CN203790169U - Wheel type stair climbing wheelchair - Google Patents
Wheel type stair climbing wheelchair Download PDFInfo
- Publication number
- CN203790169U CN203790169U CN201420053318.1U CN201420053318U CN203790169U CN 203790169 U CN203790169 U CN 203790169U CN 201420053318 U CN201420053318 U CN 201420053318U CN 203790169 U CN203790169 U CN 203790169U
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- planetary gear
- gimbal lever
- wheelchair
- driving device
- climbing
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Abstract
The utility model discloses a wheel type stair climbing wheelchair which is designed for solving the problems that an existing stair climbing wheelchair is complex in structure, poor in safety and the like. The wheel type stair climbing wheelchair comprises a seat, a driving device and a transmission mechanism connected with the driving mechanism. Front planet wheels and rear planet wheels are arranged on the two sides of the transmission mechanism, and the front planet wheels and rear planet wheels on the two sides of the transmission mechanism are connected with the seat through inverse parallelogram adjusting mechanisms. When the wheelchair climbs stairs, the angle of the seat is adjusted through the inverse parallelogram adjusting mechanisms. When the wheel type stair climbing wheelchair is used for climbing stairs, the angle of the seat can be adjusted through the inverse parallelogram adjusting mechanisms, the position of the center of the gravity of a user is adjusted accordingly, the balance of the user is ensured, the safety of the wheel type stair climbing wheelchair in the stair climbing process is improved, the inverse parallelogram adjusting mechanisms are simple and reliable in structure, and the production cost of the wheel type stair climbing wheelchair is greatly lowered.
Description
Technical field
This utility model relates to a kind of wheeled stair-climbing wheel chair.
Background technology
Along with arrival China of 21 century has entered aging society, the aging population of China have reached 1.32 hundred million now, and with average annual 3.30% speed sustainable growth, in addition, China also has all kinds of people with disabilitys 6,000 ten thousand, and a large amount of elderly and the disabled's the existence problem of helping the disabled that makes to help the elderly becomes a great social problem day by day.In city, stair are modal obstacles in man-made environment, are also one of obstacles of the most difficult leap.Along with the appearance of service robot and the development elderly and the disabled's quality of life have obtained effective raising, this will be conducive to the stable development of Chinese society.Electric wheel chair for climbing stairs is a kind of of service robot, and it is old people or the indispensable rehabilitation of limbs the disabled and paces instrument, by wheelchair old people and limbs the disabled, can carry out physical exercise and participate in social activity.The wheelchair development of China is slower, and the multifunctional wheelchair of energy stair climbing there is no ripe product at home; Yet along with the development of social productive forces, the raising of people's living standard, considers the convenience that old people and people with disability go on a journey, and the wheelchair that development has stair climbing function is of great immediate significance.
Although Chinese scholars makes certain gains respectively in the development of wheeled stair climbing robot, due to the uncertainty of stairway step parameter and the safety in stair climbing process, still exist some key issues not yet to solve, as follows:
(1) wheel structure of robot.
Design a kind of can be safely, the effective wheeled construction of stair climbing.
(2) safety in stair climbing process.
User has been the disabled or old people, and designer must guarantee the safety of robot when stair climbing.
These problems are seriously restricting the R&D and promotion of wheeled stair climbing robot.
Utility model content
An object of the present utility model be propose a kind of simple in structure and can adjust in real time center of gravity, wheeled stair-climbing wheel chair that security reliability is high.
Another object of the present utility model be propose a kind ofly can between traveling mode He Pa building, level land pattern, freely to switch, wheeled stair-climbing wheel chair easy to use.
An also object of the present utility model is to propose a kind of comfortable wheeled stair-climbing wheel chair that uses.
For reaching this object, this utility model by the following technical solutions:
A kind of wheeled stair-climbing wheel chair, comprise seat and driving device, the both sides of driving device respectively arrange front planetary gear and rear planetary gear, can drive described front planetary gear and/or rear planetary gear to move by described driving device, the front planetary gear of described driving device both sides be all connected with described seat by antiparallel tetragon guiding mechanism with rear planetary gear; When described wheelchair stair-climbing, by antiparallel tetragon guiding mechanism, adjust the angle of described seat.
Further, described antiparallel tetragon guiding mechanism comprises by first gimbal lever, second gimbal lever, the San gimbal lever and the Si gimbal lever and is rotationally connected antiparallel quadrilateral structure and the retractor device forming, wherein,
Described first gimbal lever is arranged on described seat;
The two ends of the described Si gimbal lever are rotationally connected with described front planetary gear and rear planetary gear respectively;
Described second gimbal lever and the described San gimbal lever are arranged in a crossed manner between described first gimbal lever and the described Si gimbal lever;
One end of described second gimbal lever and the described Si gimbal lever are rotationally connected with on described front planetary gear, and one end of the other end and described first gimbal lever is rotationally connected at the first junction point;
One end of the described San gimbal lever and the described Si gimbal lever are rotationally connected with on described rear planetary gear, and the other end of the other end and described first gimbal lever is rotationally connected at the second junction point;
Described retractor device is arranged between described the first junction point and described the second junction point, for adjusting the distance between described the first junction point and described the second junction point.
Preferably, described in, be rotationally connected as being articulated and connected.
Further, described front planetary gear and described rear planetary gear include revolution wheel support and are arranged at the self-rotation wheel on revolution wheel support;
Described revolution wheel support comprises some lower limbs of taking turns, and each is taken turns and on lower limb, is provided with a self-rotation wheel.
Preferably, described revolution wheel support has five wheel lower limbs.
Preferably, described driving device comprises the first driving device and the second driving device;
When described wheelchair is advanced gear in level land, by described the first driving device, drive the self-rotation wheel of described rear planetary gear to rotate;
When described wheelchair is when climbing building gear, by described the second driving device, drive described front planetary gear and described rear planetary gear to rotate.
Preferably, described wheelchair also comprises controller, and controller is connected with described retractor device;
On described rear planetary gear, be provided with the induction installation being connected with described controller, described controller is advanced and is switched between gear He Pa building gear on level land according to wheelchair described in the actuated signal control of induction installation;
In the described Si gimbal lever, be provided with the obliquity sensor being connected with described controller, the rotational angle of the Si gimbal lever that controller detects according to obliquity sensor is controlled the collapsing length of described retractor device.
Preferably, described retractor device is the piston rod by air cylinder driven.
Preferably, described seat bottom is provided with damping device.
The beneficial effects of the utility model are:
(1) can adjust by antiparallel tetragon guiding mechanism the angle of seat during the wheeled stair-climbing wheel chair Pa of this utility model building, and then the position of centre of gravity of adjustment user, guarantee the balance of user, safety when improving wheeled stair-climbing wheel chair and climbing building, and antiparallel tetragon guiding mechanism is simple and reliable for structure, greatly reduce the production cost of wheeled stair-climbing wheel chair.
(2) the wheeled stair-climbing wheel chair of this utility model has traveling mode He Pa building, level land pattern, on rear planetary gear, be also provided with induction installation, controller can freely switch according to the actuated signal control wheelchair of induction installation between traveling mode He Pa building, level land pattern, easy to use and reliable, gait of march is fast and steady.
(3) in the bottom of seat, be also provided with damping device, effectively improve the comfort of this wheeled stair-climbing wheel chair.
Accompanying drawing explanation
Fig. 1 is this utility model antiparallel tetragon guiding mechanism deformation schematic diagram;
Fig. 2 is the structural representation of the wheeled stair-climbing wheel chair that provides of this utility model embodiment mono-;
Fig. 3 is the wheeled stair-climbing wheel chair Pa building schematic diagram of movements that this utility model embodiment mono-provides.
In figure, 1, seat; 3, front planetary gear; 4, rear planetary gear; 5, driving device; 6, antiparallel tetragon guiding mechanism; 61, first gimbal lever; 62, second gimbal lever; 63, the San gimbal lever; 64, the Si gimbal lever; 7, head rod; 8, the second connecting rod; 9, revolution wheel support; 91, wheel lower limb; 10, self-rotation wheel; 11, torque sensor; 12, frame; 13, crank; 14, piston rod; 15, obliquity sensor; 16, the first junction point; 17, the second junction point.
The specific embodiment
Below in conjunction with accompanying drawing and by the specific embodiment, further illustrate the technical solution of the utility model.
The length of two relative bars equates respectively but uneven four-bar mechanism is called antiparallel tetragon guiding mechanism.Under original state, guarantee antiparallel tetragon guiding mechanism two crank levels, as shown in a figure in Fig. 1, incite somebody to action when wherein a long limit is as frame 12, two cranks 13 will rotate along contrary direction, and the antiparallel tetragon after rotation is as shown in a ' figure in Fig. 1.
Above-mentioned know-why is applied in the structural design of stair-climbing wheel chair to the angle of adjustable seat in the time of can making wheelchair Pa building, and then the center of gravity of adjusting user, the safety of assurance user.
Embodiment mono-:
Fig. 2 is the structural representation of the wheeled stair-climbing wheel chair that provides of the present embodiment.As shown in the figure, this wheeled stair-climbing wheel chair comprises seat 1 and driving device 5.Driving device 5 both sides are respectively provided with front planetary gear 3 and rear planetary gear 4, planetary gear 3 and/or 4 motions of rear planetary gear before driving by driving device 5.The front planetary gear 3 of driving device 5 both sides is all connected with seat 1 by antiparallel tetragon guiding mechanism 6 with rear planetary gear 4, when wheelchair stair-climbing, adjusts the center of gravity of seat by antiparallel tetragon guiding mechanism 6.
Wherein, described antiparallel tetragon guiding mechanism 6 comprises the antiparallel quadrilateral structure that is articulated and connected and is formed by first gimbal lever 61, second gimbal lever 62, the San gimbal lever 63 and the Si gimbal lever 64; Described seat is respectively arranged with the second connecting rod 8 and head rod 7 before and after 1 both sides; Described first gimbal lever 61 and second gimbal lever 62 are articulated and connected in the top of described head rod 7; Described first gimbal lever 61 and the San gimbal lever 63 are articulated and connected on described the second connecting rod 8; The described San gimbal lever 63 and the Si gimbal lever 64 are connected on described rear planetary gear 4 by the lower hinge of described head rod 7; Described second gimbal lever 62 and the Si gimbal lever 64 are articulated and connected on described front planetary gear 3; On described head rod 7, be provided with for adjusting the piston rod 14 by air cylinder driven of head rod 7 length.
As shown in Figure 3, when wheelchair stair-climbing, using second gimbal lever 62 as frame, rear planetary gear 4 lifts, and piston rod 14 shrinks head rod 7 length are shortened, the Si gimbal lever 64 rotates, according to antiparallel tetragon principle, the corresponding counter-rotation certain angle of first gimbal lever's 61 meeting, and then drive connected seat 1 also to turn over certain angle, thereby can adjust the position of centre of gravity of the user on seat 1, guarantee the balance of user.
Described front planetary gear 3 and described rear planetary gear 4 include revolution wheel support 9 and are arranged at the self-rotation wheel 10 on revolution wheel support 9; Described revolution wheel support 9 comprises five wheel lower limbs 91, and each is taken turns and on lower limb 91, is provided with a self-rotation wheel 10.
Driving device 5 comprises the first driving device and the second driving device.This wheeled stair-climbing wheel chair has two gears: the level land gear He Pa building gear of advancing.When described wheelchair is advanced gear in level land, after driving by the first driving device, the self-rotation wheel 10 of planetary gear 4 rotates, and wheelchair can be advanced fast on level land; When described wheelchair is when climbing building gear, by the second driving device, drive described front planetary gear 3 and described rear planetary gear 4 to rotate, realize wheelchair Pa building.
Preferably, the first driving device is the first motor, and the self-rotation wheel of servomotor and rear planetary gear is coaxially installed, the self-rotation wheel of planetary gear after driving by the first reducing gear; Can on each self-rotation wheel of rear planetary gear, the first motor be installed; The second driving device is the second motor, and after the second motor drives by the second reducing gear, the revolution support of planetary gear rotates.
On wheelchair, be also provided with controller, controller is connected with the cylinder of piston rod 14; On described rear planetary gear 4, be provided with the torque sensor 11 being connected with described controller, described controller is advanced and is switched between gear He Pa building gear on level land according to wheelchair described in the actuated signal control of torque sensor 11; In the described Si gimbal lever 64, be provided with the obliquity sensor 15 being connected with described controller, the collapsing length of the rotational angle control piston bar 14 of the Si gimbal lever 64 that controller detects according to obliquity sensor 15.
The work of this wheeled stair-climbing wheel chair is specially: when wheelchair is on level land, the torque sensor 11 on rear planetary gear 4 can not be subject to the moment loading from stairway step, and controller is controlled the wheelchair gear of advancing in level land, when needs are climbed building, wheelchair is adjusted to back to stair, when the rear planetary gear 4 of wheelchair has been subject to the moment loading from stairway step, controller control wheelchair is converted to climbs building gear, by the rotational angle of the obliquity sensor 15 induction Si gimbal levers 64, and angle signal is sent to controller, controller is flexible according to this signal controlling piston rod 14, and then the length of conversion head rod 7 is to adjust the angle of seat 1, when the rear planetary gear 4 of wheelchair is not subject to the moment loading from stairway step, controller is controlled the wheelchair gear of advancing in level land, controller control piston bar 14 is retractable to original length of head rod 7.So, when the table top of stair is longer, controller also can be controlled wheelchair according to torque sensor 11 and shift gears, and the distance after adjusting between planetary gear 4 and stairway step, further guarantees safety in utilization.
The rigid shock producing when rotating in order to cushion antiparallel tetragon guiding mechanism 6, is also provided with the damping devices such as spring in the bottom of seat 1.
Wherein, between each gimbal lever and between the gimbal lever and connecting rod, be not limited to and be articulated and connected, being rotationally connected of other all can; The retractor device of adjusting head rod length is not limited to the piston rod by air cylinder driven, and other retractor devices that can realize above-mentioned functions all can; The wheel lower limb quantity of revolution wheel support is not limited to five, can climb building by Convenient wheelchair; After detecting, between planetary gear and stairway step, the induction installation of distance is not limited to torque sensor, and other induction installations that can accurately detect distance between rear planetary gear and stairway step all can; Also can be using the self-rotation wheel of front planetary gear as drivewheel when gear is advanced on level land.
Embodiment bis-:
The basic structure of the wheeled stair-climbing wheel chair that the present embodiment provides is identical with embodiment mono-, comprises seat and driving device.Driving device both sides are respectively provided with front planetary gear and rear planetary gear.The front planetary gear of driving device both sides is all connected with seat by antiparallel tetragon guiding mechanism with rear planetary gear, when wheelchair stair-climbing, adjusts the center of gravity of seat by antiparallel tetragon guiding mechanism.
Be with the difference of embodiment mono-, first gimbal lever of the present embodiment is set directly on seat, head rod and the second connecting rod have so just been saved, second gimbal lever and first gimbal lever are hinged at the first junction point, the San gimbal lever and first gimbal lever are hinged at the second junction point, retractor device is set directly between the first junction point and the second junction point, by retractor device, adjusts the distance between the first junction point and the second junction point.This structure also can realize the adjustment function as described in embodiment mono-, and structure is further simplified.
Know-why of the present utility model has below been described in conjunction with specific embodiments.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.Explanation based on herein, those skilled in the art does not need to pay performing creative labour can associate other specific embodiment of the present utility model, within these modes all will fall into protection domain of the present utility model.
Claims (9)
1. a wheeled stair-climbing wheel chair, comprise seat (1) and driving device (5), the both sides of driving device (5) respectively arrange front planetary gear (3) and rear planetary gear (4), can drive described front planetary gear (3) and/or rear planetary gear (4) motion by described driving device (5), it is characterized in that: the front planetary gear (3) of described driving device (5) both sides is all connected with described seat (1) by antiparallel tetragon guiding mechanism (6) with rear planetary gear (4); When described wheelchair stair-climbing, by antiparallel tetragon guiding mechanism (6), adjust the angle of described seat (1).
2. a kind of wheeled stair-climbing wheel chair according to claim 1, it is characterized in that: described antiparallel tetragon guiding mechanism (6) comprises by first gimbal lever (61), second gimbal lever (62), the San gimbal lever (63) and the Si gimbal lever (64) and is rotationally connected antiparallel quadrilateral structure and the retractor device (14) forming, wherein
Described first gimbal lever (61) is arranged on described seat (1);
The two ends of the described Si gimbal lever (64) are rotationally connected with described front planetary gear (3) and rear planetary gear (4) respectively;
Described second gimbal lever (62) and the described San gimbal lever (63) are arranged in a crossed manner between described first gimbal lever (61) and the described Si gimbal lever (64);
It is upper that one end of described second gimbal lever (62) and the described Si gimbal lever (64) are rotationally connected with described front planetary gear (3), and one end of the other end and described first gimbal lever (61) is rotationally connected at the first junction point (16);
It is upper that one end of the described San gimbal lever (63) and the described Si gimbal lever (64) are rotationally connected with described rear planetary gear (4), and the other end of the other end and described first gimbal lever (61) is rotationally connected at the second junction point (17);
Described retractor device (14) is arranged between described the first junction point (16) and described the second junction point (17), for adjusting the distance between described the first junction point (16) and described the second junction point (17).
3. a kind of wheeled stair-climbing wheel chair according to claim 2, is characterized in that: described in be rotationally connected as being articulated and connected.
4. a kind of wheeled stair-climbing wheel chair according to claim 2, is characterized in that: described front planetary gear (3) and described rear planetary gear (4) include revolution wheel support (9) and be arranged at the self-rotation wheel (10) on revolution wheel support (9);
Described revolution wheel support (9) comprises some lower limbs (91) of taking turns, and each is taken turns and on lower limb (91), is provided with a self-rotation wheel (10).
5. a kind of wheeled stair-climbing wheel chair according to claim 4, is characterized in that: described revolution wheel support (9) has five wheel lower limbs (91).
6. according to a kind of wheeled stair-climbing wheel chair described in claim 4 or 5, it is characterized in that: described driving device (5) comprises the first driving device and the second driving device;
When described wheelchair is advanced gear in level land, by described the first driving device, drive the self-rotation wheel (10) of described rear planetary gear (4) to rotate;
When described wheelchair is when climbing building gear, by described the second driving device, drive described front planetary gear (3) and described rear planetary gear (4) to rotate.
7. a kind of wheeled stair-climbing wheel chair according to claim 6, is characterized in that: described wheelchair also comprises controller, and controller is connected with described retractor device (14);
On described rear planetary gear (4), be provided with the induction installation (11) being connected with described controller, described controller is advanced and is switched between gear He Pa building gear on level land according to wheelchair described in the actuated signal control of induction installation (11);
In the described Si gimbal lever (64), be provided with the obliquity sensor (15) being connected with described controller, the rotational angle of the Si gimbal lever (64) that controller detects according to obliquity sensor (15) is controlled the collapsing length of described retractor device (14).
8. a kind of wheeled stair-climbing wheel chair according to claim 7, is characterized in that: described retractor device (14) is the piston rod (14) by air cylinder driven.
9. a kind of wheeled stair-climbing wheel chair according to claim 1, is characterized in that: described seat (1) bottom is provided with damping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420053318.1U CN203790169U (en) | 2014-01-27 | 2014-01-27 | Wheel type stair climbing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420053318.1U CN203790169U (en) | 2014-01-27 | 2014-01-27 | Wheel type stair climbing wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203790169U true CN203790169U (en) | 2014-08-27 |
Family
ID=51372449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420053318.1U Expired - Fee Related CN203790169U (en) | 2014-01-27 | 2014-01-27 | Wheel type stair climbing wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203790169U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103767840A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel-type stair-climbing wheelchair |
| CN105380759A (en) * | 2015-11-24 | 2016-03-09 | 李少臣 | Stair climbing wheelchair with stable gravity center |
| CN106143567A (en) * | 2016-07-20 | 2016-11-23 | 武汉理工大学 | A kind of planet gear type Stair climbing device |
| CN106274275A (en) * | 2015-05-27 | 2017-01-04 | 杨祖成 | Stair climbing wheelchair, draw-bar box, handbarrow and perambulator |
| CN106333804A (en) * | 2015-07-06 | 2017-01-18 | 杨祖成 | Electric stair climbing wheelchair |
| CN106510989A (en) * | 2015-09-15 | 2017-03-22 | 杨祖成 | Stair-climbing wheel, stair-climbing wheelchair, stair-climbing draw-bar box, stair-climbing trolley and stair-climbing bassinet |
| CN106539653A (en) * | 2015-09-20 | 2017-03-29 | 杨祖成 | Electric stair climbing ladder wheelchair |
| CN111374841A (en) * | 2020-03-18 | 2020-07-07 | 南通大学 | Self-service self-balancing electric multifunctional wheelchair for old people to climb stairs |
-
2014
- 2014-01-27 CN CN201420053318.1U patent/CN203790169U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103767840A (en) * | 2014-01-27 | 2014-05-07 | 河北工业大学 | Wheel-type stair-climbing wheelchair |
| CN106274275A (en) * | 2015-05-27 | 2017-01-04 | 杨祖成 | Stair climbing wheelchair, draw-bar box, handbarrow and perambulator |
| CN106333804A (en) * | 2015-07-06 | 2017-01-18 | 杨祖成 | Electric stair climbing wheelchair |
| CN106333804B (en) * | 2015-07-06 | 2017-12-19 | 杨祖成 | Electric stair climbing ladder wheelchair |
| CN106510989A (en) * | 2015-09-15 | 2017-03-22 | 杨祖成 | Stair-climbing wheel, stair-climbing wheelchair, stair-climbing draw-bar box, stair-climbing trolley and stair-climbing bassinet |
| CN106510989B (en) * | 2015-09-15 | 2017-11-21 | 杨祖成 | Stair climbing wheel, wheelchair, draw-bar box, trolley and perambulator |
| CN106539653A (en) * | 2015-09-20 | 2017-03-29 | 杨祖成 | Electric stair climbing ladder wheelchair |
| CN106539653B (en) * | 2015-09-20 | 2017-11-10 | 杨祖成 | Electric stair climbing ladder wheelchair |
| CN105380759A (en) * | 2015-11-24 | 2016-03-09 | 李少臣 | Stair climbing wheelchair with stable gravity center |
| CN106143567A (en) * | 2016-07-20 | 2016-11-23 | 武汉理工大学 | A kind of planet gear type Stair climbing device |
| CN111374841A (en) * | 2020-03-18 | 2020-07-07 | 南通大学 | Self-service self-balancing electric multifunctional wheelchair for old people to climb stairs |
| CN111374841B (en) * | 2020-03-18 | 2022-04-08 | 南通大学 | Self-service self-balancing electric multifunctional wheelchair for old people to climb stairs |
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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: 20140827 Termination date: 20150127 |
|
| EXPY | Termination of patent right or utility model |