CN204364266U - One is portable climbs building device - Google Patents
One is portable climbs building device Download PDFInfo
- Publication number
- CN204364266U CN204364266U CN201420771621.5U CN201420771621U CN204364266U CN 204364266 U CN204364266 U CN 204364266U CN 201420771621 U CN201420771621 U CN 201420771621U CN 204364266 U CN204364266 U CN 204364266U
- Authority
- CN
- China
- Prior art keywords
- wheel
- locking
- quadric chain
- downstairs
- building device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Handcart (AREA)
Abstract
This utility model provides a kind of and portablely climbs building device, and it comprises: frame, locking wheel mechanism, climb building driver element, set of cells and control unit.Wherein, frame is provided with main wheel and the locking wheel for locking main wheel rotation; Climb building driver element and comprise actuator, slider-crank mechanism, quadric chain and upper wheel downstairs etc.When climbing building, handrail inclination wheelchair on operator's backrest, when arriving certain angle, press button or downstairs upstairs, drive motors drives quadric chain to rotate by actuator, at this moment the upper crop rotation downstairs on quadric chain is the strong point of whole device, frame can be made to rise to or drop to contiguous stair, completes upstairs or action downstairs.When locking wheel is liftoff, can main wheel be locked, ensure that safety.It is convenient that these technical characteristics of the present utility model make it have dismounting, simple to operate, climbs that building is mild, the feature of safety and comfort.
Description
Technical field
This utility model relates to the portable stair activity device that the handicapped old people of a kind of confession, people with disability and sick and wounded people carry out stair activity and step etc.
Background technology
The principle that climbing machine realizes according to stair climbing function can be divided into: crawler type, wheels formula, legged three kinds.The principle of track type climbing-building machine is similar to crawler belt armored personnel carrier or tank, and its principle is simple, and technology is comparative maturity also.Track type climbing-building machine structure driven efficiency comparison is high, and during walking, center of gravity fluctuation is very little, and motion is very steady, but its weight is large, motion underaction, cause huge pressure at stair edge when climbing building, has certain damage to stair; And level land uses suffered resistance comparatively large, and the problems such as inconvenience of turning.
Wheels formula climbing machine can be divided into two wheels formulas, three wheels formulas and four-wheel above group of formula by wheels according to the number of use steamboat, its stairs climbing device is made up of several steamboats be evenly distributed on " Y " shape or "+" font tie-rod, each steamboat both around respective axis rotation, can revolve round the sun around central shaft along with tie-rod again together.When level walking, each steamboat rotation, and during stair climbing, each steamboat revolves round the sun together, thus realize the function of stair climbing.This kind of climbing machine range of activity is wide, and motion is flexible, but during stair activity, stationarity is not high, center of gravity big rise and fall, and occupant can be made not feel well.In addition, wheels formula stair-climbing device volume is comparatively large, is difficult to use on ordinary residence stair.
Legged climbing machine actuator is made up of hinge rod member mechanism, first heavy burden is raised time upstairs, more horizontal forward movement, so repeats these two processes until climbed a flight of stairs.Stable movement when legged climbing machine climbs building, is applicable to the stair of different size; But it is very high to the requirement controlled, operation more complicated, when level walking, motion amplitude is little, slow in one's movements.In addition, the height on seat distance ground is comparatively large, easily causes psychology frightened to user, and distance practical application also has very large distance.
In addition also have other some auxiliary building climbing devices, be the patent of the hand wheelchair for going up stairs in rehabilitation engineering research center as Tsing-Hua University's Precision Instrument and Machinery, its structure is simple, cost is low; But still exist in design the stability of climbing in building process not high, be difficult to adapt to that the stair of different size, manual operation are not laborsaving saves time and reverse self-locking problem etc., be difficult to drop into practical application.And the rail mounted stair-climbing device GSLArtira that Scalamohile stair climbing auxiliary device and the Canadian GaraventaLift company as the exploitation of German Alber company produces, then need attachment rail on stair, wheelchair is directly placed on stage apparatus along moving that track realization is gone downstairs.Domestic city is in the majority with multilamellar apartment-type building, and unified laying track is unrealistic, and outdoor stair are of all kinds, and for multi-form stair, need to design different tracks, cost prohibitive, not easily promotes.
Summary of the invention
For the above-mentioned deficiency of existing stair-climbing device, this utility model provides a kind of and portablely climbs building device, its can the disabled such as the old people of lower limb disorder, people with disability, sick and wounded people be assisted easily to carry out daily stair or step upper and lower.
For achieving the above object, this utility model is by the following technical solutions:
A kind of portablely climbs building device, comprising: frame, locking wheel mechanism, climb building driver element and control unit.Wherein, described locking wheel mechanism comprises: the main wheel and the locking wheel that are arranged on the frame left and right sides; Connecting rod; And be fixed on the extension spring on locking wheel, wherein, locking wheel is connected with main wheel with connecting rod by extension spring, when upper going downstairs, locking wheel is liftoff, the extension spring return on it, thus locked main wheel.
Described building driver element of climbing comprises: actuator, slider-crank mechanism, quadric chain and upper wheel downstairs, and all each side installation one is symmetric, one end of described slider-crank mechanism is connected by turning joint with actuator, to make slider-crank mechanism move along with the rotation of actuator, the other end is also connected by turning joint with the initiating terminal of quadric chain; Upper wheel is downstairs connected on a hinge in the middle of quadric chain.
Preferably, actuator is an eccentric being arranged on drive motors, and actuator drives quadric chain to move along arc trajectory by the rotation of drive motors, and the upper wheel be downstairs connected on a hinge in the middle of quadric chain also moves thereupon.
When described actuator rotates, driving crank slide block mechanism moves back and forth along the fluting of frame, drives two hinges in the middle of quadric chain also to move thereupon, thus drives parallel motion.
Preferably, the end of quadric chain is fixed in frame.
Preferably, upper wheel is downstairs fixed on a hinge place in the middle of quadric chain by bolt tightening, and it climbs the strong point of building device as this, along movement in a curve under the drive of quadric chain, thus frame is risen to or drops to contiguous stair.
Further, described locking wheel mechanism also comprises locking member, locking wheel is connected with main wheel by extension spring, connecting rod, locking member, extension spring is fixed on locking wheel, its other end connects described locking member, and connecting rod interposition is equipped with a turning cylinder, described in make connecting rod 16 around its rotate, simultaneously connecting rod 16 also can promote turning cylinder 20 and moves upward, and then drives locking member 21 to leave the inner wheel hub of main wheel 15.
Preferably, described turning cylinder is integrated with locking member fixed-type, and connecting rod can rotate around the shaft, and simultaneously connecting rod also can promote rotating shaft and moves upward, and then drives locking member to leave main wheel inner wheel hub.
Preferably, described locking member is high strength lock washer.When climbing building device and travelling on level land, because gravity has stretched extension spring, locking wheel has been subject to the effect upwardly turning cylinder of counteracting force, and the extension spring that stretches, make locking member leave the inner wheel hub of main wheel, thus reach the object of unblock; When climbing building, locking wheel drives extension spring return, and locking member, by contacting with the inner wheel hub of main wheel, makes the locked main wheel of locking wheel.
Preferably, described locking wheel and main wheel junction are eccentrically weighted shaft.
Further, described control comprises: main control module, operation push-button, mains charger, motor drive module and gyroscope center of gravity detector, described operation push-button is used for sending command signal, controller in described main control module accepts this command signal, and send corresponding control instruction to the driver in described motor drive module according to its state, driver in described motor drive module is according to the control instruction drive motors received, the closed loop feedback being realized motor by detecting unit is controlled, controller in main control module adjusts the position of center of gravity according to the signal of described gyroscope center of gravity detector, under different conditions, balance is kept to make stair climbing machine.
The beneficial effects of the utility model are, one, are driven, operate steadily, safety labor-saving according to portable building device of climbing of the present utility model by motor, and the safety and stability in use procedure is high; Its two, adopt modularized design, carry aspect, assembling is simple, can instantly fill, and cheap, structure is simple; Its three, climbing machine of the present utility model possesses the function of upper and lower building or upper and lower step simultaneously, integrate ground transfer and stair climbing function, diverse in function, is applicable to family and the mechanisms such as the residential building of not yet lift-mounting, welfare home.
Accompanying drawing explanation
Fig. 1 shows the side view of the preferred embodiment of this utility model device;
Fig. 2 shows the front view of the preferred embodiment of this utility model device;
Fig. 3 shows according to annexation schematic diagram of climbing between building driver element all parts of the present utility model;
Fig. 4 shows the structural representation of a preferred embodiment according to locking wheel mechanism of the present utility model;
Fig. 5 is the control principle drawing of preferred implementation of the present utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is described in further detail.
Fig. 1 is the side view of preferred embodiment of the present utility model.As shown in the figure, originally climb that building device comprises frame 1, locking wheel mechanism, climbs building driver element, control unit (not shown).In a preferred embodiment, described locking wheel mechanism comprises: two main wheels 15, two locking wheels 17, extension spring and connecting rods 16.Wherein, two main wheels 15 and two locking wheels 17 are arranged on frame 1 both sides (left and right each) respectively, and locking wheel 17 is connected with main wheel 15 with connecting rod 16 by extension spring, and locking wheel 17 is for locking the rotation of main wheel 15.In a preferred embodiment, under normal circumstances when upper and lower stair (also namely not), extension spring is stretched under gravity, and make locking wheel 17 concordant with main wheel 15 level, at this moment main wheel can rotate.And when upper and lower building, be arranged on the extension spring return on locking wheel 17, at this moment locking wheel 17 is liftoff, locked main wheel 15, thus prevents and climb main wheel 15 in building process and rotate.
Fig. 2 is the front view of preferred embodiment of the present utility model, and Fig. 3 is according to annexation schematic diagram of climbing building driver element all parts of the present utility model.Referring to Fig. 1-Fig. 3, climb building driver element and comprise the upper wheels 19 downstairs of two actuators, 10, two slider-crank mechanisms, 22, two quadric chains 23 and two, and be all respectively around each one symmetrical.In a specific embodiment, actuator 10 is the eccentrics being arranged on drive motors.As seen from Figure 3, actuator 10 drives quadric chain 23 to move along arc trajectory by the rotation of drive motors, and wherein upper wheel 19 downstairs is just connected on quadric chain 23.
One end of slider-crank mechanism 22 is connected slider-crank mechanism 22 can be moved along with the rotation of actuator 10 by turning joint with actuator 10, and its other end is also connected by turning joint with the initiating terminal of quadric chain 23.When actuator 10 rotates, driving crank slide block mechanism 22 moves back and forth along the fluting of frame 1, thus drives two hinges in the middle of quadric chain 23 also to move thereupon.Like this, actuator 10, under the driving of drive motors, drives quadric chain 23 to move.The other end (end) of quadric chain 23 is fixed in frame 1, as shown in stain A in Fig. 3.
Upper wheel 19 is downstairs fixed on a hinge place in the middle of quadric chain 23 by bolt tightening, as shown in FIG., and each one of both sides.Slider-crank mechanism 22 moves along the fluting of frame 1, to improve the reliability and stability that four-bar linkage structure 23 moves, thus ensures that quadric chain 23 drives upper wheel 19 downstairs along movement in a curve.
When this climbs device Bu Pa building, building, in other words when level land, the extension spring 18 under gravity on locking wheel 17 is stretched, and locking wheel 17 is able to concordant with main wheel 15, and such main wheel 15 just can rotate.And when upper going downstairs, locking wheel 17 is unsettled, extension spring 18 return, thus locked main wheel 15, prevent main wheel 15 from rotating and skid.
Shown in composition graphs 1 and Fig. 5, during stair activity, operator is by the handrail inclination wheelchair on backrest, when wheelchair tilts to certain angle, press button or downstairs upstairs, the drive motors in control unit drives actuator 10, and then drives quadric chain 23 action of climbing in building driver element.Now, two the upper wheels 19 being downstairs arranged on the hinge place of two quadric chains 23, as the whole strong point of climbing building device, make frame 1 to rise to or to drop to contiguous stair.Now when locking wheel 17 is liftoff unsettled, extension spring return, thus locked main wheel 15, prevent main wheel 15 from rotating and skid, thus ensure upper safety downstairs.
By upper, drive the actuator 10 on it to rotate according to portable building device of climbing of the present utility model by drive motors, thus drive quadric chain 23 and slider-crank mechanism 22 to move.Wherein upper wheel 19 is downstairs arranged on the chain place of quadric chain 23, and along with the motion of quadric chain 23, above downstairs wheel 19 moves, to realize object downstairs.In this utility model, slider-crank mechanism 23 is a kind of auxiliary device, and it is in order to ensure the stability of quadric chain 23, simultaneously in order to limit the track of quadric chain 23 along movement in a curve, prevents from exceeding footprint.When this climbs device Bu Pa building, building, in other words when level land, the extension spring under gravity on locking wheel 17 is stretched, and makes locking wheel 17 concordant with main wheel 15, and such main wheel 15 just can rotate.And when upper going downstairs, locking wheel 17 is unsettled, extension spring return, thus locked main wheel 15, prevent main wheel 15 from rotating and skid.
In a further preferred embodiment, locking wheel mechanism of the present utility model also comprises locking member.Fig. 4 is the structural representation of another preferred embodiment of locking wheel mechanism of the present utility model.Composition graphs 1 and Fig. 4, in described locking wheel mechanism, locking wheel 17 is connected with main wheel 15 by connecting rod 16, extension spring 18, locking member 21.Extension spring 18 is fixed on locking wheel 17, its other end connects locking member 21, connecting rod 16 interposition is equipped with a turning cylinder 20, the effect of this turning cylinder is, connecting rod 16 can be made to rotate around it, simultaneously connecting rod 16 also can promote turning cylinder 20 and moves upward, and then drives locking member 21 to leave the inner wheel hub of main wheel 15.In a preferred embodiment, this turning cylinder 20 is integrated with locking member 21 fixed-type, and connecting rod 16 moving axis 20 that can rotate can be made to rotate, and connecting rod 16 also can promote turning cylinder 20 and moves upward simultaneously, and then drives locking member 21 to leave main wheel 15 inner wheel hub.
Under normal circumstances, also namely under drivewheel kiss the earth state, because gravity has stretched extension spring, locking wheel 17 is subject to the effect upwardly turning cylinder 20 of counteracting force, and the extension spring 18 that stretches, make locking member 21 leave the inner wheel hub of main wheel 15, thus reach the object of unblock, after unlocking, main wheel 15 can rotate.In upper (Ji Pa building) process downstairs, locking wheel 17 drives extension spring 18 return, and locking member 21, by contacting with the inner wheel hub of main wheel 15, makes the locked main wheel 15 of locking wheel 17, prevents from climbing main wheel 15 in building process and rotates, thus reach the effect of locking.Locking wheel 17 and main wheel 15 junction are eccentrically weighted shaft, and it realizes reciprocal locking and unblock along with upper moving up and down of wheel downstairs.
Further, continue referring to Fig. 3 and Fig. 4, climbing building driver element drives upper wheel 19 downstairs along the movement in a curve shown in figure by slider-crank mechanism 22 and quadric chain 23, building device integrated support will be climbed get up and move to upper level step (time upstairs) or next stage step (time downstairs), thus complete or the process of going downstairs upstairs, complete the upper action downstairs of one-level stair.And when main wheel 15 lands, promote locking wheel 17 and turning cylinder 20 upwards under gravity, make locking member 21 leave the inner wheel hub of main wheel 15, can ensure that this climbs building device so in the plane can normal activity.
Fig. 5 is the schematic diagram of control unit of the present utility model.As shown in the figure, according to novel control unit of climbing building device of the present utility model primarily of main control module 24, the compositions such as operation push-button 25, mains charger 26, motor drive module 27 and gyroscope center of gravity detector 28.User sends command signal by operation push-button 25, controller in main control module 24 accepts this command signal, corresponding control instruction is sent to the driver in motor drive module 27 according to its state, driver in motor drive module 27 is according to the order-driven motor received, and the closed loop feedback being realized motor by detecting unit is controlled.Controller in main control module 24 adjusts the position of center of gravity according to the signal of gyroscope center of gravity detector 28, keeps balance to make stair climbing function under different conditions.Whole control system is using mains charger 26 as power supply energy, and this mains charger 26 can be accumulator.
The above know-why being preferred embodiment of the present utility model and using; for a person skilled in the art; when not deviating from spirit and scope of the present utility model; any based on apparent changes such as the equivalent transformation on technical solutions of the utility model basis, simple replacements, all belong within this utility model protection domain.
Claims (10)
1. portablely climb a building device, comprising: frame, locking wheel mechanism, climb building driver element and control unit, it is characterized in that,
Described locking wheel mechanism comprises: the main wheel and the locking wheel that are arranged on the frame left and right sides; Connecting rod; And be fixed on the extension spring on locking wheel, wherein, locking wheel is connected with main wheel with connecting rod by extension spring, when upper going downstairs, locking wheel is liftoff, the extension spring return on it, thus locked main wheel;
Described building driver element of climbing comprises: actuator, slider-crank mechanism, quadric chain and upper wheel downstairs, and all each side installation one is symmetric, one end of described slider-crank mechanism is connected by turning joint with actuator, to make slider-crank mechanism move along with the rotation of actuator, the other end is also connected by turning joint with the initiating terminal of quadric chain; Upper wheel is downstairs connected on a hinge in the middle of quadric chain.
2. one according to claim 1 is portable climbs building device, it is characterized in that, actuator is an eccentric being arranged on drive motors, actuator drives quadric chain to move along arc trajectory by the rotation of drive motors, and the upper wheel be downstairs connected on a hinge in the middle of quadric chain also moves thereupon.
3. one according to claim 1 and 2 is portable climbs building device, it is characterized in that, when described actuator rotates, driving crank slide block mechanism moves back and forth along the fluting of frame, drive two hinges in the middle of quadric chain also to move thereupon, thus drive parallel motion.
4. one according to claim 1 is portable climbs building device, and it is characterized in that, the end of quadric chain is fixed in frame.
5. one according to claim 1 is portable climbs building device, it is characterized in that, upper wheel is downstairs fixed on a hinge place in the middle of quadric chain by bolt tightening, it climbs the strong point of building device as this, along movement in a curve under the drive of quadric chain, thus frame is risen to or drops to contiguous stair.
6. one according to claim 1 is portable climbs building device, it is characterized in that, described locking wheel mechanism also comprises locking member, locking wheel is connected with main wheel by extension spring, connecting rod, locking member, extension spring is fixed on locking wheel, its other end connects described locking member, connecting rod interposition is equipped with a turning cylinder, the described connecting rod (16) that makes rotates around it, simultaneously connecting rod (16) also can promote turning cylinder (20) and moves upward, and then drives locking member (21) to leave main wheel (15) inner wheel hub.
7. one according to claim 6 is portable climbs building device, it is characterized in that, described turning cylinder is integrated with locking member fixed-type, and connecting rod is rotated around the shaft, the rotating shaft of connecting rod promotion simultaneously moves upward, and then drives locking member to leave main wheel inner wheel hub.
8. one according to claim 6 is portable climbs building device, it is characterized in that, described locking member is high strength lock washer, when climbing building device and travelling on level land, because gravity has stretched extension spring, locking wheel has been subject to the effect upwardly turning cylinder of counteracting force, and the extension spring that stretches, make locking member leave the inner wheel hub of main wheel, thus reach the object of unblock; When climbing building, locking wheel drives extension spring return, and locking member, by contacting with the inner wheel hub of main wheel, makes the locked main wheel of locking wheel.
9. one according to claim 1 is portable climbs building device, and it is characterized in that, described locking wheel and main wheel junction are eccentrically weighted shaft.
10. one according to claim 1 is portable climbs building device, it is characterized in that, described control comprises: main control module, operation push-button, mains charger, motor drive module and gyroscope center of gravity detector, described operation push-button is used for sending command signal, controller in described main control module accepts this command signal, and send corresponding control instruction to the driver in described motor drive module according to its state, driver in described motor drive module is according to the control instruction drive motors received, the closed loop feedback being realized motor by detecting unit is controlled, controller in main control module adjusts the position of center of gravity according to the signal of described gyroscope center of gravity detector, under different conditions, balance is kept to make stair climbing machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420771621.5U CN204364266U (en) | 2014-12-09 | 2014-12-09 | One is portable climbs building device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420771621.5U CN204364266U (en) | 2014-12-09 | 2014-12-09 | One is portable climbs building device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204364266U true CN204364266U (en) | 2015-06-03 |
Family
ID=53320525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420771621.5U Expired - Fee Related CN204364266U (en) | 2014-12-09 | 2014-12-09 | One is portable climbs building device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204364266U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434431A (en) * | 2014-12-09 | 2015-03-25 | 国家康复辅具研究中心 | Portable stair climbing device |
| CN107260424A (en) * | 2017-06-05 | 2017-10-20 | 上海大学 | One kind is medical to step on building machine |
-
2014
- 2014-12-09 CN CN201420771621.5U patent/CN204364266U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434431A (en) * | 2014-12-09 | 2015-03-25 | 国家康复辅具研究中心 | Portable stair climbing device |
| CN104434431B (en) * | 2014-12-09 | 2016-11-02 | 国家康复辅具研究中心 | A kind of portable Stair climbing device |
| CN107260424A (en) * | 2017-06-05 | 2017-10-20 | 上海大学 | One kind is medical to step on building machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102614055B (en) | Wheel/track coupled type self-balancing barrier-free wheelchair | |
| CN104027207B (en) | Multi-functional accessible life electric wheelchair | |
| CN204016663U (en) | Automatic wheelchair | |
| CN104434431B (en) | A kind of portable Stair climbing device | |
| CN203315197U (en) | Reconfigurable wheel-leg combined type wheelchair | |
| KR101363850B1 (en) | Robot for Assistance Exoskeletal Power | |
| CN103230321B (en) | Frame of composite wheel leg type wheelchair | |
| CN212400777U (en) | Stilt type deformation wheel | |
| CN109172177A (en) | A kind of wheel-track combined climbing stairs wheelchair of steady comfort type | |
| CN103767840A (en) | Wheel-type stair-climbing wheelchair | |
| CN204364266U (en) | One is portable climbs building device | |
| CN203790168U (en) | Wheel and caterpillar type road and stair dual-purpose wheelchair | |
| CN103767841A (en) | Wheel and crawler type dual-purpose wheelchair for both roads and stairs | |
| CN210698041U (en) | Novel stair climbing wheelchair robot | |
| CN103230322B (en) | Front leg mechanism of composite wheel leg type wheelchair | |
| CN209678897U (en) | A kind of wheel-track combined climbing stairs wheelchair | |
| CN103300981B (en) | A kind of wheelchair of climbing step | |
| CN102697612A (en) | Stair climbing wheelchair capable of crossing obstacles and method for controlling ascending and descending thereof | |
| CN105342811A (en) | Support part and self-adaptation seat device with same | |
| CN110203294A (en) | A kind of automatic stari creeping device | |
| CN110037867B (en) | Novel wheel capable of crossing obstacle and climbing stairs and operation method thereof | |
| CN206324939U (en) | Stair climbing wheelchair | |
| TW201231033A (en) | Vehicle with adjustable wheel span | |
| CN101823514A (en) | Multi-function power-operated staircase vehicle | |
| RU2304952C1 (en) | Vehicle for moving up and down the stairs |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150603 Termination date: 20181209 |