CN206324939U - Stair climbing wheelchair - Google Patents
Stair climbing wheelchair Download PDFInfo
- Publication number
- CN206324939U CN206324939U CN201621085758.0U CN201621085758U CN206324939U CN 206324939 U CN206324939 U CN 206324939U CN 201621085758 U CN201621085758 U CN 201621085758U CN 206324939 U CN206324939 U CN 206324939U
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- CN
- China
- Prior art keywords
- microcontroller
- chassis overhang
- stair climbing
- climbing wheelchair
- motor
- 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
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Abstract
The utility model proposes a kind of stair climbing wheelchair, including：Seat support, backrest, drive device and wireless operating device below seat support, the drive device includes the chassis overhang being fixed on below seat support, microcontroller, two crawler belts, at least four lifting actuators and battery, two crawler belt is respectively arranged on the left and right sides of chassis overhang, the at least four liftings actuator is respectively symmetrically located at the front and rear both sides of chassis overhang, the chassis overhang is provided with the first motor for being used for driving crawler belt, and for driving the second motor of lifting actuator, first motor and the second motor are all connected to microcontroller, provided with the infrared distance measuring sensor for being connected to microcontroller below the chassis overhang, the chassis overhang is provided with the gyro sensor for being connected to microcontroller, the microcontroller is wirelessly connected to wireless operating device.The utility model manipulation is convenient, and security performance is high, greatly facilitates old age, the daily life of individuals with disabilities.
Description
Technical field
The utility model is related to life appliance technical field, more particularly to a kind of stair climbing wheelchair.
Background technology
For handicapped people in terms of the elderly and walking, wheelchair is the aid commonly used in its daily life, wheel
Chair solves the problem of their daily lifes are walked, with very big facility.
Existing wheelchair has a many kinds, including climbing stairs and the not type of climbing stairs, and common stair-climbing wheel chair includes：Carry out
Belt stair-climbing wheel chair, star wheel type stair-climbing wheel chair and stepping brace type stair-climbing wheel chair.Wherein, the principle class of crawler type stair climbing wheelchair
Crawler belt armored personnel carrier or tank are similar to, wheelchair bottom is caterpillar drive mechanism, but the track type climbing-building wheelchair can not be certainly
Dynamic creep stair, step, barrier；Can not adjust automatically wheelchair and ground angle to adjust center of gravity, it is necessary to which people adjusts below
Whole wheelchair angle, helps wheelchair and is overturned to prevent it；Turn dumb.
The each star-wheel and star wheel frame of star wheel type stair-climbing wheel chair can revolve round the sun around star wheel frame main shaft, while each star
Wheel can also be around itself spider gear shaft rotation.When climbing building, each star-wheel itself is locked not to be turned, together with star wheel frame around
Star wheel frame main shaft revolves round the sun, to complete to climb building action.However, star wheel type stair-climbing wheel chair can not automatic creeping stair, step, obstacle
Thing；Security is poor, and easy skidding weight capacity is poor；Need manpower traction；The usually mobile inconvenience on level land；Speed is slow.
Stepping brace type stair-climbing wheel chair is equally existed as can not automatic creeping stair, step, barrier；It is expensive, protect
Support and take high；Transmission system is complicated, it is difficult to the shortcomings of controlling.
Utility model content
The purpose of this utility model is to propose a kind of stair climbing wheelchair, and it can realize automatic creeping stair, and manipulation is convenient, peace
Full performance is high, convenient old, the daily life of individuals with disabilities.
To reach above-mentioned purpose, the utility model proposes a kind of stair climbing wheelchair, including：Seat support, backrest, located at seat support
The drive device and wireless operating device of lower section, the drive device include be fixed on below seat support chassis overhang, microcontroller,
Two crawler belts, at least four lifting actuators and battery, two crawler belt are respectively arranged on the left and right sides of chassis overhang, described at least four
The front and rear both sides that actuator is respectively symmetrically located at chassis overhang are lifted, the chassis overhang, which is provided with, to be used to drive the first of crawler belt
Motor, and for driving the second motor of lifting actuator, first motor and the second motor are all connected to microcontroller,
Provided with the infrared distance measuring sensor for being connected to microcontroller below the chassis overhang, the chassis overhang is provided with and is connected to
The gyro sensor of microcontroller, the microcontroller is wirelessly connected to wireless operating device.
Preferably, the lifting actuator is linear actuators.
Preferably, the lifting actuator is worm gear structure or screw rod transmission structure.
Preferably, the quantity of the lifting actuator in the stair climbing wheelchair is four, and two of which lifting actuator is set
In the front side of chassis overhang, another two lifting actuator is located at the rear side of chassis overhang.
Preferably, the infrared distance measuring sensor is located at the front end of chassis overhang.
Preferably, the wireless operating device is connected to microcontroller by wifi or bluetooth approach.
Preferably, the wireless operating device is control stick.
Preferably, the wireless operating device is intelligent terminal.
The utility model stair climbing wheelchair realizes automatic creeping stair, and manipulation is convenient, and security performance is high, greatly facilitates
Old age, the daily life of individuals with disabilities.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model stair climbing wheelchair；
Fig. 2 is another structural representation of the utility model stair climbing wheelchair.
Embodiment
Describe preferred embodiment of the present utility model in detail below in conjunction with the accompanying drawings.
Fig. 1 and Fig. 2 is referred to, the utility model stair climbing wheelchair includes：Seat support（It is not shown）, backrest（It is not shown）, set
Drive device and wireless operating device below seat support（It is not shown）, the drive device includes the chassis be fixed on below seat support
Support 10, microcontroller 20, two crawler belts 30, at least four lifting actuators 40 and battery（It is not shown）, two crawler belt 30 distinguishes
Actuator 40, which is lifted, located at the left and right sides of chassis overhang 10, at least described in four is respectively symmetrically located at front and rear the two of chassis overhang 10
Side, the chassis overhang 10 is provided with the first motor 50 for being used for driving crawler belt 30, and for driving lifting actuator 40
Second motor 60, the motor 60 of the first motor 50 and second is all connected to microcontroller 20, and the lower section of chassis overhang 10 is set
There is the infrared distance measuring sensor 70 for being connected to microcontroller 20, the chassis overhang 10 is provided with and is connected to microcontroller 20
Gyro sensor 80, the microcontroller 20 is wirelessly connected to wireless operating device.
Wherein, the second motor 60 driving lifting actuator 40 is controlled to move by microcontroller 20, so as to drive chassis branch
The rising of frame 10, decline, lean forward, swinging back.In the present embodiment, the lifting actuator 40 is linear actuators, the stair climbing
The quantity of lifting actuator 40 in wheelchair is four, and two of which lifting actuator 40 is located at the front side of chassis overhang 10, separately
Two lifting actuators 40 are located at the rear side of chassis overhang 10.The microcontroller 20 is received after the signal that wireless operating device is sent
By controlling the motor rotary speed of four the second motors 60, the change in direction completes instruction.
It is appreciated that the lifting actuator 40 can also be worm gear structure or screw rod transmission structure, equally can be with
Pass through the driving lifting oscilaltion of actuator 40 of the second motor 60.
The infrared distance measuring sensor 70 is connected to microcontroller 20, is sensed by the infrared distance measuring sensor 70
Whether distance of the chassis overhang 10 away from ground, the microcontroller 20 may determine that wheelchair in front close to upper by the distance
Row/descending stair, if being judged as NO, continues level land and advances；If being judged as YES, into stair climbing pattern.For the ease of fast
Speed sensing distance of the chassis overhang 10 away from ground, to judge wheelchair in front whether close to uplink/downlink stair, the infrared ray
Distance measuring sensor 70 is located in the front end or rear end of chassis overhang 10, the present embodiment, and the infrared distance measuring sensor 70 is located at
The front end of chassis overhang 10.
The gyro sensor 80 is connected to microcontroller 20, and chassis branch is sensed by the gyro sensor 80
The orientation angles of frame 10, then the microcontroller 20 judge that wheelchair leans forward according to the signal of gyro sensor 80, layback
Angle.
The wireless operating device can be control stick, or intelligent terminal, be grasped by the virtual key of intelligent terminal
Make.In the present embodiment, the wireless operating device is smart mobile phone, and the wireless operating device is connected to by wifi or bluetooth approach
Microcontroller 20, so as to realize control of the wireless operating device to drive device.
The utility model stair climbing wheelchair is moved on level land, and wheelchair is sent forward by using wireless operating device, is turned,
Or signal command backward, the microcontroller 20 receives and driven after the signal command by controlling the rotating speed of the first motor 50
Two crawler belts 30 move, so that the change in stair climbing wheelchair direction is advanced, retreat, and turn.
When the utility model stair climbing wheelchair microcontroller 20 by infrared distance measuring sensor 70 judge wheelchair enter
After stair climbing pattern, according to going upstairs or go downstairs, wheelchair center of gravity be bound to lean forward or after move.To avoid wheelchair from overturning,
The angle that the signal for reading gyro sensor 80 is leaned forward or swung back to judge wheelchair by the microcontroller 20, and correspondingly lead to
The motor rotary speed of four lifting actuators 40 of adjustment, the i.e. change of control lifting actuator 40 lifting is crossed to make wheelchair seat all the time
Parallel to the ground/angle is less than 10 degree.After wheelchair is detected to have climbed stair, the microcontroller 20 can adjust and make wheelchair
（Chassis overhang）It is parallel again with ground.
Compared to prior art, the utility model stair climbing wheelchair eliminates cumbersome user's operation sequence, and user can be only
On the spot, in the case of unmanned help, gone downstairs by this function is easily upper；And it is safe, wheelchair will not be on stair because of weight
The movement of the heart and overturn；The lifting of the utility model stair climbing wheelchair, is leaned forward, and the function such as layback can be helped old age, disabled person
Scholar takes the article of eminence or lower, or the position of adjustment chair as needed, makes daily life more convenient.The utility model
The crawler belt of stair climbing wheelchair provides grip for wheelchair, improves stability during wheelchair stair-climbing；The utility model stair climbing wheelchair can
Pass through mobile phone wireless control so that using more convenient.
To sum up, the utility model stair climbing wheelchair realizes automatic creeping stair, and manipulation is convenient, and security performance is high, significantly
Facilitate old age, the daily life of individuals with disabilities.
Here description and application of the present utility model are illustrative, are not wishing to scope of the present utility model being limited in
State in embodiment.The deformation and change of embodiments disclosed herein are possible, for the ordinary skill people of those this areas
Replacing with equivalent various parts for embodiment is known for member.It should be appreciated by the person skilled in the art that not taking off
In the case of spirit or essential characteristics of the present utility model, the utility model can in other forms, structure, arrangement, ratio,
And realized with other components, material and part., can be to this in the case where not departing from the utility model scope and spirit
In disclosed embodiment carry out other deformations and change.
Claims (8)
1. a kind of stair climbing wheelchair, it is characterised in that including：Seat support, backrest, the drive device below seat support and wireless behaviour
Vertical device, the drive device includes the chassis overhang being fixed on below seat support, microcontroller, two crawler belts, at least four lifting drivings
Part and battery, two crawler belt are respectively arranged on the left and right sides of chassis overhang, and actuator is lifted at least described in four and is respectively symmetrically set
In the front and rear both sides of chassis overhang, the chassis overhang is provided with the first motor for being used for driving crawler belt, and is risen for driving
Second motor of actuator drops, and first motor and the second motor are all connected to set below microcontroller, the chassis overhang
There is the infrared distance measuring sensor for being connected to microcontroller, the chassis overhang is provided with the gyroscope biography for being connected to microcontroller
Sensor, the microcontroller is wirelessly connected to wireless operating device.
2. stair climbing wheelchair as claimed in claim 1, it is characterised in that the lifting actuator is linear actuators.
3. stair climbing wheelchair as claimed in claim 1, it is characterised in that the lifting actuator is worm gear structure or silk
Bar drive mechanism.
4. stair climbing wheelchair as claimed in claim 2 or claim 3, it is characterised in that the lifting actuator in the stair climbing wheelchair
Quantity be four, two of which lifting actuator be located at chassis overhang front side, another two lifting actuator be located at chassis branch
The rear side of frame.
5. stair climbing wheelchair as claimed in claim 1, it is characterised in that the infrared distance measuring sensor is located at chassis overhang
Front end.
6. stair climbing wheelchair as claimed in claim 1, it is characterised in that the wireless operating device passes through wifi or bluetooth approach
It is connected to microcontroller.
7. stair climbing wheelchair as claimed in claim 6, it is characterised in that the wireless operating device is control stick.
8. stair climbing wheelchair as claimed in claim 6, it is characterised in that the wireless operating device is intelligent terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621085758.0U CN206324939U (en) | 2016-09-28 | 2016-09-28 | Stair climbing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621085758.0U CN206324939U (en) | 2016-09-28 | 2016-09-28 | Stair climbing wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206324939U true CN206324939U (en) | 2017-07-14 |
Family
ID=59287308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621085758.0U Expired - Fee Related CN206324939U (en) | 2016-09-28 | 2016-09-28 | Stair climbing wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206324939U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107361934A (en) * | 2017-07-24 | 2017-11-21 | 北京动力京工科技有限公司 | A kind of novel six freedom automatic stari creeping ladder wheelchair |
| US11235820B2 (en) | 2018-03-14 | 2022-02-01 | Treker Mobility Llc | Adaptive track assembly |
-
2016
- 2016-09-28 CN CN201621085758.0U patent/CN206324939U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107361934A (en) * | 2017-07-24 | 2017-11-21 | 北京动力京工科技有限公司 | A kind of novel six freedom automatic stari creeping ladder wheelchair |
| US11235820B2 (en) | 2018-03-14 | 2022-02-01 | Treker Mobility Llc | Adaptive track assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170714 Termination date: 20180928 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |