CN201441549U - Deformable wheel-tracked wheel chair robot - Google Patents
Deformable wheel-tracked wheel chair robot Download PDFInfo
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- CN201441549U CN201441549U CN2009200141004U CN200920014100U CN201441549U CN 201441549 U CN201441549 U CN 201441549U CN 2009200141004 U CN2009200141004 U CN 2009200141004U CN 200920014100 U CN200920014100 U CN 200920014100U CN 201441549 U CN201441549 U CN 201441549U
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- wheel
- deformable
- support arms
- crawler belt
- support
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Abstract
A deformable wheel-tracked wheel chair robot comprises a seat, a carriage, a deformable wheel-tracked mechanism, a swing motor and a travelling motor. The carriage and the deformable wheel-tracked mechanism are arranged at the two sides of the seat and are of a symmetrical structure. The carriage is fixedly connected with the seat and is provided with a main wheel axle which is connected with the output shaft of the swing motor. The deformable wheel-tracked mechanism consists of a track, a driving wheel, a power wheel and four elastic supporting arms, and the two ends of the elastic supporting arm are connected with the main wheel axle, the driving wheel and the power wheel. The driving wheel is connected with the power wheel through the track. The driving wheel and the power wheel consist of a wheel axle, a bracket, a track front idler and two travelling wheels, the two ends of the wheel axle are connected with the bracket, the bracket is connected with the elastic supporting arm, and the wheel axle is connected with the output shaft of the travelling motor. The utility model is suitable for climbing over steps, stairs, slopes and other obstacles, can stably climb over the obstacles, is safe, can be operated simply and flexibly, dose not need the assist of other people, and is suitable for being used by the old people and the disabled.
Description
Technical field
This utility model relates to the walking-replacing tool that people with disability and old people's daily life are used, and particularly relates to having going up downstairs and shoe formula wheelchair robot is taken turns in a kind of deformable of slope function.
Background technology
Along with the growth in Chinese society population life-span and the aggravation of aging degree, more and more old people's trips need be with wheelchair as walking-replacing tool.The appearance of electric wheelchair and intelligent wheel chair has been saved the occupant and has been helped pusher's physical demands, has also made things convenient for occupant's use.Yet general electric wheelchair all adopts wheeled mechanism, often can't cross obstacles such as step, stair, slope.The trip needs that this has also influenced old people and people with disability have to a great extent also restricted the development and the application of electric wheelchair.Along with the development of social material civilization and spiritual civilization, to improving constantly of elderly and the disabled's quality of life attention rate, it is more and more outstanding that this problem is just becoming.The wheelchair robot that development has the obstacle detouring function can bring great convenience to the elderly and the disabled.
Summary of the invention
The technical problems to be solved in the utility model, provide a kind of obstacles such as step, stair, slope that are suitable for crossing, obstacle detouring is steady, safety, and is simple to operate flexible, do not need other people auxiliary, be used for the deformable wheel shoe formula wheelchair robot that the elderly and the disabled uses.
The technical scheme that adopts is:
Shoe formula wheelchair robot is taken turns in a kind of deformable, comprises seat, bracing frame, deformable wheel shoe mechanism, swing motor and movable motor.Described bracing frame and deformable wheel are carried out mechanism and are laid in the seat both sides and are symmetrical structure.The fixedly connected seat of bracing frame, bracing frame is equipped with main axle, and main axle connects the swing motor output shaft.The deformable wheel is carried out mechanism and is made up of crawler belt, driving wheel, drive and four resilient support arms.Described resilient support arms connects the compression spring compression support set of packing into by the compression support bar and constitutes, one in four resilient support arms is set as fixedly resilient support arms, the individual swing resilient support arms that is made as of its excess-three, fixedly the compression of resilient support arms support rod end is fixedlyed connected with bracing frame with main axle, and fixedly the compression support set end and the driving wheel of resilient support arms are rotationally connected.The compression supporting lever end and the main axle of swing resilient support arms are rotationally connected, and the compression support set end and the drive of swing resilient support arms are rotationally connected, by rotating around main axle under the swing driven by motor.Connect by crawler belt between described driving wheel and three drives.
Above-mentioned driving wheel is made up of live axle, support, crawler belt guide wheel and two road wheels, live axle two ends and support are rotationally connected, support is connected with fixing resilient support arms, crawler belt guide wheel, two road wheels are fixedlyed connected with live axle, and live axle is connected with the reducer output shaft of movable motor.
Above-mentioned drive is made up of follower shaft, support, crawler belt guide wheel and two driven pulleys, follower shaft two ends and support are rotationally connected, support is connected with the swing resilient support arms, and the crawler belt guide wheel is fixedlyed connected with follower shaft, and two driven pulleys and follower shaft are rotationally connected.
This utility model compared with prior art has following advantage:
1, be suitable for crossing obstacles such as step, stair, slope, the obstacle detouring process is steady and have stable preferably.
2, the wheeled walking mechanism of crawler belt guarantees that wheelchair has bigger supporting surface in the stair activity process, thereby has guaranteed that the occupant has safety preferably.
3, guaranteed the stationarity of obstacle detouring process utilizing wheel walking to improve between the level land to use the crawler belt mode to walk between mobile efficient and the barrier, because the particularity of mechanical mechanism, the handoff procedure between the two is an automaticity.
4, simple to operate flexible, do not need other people auxiliary, be fit to the elderly and the disabled and use.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the side diagrammatic sketch of Fig. 1.
Fig. 3 is a driving wheel group sketch map of the present utility model.
Fig. 4 is that deformable wheel of the present utility model is carried out initiatively deformation state sketch map of mechanism.
Fig. 5 is that deformable wheel of the present utility model is carried out the passive deformation state sketch map of mechanism.
The specific embodiment
Shoe formula wheelchair robot is taken turns in a kind of deformable, comprises seat 1, bracing frame 2, deformable wheel shoe mechanism 3, swing motor 14 and movable motor 15.Described bracing frame 2 and deformable wheel are carried out mechanism 3 and are laid in seat 1 both sides and are symmetrical structure.Bracing frame 2 fixedly connected seats 1, bracing frame 2 is equipped with main axle 8, and main axle 8 connects swing motor 14 output shafts.The deformable wheel is carried out mechanism 3 and is made up of crawler belt 4, driving wheel 9, drive 5 and four resilient support arms 10,11,12,13.Described resilient support arms connects the compression springs compression support set 6 of packing into by compression support bar 7 and constitutes, one in four resilient support arms 10,11,12,13 is set as fixedly resilient support arms 11, the individual swing resilient support arms 10,12,13 that is made as of its excess-three, fixedly compression support bar 7 ends of resilient support arms 11 are fixedlyed connected with bracing frame 2 with main axle 8, and fixedly compression support set 6 ends of resilient support arms 11 and driving wheel 9 are connected by bearing.Compression support bar 7 ends and the main axle 8 of swing resilient support arms 10,12,13 are rotationally connected, and compression support set 6 ends and the drive 5 of swing resilient support arms are rotationally connected, and can rotate around main axle 8 under being driven by swing motor 14.Connect by crawler belt 4 between described driving wheel 9 and three drives 5; Described driving wheel 9 is made up of live axle 16, support 17, crawler belt guide wheel 18 and two road wheels 19, live axle 16 two ends and support 17 are rotationally connected, support 17 is connected with fixing resilient support arms 1, crawler belt guide wheel 18, two road wheels 19 are fixedlyed connected with live axle 16, and live axle 16 is connected with the reducer output shaft of movable motor 15; Drive 5 is formed (see figure 3) by follower shaft 22, support 23, crawler belt guide wheel 20 and two driven pulleys 21.Follower shaft 22 two ends and support 23 are rotationally connected, support 23 is connected with swing resilient support arms 10,12,13, crawler belt guide wheel 20 is fixedlyed connected with follower shaft 22, two driven pulleys 21 are rotationally connected by bearing and follower shaft with follower shaft 22, constitute a kind of deformable and take turns shoe formula wheelchair robot.
The wheelchair robot mechanism has three motors, and two motors are controlled two side drive wheel respectively and rotated, and a motor is controlled both sides " swing arm " swing simultaneously.Crawler belt rotates around deformation mechanism under the drive that drives wheels, because road wheel and crawler belt guide wheel are not fixedlyed connected relation on the driving wheel group, so they are actually follower." swing arm " can cause the change of crawler belt profile around the axle center rotation, and this will help improving the obstacle performance of wheelchair robot.No matter because the resiliency supported effect of support arm both sides makes where " swing arm " swings to, and crawler belt can both keep tensioning under the situation that is not subjected to the external force effect.
Because crawler belt guide wheel radius and crawler belt thickness sum are slightly less than the road wheel radius, two of the wheelchair robot road wheels and ground join on the level land, utilize wheel to walk; In the wheelchair robot obstacle detouring process, because the action of gravity of wheelchair robot and carrier automatically switches to the crawler travel mode.In the obstacle detouring process, drive the crawler belt distortion by " swing arm " swing, thereby the contact area that increases the wheelchair robot reduces the carrier center of gravity simultaneously, has strengthened the stability and the safety of obstacle detouring process.
The main feature of deformable " wheel is carried out " mechanism is to utilize the adaptability of the variation enhancing of structure and shape for ground environment, thereby increases the stability and the safety of carrier.Mechanism has two kinds of modes of texturing---initiatively distortion and by dynamic deformation.
Initiatively distortion changes the shape of support arm outer ring around crawler belt by control " swing arm " swing, increases the wheelchair contact area thereby reach, and reduces the purpose of carrier and wheelchair center of gravity.Because the coefficient of elasticity of " fixed arm " and " swing arm " the first half and the latter half elastic telescopic mechanism is identical respectively, therefore be not subjected under the situation of environmental resistance effect at crawler belt, crawler belt will be trapezoidal or rectangle under the active deformation state, as shown in Figure 4.
By dynamic deformation can be divided into again act on the crawler belt by dynamic deformation and act on the wheel by dynamic deformation.The former is the external force effect that crawler belt is subjected to protruding landform in the wheelchair robot obstacle detouring process, and the compression support bar also makes crawler belt certain local depression, with the manner of execution of adaptation to the ground variation.This deformability makes the wheelchair robot have stronger adaptive ability to the angle variation on top, stair slope.Be subjected to the restriction of wheelchair robot obstacle detouring strategy, local dent all occurs on the ground plane of crawler belt, as shown in Figure 5.The latter is the external force effect that wheel is subjected to protruding landform in the wheelchair robot obstacle detouring process, compresses support bar and makes the manner of execution that the crawler belt configuration changes.After support bar is compressed, will produce pressure to obstacle by wheel, when the frictional force that is produced by pressure is enough big, under the cooperation of driving wheel and " swing arm ", the vertical obstacle greater than the road wheel radius can be climbed up and over by the wheelchair robot.
Claims (3)
1. shoe formula wheelchair robot is taken turns in a deformable, comprise seat (1), bracing frame (2), the deformable wheel is carried out mechanism (3), swing motor (14) and movable motor (15), it is characterized in that described bracing frame (2) and deformable wheel shoe mechanism (3) is laid in seat (1) both sides and is symmetrical structure, the fixedly connected seat of bracing frame (2) (1), bracing frame (2) is equipped with main axle (8), main axle (8) connects swing motor (14) output shaft, the deformable wheel is carried out mechanism (3) by crawler belt (4), driving wheel (9), drive (5) and four resilient support arms (10), (11), (12), (13) form, described resilient support arms is packed into by compression support bar (7) connection compression spring and is compressed support set (6) formation, four resilient support arms (10), (11), (12), (13) one in is set as fixedly resilient support arms (11), the individual swing resilient support arms (10) that is made as of its excess-three, (12), (13), fixedly the compression support bar (7) of resilient support arms (11) end is fixedlyed connected with bracing frame (2) with main axle (8), fixedly the compression support set (6) of resilient support arms (11) end is connected by bearing with driving wheel (9), swing resilient support arms (10), (12), (13) compression support bar (7) end is rotationally connected with main axle (8), compression support set (6) end of swing resilient support arms is rotationally connected with drive (5), by rotating around main axle (8) under swing motor (14) drive, connect by crawler belt (4) between described driving wheel (9) and three drives (5).
2. shoe formula wheelchair robot is taken turns in a kind of deformable according to claim 1, it is characterized in that described driving wheel (9) is made up of live axle (16), support (17), crawler belt guide wheel (18) and two road wheels (19), live axle (16) two ends and support (17) are rotationally connected, support (17) is connected with fixing resilient support arms (11), crawler belt guide wheel (18), two road wheels (19) are fixedlyed connected with live axle (16), and live axle (16) is connected with the reducer output shaft of movable motor (15).
3. shoe formula wheelchair robot is taken turns in a kind of deformable according to claim 1, it is characterized in that described drive (5) is made up of follower shaft (22), support (23), crawler belt guide wheel (20) and two driven pulleys (21), support (23) is fixed on the seat (1), follower shaft (22) two ends and support (23) are rotationally connected, support (23) is connected with swing resilient support arms (10), (12), (13), crawler belt guide wheel (20) is fixedlyed connected with follower shaft (22), and two driven pulleys (21) are rotationally connected with follower shaft (22) and follower shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200141004U CN201441549U (en) | 2009-06-01 | 2009-06-01 | Deformable wheel-tracked wheel chair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200141004U CN201441549U (en) | 2009-06-01 | 2009-06-01 | Deformable wheel-tracked wheel chair robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201441549U true CN201441549U (en) | 2010-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200141004U Expired - Fee Related CN201441549U (en) | 2009-06-01 | 2009-06-01 | Deformable wheel-tracked wheel chair robot |
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| Country | Link |
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| CN (1) | CN201441549U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102614055A (en) * | 2012-04-13 | 2012-08-01 | 北京理工大学 | Wheel/track coupled type self-balancing barrier-free wheelchair |
| CN103112510A (en) * | 2013-02-01 | 2013-05-22 | 北京理工大学 | Multi-terrain self-balancing two-wheel car |
| CN103847821A (en) * | 2014-03-18 | 2014-06-11 | 东南大学 | Crawler type stair climbing robot mechanism |
| CN105857423A (en) * | 2016-04-15 | 2016-08-17 | 中国科学院合肥物质科学研究院 | High-maneuverability and high-adaptability ground unmanned platform |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
| CN110916912A (en) * | 2019-12-09 | 2020-03-27 | 严白双 | Stretcher suitable for complicated road conditions |
| CN110946717A (en) * | 2019-12-19 | 2020-04-03 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
-
2009
- 2009-06-01 CN CN2009200141004U patent/CN201441549U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102614055A (en) * | 2012-04-13 | 2012-08-01 | 北京理工大学 | Wheel/track coupled type self-balancing barrier-free wheelchair |
| CN102614055B (en) * | 2012-04-13 | 2014-06-25 | 北京理工大学 | Wheel/track coupled type self-balancing barrier-free wheelchair |
| CN103112510A (en) * | 2013-02-01 | 2013-05-22 | 北京理工大学 | Multi-terrain self-balancing two-wheel car |
| CN103112510B (en) * | 2013-02-01 | 2015-04-22 | 北京理工大学 | Multi-terrain self-balancing two-wheel car |
| CN103847821A (en) * | 2014-03-18 | 2014-06-11 | 东南大学 | Crawler type stair climbing robot mechanism |
| CN103847821B (en) * | 2014-03-18 | 2015-10-28 | 东南大学 | A kind of track type climbing-building robot mechanism |
| CN105857423A (en) * | 2016-04-15 | 2016-08-17 | 中国科学院合肥物质科学研究院 | High-maneuverability and high-adaptability ground unmanned platform |
| CN105857423B (en) * | 2016-04-15 | 2018-04-13 | 中国科学院合肥物质科学研究院 | A kind of high motor-driven high-adaptability unmanned ground vehicle |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
| CN110916912A (en) * | 2019-12-09 | 2020-03-27 | 严白双 | Stretcher suitable for complicated road conditions |
| CN110946717A (en) * | 2019-12-19 | 2020-04-03 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN110946717B (en) * | 2019-12-19 | 2021-05-18 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100428 Termination date: 20100601 |