of the chassis, the motor is powered by the battery, and the motor drives the crawler on it through the sprocket. The chassis is equipped with a buffer device, a tilting device and a lifting device. The device includes a buffer frame, a buffer push rod and a support wheel. The buffer frame is provided with a buffer push rod, and the rear end of the buffer frame is provided with a support wheel. The buffer frame and the buffer push rod are connected to the chassis through a shaft. Push rod, tilt lift The top of the push rod is connected to the tilt bracket through a chute, the tilt bracket is connected to the chassis through a shaft, and there is a lock between the bottom of the tilt bracket and the chassis. The lifting device includes a folding lifter and a tilt lift push rod, and the tilt lift There is a folding lifter on the top of the push rod, and the folding lifter is connected to the tilting bracket through a shaft and a chute. The seat device includes a seat, a backrest, and a pedal. The pedals are connected through connecting rods, the control system includes a control circuit and a joystick, and the armrest of the seat is provided with a joystick.

The sprocket includes a speed reduction wheel, a driving wheel and a driven wheel, and the motor drives the driving wheel and the driven wheel to move through the speed reduction wheel.

The control system includes a single-chip microcomputer, a drive circuit, a radar range finder, a microphone and a joystick, the joystick, the radar range finder, and the microphone are connected to the input end of the single-chip microcomputer, the output end of the single-chip microcomputer is connected to the drive circuit, and the drive circuit is connected to the left and right drive motors And buffer electric push rod, inclined lifting push rod.

The utility model utilizes the unique obstacle-surmounting function of the crawler belt device and the mutual cooperation of the buffering and tilting devices and the storage battery to realize running up and down stairs and on the flat ground. The utility model realizes stair climbing and walking by means of double drive motors, and has the functions of stable stair and stair descent, ride rest, chair lift and voice control. The utility model has the following characteristics: 1. The walking is stable, and it is easy to go up and down the stairs. 2. The seat can be tilted when going up and down stairs, so as to maintain the balance of the seat. 3. The seat can be lifted and lowered freely, which is convenient for users to take and place high objects. 4. The seat back can be reclined for easy rest. 5. Using single-chip microcomputer control, voice control can be realized to make the operation more automatic. 6. There is a movable supporting board in front of the chair, which is more convenient for drinking, eating and reading. Compared with other existing patents, the utility model has a simpler structure and lower manufacturing cost, and it can easily switch from the state of climbing stairs to the state of walking on flat ground, or vice versa. Therefore, it is very suitable for wheelchair users.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Figure 2 is a schematic diagram of the structure of the crawler device.

FIG. 3 is a side view of FIG. 2 .

Fig. 4 is a structural schematic diagram of the buffer device and the tilting device.

Fig. 5 is a structural schematic diagram of the tilting device and the lifting device.

Fig. 6 is a structural schematic diagram of the seat device.

Figure 7 is a block diagram of the control system circuit.

Detailed ways

A barrier-free automatic crawler vehicle with a length of 1220MM, a width of 665MM and a height of 1280MM, including a crawler device 1, a chassis 2, a buffer device 3, a tilting device 4, a lifting device 5, a seat device 6 and a control system 7. It consists of a double motor Drive, can realize forward, backward, left turn, right turn, up and down stairs. As shown in Figures 1 and 2, the chassis 2 is composed of angle steel frame 11, which is located at the bottom of the utility model as a whole. The crawler belt 12 is composed of two sets of left and right independent walking mechanisms installed on both sides of the chassis frame 11. The sprocket 9 includes four speed reduction wheels 14, two driving wheels 16 and four driven wheels 17. The crawler belt 12 is composed of a chain 15 and other The trapezoidal rubber block 13 that is provided with on it constitutes, and it is equivalent to the synchronous belt that has teeth inside and outside, as we know, the synchronous belt and the synchronous wheel price on the market are more expensive, if adopt synchronous belt and synchronous wheel will greatly improve the utility model. The cost of the new type, while the crawler 12 we made has high tensile strength and low price, but the quality is slightly larger, and its contact area with the ground is large and relatively stable. The chain 15 and the sprocket 9 are meshed and driven. There is a motor 10 on the left and right. The motor 10 is powered by the battery 8. The driving wheel 16 and the driven wheel 17 are driven by the speed reduction wheel 14. Driven by the two motors, it is easier to realize the left and right turning of the tracked vehicle. Thereby reducing the transmission mechanism and becoming easier to control. The back part of crawler belt device 1 is 45 ° of inclinations, uses when going up and down stairs, that is to say the utility model is to go upstairs backwards, just going downstairs. As shown in Figure 4, since the crawler vehicle we designed can be operated by only one user, safety and convenience become more important. We added a buffer device in the design, the purpose is to play a buffer role when going up and down the stairs and the last step, because when going up the last step, when the center of gravity of the tracked vehicle just passes the support point, there is a range With relatively large bumps, the tracked vehicle will fall down at once, which is very unsafe. Buffer device 3 comprises buffer frame 20, buffer push rod 18 and support wheel 30, buffer frame 20 is provided with buffer push rod 18, buffer frame 20 rear end is provided with support wheel 30, buffer frame 20 and buffer push rod 18 pass shaft 31 , 32 are connected with chassis 2. The effect of buffer device 3 is to make wheelchair stable when going up and down stairs. Due to the addition of the buffer device, when going down the stairs, when the front wheel is about to reach the first step, the buffer frame 20 of the buffer device is pushed and rotated by the buffer push rod 18, the support wheel 30 bears against the ground, and the chassis 2 is lifted to be consistent with the angle of the stair slope , prop up the tracked vehicle so that the plane of the track is parallel to the surface of the stairs, so as to avoid the bumps when going down the stairs and play a buffer role to achieve safety. When going down the stairs, the buffer frame is gradually retracted, and at the same time when going down the stairs, the buffer frame is completely retracted when the crawler vehicle crosses the center of gravity, until the crawler vehicle returns to its original state after going down the stairs. When going up the stairs, since the crawler vehicle goes downstairs in the forward direction and goes upstairs in the reverse direction, and the rear of the crawler vehicle is inclined at 45°, the rear of the crawler vehicle directly goes up the stairs. When the last step reaches a certain level, The buffer device runs in the opposite direction, and the chassis 2 returns to the original state; as shown in Figures 4 and 5, the inclination device 4 is mainly for the inclination when going up the stairs, which is realized by the inclination bracket 36 and the inclination lifting push rod 19. When going up and down the stairs, the seat surface is kept in balance with the ground, and the center of gravity is moved backward, making the up and down stairs more stable, more reliable and safer, and solving the problem of overturning. Tilt device 4 comprises tilt bracket 36, tilt lift push rod 19, and tilt lift push rod 19 top is connected with tilt bracket 36 through chute 21, and tilt bracket 36 is connected with chassis 2 by shaft 35, between tilt bracket 36 bottom and chassis 2 A lock 23 is provided. The tilting device is mainly used to keep the seat parallel to the ground when going up and down stairs. When going up and down the stairs, open the lock catch 23, start the inclined lifting push rod 19, the inclined support 36 rotates, and the upper seat rotates to be parallel with the ground. As shown in Figures 4 and 5, the lifting device 5 can raise the seat by about 600MM, even higher than the standing height of an ordinary person, and the lifting device can raise the seat to facilitate taking high places when necessary. The lifting device 5 includes a folding lifter 22 and an inclined lifting push rod 19. The folding lifter 22 is arranged on the top of the inclined lifting push rod 19, and the folding lifter 22 is connected with the inclined bracket 36 through the shaft 33 and the chute 21. When lifting the seat, lock the buckle 23, start the inclined lifting push rod 19, the folding lifter 22 opens, and the seat rises. As shown in Figure 6, the seat device has the function of reclining the backrest, which is convenient for resting. Seat device 6 comprises seat 37, backrest 28, pedal 26, connecting rod 27, armrest 25, and folding lifter 22 top is connected seat 37 by axle 34 and chute 29, and backrest 28 and pedal 26 are connected by connecting Rod 27 is connected, and footrest is raised when backrest reclines, and is convenient for the user to have a rest. Pedal 26 can be adjusted according to different users, and seat 37 side can be placed kettle and suction pipe to facilitate the user to drink water, and seat side is provided with living board and can work, study anytime and anywhere for the user. As shown in Figure 7, the control circuit has the functions of manual, radar ranging, buffering, tilt control and voice control, mainly for some users who are not very handy, and can realize corresponding actions only by dictating corresponding commands, so that Manipulation is more convenient. Two control methods, manual and voice, make the control of the tracked vehicle more convenient and perfect, and the voice part is directly operated by the single-chip microcomputer. Control system 7 comprises control circuit and joystick 24, is provided with joystick 24 on the seat armrest 25, and described control circuit comprises single-chip microcomputer, drive circuit, radar range finder, microphone and joystick, joystick, radar range finder 1. The microphone is connected to the input end of the single-chip microcomputer, the output end of the single-chip microcomputer is connected to the drive circuit, and the drive circuit is connected to the left and right drive motors, the buffer electric push rod, and the tilt lift push rod. Manual control is to control various functions of the car through the joystick. The radar rangefinder is to detect that when the stairs are finished, the control buffer device is opened for buffering. The tilt lift control device is to maintain the balance of the seat when going up the stairs. The voice control microphone is to realize the control of the car by dictating commands without using hands.

The main function of this car is to go up and down the stairs. The specific plan is to go up and down: when going up the stairs, the slope of the crawler can be used to climb the stairs directly, and the tilting device will tilt the seat so that the seat surface is in line with the ground. Keeping balance, when the last stair is reached, the buffer device is turned on, so that the track continues to maintain the angle of the stair surface until it runs to flat ground, and the inclination and buffer device are retracted at the same time, and it is converted to flat ground mode. When going down the stairs, open the buffer and tilting device before the first step to enter the down-stairs mode, then recover the buffering device and go down the stairs at the same time, until the stairs are finished and the tilting device is recovered, and it is converted into a flat mode. The utility model is mainly for the convenience of users such as the old, the weak, the sick and the disabled to go up and down the stairs, and mainly solves the problem that ordinary wheelchairs cannot go up and down the stairs. The utility model travels slowly and steadily when going up and down the stairs, and at the same time cooperates with the inclination of the seat to maintain the level of the seat, allowing the user to travel on flat ground.

Claims (3)

1. A barrier-free automatic crawler vehicle, comprising a crawler device (1), a chassis (2), a buffer device (3), a tilting device (4), a lifting device (5), a seat device (6) and a control system ( 7), it is characterized in that: the chassis (2) is composed of an angle steel frame (11), and the crawler device (1) is composed of a battery (8), a motor (10), a sprocket (9) and a crawler belt (12). The independent walking mechanism is located on both sides of the chassis (2), the motor (10) is powered by the battery (8), and the motor (10) drives the track (12) on it to move through the sprocket (9). Buffering device (3), tilting device (4) and elevating device (5), buffering device (3) comprises buffer frame (20), buffer push rod (18) and support wheel (30), establishes on the buffer frame (20) There is a buffer push rod (18), and the rear end of the buffer frame (20) is provided with a support wheel (30), and the buffer frame (20) and the buffer push rod (18) are connected with the chassis (2) through shafts (31, 32), and the inclined Device (4) comprises inclined support (36), inclined elevating push rod (19), and the top of inclined elevating push rod (19) is connected with inclined support (36) by chute (21), and inclined support (36) passes shaft (35 ) is connected with the chassis (2), a lock (23) is provided between the bottom of the tilting support (36) and the chassis (2), and the lifting device (5) includes a folding lifter (22) and a tilting lifting push rod (19), The top of the inclined lifting push rod (19) is provided with a folding lifter (22), and the folding lifter (22) is connected with the tilting support (36) through a shaft (33) and a chute (21), and the seat device (6) includes a seat Chair (37), backrest (28), footrest (26), folding lifter (22) top is connected seat (37), backrest (28) and footrest by axle (34) and chute (29) (26) are connected by connecting rod (27), and control system (7) comprises control circuit and joystick (24), and seat armrest (25) is provided with joystick (24). 2. The barrier-free automatic crawler vehicle according to claim 1, characterized in that: the sprocket (9) includes a reduction wheel (14), a driving wheel (16) and a driven wheel (17), and the motor (13) Drive driving wheel (16) and driven wheel (17) motion by reduction wheel (14), crawler belt (12) is made of chain (15) and the trapezoidal rubber block (13) that is provided with thereon. 3. The barrier-free automatic crawler vehicle according to claim 1, characterized in that: the control circuit includes a single-chip microcomputer, a drive circuit, a radar range finder, a microphone and a joystick, and the joystick, the radar range finder, and the microphone The input end of the single-chip microcomputer is connected, the output end of the single-chip microcomputer is connected with the drive circuit, and the drive circuit is connected with the left and right drive motors, the buffer electric push rod, and the tilt lift push rod.

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