CN203790168U - Wheel and caterpillar type road and stair dual-purpose wheelchair - Google Patents
Wheel and caterpillar type road and stair dual-purpose wheelchair Download PDFInfo
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- CN203790168U CN203790168U CN201420052133.9U CN201420052133U CN203790168U CN 203790168 U CN203790168 U CN 203790168U CN 201420052133 U CN201420052133 U CN 201420052133U CN 203790168 U CN203790168 U CN 203790168U
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Abstract
The utility model relates to the technical field of wheelchairs, in particular to a wheel and caterpillar type road and stair dual-purpose wheelchair. The wheel and caterpillar type road and stair dual-purpose wheelchair comprises a frame, a seat, front wheels, rear wheels, a direct current speed reducing motor, gear transmission systems, caterpillar transmission mechanisms, gesture adjusting mechanisms and leveling mechanisms. The direct current speed reducing motor is used for driving the front wheels and the rear wheels to move through the transmission connection of the gear transmission systems and the caterpillar transmission mechanisms, the leveling mechanisms are arranged on the two sides of the front end of the seat, are of a symmetrical structure and are formed by movably connecting a plurality of connecting rods in a hinged mode, the gesture adjusting mechanisms are arranged on the two sides of the lower portion of the seat, are of a symmetrically structure and are formed by movably connecting a plurality of connecting rods in a hinged mode, the caterpillar transmission mechanisms and the gear transmission systems are arranged on the two sides of the lower portion of the seat and are of symmetrical structures, the caterpillar transmission mechanisms are formed by rotationally connecting a plurality of caterpillar wheels and connecting shafts, and the gear transmission systems are formed by rotationally connecting a plurality of gears. The wheel and caterpillar type road and stair dual-purpose wheelchair is capable of moving fast on the flat ground, safe and high in practicability and operability, and a user can go up stairs and downstairs safely, comfortably and stably.
Description
Technical field
This utility model relates to wheelchair technical field, relates in particular to a kind of Lun Lvshi road ladder two-use wheel chair.
Background technology
Wheelchair is elderly and infirm and the requisite walking-replacing tool of lower limb disabled, but along with increasing that stairization are built, has greatly dwindled their range of activity, has had a strong impact on them and has participated in social range; Lack in addition the independence of action due to them, need special messenger to accompany, bring significant stress to domestic nursing medical treatment aspect, bring serious burden also to national economic development, therefore, for improve this part people quality of life, extenuate social pressure, except increasing the accessibility designs of their institute's living environment, can develop as early as possible can stair activity, be simple and easy to will become necessary with, cheap, reliable wheelchair.
The scheme that scientific research institution of lot of domestic and international man, colleges and universities and other unit, the numerous and confused proposition of individual are dealt with problems separately at present, by motion mode, mainly comprises two kinds of continuous and intermittent stairs climbing devices.
The main feature of intermittent stairs climbing device is himself to have two cover bracing or strutting arrangements, alternately support and to realize stair activity function by two cover bracing or strutting arrangements, masterpiece is biped walking mechanism WL mono-16RIII that exploitation is presided over by Waseda University, it need to complete the work such as the signals collecting, analysis, processing of real-time complexity, control the position of the real-time adjustment aim of actuator by output signal, finally meet actual requirement.Legged mobile robot is stronger to the adaptive capacity on ground, but also has the shortcomings such as motion is slow, control system is complicated, center of gravity is high.
Seriality stairs climbing device mainly comprises planet wheel type stair-climbing wheelchair, crawler type stair climbing mechanism and combined type stairs climbing device.At present, because wheel-track combined stairs climbing device possesses simultaneously, wheeled level walking is fast and crawler belt stair activity is stable, reliable advantage, from practicality, performance, is all better than other seriality stairs climbing devices.Number of patent application is that 200910154542.3 patent of invention adopts wheel-track combined mechanism to realize stair activity function, but do not consider the real-time adjustment of seat position attitude in stair activity process, do not consider the suitable adjustment of integrated model center of gravity in stair activity process yet, especially from level land excessively to the process of stair, the state that wheelchair may have quick upset or jiggly state occurs.Therefore, this technical field is badly in need of wanting a kind of practicality, safe, comfortable electric wheel chair for climbing stairs.
Utility model content
The purpose of this utility model is to provide one can realize fast moving on level land, stair activity safety, stable, practical, workable, comfortable Lun Lvshi road ladder two-use wheel chair.
For reaching this object, this utility model by the following technical solutions:
This utility model provides a kind of Lun Lvshi road ladder two-use wheel chair, comprise vehicle frame, seat, front-wheel, trailing wheel, DC speed-reducing, the pinion unit Caterpillar transmission mechanism of unifying, also comprise on the pose_adjuster of going downstairs and realize the described seat levelling gear in level all the time;
Described DC speed-reducing drives described front-wheel and described rear wheel movement by described pinion unit being in transmission connection of described Caterpillar transmission mechanism of unifying;
Described levelling gear is arranged on the front end both sides of described seat and is symmetrical structure, and it is movably hinged by multiple connecting rods and forms;
Described pose_adjuster is arranged on the both sides, bottom of described seat and is symmetrical structure, and it is movably hinged by multiple connecting rods and forms;
Described Caterpillar transmission mechanism is arranged on the both sides, bottom of described seat and is symmetrical structure, and it is rotationally connected by multiple Athey wheels and connecting axle and forms;
Described gear train assembly is arranged on the bottom of described seat and is symmetrical structure, and it is rotationally connected and is formed by multiple gears.
As preferred version of the present utility model, described levelling gear comprises front end link, front right angle toggle link, driving lever, by-level connecting rod, by lever and rear right angle toggle link;
Described by-level connecting rod Cheng “ ╨ " shape;
One end of described front end link and described vehicle frame are movably hinged, and the centre position of its other end and described front right angle toggle link is hinged;
One end of described front right angle toggle link and one end of described driving lever are movably hinged, and the first end of its other end and described by-level connecting rod is movably hinged;
The second end of the other end of described driving lever and described by-level connecting rod is hinged;
The 3rd end of described by-level connecting rod and described one end by lever are hinged;
One end of described rear right angle toggle link and the described other end by lever are hinged, and its other end and described vehicle frame are hinged, and the centre position of described rear right angle toggle link and the 4th end of described by-level connecting rod are hinged;
As preferred version of the present utility model, described chair mounted is on two major axis, and described two major axis are connected with symmetrically arranged two described by-level connecting rods by nut.
As preferred version of the present utility model, described pose_adjuster comprises connecting rod and rear end lower link on crossbeam, front rod, intermediate connecting rod, rear end;
One end of described front rod and one end of described crossbeam are hinged;
The other end of described crossbeam is connected with one end of connecting rod on described rear end by pin;
On described rear end, one end of the other end of connecting rod and described rear end lower link is hinged;
One end of described intermediate connecting rod is concentric with the centre position of described crossbeam, is all located on carrying semiaxis.
As preferred version of the present utility model, described Caterpillar transmission mechanism comprises main track frame, middle secondary track frame, the secondary track frame in rear end, the first Athey wheel, the second Athey wheel, the 3rd Athey wheel, the 4th Athey wheel, middle thrust wheel, front electric pushrod, rear electric pushrod, the first connecting axle, the second connecting axle, the first crawler belt semiaxis, the second crawler belt semiaxis and end semiaxis;
The other end of described front rod and described the second connecting axle are hinged;
The other end of described rear end lower link and described the first crawler belt semiaxis are hinged;
The other end of described intermediate connecting rod is located on described end semiaxis, and is connected by the secondary track frame in bolt and described rear end;
The secondary track frame of described main track frame and described centre links together by described the second connecting axle;
The secondary track frame in the secondary track frame in described centre and described rear end links together by described end semiaxis;
Described the first Athey wheel is set on described the first crawler belt semiaxis, and is connected with described the first crawler belt semiaxis by square key;
Described the second Athey wheel is set on described end semiaxis, and is connected with described end semiaxis by square key;
Described the 3rd Athey wheel is set on described the second connecting axle, and described the 4th Athey wheel is set on described the second crawler belt semiaxis;
Described front electric pushrod is fixedly connected with described the second connecting axle, and its other end is fixedly connected with jackshaft;
One end of described rear electric pushrod and described end semiaxis are hinged, and its other end and vehicle frame rear axle are hinged;
In the middle of described, one end of thrust wheel is located on described the first connecting axle, described in the middle of thrust wheel the holding screw that prevents that it from moving axially and pivoting is radially installed;
Between described the first connecting axle and described main track frame, deep groove ball bearing is installed.
As preferred version of the present utility model, described Caterpillar transmission mechanism also comprises tensioner, and described tensioner is located in respectively on described end semiaxis and described the second connecting axle, and by bolted on the secondary track frame in described rear end and described main track frame.
As preferred version of the present utility model, described gear train assembly comprises first order synchronous belt transmission device, second level synchronous belt transmission device, shifting slide gear, splined shaft, described carrying semiaxis, carrying axle shaft gear, the second carrying axle shaft gear, described jackshaft, countershaft-gear and end axle shaft gear;
Described first order synchronous belt transmission device comprises first order Timing Belt, large belt wheel and small pulley;
Described second level synchronous belt transmission device comprises second level Timing Belt, driving pulley and passive belt wheel;
Described small pulley is connected with the output shaft of described DC speed-reducing;
Described large belt wheel is connected by square key with one end of described splined shaft;
Described carrying axle shaft gear and described carrying semiaxis are by spline joint, and described the second carrying axle shaft gear is set on described carrying semiaxis, and described carrying axle shaft gear and described the second carrying axle shaft gear two ends all fixing;
Described shifting slide gear and described splined shaft are by spline joint, and described shifting slide gear is meshed with described carrying axle shaft gear or described the second carrying axle shaft gear;
Described trailing wheel is connected with described carrying semiaxis by spline;
Described end axle shaft gear is connected by square key with described end semiaxis;
Described countershaft-gear is set on described jackshaft, and described countershaft-gear is meshed with described the second carrying axle shaft gear and described end axle shaft gear;
Described driving pulley is connected with described end semiaxis by square key, and described passive belt wheel is connected with described the first crawler belt semiaxis by square key.
As preferred version of the present utility model, described crossbeam, described front rod, described intermediate connecting rod and described centre secondary track frame composition parallel-crank mechanism, wherein, the length of described front rod and described intermediate connecting rod equal in length, the junction of described crossbeam and described front rod equals the length of the secondary track frame in described centre to the distance of described crossbeam and described carrying half shaft connection place;
Connecting rod and described rear end lower link composition quadrangular mechanism on described crossbeam, described intermediate connecting rod, described rear end, wherein, in the time of connecting rod on described rear end and described rear end lower link conllinear, the secondary track frame in described rear end and middle secondary track frame conllinear.
As preferred version of the present utility model, between one end of described crossbeam and described vehicle frame, be provided with adjusting device, described adjusting device is made up of adjusting rod upper end, adjusting rod lower end and adjustment screw;
Between described adjusting rod upper end and described adjusting rod lower end, form moving sets, one end and the described vehicle frame of described adjusting rod upper end are hinged, and one end of described adjusting rod lower end is connected by bearing pin with described crossbeam;
On described adjusting rod upper end and described adjusting rod lower end, all offer several equally spaced through holes, described adjustment screw is through the through hole on described adjusting rod upper end and the described adjusting rod lower end corresponding with it.
As preferred version of the present utility model, described DC speed-reducing removably connects by bolt and described vehicle frame.
The beneficial effects of the utility model are:
This utility model provides a kind of Lun Lvshi road ladder two-use wheel chair, comprises gear train assembly, Caterpillar transmission mechanism, pose_adjuster and levelling gear, has both realized fast running on level land, can in the time of stair activity, ensure again safety, stable and reliable.
Wherein, utilize the advantage of the parallel-crank mechanism mainly being formed by pose_adjuster, make wheelchair in stair activity process, can ensure seat maintenance level, ensured the smooth transition from level land to stair.
By adjusting the position of the adjustment screw in adjusting device in Caterpillar transmission mechanism, make wheelchair can adapt to the stair of different angle in certain limit.
Utilize the characteristic of the five-rod motion mainly being formed by levelling gear, and realize the horizontal adjustment to seat in conjunction with two driving levers, can ensure seat Real-time and Dynamic level, in addition, the also position of center-of-gravity regulating within the specific limits.
Ensure the safety conversion of transmission by the position of the shifting slide gear in adjusting gear drive system, succinct, integrated level is high.
Brief description of the drawings
Fig. 1 is that this utility model embodiment provides the structural representation of Lun Lvshi road ladder two-use wheel chair in stair activity process;
Fig. 2 is the status architecture schematic diagram of this utility model embodiment when Lun Lvshi road ladder two-use wheel chair level walking is provided;
Fig. 3 is the chassis structure schematic diagram of this utility model embodiment when Lun Lvshi road ladder two-use wheel chair level walking is provided;
Fig. 4 is the status architecture schematic diagram of this utility model embodiment while providing ladder two-use wheel chair in Lun Lvshi road to prepare upstairs;
Fig. 5 is the view of this utility model embodiment while providing ladder two-use wheel chair in Lun Lvshi road to prepare downstairs;
Fig. 6 is that this utility model embodiment provides the Lun Lvshi road ladder Caterpillar transmission mechanism of two-use wheel chair and the structural representation of pose_adjuster;
Fig. 7 is the structural representation that this utility model embodiment provides the gear train assembly of Lun Lvshi road ladder two-use wheel chair.
Wherein:
100, vehicle frame; 103, seat; 104, rear electric pushrod; 105, vehicle frame rear axle; 106, front electric pushrod; 111, front-wheel; 112, adjusting rod lower end; 113, adjusting rod upper end; 115, trailing wheel;
201, the first connecting axle; 202, the second connecting axle; 211, connecting rod on rear end; 212, rear end lower link; 213, the first Athey wheel; 214, the secondary track frame in rear end; 215, tensioner; 216, intermediate connecting rod; 217, middle secondary track frame; 218, the 3rd Athey wheel; 219, front rod;
2110, crossbeam; 2111, middle thrust wheel; 2112, main track frame; 2113, the 4th Athey wheel; 2114, the second Athey wheel; 2115, the second crawler belt semiaxis;
300, major axis; 311, front end link; 312, front right angle toggle link; 313, driving lever; 314, by-level connecting rod; 315, by lever; 316, rear right angle toggle link;
401, jackshaft; 411, DC speed-reducing; 412, first order Timing Belt; 414, large belt wheel; 415, carrying axle shaft gear; 416, passive belt wheel; 417, second level Timing Belt; 418, driving pulley; 419, countershaft-gear;
4110, the second carrying axle shaft gear; 4111, end axle shaft gear; 4112, shifting slide gear; 4113, splined shaft; 4114, carrying semiaxis; 4115, the first crawler belt semiaxis; 4116, end semiaxis; 4117, small pulley;
Detailed description of the invention
Further illustrate the technical solution of the utility model below in conjunction with accompanying drawing and by detailed description of the invention.
As shown in Figures 1 to 7, present embodiment provides a kind of Lun Lvshi road ladder two-use wheel chair, it comprise vehicle frame 100, seat 103, front-wheel 111, trailing wheel 115, DC speed-reducing 411, gear train assembly, Caterpillar transmission mechanism, on the pose_adjuster of going downstairs and realize seat 103 levelling gear in level all the time.Wherein, DC speed-reducing 411 removably connects by bolt and vehicle frame 100, and it drives front-wheel 111 and trailing wheel 115 to move by pinion unit being in transmission connection of Caterpillar transmission mechanism of unifying.Levelling gear is arranged on the front end both sides of seat 103 and is symmetrical structure, and it is movably hinged and is formed by multiple connecting rods.Pose_adjuster is arranged on the both sides, bottom of seat 103 and is symmetrical structure, and it is movably hinged and is formed by multiple connecting rods.Caterpillar transmission mechanism is arranged on the both sides, bottom of seat 103 and is symmetrical structure, and it is rotationally connected and is formed by multiple Athey wheels and connecting axle.Gear train assembly is arranged on the bottom of seat 103 and is symmetrical structure, and it is rotationally connected and is formed by multiple gears.
Present embodiment is preferably, and levelling gear comprises front end link 311, front right angle toggle link 312, driving lever 313, by-level connecting rod 314, by lever 315 and rear right angle toggle link 316.By-level connecting rod 314 Cheng “ ╨ " shape, one end of front end link 311 and vehicle frame 100 are movably hinged, the centre position of its other end and front right angle toggle link 312 is hinged, one end of front right angle toggle link 312 and one end of driving lever 313 are movably hinged, the first end of its other end and by-level connecting rod 314 is movably hinged, the second end of the other end of driving lever 313 and by-level connecting rod 314 is hinged, the 3rd end of by-level connecting rod 314 is with hinged by one end of lever 315, one end of rear right angle toggle link 316 is with hinged by the other end of lever 315, its other end and vehicle frame 100 are hinged, the 4th end of the centre position of rear right angle toggle link 316 and by-level connecting rod 314 is hinged, wherein, front end link 311, front right angle toggle link 312, by-level connecting rod 314, rear right angle toggle link 316, vehicle frame 100 forms five-rod, two major axis 300 are connected with symmetrically arranged two by-level connecting rods 314 by nut, seat 103 is arranged on two major axis 300, be fixed together with it, therefore, the pose of seat 103 can regulate by two by-level connecting rods 314 that are symmetrical set.
Pose_adjuster comprises connecting rod 211 and rear end lower link 212 on crossbeam 2110, front rod 219, intermediate connecting rod 216, rear end.One end of one end of front rod 219 and crossbeam 2110 is hinged, its other end and the second connecting axle 202 are hinged, the other end of crossbeam 2110 is connected with one end of connecting rod on rear end 211 by pin, on rear end, one end of the other end of connecting rod 211 and rear end lower link 212 is hinged, one end of intermediate connecting rod 216 is concentric with the centre position of crossbeam 2110, all be located on carrying semiaxis 4114, and can not move axially, the other end of intermediate connecting rod 216 is located on end semiaxis 4116, and is connected by the secondary track frame 214 in bolt and rear end.
Caterpillar transmission mechanism comprises main track frame 2112, middle secondary track frame 217, the secondary track frame 214 in rear end, the first Athey wheel 213, the second Athey wheel 2114, the 3rd Athey wheel 218, the 4th Athey wheel 2113, middle thrust wheel 2111, front electric pushrod 106, rear electric pushrod 104, the first connecting axle 201, the second connecting axle 202, the first crawler belt semiaxis 4115, the second crawler belt semiaxis 2115, end semiaxis 4116 and tensioner 215.
The other end of rear end lower link 212 and the first crawler belt semiaxis 4115 are hinged, main track frame 2112 links together by the second connecting axle 202 with middle secondary track frame 217, middle secondary track frame 217 links together by end semiaxis 4116 with the secondary track frame 214 in rear end, the first Athey wheel 213 is set on the first crawler belt semiaxis 4115, and be connected with the first crawler belt semiaxis 4115 by square key, the second Athey wheel 2114 is set on end semiaxis 4116, and be connected with end semiaxis 4116 by square key, the 3rd Athey wheel 218 is set on the second connecting axle 202, the 4th Athey wheel 2113 is set on the second crawler belt semiaxis 2115, front electric pushrod 106 is fixedly connected with the second connecting axle 202, its other end is fixedly connected with jackshaft 401, and axially two ends are fixed, one end of rear electric pushrod 104 and end semiaxis 4116 are hinged, its other end and vehicle frame rear axle 105 are hinged.
Thrust wheel 2111 in the middle of being provided with between Athey wheel, one end of middle thrust wheel 2111 is located on the first connecting axle 201, middle thrust wheel 2111 the holding screw that prevents that it from moving axially and pivoting is radially installed, between the first connecting axle 201 and main track frame 2112, deep groove ball bearing is installed, therefore in the middle of, thrust wheel 2111 can rotate to adapt to complicated landform with respect to main track frame 2112, so middle thrust wheel 2111 can increase the contact area of wheel and crawler belt in addition, can play better carrying effect, and can not increase too greatly because of crawler belt amount of deflection the cornerite of Athey wheel, increase the reliability of transmission.
Tensioner 215 is arranged in the middle of track frame, it is located in respectively on end semiaxis 4116 and the second connecting axle 202, and by bolted on the secondary track frame 214 in rear end and main track frame 2112, when in crawler body lifting process, angle between track frame can change, regulating wheel on tensioner 215 can ensure that crawler belt can not depart from and engage with Athey wheel, has ensured the reliability of transmission.
The length of front rod 219 and intermediate connecting rod 216 equal in length, the length of secondary track frame 217 in the middle of crossbeam 2110 equals to crossbeam 2110 and the distance of carrying semiaxis 4114 junctions with the junction of front rod 219, therefore, crossbeam 2110, front rod 219, intermediate connecting rod 216 and middle secondary track frame 217 form parallel-crank mechanism, and in the process of crawler body lifting, middle secondary track frame 217 remains parallel with crossbeam 2110.In addition, on crossbeam 2110, intermediate connecting rod 216, rear end, connecting rod 211 and rear end lower link 212 form quadrangular mechanism, be in series with even numbers parallel-crank mechanism, in the time of connecting rod on rear end 211 and rear end lower link 212 conllinear, the secondary track frame 214 in rear end and middle secondary track frame 217 conllinear.
Between one end of crossbeam 2110 and vehicle frame 100, be provided with adjusting device, adjusting device is made up of adjusting rod upper end 113, adjusting rod lower end 112 and adjustment screw.Between adjusting rod upper end 113 and adjusting rod lower end 112, form moving sets, one end of adjusting rod upper end 113 and vehicle frame 100 are hinged, one end of adjusting rod lower end 112 is connected by bearing pin with crossbeam 2110, in addition, on adjusting rod upper end 113 and adjusting rod lower end 112, all offer several equally spaced through holes, adjustment screw is through the through hole on adjusting rod upper end 113 and the adjusting rod lower end 112 corresponding with it, restriction relative sliding therebetween.
Gear train assembly comprises first order synchronous belt transmission device, second level synchronous belt transmission device, shifting slide gear 4112, splined shaft 4113, described carrying semiaxis 4114, carrying axle shaft gear 415, the second carrying axle shaft gear 4110, described jackshaft 401, countershaft-gear 419 and end axle shaft gear 4111.
Wherein, first order synchronous belt transmission device comprises first order Timing Belt 412, large belt wheel 414 and small pulley 4117, second level synchronous belt transmission device comprises second level Timing Belt 417, driving pulley 418 and passive belt wheel 416, small pulley 4117 is connected with the output shaft of DC speed-reducing 411, and large belt wheel 414 is connected by square key with one end of splined shaft 4113.
Carrying axle shaft gear 415 passes through spline joint with carrying semiaxis 4114, the second carrying axle shaft gear 4110 is set on carrying semiaxis 4114, and carrying axle shaft gear 415 and the second carrying axle shaft gear 4110 two ends are all fixing, can not move axially, shifting slide gear 4112 passes through spline joint with splined shaft 4113, it can be on splined shaft axial slip, be meshed with carrying axle shaft gear 415 or the second carrying axle shaft gear 4110, transferring power and speed.Trailing wheel 115 is connected with carrying semiaxis 4114 by spline; End axle shaft gear 4111 is connected by square key with end semiaxis 4116, countershaft-gear 419 is set on jackshaft 401, its two ends are fixed, and be meshed with the second carrying axle shaft gear 4110 and end axle shaft gear 4111 respectively, driving pulley 418 is connected with end semiaxis 4116 by square key, and passive belt wheel 416 is connected with the first crawler belt semiaxis 4115 by square key.
Concrete action, handoff procedure and the driving principle of the present invention is as follows:
Status architecture schematic diagram when Fig. 2 Wei Lunlvshi road ladder two-use wheel chair level walking.As shown in Figure 2, front electric pushrod 106 and rear electric pushrod 104 state that remains retracted, makes main track frame 2112 maintenance levels and departs from ground, and the secondary track frame 214 in rear end keeps vertical state under the effect of rear electric pushrod 104 simultaneously, front-wheel 111 and trailing wheel 115 kiss the earths, bear whole load; In addition, shifting slide gear 4112 is meshed with carrying axle shaft gear 415, its power and Motion Transmission route are as follows: DC speed-reducing 411-small pulley 4117-first order Timing Belt 412-large belt wheel 414-splined shaft 4113-shifting slide gear 4112-carrying axle shaft gear 415-carrying semiaxis 4114-trailing wheel 115, now, shifting slide gear 4112 engages and power is not delivered to Athey wheel with the second carrying axle shaft gear 4110 disengagings, left and right sides respectively has set of gears drive system and full symmetric, can realize speed change, turn round by controlling two DC speed-reducing; When the section out-of-flatness of walking or while having certain slope, can keep seat level all the time by two driving levers 313 of controlling levelling gear, improve occupant's comfortableness.
Status architecture schematic diagram when Fig. 4 Wei Lunlvshi road ladder two-use wheel chair is prepared upstairs.As shown in Figure 4, Lun Lvshi road ladder two-use wheel chair will complete the transition from level walking state to the state of normally going upstairs, first to carry out attitude preparation, by regulating the adjustment screw in adjusting device, make the horizontal plane angle of crossbeam 2110 approach the angle of inclination of stair, also can realize the object of different angle stair in upper and lower certain limit by regulating the relevant position of adjustment screw in adjusting device, in the time that the position of adjustment adjustment screw can not make crossbeam 2110 just in time equal stair inclination angle with the angle of horizontal plane, need to regulate levelling gear to realize seat and remain level.
Concrete course of action is as follows: when the extremely fast contact stairway step of Dang Lunlvshi road ladder two-use wheel chair backward, start attitude and adjust button, front electric pushrod 106 is off-position, rear electric pushrod 104 energisings are extended, drive the secondary track frame 214 in rear end to move down with middle secondary track frame 217, when connecting rod on rear end 211 and rear end lower link 212 conllinear, while being the secondary track frame 214 in rear end and middle secondary track frame 217 conllinear, rear electric pushrod 104 is stressed sharply to be increased and cut-out automatically, in this process, whole crawler body can move down along with the elongation of rear electric pushrod 104, final wheelchair trailing wheel 115 can depart from ground, bear whole load by track frame, in addition due to front electric pushrod 106 access failures, main track frame 2112 remains level, also level always of seat 103, improve occupant's comfortableness, also improved the labor intensity of levelling gear, only need carry out in good time, the fine setting of appropriateness, when after 104 power-off moments of electric pushrod, front electric pushrod 106 is switched on, along with the rising of wheelchair is extended gradually, until main track frame 2112 and middle secondary track frame 217, will keep this attitude upstairs completely point-blank afterwards always.In the process of going upstairs, its power and Motion Transmission route are as follows: DC speed-reducing 411-small pulley 4117-first order Timing Belt 412-large belt wheel 414-splined shaft 4113-shifting slide gear 4112-the second carrying axle shaft gear 4110-countershaft-gear 419-end axle shaft gear 4111-end semiaxis 4116-the second Athey wheel 2114-driving pulley 418-second level Timing Belt 417-passive belt wheel 416-the first crawler belt semiaxis the 4115-the first Athey wheel 213, then by the frictional force on crawler belt and ground, shearing force realizes object upstairs, now shifting slide gear 4112 can not be delivered to power trailing wheel 115 less than not engaging with the first carrying axle shaft gear 415, improve transmission efficiency, select again to extend driving-chain at the end of the second Athey wheel 2114 in addition, power is passed to the first Athey wheel 213, the first Athey wheels 213 larger with the cornerite of crawler belt, so greatly improved the reliability of transmission, in the process of crawler body lifting, the angle between each track frame can change while understanding, increases tensioner 215 and can ensure that crawler belt engaged with the moment of Athey wheel between track frame.
View when ladder two-use wheel chair in Fig. 5 Wei Lunlvshi road is prepared downstairs, as shown in Figure 5, and goes upstairs equally, first will carry out attitude preparation, by the adjustment screw in adjusting adjusting device, makes the horizontal plane angle of crossbeam 2110 approach the angle of inclination of stair.Process while being specifically normal downstairs movement state from level walking state-transition is as follows: in the time that the sensor in front detects that front-wheel 111 will arrive stair edge, rear electric pushrod 104 keeps off-position, front electric pushrod 106 obtains signal and extends gradually, until the 4th Athey wheel 2113 exposure level ground, then front electric pushrod 106 cuts off automatically due to stressed sharply increase, under this state, the weight of electric wheelchair is by front-wheel 111, trailing wheel 115 and main track frame 2112 bear, advancing along with Electric Motor Wheel afterwards, front-wheel 111 departs from ground gradually, the 4th Athey wheel 2113 arrives the step edge of stair gradually, start this moment, front electric pushrod 106 obtains after the information of sensor, continue to extend gradually, until main track frame 2112 and middle track frame 217 conllinear, front electric pushrod 106 power-off, wheelchair continues to keep original speed to advance, and in this process, the weight of wheelchair is born by trailing wheel 115 and main track frame 2112, in front electric pushrod 106 power-off, rear electric pushrod 104 obtains electric, in the middle of driving, secondary track frame 217 is done relevant motion to the secondary track frame 214 in rear end, until when on rear end, connecting rod 211 is with rear end lower link 212 conllinear, front electric pushrod 106 auto-breakings, in this process, wheelchair keeps certain speed to advance always, and when the moment of trailing wheel 115 leaving water plane earths, shifting slide gear 4112 automatic slidings, become with the second carrying axle shaft gear 4110 and be meshed, power starts to be delivered to the first Athey wheel 213 from DC speed-reducing 411, wheelchair keeps the attitude (as shown in Figure 1) of normal stair activity to continue descending under certain dynamic action.In whole process, seat 103 will remain level.
The state-transition of going downstairs of Lun Lvshi road ladder two-use wheel chair is the inverse process that the process of level land state and the process that is level land state from state-transition upstairs are said process, and its work process and principle are omitted and described at this.
In conjunction with detailed description of the invention, know-why of the present utility model is described above.These are described is in order to explain principle of the present utility model, and can not be interpreted as by any way the restriction to this utility model protection domain.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present utility model, and these modes all will fall in protection domain of the present utility model.
Claims (10)
1. a Zhong Lunlvshi road ladder two-use wheel chair, comprises vehicle frame (100), seat (103), front-wheel (111), trailing wheel (115), DC speed-reducing (411), the pinion unit Caterpillar transmission mechanism of unifying, it is characterized in that,
Also comprise on the pose_adjuster of going downstairs and realize described seat (103) levelling gear in level all the time;
Described DC speed-reducing (411) by described pinion unit unify described Caterpillar transmission mechanism be in transmission connection drive described front-wheel (111) and described trailing wheel (115) move;
Described levelling gear is arranged on the front end both sides of described seat (103) and is symmetrical structure, and it is movably hinged by multiple connecting rods and forms;
Described pose_adjuster is arranged on the both sides, bottom of described seat (103) and is symmetrical structure, and it is movably hinged by multiple connecting rods and forms;
Described Caterpillar transmission mechanism is arranged on the both sides, bottom of described seat (103) and is symmetrical structure, and it is rotationally connected by multiple Athey wheels and connecting axle and forms;
Described gear train assembly is arranged on the bottom of described seat (103) and is symmetrical structure, and it is rotationally connected and is formed by multiple gears.
2. a kind of Lun Lvshi according to claim 1 road ladder two-use wheel chair, is characterized in that,
Described levelling gear comprises front end link (311), front right angle toggle link (312), driving lever (313), by-level connecting rod (314), by lever (315) and rear right angle toggle link (316);
Described by-level connecting rod (314) Cheng “ ╨ " shape;
One end of described front end link (311) and described vehicle frame (100) are movably hinged, and the centre position of its other end and described front right angle toggle link (312) is hinged;
One end of one end of described front right angle toggle link (312) and described driving lever (313) is movably hinged, and the first end of its other end and described by-level connecting rod (314) is movably hinged;
The second end of the other end of described driving lever (313) and described by-level connecting rod (314) is hinged;
The 3rd end of described by-level connecting rod (314) and described one end by lever (315) are hinged;
One end of described rear right angle toggle link (316) and the described other end by lever (315) are hinged, its other end and described vehicle frame (100) are hinged, and the 4th end of the centre position of described rear right angle toggle link (316) and described by-level connecting rod (314) is hinged.
3. a kind of Lun Lvshi according to claim 2 road ladder two-use wheel chair, is characterized in that,
It is upper that described seat (103) is arranged on two major axis (300), and described two major axis (300) are connected with symmetrically arranged two described by-level connecting rods (314) by nut.
4. a kind of Lun Lvshi according to claim 1 road ladder two-use wheel chair, is characterized in that,
Described pose_adjuster comprises connecting rod (211) and rear end lower link (212) on crossbeam (2110), front rod (219), intermediate connecting rod (216), rear end;
One end of one end of described front rod (219) and described crossbeam (2110) is hinged;
The other end of described crossbeam (2110) is connected with one end of connecting rod (211) on described rear end by pin;
One end of the other end of connecting rod on described rear end (211) and described rear end lower link (212) is hinged;
One end of described intermediate connecting rod (216) is concentric with the centre position of described crossbeam (2110), is all located on carrying semiaxis (4114).
5. a kind of Lun Lvshi according to claim 4 road ladder two-use wheel chair, is characterized in that,
Described Caterpillar transmission mechanism comprises main track frame (2112), middle secondary track frame (217), the secondary track frame in rear end (214), the first Athey wheel (213), the second Athey wheel (2114), the 3rd Athey wheel (218), the 4th Athey wheel (2113), middle thrust wheel (2111), front electric pushrod (106), rear electric pushrod (104), the first connecting axle (201), the second connecting axle (202), the first crawler belt semiaxis (4115), the second crawler belt semiaxis (2115) and end semiaxis (4116),
The other end of described front rod (219) and described the second connecting axle (202) are hinged;
The other end of described rear end lower link (212) and described the first crawler belt semiaxis (4115) are hinged;
It is upper that the other end of described intermediate connecting rod (216) is located in described end semiaxis (4116), and be connected with the secondary track frame in described rear end (214) by bolt;
Described main track frame (2112) links together by described the second connecting axle (202) with the secondary track frame in described centre (217);
The secondary track frame in described centre (217) links together by described end semiaxis (4116) with the secondary track frame in described rear end (214);
It is upper that described the first Athey wheel (213) is set in described the first crawler belt semiaxis (4115), and be connected with described the first crawler belt semiaxis (4115) by square key;
It is upper that described the second Athey wheel (2114) is set in described end semiaxis (4116), and be connected with described end semiaxis (4116) by square key;
It is upper that described the 3rd Athey wheel (218) is set in described the second connecting axle (202), and described the 4th Athey wheel (2113) is set on described the second crawler belt semiaxis (2115);
Described front electric pushrod (106) is fixedly connected with described the second connecting axle (202), and its other end is fixedly connected with jackshaft (401);
One end of described rear electric pushrod (104) and described end semiaxis (4116) are hinged, and its other end and vehicle frame rear axle (105) are hinged;
It is upper that in the middle of described, one end of thrust wheel (2111) is located in described the first connecting axle (201), described in the middle of thrust wheel (2111) the holding screw that prevents that it from moving axially and pivoting is radially installed;
Between described the first connecting axle (201) and described main track frame (2112), deep groove ball bearing is installed.
6. a kind of Lun Lvshi according to claim 5 road ladder two-use wheel chair, is characterized in that,
Described Caterpillar transmission mechanism also comprises tensioner (215), it is upper that described tensioner (215) is located in respectively described end semiaxis (4116) and described the second connecting axle (202), and by bolted on the secondary track frame in described rear end (214) and described main track frame (2112).
7. according to a kind of Lun Lvshi road ladder two-use wheel chair described in claim 5 or 6, it is characterized in that,
Described gear train assembly comprises first order synchronous belt transmission device, second level synchronous belt transmission device, shifting slide gear (4112), splined shaft (4113), described carrying semiaxis (4114), carrying axle shaft gear (415), the second carrying axle shaft gear (4110), described jackshaft (401), countershaft-gear (419) and end axle shaft gear (4111);
Described first order synchronous belt transmission device comprises first order Timing Belt (412), large belt wheel (414) and small pulley (4117);
Described second level synchronous belt transmission device comprises second level Timing Belt (417), driving pulley (418) and passive belt wheel (416);
Described small pulley (4117) is connected with the output shaft of described DC speed-reducing (411);
Described large belt wheel (414) is connected by square key with one end of described splined shaft (4113);
Described carrying axle shaft gear (415) passes through spline joint with described carrying semiaxis (4114), it is upper that described the second carrying axle shaft gear (4110) is set in described carrying semiaxis (4114), and described carrying axle shaft gear (415) and described the second carrying axle shaft gear (4110) two ends are all fixed;
Described shifting slide gear (4112) is with described splined shaft (4113) by spline joint, and described shifting slide gear (4112) is meshed with described carrying axle shaft gear (415) or described the second carrying axle shaft gear (4110);
Described trailing wheel (115) is connected with described carrying semiaxis (4114) by spline;
Described end axle shaft gear (4111) is connected by square key with described end semiaxis (4116);
It is upper that described countershaft-gear (419) is set in described jackshaft (401), and described countershaft-gear (419) is meshed with described the second carrying axle shaft gear (4110) and described end axle shaft gear (4111);
Described driving pulley (418) is connected with described end semiaxis (4116) by square key, and described passive belt wheel (416) is connected with described the first crawler belt semiaxis (4115) by square key.
8. a kind of Lun Lvshi according to claim 5 road ladder two-use wheel chair, is characterized in that,
Described crossbeam (2110), described front rod (219), the secondary track frame of described intermediate connecting rod (216) and described centre (217) composition parallel-crank mechanism, wherein, the length of described front rod (219) and described intermediate connecting rod (216) equal in length, described crossbeam (2110) and the junction of described front rod (219) equal the length of the secondary track frame in described centre (217) to the distance of described crossbeam (2110) and described carrying semiaxis (4114) junction;
Connecting rod (211) and described rear end lower link (212) composition quadrangular mechanism on described crossbeam (2110), described intermediate connecting rod (216), described rear end, wherein, in the time of connecting rod (211) on described rear end and described rear end lower link (212) conllinear, described rear end secondary track frame (214) and middle secondary track frame (217) conllinear.
9. a kind of Lun Lvshi according to claim 4 road ladder two-use wheel chair, is characterized in that,
Between one end of described crossbeam (2110) and described vehicle frame (100), be provided with adjusting device, described adjusting device is made up of adjusting rod upper end (113), adjusting rod lower end (112) and adjustment screw;
Between described adjusting rod upper end (113) and described adjusting rod lower end (112), form moving sets, one end of described adjusting rod upper end (113) and described vehicle frame (100) are hinged, and one end of described adjusting rod lower end (112) is connected by bearing pin with described crossbeam (2110);
On described adjusting rod upper end (113) and described adjusting rod lower end (112), all offer several equally spaced through holes, described adjustment screw is through the through hole on described adjusting rod upper end (113) and the described adjusting rod lower end (112) corresponding with it.
10. a kind of Lun Lvshi according to claim 1 road ladder two-use wheel chair, is characterized in that,
Described DC speed-reducing (411) removably connects by bolt and described vehicle frame (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420052133.9U CN203790168U (en) | 2014-01-27 | 2014-01-27 | Wheel and caterpillar type road and stair dual-purpose wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420052133.9U CN203790168U (en) | 2014-01-27 | 2014-01-27 | Wheel and caterpillar type road and stair dual-purpose wheelchair |
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| Publication Number | Publication Date |
|---|---|
| CN203790168U true CN203790168U (en) | 2014-08-27 |
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| CN201420052133.9U Expired - Fee Related CN203790168U (en) | 2014-01-27 | 2014-01-27 | Wheel and caterpillar type road and stair dual-purpose wheelchair |
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| CN (1) | CN203790168U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103767841A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel and crawler type dual-purpose wheelchair for both roads and stairs |
| CN104443100A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Gravity center adjusting mechanism for ladder climbing robot |
| CN105726232A (en) * | 2016-02-01 | 2016-07-06 | 山东科技大学 | Double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and method for going upstairs and downstairs |
| WO2018025172A1 (en) * | 2016-08-02 | 2018-02-08 | B-Free Limited | Hybrid wheeled and tracked moving mechanism |
| CN108163076A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of water feeding machine device people |
| CN108163075A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of stair climbing robot and its application |
-
2014
- 2014-01-27 CN CN201420052133.9U patent/CN203790168U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103767841A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel and crawler type dual-purpose wheelchair for both roads and stairs |
| CN103767841B (en) * | 2014-01-27 | 2016-09-21 | 河北工业大学 | A kind of Lun Lvshi road ladder two-use wheel chair |
| CN104443100A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Gravity center adjusting mechanism for ladder climbing robot |
| CN105726232A (en) * | 2016-02-01 | 2016-07-06 | 山东科技大学 | Double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and method for going upstairs and downstairs |
| CN105726232B (en) * | 2016-02-01 | 2017-09-08 | 山东科技大学 | The double crawler belt stair-climbing wheel chairs of binodal swung based on road wheel and upper method downstairs |
| WO2018025172A1 (en) * | 2016-08-02 | 2018-02-08 | B-Free Limited | Hybrid wheeled and tracked moving mechanism |
| CN108024895A (en) * | 2016-08-02 | 2018-05-11 | 必飞有限公司 | Wheel and crawler belt mixed type moving mechanism |
| CN108163076A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of water feeding machine device people |
| CN108163075A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of stair climbing robot and its application |
| CN108163076B (en) * | 2017-11-29 | 2023-12-22 | 昆明理工大学 | Water delivery robot |
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