CN209984471U - Double-crawler self-adaptive stair-climbing electric wheelchair - Google Patents
Double-crawler self-adaptive stair-climbing electric wheelchair Download PDFInfo
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- CN209984471U CN209984471U CN201920229481.1U CN201920229481U CN209984471U CN 209984471 U CN209984471 U CN 209984471U CN 201920229481 U CN201920229481 U CN 201920229481U CN 209984471 U CN209984471 U CN 209984471U
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- 239000003921 oil Substances 0.000 claims description 31
- 230000007246 mechanism Effects 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 230000009194 climbing Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000010727 cylinder oil Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
The utility model discloses a double-track self-adaptive stair-climbing electric wheelchair, which comprises a seat, wherein driving wheels are symmetrically arranged on two sides of the seat, and a deformation component is arranged at the bottom of the seat; the deformation assembly comprises a first support, a main shaft is supported at the rear end of the first support, first driving wheels are mounted at two ends of the main shaft, driven shafts are symmetrically mounted at two sides of the front end of the first support, first driven wheels are mounted on the driven shafts, a first crawler belt is mounted between the first driving wheels and the first driven wheels, a hollow shaft sleeve is further coaxially sleeved on the main shaft, two notches are formed in the side wall of the hollow shaft sleeve, two second driving wheels are further mounted on the main shaft, a second driving wheel is correspondingly placed in each notch, a second support is radially and outwardly extended at the notch along the hollow shaft sleeve, a second driven wheel is supported at the outer end of the second support, a second crawler belt is mounted between the second driving wheels and the second driven wheels, and a steering chain wheel is fixedly mounted on the hollow shaft sleeve and a third support; the front end of the first bracket is also provided with a planetary driven wheel set.
Description
Technical Field
The utility model relates to a wheelchair technical field especially relates to a building electric wheelchair is climbed to two track self-adaptation.
Background
Nowadays, the proportion of the aging population in the general population is larger and larger in China, and the aging population loses part of mobility and has the requirement of going out for activities, so that the wheelchair has wide market prospect. The common wheelchair can only be used as a tool for riding instead of walk on the flat ground, and is difficult to cross roadblocks or trench cuts, and climbing up and down stairs is difficult to climb the sky, so that a great deal of inconvenience is brought to wheelchair passengers, and the normal independent life of the wheelchair is influenced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a tool of riding instead of walk of superior performance to prior art not enough, solve puzzlement to wheelchair person of taking such as obstacle, stair.
In order to achieve the above object, the utility model adopts the following technical scheme: a double-crawler self-adaptive stair-climbing electric wheelchair comprises a seat and a controller, wherein driving wheels are symmetrically arranged on two sides of the seat, and a deformation assembly is arranged at the bottom of the seat;
the deformation assembly comprises a first support, a main shaft is supported at the rear end of the first support, first driving wheels are mounted at two ends of the main shaft, driven shafts are symmetrically mounted at two sides of the front end of the first support, first driven wheels are mounted on the driven shafts, a first crawler belt is mounted between the first driving wheels and the first driven wheels, a hollow shaft sleeve is further coaxially sleeved on the main shaft, two notches are formed in the side wall of the hollow shaft sleeve, two second driving wheels are further mounted on the main shaft, a second driving wheel is correspondingly placed in each notch, a second support is radially and outwardly extended at the notch along the hollow shaft sleeve, a second driven wheel is supported at the outer end of the second support, a second crawler belt is mounted between the second driving wheels and the second driven wheels, and a steering chain wheel is fixedly mounted on the hollow shaft sleeve and a third support is sleeved on the hollow; the steering chain wheel is driven by a steering chain wheel driving mechanism to rotate;
the outer end of the third support is hinged with the bottom of the seat, the first support is connected with the bottom of the seat through a first hydraulic cylinder, the seat, the third support, the first support and the first hydraulic cylinder form a four-bar mechanism, and the first hydraulic cylinder is driven by a first hydraulic system to stretch and retract;
the front end of the first bracket is also provided with a planetary driven wheel set; when the chair runs on a flat road, the driving wheel and the planetary driven wheel set provide support for the whole chair, and the chair is driven to run by the driving wheel; when climbing stairs, the first crawler belt and the second crawler belt provide support and drive the whole seat to travel;
the steering sprocket drive mechanism and the first hydraulic system are controlled by a controller.
Furthermore, the steering chain wheel driving mechanism comprises a rotating shaft, a driving chain wheel, a driven chain wheel, a second hydraulic cylinder and a second hydraulic system, the rotating shaft is supported on the seat, the outer end of the third support is hinged with the rotating shaft, the driving chain wheel and the driven chain wheel are both arranged on the rotating shaft, the second hydraulic system drives the second hydraulic cylinder to stretch, a chain-shaped rack is arranged at the end part of a push rod of the second hydraulic cylinder, and the chain-shaped rack drives the driving chain wheel to rotate; the second hydraulic system is controlled by the controller; and a chain is arranged between the driven chain wheel and the steering chain wheel.
Furthermore, the first hydraulic system and the second hydraulic system have the same structure and respectively comprise an oil tank, a filter, a hydraulic pump, an overflow valve, a throttle valve, a three-position four-way reversing valve and an electric control pressure gauge; a filter is arranged between an oil tank and an inlet of a hydraulic pump, an outlet of the hydraulic pump is respectively communicated with inlets of an overflow valve and a throttle valve, an outlet of the overflow valve is communicated with the oil tank, an outlet of the throttle valve is communicated with a port P of a three-position four-way reversing valve, a port T of the three-position four-way reversing valve is communicated with the oil tank, a port A of the three-position four-way reversing valve is communicated with an inlet of an electric control pressure gauge, and an outlet of the electric control pressure gauge and a port B of the three-position four-way reversing valve are used as connecting; the three-position four-way reversing valve and the electric control pressure gauge are connected with the controller.
Further, planet driven wheel group includes the third support, and the supporting has the base on the third support, and edge circumferencial direction evenly distributed has three sleeve on the base, and sleeve one end is sealed, has hydraulic oil in the sleeve, and hydraulic oil seals through the piston, still installs a spring in every sleeve, and the one end and the piston of spring are connected, and a T shape frame is connected to the other end of spring, and a pair of planet wheel is installed to the bilateral symmetry of T shape frame, and the one end that three sleeve has hydraulic oil is linked together through oil pipe.
Furthermore, the side wall of the sleeve is provided with a guide groove, and a transverse line segment on the T-shaped frame is arranged in the guide groove in a sliding mode.
Furthermore, the driving wheel is driven by a motor to rotate, and the motor is controlled by the controller.
Furthermore, the bottom of the seat is provided with two double-shaft inclination angle sensors for detecting the levelness of the seat, and the double-shaft inclination angle sensors are connected with the controller.
The utility model has the advantages as follows: the example of the utility model provides a pair of two track self-adaptation stairs-climbing electric wheelchair one of the one is realized climbing the function of stair in certain gradient scope: the rider operates the wheelchair to drive the vehicle body to back and contact with the stairs, and the second crawler controlled by the chain wheel rotates around the hollow shaft sleeve to the stair side. The seat levelness detection adopts a double-shaft inclination angle sensor, and the postures of the seat and the horizontal plane are detected in real time so as to ensure the comfort and the safety of people on the wheelchair. The signal that this sensor released also can reach a hydraulic system, and under the drive of hydraulic pump, the piston rod of the first pneumatic cylinder in seat bottom stretches out in right amount, makes the seat remain the level all the time on the one hand, and on the other hand makes first track constantly draw close to the step, until laminating completely. Under the drive of the double crawler belts, the normal process of going upstairs is realized. When the second crawler belt completely exceeds the last stage of stairs, the second crawler belt rotates towards the ground side until the end of the second crawler belt contacts the ground. And then, the included angle between the axis of the first crawler and the horizontal plane is gradually reduced, and the piston rod of the first hydraulic cylinder continuously retracts, so that the chair surface is always kept horizontal on one hand, and the first crawler continuously draws close to the chair surface on the other hand. When the wheelchair main body climbs up the stairs, the second crawler belt is retracted reversely around the hollow shaft sleeve, and going upstairs is achieved. It has secondly realized through the function of obstacle, the ditch moat in certain width range in certain altitude range: if the obstacle is small in size, the size advantage of the planetary driven wheel set can be utilized to directly pass through; when the advancing wheel touches a higher obstacle, the driving gear train is converted into a planetary gear train, and the two planetary gears which are not in contact with the obstacle rotate around the axis of the front wheel, so that the obstacle crossing function is realized. When the wheelchair is across the obstacle, the wheelchair can incline, the horizontal deviation degree is detected through the double-shaft inclination angle sensor, the piston rod of the first hydraulic cylinder is controlled by the first hydraulic system to stretch continuously under the action of the hydraulic pump, and the chair surface is kept horizontal all the time. When the width of the trench is smaller than twice the diameter of the planet wheel, the driving wheel train is converted into a planet wheel train, so that the trench is crossed, and the chair surface is kept horizontal through the double-shaft tilt angle sensor as the obstacle crossing.
Drawings
Fig. 1 is a schematic view of a dual-track self-adaptive stair-climbing electric wheelchair of the present invention;
FIG. 2 is a schematic diagram of a deformation assembly of the present invention;
FIG. 3 is a schematic diagram of the basic oil circuit of the hydraulic system of the present invention;
FIG. 4 is a hydraulic shock-absorbing diagram of the wheel set of the present invention;
FIGS. 5 a-5 g are schematic diagrams of the obstacle-surmounting step-by-step of the present invention;
FIGS. 6 a-6 e are schematic views of the present invention showing steps of passing a trench;
fig. 7 a-7 i are schematic views of the stair climbing step by step of the present invention;
in the figure: the device comprises a seat 1, a driving wheel 2, a first support 3, a main shaft 4, a first driving wheel 5, a driven shaft 6, a first driven wheel 7, a first crawler belt 8, a hollow shaft sleeve 9, a notch 10, a second driving wheel 11, a second support 12, a second driven wheel 13, a second crawler belt 14, a steering sprocket 15, a third support 16, a first hydraulic cylinder 17, a rotating shaft 18, a driving sprocket 19, a driven sprocket 20, a second hydraulic cylinder 21, a chain-shaped rack 22, an oil tank 23, a filter 24, a hydraulic pump 25, an overflow valve 26, a throttle valve 27, a three-position four-way reversing valve 28, an electronic control pressure gauge 29, a base 30, a sleeve 31, a spring 32, a T-shaped support 33, a planet wheel 34, a guide groove 35, a piston 36, a fourth support 37.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-4, the utility model provides a dual-track self-adaptive stair-climbing electric wheelchair, which comprises a seat 1 and a controller, wherein driving wheels 2 are symmetrically arranged on two sides of the seat 1, and a deformation component is arranged at the bottom of the seat 1;
the deformation assembly comprises a first support 3, a main shaft 4 is supported at the rear end of the first support 3, first driving wheels 5 are mounted at two ends of the main shaft 4, driven shafts 6 are symmetrically mounted at two sides of the front end of the first support 3, first driven wheels 7 are mounted on the driven shafts 6, first caterpillar tracks 8 are mounted between the first driving wheels 5 and the first driven wheels 7, a hollow shaft sleeve 9 is further coaxially sleeved on the main shaft 4, two notches 10 are formed in the side wall of the hollow shaft sleeve 9, two second driving wheels 11 are further mounted on the main shaft 4, a second driving wheel 11 is correspondingly placed in each notch 10, a second support 12 extends outwards along the radial direction of the hollow shaft sleeve 9 at the position of each notch 10, a second driven wheel 13 is supported at the outer end of the second support 12, a second caterpillar track 14 is mounted between each second driving wheel 11 and each second driven wheel 13, and a steering chain wheel 15 and a third support 16 are further fixedly mounted on the hollow shaft sleeve 9; the steering sprocket 15 is driven to rotate by a steering sprocket drive mechanism.
The outer end of the third support 16 is hinged with the bottom of the seat 1, the first support 3 is connected with the bottom of the seat 1 through a first hydraulic cylinder 17, the seat 1, the third support 16, the first support 3 and the first hydraulic cylinder 17 form a four-bar mechanism, and the first hydraulic cylinder 17 is driven by a first hydraulic system to stretch and retract;
the front end of the first bracket 3 is also provided with a planetary driven wheel set; when the chair runs on a flat road, the driving wheel 2 and the planetary driven wheel set provide support for the whole chair 1, and the driving wheel 2 drives the chair to run; when climbing stairs, the first crawler belt 8 and the second crawler belt 14 provide support and drive the whole seat 1 to travel;
the steering sprocket drive mechanism and the first hydraulic system are controlled by a controller.
The further technical scheme is that the steering chain wheel driving mechanism comprises a rotating shaft 18, a driving chain wheel 19, a driven chain wheel 20, a second hydraulic cylinder 21 and a second hydraulic system, wherein the rotating shaft 18 is supported on the seat 1, the outer end of the third support 16 is hinged to the rotating shaft 18, the driving chain wheel 19 and the driven chain wheel 20 are both installed on the rotating shaft 18, the second hydraulic system drives the second hydraulic cylinder 21 to extend and retract, a chain-shaped rack 22 is installed at the end of a push rod of the second hydraulic cylinder 21, and the chain-shaped rack 22 drives the driving chain wheel 19 to rotate; the second hydraulic system is controlled by the controller; a chain 38 is mounted between the driven sprocket 20 and the steering sprocket 15.
The further technical scheme is that the first hydraulic system and the second hydraulic system have the same structure and respectively comprise an oil tank 23, a filter 24, a hydraulic pump 25, an overflow valve 26, a throttle valve 27, a three-position four-way reversing valve 28 and an electric control pressure gauge 29; a filter 24 is arranged between an oil tank 23 and an inlet of a hydraulic pump 25, an outlet of the hydraulic pump 25 is respectively communicated with inlets of an overflow valve 26 and a throttle valve 27, an outlet of the overflow valve 26 is communicated with the oil tank 23, an outlet of the throttle valve 27 is communicated with a port P of a three-position four-way reversing valve 28, a port T of the three-position four-way reversing valve 28 is communicated with the oil tank 23, a port A of the three-position four-way reversing valve 28 is communicated with an inlet of an electric control pressure gauge 29, and an outlet of the electric control pressure gauge 29 and a port B of the three-position four-way reversing valve 28 are used as connecting ports with; the three-position four-way reversing valve 28 and the electric control pressure gauge 29 are both connected with the controller.
The first hydraulic system and the second hydraulic system have the same working principle, the hydraulic pump 25 absorbs oil from the oil tank 23, when the three-position four-way reversing valve 28 is in the left position, the output pressure oil passes through the throttle valve 27 and the three-position four-way reversing valve 28 to the left cavity of the hydraulic cylinder to push the piston to move outwards, and at the moment, the oil in the right cavity of the hydraulic cylinder returns to the oil tank 23 through the three-position four-way reversing valve 28; when the three-position four-way reversing valve 28 is in the right position, the output pressure oil passes through the throttle valve 27 and the three-position four-way reversing valve 28 to the right cavity of the hydraulic cylinder to push the piston of the hydraulic cylinder to move inwards, and at the moment, the oil in the left cavity of the hydraulic cylinder returns to the oil tank 23 through the three-position four-way reversing valve 28. The function of the throttle valve 27 is to regulate the operating speed. The function of the relief valve 26 is to regulate and stabilize the maximum operating pressure of the hydraulic system. The function of the electric control pressure gauge 29 is to keep the hydraulic cylinder oil and push the piston to move outwards when the pressure is less than the lower limit, and always keep the pressure of the electric control pressure gauge 29 between the upper limit and the lower limit.
A further technical scheme is that the planet driven wheel set comprises a fourth support 37, the fourth support 37 is a T-shaped frame, bases 30 are supported on two sides of the fourth support 37, three sleeves 31 are evenly distributed on the bases 30 along the circumferential direction, one end of each sleeve 31 is sealed, hydraulic oil is contained in each sleeve 31 and is sealed through a piston 36, a spring 32 is further installed in each sleeve 31, one end of each spring 32 is connected with the corresponding piston 36, the other end of each spring 32 is connected with one T-shaped frame 33, a pair of planet wheels 34 are symmetrically installed on two sides of each T-shaped frame 33, and one ends, provided with the hydraulic oil, of the three sleeves 31 are communicated through oil pipes. The hydraulic oil in the sleeve 31 can flow through the oil pipe among different sleeves 31 according to the stress condition of the planet wheels 34, so that the damping effect is achieved. The spring 32 is used for preventing the oil from moving too violently and has a buffering effect. In normal driving, there should be two planet wheels 34 in contact with the ground. When meeting an obstacle higher than the ground, the planet wheels 34 contacted with the obstacle are under the combined action of the obstacle and the ground, hydraulic oil in the sleeves 31 corresponding to the planet wheels 34 flows into the other two sleeves 31, so that the T-shaped frames 33 in the other two sleeves 31 extend outwards, and the obstacle crossing maximum height of the wheelchair is increased to a certain extent.
In order to ensure the safe operation, the lengths of the first crawler belt 8 and the second crawler belt 14 at least need to be contacted with three or more step end points at the same time, for example, a common stair, the step height H is 15cm, the width W is 30cm, and the total length L of the crawler belt is 30cm2≥9(H2+W2) That is, L is more than or equal to 100cm, the utility model discloses the track, the distance is 50cm between the diaxon central point, and the diameter of axle is 6 cm.
The further technical scheme is that a guide groove 35 is formed in the side wall of the sleeve 31, and a transverse line segment on the T-shaped frame 33 is arranged in the guide groove 35 in a sliding mode. The guide grooves 35 prevent the T-shaped frame 33 from rotating on the one hand and provide stability to the T-shaped frame 33 on the other hand.
The further technical scheme is that the driving wheel 2 is driven by a motor to rotate, and the motor is controlled by a controller.
The further technical scheme is that two double-shaft inclination angle sensors for detecting the levelness of the seat 1 are arranged at the bottom of the seat 1 and are connected with a controller. The controller may be manufactured by Shanghai electro-mechanical Limited DK-PMB01, but is not limited thereto.
Fig. 5 a-5 g: if the obstacle is small in size, the size advantage of the planetary driven wheel set can be utilized to directly pass through; when the advancing wheels touch a higher obstacle, the drive train is changed into a planetary gear train, and the two planetary gears 34 which are not in contact with the obstacle rotate around the fourth bracket 37, so that the obstacle crossing function is realized. When an obstacle is crossed, the wheelchair can be inclined, the horizontal deviation degree is detected through the double-shaft inclination angle sensor, when the deviation degree is different from 0 degree of the horizontal by more than or equal to +/-5 degrees, the signal is transmitted to the controller, the controller controls the first hydraulic system hydraulic pump 25, the first hydraulic system hydraulic pump 25 controls the piston rod of the first hydraulic cylinder 17 to stretch, and after the horizontal deviation degree changes by +/-3 degrees or more, the signal controls the first hydraulic system hydraulic pump 25 through the controller to control the piston rod of the first hydraulic cylinder 17 to stretch continuously, so that the chair surface is kept horizontal all the time.
Fig. 6 a-6 e: when the width of the trench is smaller than twice of the diameter of the small wheel, the driving wheel train is converted into a planetary gear train, so that the trench crossing is realized, and the chair surface is kept horizontal through the double-shaft tilt angle sensor as well as the obstacle crossing.
FIG. 7 a: the rider operates the wheelchair to cause the vehicle body to back up and contact with the stairs and start the 'upstairs' button.
FIG. 7 b: the electric control pressure gauge 29 controls whether oil is fed or not, when the pressure of the electric control pressure gauge 29 is smaller than the lower limit, the signal is transmitted to the controller, the controller controls the second hydraulic system hydraulic pump 25 to work, the oil feeding of the hydraulic cylinder is kept, the piston of the hydraulic cylinder is pushed to move outwards, and the second crawler belt 14 controlled by the chain wheel rotates around the hollow shaft sleeve 9 to the side of the stairs. Until the pressure of the electric control pressure gauge 29 rises to maintain the pressure between the preset upper limit and the preset lower limit, the signal is transmitted to the controller, and the controller controls the second hydraulic system hydraulic pump 25 to stop working, so that the piston rod stops extending and is locked.
FIG. 7 c: at the beginning, the angular velocity of the second crawler 14 is counterclockwise, and the smaller the rotational angular inertia, the easier it is to overcome the gravity overturning moment, so the running speed of the second crawler 14 is lower. When the gravity exceeds the fulcrum (the end point of the first step) in the traveling direction, the second crawler 14 runs at a higher speed, and the crossing process is accelerated. The seat levelness detects and adopts biax inclination sensor, the gesture of real-time detection seat and horizontal plane is in order to guarantee comfortable and safety of people on the wheelchair, when this deviance and horizontal 0 degree difference more than or equal to when 5, this signal transmission to controller, first hydraulic system hydraulic pump 25 of controller control, first hydraulic system hydraulic pump 25 control first pneumatic cylinder 17's piston rod stretches out, every change of deviance of level thereafter is 3 degrees and above, the signal all will be through first hydraulic system hydraulic pump 25 of controller control, the piston rod of control first pneumatic cylinder 17 constantly stretches out, make the seat remain the level all the time, first track 8 at this moment is drawn close to the step constantly, until laminating completely.
FIG. 7 d: the normal process of going upstairs is realized under the drive of the first crawler belt 8 and the second crawler belt 14.
FIG. 7 e: when going upstairs, the second crawler 14 partially exceeds the last stair, but the torque is still certain, so the pressure of the electric control pressure gauge 29 is still maintained between the upper limit and the lower limit, and the double crawler normally operates.
FIG. 7 f: when the second crawler 14 completely exceeds the last stair, the torque rapidly drops, the pressure of the electric control pressure gauge 29 is lower than the preset lower limit, the signal is transmitted to the controller, the controller controls the second hydraulic system hydraulic pump 25 to work, the oil cylinder of the second hydraulic cylinder 21 is filled with oil, under the action of the piston rod of the second hydraulic cylinder 21, the driving sprocket 19 rotates to drive the second crawler 14 to rotate towards the ground side, and after the end of the second crawler 14 contacts the ground, the torque rises again until the pressure of the electric control pressure gauge 29 rises to be maintained between the preset upper limit and the preset lower limit.
FIG. 7 g: as the wheelchair continues to rise, the piston rod of the second hydraulic cylinder 21 is in motion, i.e. the inclination angle of the second caterpillar track 14 to the horizontal plane is increased, and the change amount is based on keeping the pressure of the electronic control pressure gauge 29 rising to be maintained between the predetermined upper limit and the predetermined lower limit.
FIG. 7 h: at this moment, the included angle between the axis of the first crawler belt 8 and the horizontal plane is gradually reduced, the horizontal deviation degree is detected through the double-shaft inclination angle sensor, when the deviation degree is more than or equal to +/-5 degrees different from the horizontal 0 degree, the signal is transmitted to the controller, the controller controls the first hydraulic system hydraulic pump 25, the first hydraulic system hydraulic pump 25 controls the piston rod of the first hydraulic cylinder 17 to retract, every time the horizontal deviation degree changes by +/-3 degrees or more, the signal controls the first hydraulic system hydraulic pump 25 through the controller, the piston rod of the first hydraulic cylinder 17 is controlled to retract continuously, the chair surface is kept horizontal all the time, and the first crawler belt 8 is continuously drawn close to the chair surface. At the moment, the tail end of the second crawler belt 14 and the front end of the first crawler belt 8 are used as supports, and after the wheelchair main body climbs up the stairs, the second crawler belt 14 retracts in the opposite direction around the hollow shaft sleeve 9, so that the wheelchair main body can go upstairs.
FIG. 7 i: and (4) completing the process of going upstairs, closing the button of going upstairs by the rider, and continuing other operations.
Claims (7)
1. A double-crawler self-adaptive stair-climbing electric wheelchair is characterized by comprising a seat and a controller, wherein driving wheels are symmetrically arranged on two sides of the seat, and a deformation assembly is arranged at the bottom of the seat;
the deformation assembly comprises a first support, a main shaft is supported at the rear end of the first support, first driving wheels are mounted at two ends of the main shaft, driven shafts are symmetrically mounted at two sides of the front end of the first support, first driven wheels are mounted on the driven shafts, a first crawler belt is mounted between the first driving wheels and the first driven wheels, a hollow shaft sleeve is further coaxially sleeved on the main shaft, two notches are formed in the side wall of the hollow shaft sleeve, two second driving wheels are further mounted on the main shaft, a second driving wheel is correspondingly placed in each notch, a second support is radially and outwardly extended at the notch along the hollow shaft sleeve, a second driven wheel is supported at the outer end of the second support, a second crawler belt is mounted between the second driving wheels and the second driven wheels, and a steering chain wheel is fixedly mounted on the hollow shaft sleeve and a third support is sleeved on the hollow; the steering chain wheel is driven by a steering chain wheel driving mechanism to rotate;
the outer end of the third support is hinged with the bottom of the seat, the first support is connected with the bottom of the seat through a first hydraulic cylinder, the seat, the third support, the first support and the first hydraulic cylinder form a four-bar mechanism, and the first hydraulic cylinder is driven by a first hydraulic system to stretch and retract;
the front end of the first bracket is also provided with a planetary driven wheel set; when the chair runs on a flat road, the driving wheel and the planetary driven wheel set provide support for the whole chair, and the chair is driven to run by the driving wheel; when climbing stairs, the first crawler belt and the second crawler belt provide support and drive the whole seat to travel;
the steering sprocket drive mechanism and the first hydraulic system are controlled by a controller.
2. The dual-track self-adaptive stair-climbing electric wheelchair as claimed in claim 1, wherein the steering sprocket driving mechanism comprises a rotating shaft, a driving sprocket, a driven sprocket, a second hydraulic cylinder and a second hydraulic system, the rotating shaft is supported on the seat, the outer end of the third bracket is hinged to the rotating shaft, the driving sprocket and the driven sprocket are both mounted on the rotating shaft, the second hydraulic system drives the second hydraulic cylinder to extend and retract, a chain-shaped rack is mounted at the end of a push rod of the second hydraulic cylinder, and the chain-shaped rack drives the driving sprocket to rotate; a chain is arranged between the driven chain wheel and the steering chain wheel; the second hydraulic system is controlled by the controller.
3. The dual-track self-adaptive stair climbing electric wheelchair as claimed in claim 2, wherein the first hydraulic system and the second hydraulic system have the same structure and respectively comprise an oil tank, a filter, a hydraulic pump, an overflow valve, a throttle valve, a three-position four-way reversing valve and an electric control pressure gauge; a filter is arranged between an oil tank and an inlet of a hydraulic pump, an outlet of the hydraulic pump is respectively communicated with inlets of an overflow valve and a throttle valve, an outlet of the overflow valve is communicated with the oil tank, an outlet of the throttle valve is communicated with a port P of a three-position four-way reversing valve, a port T of the three-position four-way reversing valve is communicated with the oil tank, a port A of the three-position four-way reversing valve is communicated with an inlet of an electric control pressure gauge, and an outlet of the electric control pressure gauge and a port B of the three-position four-way reversing valve are used as connecting; the three-position four-way reversing valve and the electric control pressure gauge are connected with the controller.
4. The dual-track self-adaptive stair-climbing electric wheelchair as claimed in claim 3, wherein the planetary driven wheel set comprises a third support, a base is supported on the third support, three sleeves are uniformly distributed on the base along the circumferential direction, one end of each sleeve is closed, hydraulic oil is contained in each sleeve, the hydraulic oil is sealed through a piston, a spring is further installed in each sleeve, one end of each spring is connected with the piston, the other end of each spring is connected with a T-shaped frame, a pair of planetary wheels are symmetrically installed on two sides of each T-shaped frame, and one ends of the three sleeves, which are provided with the hydraulic oil, are communicated through oil pipes.
5. The dual-track self-adaptive stair-climbing electric wheelchair as claimed in claim 4, wherein the side wall of the sleeve is provided with a guide groove, and a cross line segment on the T-shaped frame is slidably arranged in the guide groove.
6. The dual-track self-adaptive stair-climbing electric wheelchair as claimed in claim 5, wherein the driving wheel is driven by a motor to rotate, and the motor is controlled by the controller.
7. The dual-track adaptive stair-climbing electric wheelchair as claimed in claim 6, wherein two dual-axis tilt sensors for detecting the levelness of the chair are arranged at the bottom of the chair, and the dual-axis tilt sensors are connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920229481.1U CN209984471U (en) | 2019-02-21 | 2019-02-21 | Double-crawler self-adaptive stair-climbing electric wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920229481.1U CN209984471U (en) | 2019-02-21 | 2019-02-21 | Double-crawler self-adaptive stair-climbing electric wheelchair |
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| CN209984471U true CN209984471U (en) | 2020-01-24 |
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|---|---|---|---|
| CN201920229481.1U Withdrawn - After Issue CN209984471U (en) | 2019-02-21 | 2019-02-21 | Double-crawler self-adaptive stair-climbing electric wheelchair |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998804A (en) * | 2019-02-21 | 2019-07-12 | 浙江农林大学 | A kind of double crawler belts adaptively climb building electric wheelchair |
| CN111714302A (en) * | 2020-07-27 | 2020-09-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN113545929A (en) * | 2021-07-01 | 2021-10-26 | 浙江益恒悦医疗科技有限公司 | Control method and device of intelligent walking aid, intelligent walking aid and controller |
| CN113730115A (en) * | 2021-09-26 | 2021-12-03 | 桂林航天工业学院 | Self-adaptive intelligent wheelchair device and use method |
-
2019
- 2019-02-21 CN CN201920229481.1U patent/CN209984471U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998804A (en) * | 2019-02-21 | 2019-07-12 | 浙江农林大学 | A kind of double crawler belts adaptively climb building electric wheelchair |
| CN109998804B (en) * | 2019-02-21 | 2023-11-21 | 浙江农林大学 | Double-crawler self-adaptive stair climbing electric wheelchair |
| CN111714302A (en) * | 2020-07-27 | 2020-09-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN111714302B (en) * | 2020-07-27 | 2021-06-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN113545929A (en) * | 2021-07-01 | 2021-10-26 | 浙江益恒悦医疗科技有限公司 | Control method and device of intelligent walking aid, intelligent walking aid and controller |
| CN113730115A (en) * | 2021-09-26 | 2021-12-03 | 桂林航天工业学院 | Self-adaptive intelligent wheelchair device and use method |
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