CN201179156Y - Electric wheelchair capable of automatically walking up and down the stairs - Google Patents
Electric wheelchair capable of automatically walking up and down the stairs Download PDFInfo
- Publication number
- CN201179156Y CN201179156Y CNU2007200948546U CN200720094854U CN201179156Y CN 201179156 Y CN201179156 Y CN 201179156Y CN U2007200948546 U CNU2007200948546 U CN U2007200948546U CN 200720094854 U CN200720094854 U CN 200720094854U CN 201179156 Y CN201179156 Y CN 201179156Y
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Abstract
The utility model relates to an electric wheelchair which can go up and down the stairs automatically and belongs to an assistant tool of ride instead of walk for the disabled. The electric wheelchair comprises a wheelchair frame, and a seat chair, front wheels, rear wheels, an electromotor and an operation control system that are arranged on the wheelchair frame. The electric wheelchair is characterized in that two pairs of climbing support arms are respectively arranged at the two sides of the front end and the rear end of the wheelchair frame; an air cylinder or an oil cylinder is respectively arranged between the large support arm and the small support arm and between the wheelchair frame and the large support arm, and the aim that the disabled can go up and down the stairs by self-operating the wheelchair can be realized under the automatic control of a PLC single board computer, simultaneously, because a direct-current electromotor controller and a steering control handle are arranged at the front end of a seat chair handrail, left and right driving wheels can be controlled to go ahead, back up and steer by a direct-current electromotor speed-down driver, so as to realize the aim of freely walking on the flat ground. The electric wheelchair not only realizes the desire that the disabled can go up and down the stairs by self or freely walk on the flat ground in the open air, but also lightens the loads of relatives and folks.
Description
Technical field
This utility model relates to the aid of riding instead of walk that a kind of people with disability uses, particularly a kind of electric wheelchair
Background technology
The present employed wheelchair of people with disability, oneself can not freely come in and go out high residential building or office space, this not only brings very big inconvenience to the people with disability to outdoor walking, and brings very big burden for the people with disability family members.
The utility model content
The purpose of this utility model, exactly in order to overcome the deficiencies in the prior art, propose a kind of not only can be for the people with disability at the level land walking freely, and stair activity voluntarily, the electric wheelchair of come in and go out high residential building or office space.
The purpose of this utility model, be achieved through the following technical solutions, this utility model comprises: wheelchair frame and be installed in seat, front-wheel, trailing wheel, motor and operation control system on the wheelchair frame, it is characterized in that: a, in the both sides, front-end and back-end of wheelchair frame 10, two pairs of creep support arm 32,33 and 30,31 respectively are set, and the large and small support arm that each support arm of creeping is all linked together by hinge respectively constitutes; Wherein: preceding two pairs of big support arms 4 are connected with the front end both sides hinge of wheelchair frame 10 respectively, and back two pairs of big support arms 12 are connected with both sides, the rear end hinge of wheelchair frame 10 respectively; Bending the two ends hinge of opening gas or oil cylinder 3,13 with forward and backward forearm respectively between forward and backward two pairs of large and small support arms is connected; Between forward and backward two pairs of big support arms and wheelchair frame 10, bend the two ends hinge of opening gas or oil cylinder 24,11 with forward and backward big arm respectively and be connected; B, be provided with accumulator jar group 19a, solenoid directional control valve group 19b, PLC single board computer control unit 20a, inverter 20b, air compressor or oil pump 21 in seat frame 10, air bottle or fuel tank 29 and preposition photoelectric sensor group 22 are with rearmounted photoelectric sensor group 16 and fixedly connected with wheelchair frame 10 respectively; Wherein accumulator jar group 19a and solenoid directional control valve group 19b are electrically connected, and simultaneously accumulator jar group 19a is electrically connected with PLC single board computer control unit 20a and air compressor or oil pump 21 respectively by inverter 20b again; PLC single board computer control unit 20a and preposition photoelectric sensor group 22, rearmounted photoelectric sensor group 16 and solenoid directional control valve 19b are electrically connected, and solenoid directional control valve 19b is again respectively by gas or oil circuit and air compressor or oil pump 21 and be arranged on the Qu Zhangqi or the oil cylinder of creeping on the support arm wheelchair frame 10 both sides and be connected; Gas bomb or fuel tank 29 are communicated with air compressor or oil pump 21 by pipeline;
In addition, a control choke valve 37 is set in the bottom of wheelchair seat 26, control choke valve 37 is connected by gas or oil circuit and gas or hydraulic system and the gas or the oil cylinder 36 that are arranged on seat 26 bottoms respectively, a weight 38 is set on choke valve 37, in order to control valve so that make seat remain at level;
In addition, the front end of little support arm be provided with anti-skidding haptic element and with its hinge, on anti-skidding haptic element, be respectively arranged with pressure switch 34 and position relay 35 and be electrically connected with PLC single board computer control unit 20a respectively; In addition near fixing one group of position sensor 39 respectively below the seat frame of front and rear wheel and being electrically connected mutually with single board computer control unit 20a;
In addition, above wheelchair frame 10, the front end of armrest 40 be installed with DC motor controller 5 with turn to joystick 6 and respectively with accumulator jar group 19a and about the direct current generator deceleration device 18 of two driving wheels be electrically connected mutually, direct current generator deceleration device 18 is coupling with driving wheel 17.
This utility model is provided with the stair activity climbing mechanism owing to adopted technique scheme in the both sides of wheelchair frame 10; And can realize under the automatic control of PLC single board computer control unit 20a that the people with disability realizes arriving the hope of outdoor walking voluntarily downstairs.In addition, owing to DC motor controller 5 is installed and turns to joystick 6,, be implemented in the purpose that walking freely is advanced, falls back, turns on the level land by direct current generator deceleration device 18 control left and right sidesing driving wheel differentials or synchronous constant speed at the front end of armrest 40.
Description of drawings
Fig. 1 is this utility model structural representation
Fig. 2 is Fig. 1 vertical view
Fig. 3 is the left view of Fig. 1
Fig. 4 is anti-skidding haptic element structural representation
Fig. 5 is that the K of Fig. 4 is to view
Fig. 6 is a seat level control device structural representation
：1- 2- 3- 4- 5- 6- 7- 8- 9- 10- 11- 12-13- 14- 15- 16- 17- 18- 19a- 19b-20a-PLC 20b- 21- 22- 23- 24- 25- 26- 27- 28- 29- 30- 31- 32- 33- 34- 35- 36- 37- 38- 39-40-
The specific embodiment
Below in conjunction with accompanying drawing this utility model is further described
This utility model mainly is to utilize the light sensation components and parts to transmit signal, but again by the control of show off journey PLC single board computer, makes gas or Hydraulic Power Transmission System carry out components and parts and drive climbing mechanism, reaches the purpose of manned stair activity;
As Fig. 1, Fig. 2, shown in Figure 3: in the both sides, front-end and back-end of this utility model wheelchair frame 10, two pairs of creep support arm 32,33 and 30,31 are set respectively, each support arm of creeping all is to be made of the large and small support arm that hinge links together; Preceding two pairs of big support arms are connected with the front end both sides hinge of wheelchair frame 10 respectively, and back two pairs of big support arms are connected with both sides, the rear end hinge of wheelchair frame 10 respectively; Between forward and backward each two pairs of big support arm and little support arm, bend the two ends hinge of opening gas or oil cylinder 3 and a back forearm gas in the wrong or oil cylinder 13 with preceding forearm respectively and be connected; Between forward and backward each two pairs of big support arm and wheelchair frame 10, be connected with the preceding big arm two ends hinge of opening gas or oil cylinder 24 and the big arm in a back gas in the wrong or oil cylinder 11 in the wrong respectively; For ease of describing, we will be in wheelchair frame 10, and two couple that both sides, forward and backward two ends are provided with support arm 32,33 and 30,31 of creeping is divided into two groups; By last a pair of support arm 30 of creeping of support arm 32 and back of creeping is formed first group of creeping; By last a pair of support arm 31 of creeping of support arm 33 and back of creeping is formed second group of creeping; Accumulator jar group 19a, the solenoid directional control valve group 19b, PLC single board computer control unit 20a, inverter 20b, air compressor or oil pump 21, gas bomb or the fuel tank 29 that are fixed in the wheelchair frame 10 provide power resources and system's control for this utility model; The electric energy of accumulator jar group 19a mainly is by external charger electric energy supplement, accumulator jar group 19a is 24V, directly for 3 position-5 way is ended solenoid directional control valve group 19b and DC motor controller 5, direct current generator deceleration device 18 provides electric energy, in addition, accumulator jar group 19a also is transformed into the 220V alternating current by inverter 20b with the 24V direct current, offer air compressor or oil pump 21, and the needed local running voltage of PLC single board computer control unit 20a.
When preposition photoelectric sensor group 22, the about 20cm in the place ahead that one of them pick off is visited wheelchair has when highly surpassing 10cm, preposition photoelectric sensor group 22 passes to PLC single board computer control unit 20a with signal, PLC single board computer control unit 20a will be good according to prior show off the instruction of upstairs creeping, by solenoid directional control valve group 19b, realize controlling respectively four preceding forearms and bend a gas or an oil cylinder 3, big arm is bent and is opened gas or oil cylinder 24 before four, forearm is bent and is opened gas or oil cylinder 13 after four, big arm is bent and is opened a gas or an oil cylinder 11 after four, coordinates first action of creeping that group and second creeps and organize of creeping upstairs.When preposition photoelectric sensor group 22, detecting the place ahead has not had obstacle, and simultaneously rearmounted photoelectric sensor group group 16 also detects wheelchair apart from ground during less than 5cm, the release of creeping of going upstairs.In like manner, when preposition photoelectric sensor group 22, when the about 20cm in the place ahead that one of them pick off is visited wheelchair has one to surpass the pit of 10cm apart from ground, preposition photoelectric sensor group 22 passes to PLC single board computer control unit 20a with signal, PLC single board computer control unit 20a will be good according to prior show off the instruction of downstairs creeping, by control solenoid directional control valve group 19b, realize controlling respectively four preceding forearms and bend a gas or an oil cylinder 3, big arm is bent and is opened gas or oil cylinder 24 before four, forearm is bent and is opened gas or oil cylinder 13 after four, big arm is bent and is opened a gas or an oil cylinder 11 after four, coordinates first action of creeping that group and second creeps and organize of creeping downstairs.When preposition photoelectric sensor group 22, detecting the place ahead has not had pit, and simultaneously rearmounted photoelectric sensor group group 16 also detects wheelchair apart from ground during less than 5cm, the release of creeping of going downstairs.
Be in level upper and lower the climbing in the building process of wheelchair for remaining seat 26, this utility model is provided with a seat level control device, as shown in Figure 6: a control choke valve 37 is set in the bottom of wheelchair seat 26, control choke valve 37 is connected by gas or oil circuit and gas or hydraulic system and the gas or the oil cylinder 36 that are arranged on seat 26 bottoms respectively, in choke valve 37 lower ends, one weight 38 is set, flow in order to control valve control gas or oil remains at level by the gas of under-seat or the flexible seat that makes of oil cylinder 36; Near the below of the wheelchair frame 10 the pro-, rear wheel is separately installed with position sensor 39 and is electrically connected with PLC single board computer control unit 20a near the front and rear wheel, the control vehicle body guarantees that apart from the height on ground the center of gravity of vehicle body remains at minimum state.As shown in Figure 4 and Figure 5: in anti-skidding haptic element, be provided with pressure switch 34 and position relay 35 and be electrically connected, the creep operating position of login system of major control with PLC single board computer control unit 20a.
In addition, above wheelchair frame 10, the front end of armrest 40 be installed with DC motor controller 5 with turn to joystick 6 and respectively with accumulator jar group 19a and about the direct current generator deceleration device 18 of two driving wheels be electrically connected mutually, direct current generator deceleration device 18 is coupling with driving wheel 17.This utility model ground running, the control of direction mainly are to turn to joystick 6 by being installed on the DC motor controller 5, and the differential of the direct current generator deceleration device 18 of two driving wheels is realized turning to about control; When about direct current generator deceleration device 18 constant speed of two driving wheels when synchronous this utility model can realize advancing and fall back; Rain-proof sun shade 7 is mainly effect that playing the screening resistance of taking shelter from rain when the people with disability moves out of doors.
Claims (7)
1, a kind of electric wheelchair of stair activity automatically comprises: wheelchair frame and be installed in seat, front-wheel, trailing wheel, motor and operation control system on the wheelchair frame is characterized in that:
A, in the both sides, front-end and back-end of wheelchair frame [10], two pairs of support arms of creeping [32], [33] and [30], [31] respectively are set, the large and small support arm that each support arm of creeping is all linked together by hinge respectively constitutes; Wherein: preceding two pairs of big support arms [4] are connected with the front end both sides hinge of wheelchair frame [10] respectively, and back two pairs of big support arms [12] are connected with both sides, the rear end hinge of wheelchair frame [10] respectively; Between forward and backward two pairs of large and small support arms, be connected with the two ends hinge that forward and backward forearm bend to be opened gas or oil cylinder [3], [13] respectively; Between forward and backward two pairs of big support arms and wheelchair frame [10], be connected with the two ends hinge that forward and backward big arm bend to be opened gas or oil cylinder [24], [11] respectively;
B, be provided with accumulator jar group [19a], solenoid directional control valve group [19b], PLC single board computer control unit [20a], inverter [20b], air compressor or oil pump [21] in seat frame [10], air bottle or fuel tank [29] and preposition photoelectric sensor group [22] are with rearmounted photoelectric sensor group [16] and fixedly connected with wheelchair frame [10] respectively; Wherein accumulator jar group [19a] and solenoid directional control valve group [19b] are electrically connected, and accumulator jar group [19a] is electrically connected with PLC single board computer control unit [20a] and air compressor or oil pump [21] respectively by inverter [20b] again simultaneously; PLC single board computer control unit [20a] and preposition photoelectric sensor group [22], rearmounted photoelectric sensor group [16] and solenoid directional control valve [19b] are electrically connected, and solenoid directional control valve [19b] is again respectively by gas or oil circuit and air compressor or oil pump [21] and be arranged on the Qu Zhangqi or the oil cylinder of creeping on the support arm wheelchair frame [10] both sides and be connected; Gas bomb or fuel tank [29] are communicated with air compressor or oil pump [21] by pipeline.
2, a kind of electric wheelchair of stair activity automatically as claimed in claim 1, it is characterized in that: a control choke valve [37] is set in the bottom of wheelchair seat [26], control choke valve [37] is connected by gas or oil circuit and gas or hydraulic system and the gas or the oil cylinder [36] that are arranged on seat [26] bottom respectively, a weight [38] is set on choke valve [37], in order to control valve so that make seat remain at level.
3, a kind of electric wheelchair of stair activity automatically as claimed in claim 1 or 2, it is characterized in that: the front end of each little support arm be provided with anti-skidding haptic element and with its hinge, on anti-skidding haptic element, be respectively arranged with pressure switch [34] and position relay [35] and be electrically connected with PLC single board computer control unit [20a] respectively.
4, a kind of electric wheelchair of stair activity automatically as claimed in claim 1 or 2, it is characterized in that: in wheelchair frame [10] top, the front end of armrest [40] be installed with DC motor controller [5] with turn to joystick [6] and respectively with accumulator jar group [19a] and about the direct current generator deceleration device [18] of two driving wheels be electrically connected mutually, direct current generator deceleration device [18] is coupling with driving wheel [17].
5, a kind of electric wheelchair of stair activity automatically as claimed in claim 3, it is characterized in that: in wheelchair frame [10] top, the front end of armrest [40] be installed with DC motor controller [5] with turn to joystick [6] and respectively with accumulator jar group [19a] and about the direct current generator deceleration device [18] of two driving wheels be electrically connected mutually, direct current generator deceleration device [18] is coupling with driving wheel [17].
6, a kind of electric wheelchair of stair activity automatically as claimed in claim 3 is characterized in that: near fixing one group of position sensor [39] respectively below the seat frame of front and rear wheel and being electrically connected mutually with single board computer control unit [20a].
7, a kind of electric wheelchair of stair activity automatically as claimed in claim 4 is characterized in that: near fixing one group of position sensor [39] respectively below the seat frame of front and rear wheel and being electrically connected mutually with single board computer control unit [20a].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200948546U CN201179156Y (en) | 2007-12-26 | 2007-12-26 | Electric wheelchair capable of automatically walking up and down the stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200948546U CN201179156Y (en) | 2007-12-26 | 2007-12-26 | Electric wheelchair capable of automatically walking up and down the stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201179156Y true CN201179156Y (en) | 2009-01-14 |
Family
ID=40248658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200948546U Expired - Fee Related CN201179156Y (en) | 2007-12-26 | 2007-12-26 | Electric wheelchair capable of automatically walking up and down the stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201179156Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803980A (en) * | 2010-04-09 | 2010-08-18 | 常州市河海亿谷机电科技有限公司 | Barrier free wheelchair |
| CN101869522B (en) * | 2009-04-27 | 2012-02-29 | 胡达广 | Step-striding device used on wheelchair |
| CN102626359A (en) * | 2012-05-06 | 2012-08-08 | 施长智 | Self-help electrically-powered wheelchair capable of going up and down stairs |
| CN104161631A (en) * | 2014-08-02 | 2014-11-26 | 吴翰威 | Wheel chair allowing the disabled to go upstairs conveniently |
| CN104224464A (en) * | 2013-06-09 | 2014-12-24 | 钱诗艺 | Power seat with function of climbing steps |
| CN105434121A (en) * | 2015-12-22 | 2016-03-30 | 焦建民 | Electric stair climbing wheelchair |
| CN106491285A (en) * | 2016-12-07 | 2017-03-15 | 魏学福 | The full landform geriatric wheelchair scooter of intelligent multifunctional and control method |
| CN107374846A (en) * | 2017-07-25 | 2017-11-24 | 徐秀芳 | A kind of stair climbing wheelchair |
| CN108904156A (en) * | 2018-05-29 | 2018-11-30 | 利辛县众善医药科技有限公司 | A kind of intelligent rehabilitation electric wheelchair |
| WO2019127326A1 (en) * | 2017-12-29 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Smart wheelchair sensing and adjustment apparatus and method |
| CN111511334A (en) * | 2017-12-22 | 2020-08-07 | 松下电器产业株式会社 | Mobile vehicle |
-
2007
- 2007-12-26 CN CNU2007200948546U patent/CN201179156Y/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101869522B (en) * | 2009-04-27 | 2012-02-29 | 胡达广 | Step-striding device used on wheelchair |
| CN101803980B (en) * | 2010-04-09 | 2011-07-13 | 常州市河海亿谷机电科技有限公司 | Barrier free wheelchair |
| CN101803980A (en) * | 2010-04-09 | 2010-08-18 | 常州市河海亿谷机电科技有限公司 | Barrier free wheelchair |
| CN102626359A (en) * | 2012-05-06 | 2012-08-08 | 施长智 | Self-help electrically-powered wheelchair capable of going up and down stairs |
| CN102626359B (en) * | 2012-05-06 | 2014-10-08 | 华北水利水电大学 | Self-help electrically-powered wheelchair capable of going up and down stairs |
| CN104224464A (en) * | 2013-06-09 | 2014-12-24 | 钱诗艺 | Power seat with function of climbing steps |
| CN104161631A (en) * | 2014-08-02 | 2014-11-26 | 吴翰威 | Wheel chair allowing the disabled to go upstairs conveniently |
| CN105434121B (en) * | 2015-12-22 | 2017-05-17 | 焦建民 | Electric stair climbing wheelchair |
| CN105434121A (en) * | 2015-12-22 | 2016-03-30 | 焦建民 | Electric stair climbing wheelchair |
| CN106491285A (en) * | 2016-12-07 | 2017-03-15 | 魏学福 | The full landform geriatric wheelchair scooter of intelligent multifunctional and control method |
| CN107374846A (en) * | 2017-07-25 | 2017-11-24 | 徐秀芳 | A kind of stair climbing wheelchair |
| CN111511334A (en) * | 2017-12-22 | 2020-08-07 | 松下电器产业株式会社 | Mobile vehicle |
| CN111511334B (en) * | 2017-12-22 | 2022-06-24 | 松下电器产业株式会社 | Mobile vehicle |
| WO2019127326A1 (en) * | 2017-12-29 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Smart wheelchair sensing and adjustment apparatus and method |
| CN111526853A (en) * | 2017-12-29 | 2020-08-11 | 四川金瑞麒智能科学技术有限公司 | Intelligent wheelchair sensing and adjusting device and method |
| CN108904156A (en) * | 2018-05-29 | 2018-11-30 | 利辛县众善医药科技有限公司 | A kind of intelligent rehabilitation electric wheelchair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090114 Termination date: 20151226 |
|
| EXPY | Termination of patent right or utility model |