CN210843883U - Combined type self-balancing electric wheelchair - Google Patents
Combined type self-balancing electric wheelchair Download PDFInfo
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- CN210843883U CN210843883U CN201920932617.5U CN201920932617U CN210843883U CN 210843883 U CN210843883 U CN 210843883U CN 201920932617 U CN201920932617 U CN 201920932617U CN 210843883 U CN210843883 U CN 210843883U
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Abstract
The utility model discloses a combined type self-balancing electric wheelchair. The crawler-type stair climbing wheelchair on the market at present has the problems that the replacement of a crawler is troublesome, the turning in a narrow corridor is inflexible, people sit highly in the stair climbing process, the safety is affected and the like. The utility model discloses a chair frame, balanced module of marcing, track chassis module, seat leveling module, back support wheel module and control module. The balance advancing module comprises a balance wheel bracket and a balance wheel. The crawler chassis module comprises a rotating shaft, a turnover shaft, a motor mounting frame, a crawler adjusting electric rod and two unilateral crawler assemblies. The seat leveling module comprises a backrest main body, a cushion main body, a first gear, a rack and a leveling driving assembly. The utility model discloses climb the mode of building in-process adoption rear end leveling, can effectively reduce the focus of climbing the building in-process, improve the security. The utility model discloses designed the supplementary part of taking out in crawler chassis module, its change efficiency that can simplify the track greatly.
Description
Technical Field
The utility model belongs to the technical field of electronic wheelchair, concretely relates to combined type self-balancing electronic wheelchair.
Background
With the increasingly prominent aging of China, the number of old people with inconvenient legs and feet is gradually increased, and the population of disabled people caused by traffic accidents, production accidents and natural disasters is gradually increased in recent years, and the old people and the disabled people occupy a certain proportion in the population structure.
In the resident buildings of daily life, most low-rise buildings are not provided with upstairs facilities such as elevators, and the existing upstairs climbing tools in the market have various defects, so that the ordinary upstairs climbing of the old and the disabled with inconvenient legs and feet is very difficult.
In order to solve the problem, a plurality of stair climbing wheelchairs with different structures appear in markets at home and abroad, and the stair climbing wheelchairs can be classified into a crawler type wheelchair, a planet wheel type wheelchair and a walking type wheelchair according to structural classification.
Crawler-type uses comparatively much, and the salient angle of step is contacted in succession to the track in the process of climbing the building, and every salient angle is similar to on a straight line, consequently can regard as the track to creep on the plane slope, because the track has anti-skidding stripe again, can effectively prevent to slide to the track has the characteristics of reliable and steady operation. But the crawler-type stair climbing wheelchair in the existing market has more defects, such as more trouble of crawler replacement, inflexible turning in narrow corridor, high comfort of people sitting in the stair climbing process and the like.
The planet wheel stair climbing wheelchair is mainly characterized in that the wheel has two modes, namely a walking mode on the flat ground and a stair climbing mode.
Because the specifications of the stairs are different, the planetary gear type stair is difficult to adapt to the stairs with different heights, and the stair climbing process is an alternate stair climbing process which is difficult to avoid generating fluctuation, thereby influencing the stability and safety of stair climbing.
At present, the walking type is few in the market, and the climbing type is stable and flexible, but the walking type is difficult to popularize due to the fact that a mechanical mechanism and circuit control are complex and the manufacturing cost is high. In summary, there is an urgent need in the market for an electric stair-climbing wheelchair that is stable and safe in operation, flexible in walking, comfortable and low in cost.
Disclosure of Invention
An object of the utility model is to provide a combined type self-balancing electronic wheelchair.
The utility model discloses a chair frame (1), balanced module (2) of marcing, track chassis module (3), seat leveling module (4), back support wheel module (5) and control module (6). The balance advancing module (2) comprises a balance wheel bracket (2-1) and a balance wheel (2-2). The two balance wheels (2-2) are respectively arranged at two ends of the balance wheel bracket (2-1). The crawler chassis module (3) comprises a rotating shaft (3-1), a turnover shaft (3-2), a motor mounting frame (3-3), a crawler adjusting electric rod (3-4) and two single-side crawler assemblies. The single-side crawler assembly comprises crawler frames (3-5), traveling belt wheels (3-6), belt detaching auxiliary wheels (3-7), belt detaching frames (3-10), synchronous crawlers (3-11), a belt detaching adjusting assembly, first distance measuring sensors (3-12) and a crawler driving assembly. Two traveling pulleys (3-6) are respectively supported at two ends of the track frame (3-5). One of the travelling pulleys (3-6) is driven by a track drive assembly.
The inner end of the belt removing frame (3-10) and one end of the track frame (3-5) form a revolute pair. The belt detaching frames (3-10) are driven to turn over by the belt detaching adjusting component. The outer end of the belt removing frame (3-10) is supported with a belt removing auxiliary wheel (3-7). The synchronous crawler belt (3-11) bypasses the belt-removing auxiliary wheel (3-7) and the two traveling belt wheels (3-6). The first distance measuring sensor (3-12) is fixed at the end of the bottom of the track frame (3-5) close to the belt detaching frame (3-10) and is arranged outwards. The rotating shaft (3-1), the overturning shaft (3-2) and the motor mounting rack (3-3) are all arranged between the two single-side crawler assemblies and are fixed with the crawler frame (3-5) in the two single-side crawler assemblies. The shell of the crawler belt adjusting electric rod (3-4) is hinged with the middle part of the balance wheel bracket (2-1), and the pushing rod and the overturning shaft (3-2) form a revolute pair. The balance wheel bracket (2-1) and the rotating shaft (3-1) form a revolute pair.
The chair frame (1) is composed of a bottom frame (1-1) and a mounting rack (1-2) which are fixed together. The bottom frame (1-1) is fixed with the rotating shaft (3-1) and the turnover shaft (3-2). The two side plates of the mounting rack (1-2) are both provided with pitching adjusting chutes (1-3). The gyroscope is arranged on the chair frame (1).
The seat leveling module (4) comprises a cushion main body (4-2), a first gear (4-3), a rack (4-4) and a leveling driving component. The cushion main body (4-2) comprises a cushion plate, a first leveling sliding shaft (4-8), a second leveling sliding shaft (4-9) and a cushion connecting rod (4-10). Four cushion connecting rods (4-10) are arranged at intervals in sequence, one end of each cushion connecting rod and the first leveling sliding shaft (4-8) form a revolute pair, and the other end of each cushion connecting rod is fixed with the second leveling sliding shaft (4-9). The bottom surface of the cushion plate is fixed with each cushion connecting rod (4-10).
Wherein, the two cushion connecting rods (4-10) are fixed with slide rails (4-12). The slide rails (4-12) are provided with T-shaped slide grooves. The top of the chair frame (1) supports two rollers which are coaxially arranged. The two rollers are respectively arranged in the T-shaped chutes of the two slide rails (4-12). Two ends of the first leveling sliding shaft (4-8) respectively penetrate through the pitching adjusting sliding grooves (1-3) on the two side plates of the mounting rack (1-2). A rack (4-4) is fixed on the mounting rack (1-2). The first gear (4-3) is fixed on the first leveling sliding shaft (4-8), and the first gear (4-3) is meshed with the rack (4-4). The first leveling sliding shaft (4-8) is driven by a leveling driving component.
The rear support wheel module (5) comprises a support wheel shaft (5-1), a support rod (5-2), a rear support wheel (5-3), a second distance measuring sensor (5-4) and a rear support electric rod (5-5). The inner end of the support rod (5-2) and the bottom frame (1-1) form a revolute pair. The supporting rod (5-2) is driven by a rear support electric rod (5-5). The middle part of the supporting wheel shaft (5-1) is fixed with the outer end of the supporting rod (5-2). A rear supporting wheel (5-3) is supported on the supporting wheel shaft (5-1). The second distance measuring sensor (5-4) is fixed on the support rod (5-2) and faces the rear support wheel (5-3).
Furthermore, the belt removing adjusting assembly comprises a belt removing push rod (3-13), a belt removing sliding shaft (3-14), a threaded cylinder (3-15), a threaded shaft (3-16), a first bevel gear (3-17), a second bevel gear (3-18), a resistance spring (3-19) and a belt removing rotating shaft (3-20). The crawler frame (3-5) is provided with a belt detaching chute (3-21). The tape removing sliding shafts (3-14) penetrate through the tape removing chutes (3-21). One end of each of the two belt removing push rods (3-13) and the two ends of the belt removing sliding shafts (3-14) form a revolute pair, and the other end of each of the two belt removing push rods is hinged with the two sides of the belt removing frame (3-10). One end of the threaded cylinder (3-15) and the middle part of the belt-removing sliding shaft (3-14) form a revolute pair. The external thread on the threaded shaft (3-16) and the internal thread on the threaded barrel (3-15) form a screw pair. The threaded shafts (3-16) are supported on the track frames (3-5). The first bevel gears (3-17) are fixed on the threaded shafts (3-16). The belt detaching rotating shafts (3-20) are supported on the crawler frames (3-5). The second bevel gear (3-18) is fixed on the belt detaching rotating shaft (3-20). The first bevel gears (3-17) are meshed with the second bevel gears (3-18). The resistance springs (3-19) are sleeved on the belt detaching rotating shafts (3-20), and two ends of the resistance springs respectively support the second bevel gears (3-18) and the crawler frames (3-5). The outer end of the belt detaching rotating shaft (3-20) is provided with an inner hexagonal hole.
Further, the single-side track assembly further comprises a tensioning wheel (3-8) and a tensioning rod frame (3-9). The inner ends of the tensioning rod frames (3-9) and the middle parts of the track frames (3-5) form a rotating pair through tensioning shafts. The tension shaft is sleeved with a torsion spring. Two ends of the torsion spring are respectively fixed with the tension rod frame (3-9) and the crawler frame (3-5). The tensioning wheel (3-8) is supported at the outer end of the tensioning rod frame (3-9) and is propped against the outer side surface of the synchronous track (3-11).
Furthermore, the rear support wheel (5-3), the belt disassembling frame (3-10) and the backrest plate are positioned on the same side of the balance wheel bracket (2-1). The pedal (4-5) is positioned at the other side of the balance wheel bracket (2-1).
Further, the track driving assembly comprises chain wheels (3-23), chains (3-24) and track driving motors (3-22). Two chain wheels (3-23) and an output shaft of a crawler driving motor (3-22), one of the traveling belt wheels (3-6). The two chain wheels (3-23) are connected through a chain (3-24). The crawler belt driving motors (3-22) are fixed on the motor mounting frame (3-3).
Further, the leveling driving assembly comprises a second gear (4-13) and a leveling motor (4-14). The leveling motor (4-14) is fixed at the bottom of the cushion main body (4-2). The two second gears (4-13) are respectively fixed with the output shafts of the leveling motors (4-14) and the first leveling slip shafts (4-8).
Furthermore, a hub motor is fixed in the balance wheel (2-2). The output shafts of the two hub motors are respectively fixed with the two ends of the balance wheel bracket (2-1).
Further, the seat leveling module (4) further comprises a pedal plate (4-5) and a pedal connecting rod (4-6). The top ends of the two pedal connecting rods (4-6) are respectively fixed with the two cushion connecting rods (4-10) positioned at the outer side, and the bottom ends of the two pedal connecting rods are respectively fixed with the two ends of the pedals (4-5). The pedal (4-5) is parallel to the cushion plate.
Further, the cushion main body (4-2) also comprises armrests. The two handrails are respectively arranged at the two sides of the cushion plate and are fixed with the cushion plate.
Further, the seat leveling module (4) further comprises a backrest main body (4-1). The backrest main body (4-1) comprises a backrest plate, a backrest rotating shaft (4-15), a backrest connecting rod (4-11) and a backrest overturning rod (4-7). The backrest rotating shaft (4-15) is supported at the top of the bottom frame (1-1). The backrest plate is fixed with the backrest rotating shaft (4-15). The inner end of the backrest overturning rod (4-7) is fixed with the backrest rotating shaft (4-15). One end of the backrest connecting rod (4-11) is hinged with the outer end of the backrest turning rod (4-7), and the other end of the backrest connecting rod and the second leveling sliding shaft (4-9) form a revolute pair.
The utility model has the advantages that:
1. the utility model discloses climb the mode of building in-process adoption rear end leveling, can effectively reduce the focus of climbing the building in-process, improve the security.
2. The utility model discloses designed the supplementary part of taking out in crawler chassis module, its change efficiency that can simplify the track greatly.
3. The utility model discloses adopt the two-wheeled balanced when going on the level land, can move freely between the corridor.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention when driving on a flat ground;
FIG. 2 is a schematic view of the overall structure of the present invention during climbing steps;
FIG. 3 is a schematic view of the combination of the middle balance traveling module, the crawler chassis module, and the rear support wheel module of the present invention;
FIG. 4 is a schematic view of a track chassis module according to the present invention;
fig. 5 is a partially enlarged view of a portion a in fig. 4;
FIG. 6 is a schematic view of a seat leveling module according to the present invention;
FIG. 7 is a state diagram of the present invention in driving on flat ground;
FIG. 8 is a state diagram of the utility model when climbing steps;
FIG. 9 is a state diagram of the utility model during climbing steps;
fig. 10 is a state diagram of the present invention when it reaches the top of the step.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the combined self-balancing electric wheelchair comprises a chair frame 1, a balance traveling module 2, a crawler chassis module 3, a seat leveling module 4, a rear support wheel module 5 and a control module 6. The balance advancing module 2 includes a balance wheel bracket 2-1 and a balance wheel 2-2. The two balance wheels 2-2 are respectively arranged at two ends of the balance wheel bracket 2-1. A hub motor is fixed in the balance wheel 2-2. The output shafts of the two hub motors are respectively fixed with the two ends of the balance wheel bracket 2-1.
As shown in fig. 3, 4 and 5, the track chassis module 3 includes a swivel shaft 3-1, a trip shaft 3-2, a motor mount 3-3, a track adjustment motor bar 3-4 and two single side track assemblies. The single-side track assembly comprises 3-5 track frames, 3-6 traveling belt wheels, 3-7 belt-removing auxiliary wheels, 3-8 tensioning wheels, 3-9 tensioning rod frames, 3-10 belt-removing frames, 3-11 synchronous tracks, a belt-removing adjusting assembly, 3-12 first distance measuring sensors and a track driving assembly. Two traveling pulleys 3-6 are supported at both ends of the track frame 3-5, respectively. The inner end of the belt removing frame 3-10 and one end of the track frame 3-5 form a revolute pair. The outer end of the belt removing frame 3-10 is supported with a belt removing auxiliary wheel 3-7. The endless synchronous caterpillar 3-11 passes over the belt-removing auxiliary wheel 3-7 and the two running pulleys 3-6. The first distance measuring sensor 3-12 is fixed at the end of the bottom of the track frame 3-5 close to the belt detaching frame 3-10 and is arranged outwards. The first ranging sensors 3-12 are used to detect whether the crawler chassis module 3 climbs to the top of the step.
The belt removing adjusting assembly comprises a belt removing push rod 3-13, a belt removing sliding shaft 3-14, a threaded cylinder 3-15, a threaded shaft 3-16, a first bevel gear 3-17, a second bevel gear 3-18, a resistance spring 3-19 and a belt removing rotating shaft 3-20. Two side plates of the crawler frame 3-5 are provided with belt disassembling chutes 3-21. The tape removing sliding shafts 3-14 pass through the tape removing sliding chutes 3-21. One end of each of the two belt removing push rods 3-13 and two ends of the belt removing sliding shafts 3-14 form a revolute pair respectively, and the other end of each of the two belt removing push rods is coaxially hinged with two sides of the belt removing frames 3-10 respectively. One end of the threaded cylinder 3-15 and the middle part of the belt removing sliding shaft 3-14 form a revolute pair. The external thread on the threaded shaft 3-16 and the internal thread on the threaded barrel 3-15 form a screw pair. The threaded shaft 3-16 is supported on the track frame 3-5. The first bevel gear 3-17 is fixed to the threaded shaft 3-16. The belt detaching rotating shaft 3-20 is supported on the crawler frame 3-5. The second bevel gear 3-18 is fixed on the belt removing rotating shaft 3-20. The first bevel gear 3-17 meshes with the second bevel gear 3-18. The resistance springs 3-19 are sleeved on the belt detaching rotating shafts 3-20, and two ends of the resistance springs respectively support the second bevel gears 3-18 and the crawler frames 3-5. The friction force of the resistance springs 3-19 on the second bevel gears 3-18 can increase the resistance when the belt removing rotating shafts 3-20 rotate, and the second bevel gears 3-18 are prevented from rotating in vibration. The outer ends of the belt detaching rotating shafts 3 to 20 are provided with inner hexagonal holes. The belt detaching rotating shaft 3-20 can be rotated through the inner hexagonal wrench, and the threaded shaft 3-16 is driven to rotate; the thread cylinder 3-15 drives the belt removing sliding shaft 3-14 to slide, so that the relative included angle between the belt removing frame 3-10 and the track frame 3-5 is adjusted. And the belt disassembling frame 3-10 is turned inwards to loosen the synchronous crawler 3-11, so that the synchronous crawler 3-11 can be quickly replaced.
The inner ends of the tensioning rod frames 3-9 and the middle parts of the track frames 3-5 form a rotating pair through a tensioning shaft. The tension shaft is sleeved with a torsion spring. Two ends of the torsion spring are respectively fixed with the tensioning rod frames 3-9 and the crawler frames 3-5. The tensioning wheel 3-8 is supported at the outer end of the tensioning rod frame 3-9 and is propped against the outer side surface of the synchronous crawler 3-11 under the action of the elasticity of the torsion spring, so that the synchronous crawler 3-11 is tensioned. The track drive assembly includes sprockets 3-23, chains 3-24 and track drive motors 3-22. Two chain wheels 3-23 and the output shaft of the crawler belt driving motor 3-22, one of the traveling belt wheels 3-6. The two sprockets 3-23 are connected by a chain 3-24.
The rotating shaft 3-1, the overturning shaft 3-2 and the motor mounting rack 3-3 are all arranged between the two single-side crawler assemblies and are fixed with the crawler frames 3-5 in the two single-side crawler assemblies. The two crawler belt driving motors 3-22 are fixed on the motor mounting frame 3-3. The shell of the crawler belt adjusting electric rod 3-4 is hinged with the middle part of the balance wheel bracket 2-1, and the push rod and the turnover shaft 3-2 form a revolute pair. The balance wheel bracket 2-1 and the rotating shaft 3-1 form a rotating pair. Under the state that the balance wheel bracket 2-1 is kept static, the track adjusting electric rod 3-4 is pushed out or retracted to drive the track frame 3-5 to rotate around the balance wheel bracket 2-1.
As shown in fig. 3 and 6, the chair frame 1 is composed of a bottom frame 1-1 and a mounting frame 1-2. The mounting rack 1-2 is fixed with the bottom frame 1-1. The bottom frame 1-1 is fixed with the rotating shaft 3-1 and the turnover shaft 3-2. The two side plates of the mounting rack 1-2 are both provided with pitching adjusting chutes 1-3. The pitching adjusting chutes 1-3 are obliquely arranged. The gyroscope is arranged on the chair frame 1.
The seat leveling module 4 comprises a backrest main body 4-1, a cushion main body 4-2, a first gear 4-3, a rack 4-4, a pedal 4-5, a pedal connecting rod 4-6 and a leveling driving component. The cushion main body 4-2 comprises a cushion plate, armrests, a first leveling sliding shaft 4-8, a second leveling sliding shaft 4-9 and a cushion connecting rod 4-10. Four cushion connecting rods 4-10 are arranged at intervals in sequence, one end of each cushion connecting rod and the first leveling sliding shaft 4-8 form a rotating pair, and the other end of each cushion connecting rod is fixed with the second leveling sliding shaft 4-9. The bottom surface of the cushion plate is fixed with each cushion connecting rod 4-10. The top ends of the two pedal connecting rods 4-6 are respectively fixed with the two cushion connecting rods 4-10 positioned at the outer side, and the bottom ends are respectively fixed with the two ends of the pedal plates 4-5. The foot pedal 4-5 is parallel to the cushion plate. The two handrails are respectively arranged at the two sides of the cushion plate and are fixed with the cushion plate.
The two cushion connecting rods 4-10 positioned at the inner side are both fixed with slide rails 4-12. T-shaped sliding grooves are formed in the sliding rails 4-12. The top of the chair frame 1 supports two coaxially arranged rollers. The two rollers are respectively arranged in the T-shaped chutes of the two slide rails 4-12. Two ends of the first leveling sliding shaft 4-8 respectively penetrate through the pitching adjusting sliding grooves 1-3 on the two side plates of the mounting rack 1-2. Two racks 4-4 are fixed on the mounting rack 1-2. The length direction of the rack 4-4 is parallel to the length direction of the pitching adjusting sliding groove 1-3. Two first gears 4-3 are fixed on the first leveling sliding shafts 4-8, and the two first gears 4-3 are respectively meshed with the two racks 4-4. The leveling drive assembly includes a second gear 4-13 and a leveling motor 4-14. The leveling motor 4-14 is fixed at the bottom of the cushion main body 4-2. The two second gears 4-13 are respectively fixed with the output shafts of the leveling motors 4-14 and the first leveling sliding shafts 4-8.
The backrest main body 4-1 comprises a backrest plate, a backrest rotating shaft 4-15, a backrest connecting rod 4-11 and a backrest turning rod 4-7. The backrest rotation shaft 4-15 is supported on the top of the base frame 1-1. The backrest plate is fixed with the backrest rotating shaft 4-15. The inner ends of the two backrest turning rods 4-7 are respectively fixed with the two ends of the backrest rotating shafts 4-15. One end of each of the two backrest connecting rods 4-11 is hinged with the outer ends of the two backrest turning rods 4-7, and the other end of each of the two backrest connecting rods and the two ends of the second leveling sliding shaft 4-9 form a revolute pair. When the first leveling slipping shaft 4-8 slips in the pitching adjusting sliding groove 1-3, the sliding rail 4-12 and the bottom frame 1-1 are driven to move relatively, so that the second leveling slipping shaft 4-9 moves, the second leveling slipping shaft 4-9 moves to drive the backrest rotating shaft 4-15 to rotate through the backrest connecting rod 4-11, and the synchronous movement of the cushion plate and the backrest plate is realized.
The rear supporting wheel module 5 comprises a supporting wheel shaft 5-1, a supporting rod 5-2, a rear supporting wheel 5-3, a second distance measuring sensor 5-4 and a rear supporting electric rod 5-5. The inner end of the support rod 5-2 and the bottom frame 1-1 form a revolute pair. The middle part of the supporting wheel shaft 5-1 is fixed with the outer end of the supporting rod 5-2. The two ends of the supporting wheel shaft 5-1 are respectively supported with a rear supporting wheel 5-3. The shell of the rear support electric rod 5-5 and the bottom frame 1-1 form a revolute pair, and the push rod and the middle part of the support rod 5-2 form rotation. When the combined type self-balancing electric wheelchair moves to the top of a section of step, the rear support electric rod 5-5 is pushed out, the support rod 5-2 is turned outwards, and the rear support wheel 5-3 is in contact with the top plane of the step to realize auxiliary support. The rear supporting wheel 5-3, the belt disassembling frame 3-10 and the backrest plate are positioned at the same side of the balance wheel bracket 2-1. The pedal 4-5 is positioned at the other side of the balance wheel bracket 2-1. When the crawler chassis module 3 goes up the steps, the user faces back to the top of the steps. The second distance measuring sensor 5-4 is fixed on the support rod 5-2 and faces the rear support wheel 5-3.
The control module 6 includes a controller, a motor driver, and an operation box 6-1. The operation box 6-1 is fixed to one of the armrests. The operation box 6-1 is provided with an operation handle and a switching button. The leveling motors 4-14, the motors in the crawler adjusting electric rods 3-4, the motors in the rear supporting electric rods 5-5, the hub motors in the two balance wheels 2-2 and the two crawler driving motors 3-22 are all connected with a motor control interface of the controller through motor drivers. And signal output interfaces of the gyroscope, the control handle, the switching button, the first ranging sensors 3-12 and the second ranging sensors 5-4 are all connected with the controller.
The working principle of the utility model is as follows:
as shown in fig. 7, when traveling on a flat ground, the gyroscope detects its own spatial attitude and transmits it to the controller. The controller controls the hub motors in the two balance wheels 2-2 to rotate, so that the cushion plate is continuously close to the horizontal state. At the moment, if the gravity center of a user leans forwards or the control handle is shaken forwards, the two balance wheels 2-2 drive the balance wheel bracket 2-1 to move forwards; if the user leans back or shakes the control handle backwards with the gravity center, the two balance wheels 2-2 drive the balance wheel bracket 2-1 to move backwards. Meanwhile, a user can control the differential rotation of the balance wheels 2-2 through the control handle to realize steering.
When a step appears in the advancing direction, a user controls the balance wheel bracket 2-1 to move to a state that the user faces back to the step; thereafter, the user operates the balance wheel bracket 2-1 to move backward. When the synchronous crawler 3-11 is in contact with the step, a user presses down the switching button, the crawler adjusting electric rod 3-4 is pushed out, the two crawler driving motors 3-22 synchronously rotate, the two crawler frames 3-5 turn over around the rotating shaft 3-1, the synchronous crawler 3-11 moves, the balance wheel 2-2 is suspended, and the chair frame 1 moves upwards along the step. Meanwhile, the gyroscope detects the self space pose and transmits the self space pose to the controller, and the leveling motors 4-14 rotate, so that the cushion plate and the backrest plate turn over, and the cushion plate continuously keeps a horizontal state. This process is illustrated in fig. 8 and 9.
When the electric rod 5-5 of the rear support reaches the top of the step, the electric rod 5-5 of the rear support is pushed out, so that the rear support wheel 5-3 is in contact with the top plane of the step. Whether the distance reaches the top of the step is judged by the distance detected by the first distance measuring sensor 3-12. This process is illustrated in fig. 10.
Then, the two crawler driving motors 3-22 rotate synchronously, the rear support electric rods 5-5 and the crawler adjusting electric rods 3-4 retract synchronously, so that the chair frame 1 moves to the top of the step, the two crawler frames 3-5 reset, and the two balance wheels 2-2 are in contact with the adjusted top plane. Meanwhile, the leveling motors 4-14 rotate to turn over the cushion plate and the backrest plate, and the cushion plate is continuously kept in a horizontal state.
Claims (10)
1. A combined self-balancing electric wheelchair comprises a chair frame (1), a balance advancing module (2), a crawler chassis module (3), a seat leveling module (4), a rear support wheel module (5) and a control module (6); the method is characterized in that: the balance advancing module (2) comprises a balance wheel bracket (2-1) and a balance wheel (2-2); the two balance wheels (2-2) are respectively arranged at two ends of the balance wheel bracket (2-1); the crawler chassis module (3) comprises a rotating shaft (3-1), a turnover shaft (3-2), a motor mounting frame (3-3), a crawler adjusting electric rod (3-4) and two single-side crawler assemblies; the single-side crawler assembly comprises crawler frames (3-5), a traveling belt wheel (3-6), a belt removing auxiliary wheel (3-7), a belt removing frame (3-10), a synchronous crawler (3-11), a belt removing adjusting assembly, a first distance measuring sensor (3-12) and a crawler driving assembly; two traveling belt wheels (3-6) are respectively supported at two ends of the track frame (3-5); one of the travelling pulleys (3-6) is driven by a track drive assembly;
the inner end of the belt removing frame (3-10) and one end of the crawler frame (3-5) form a revolute pair; the belt disassembling frame (3-10) is driven to overturn by the belt disassembling adjusting component; the outer end of the belt removing frame (3-10) is supported with a belt removing auxiliary wheel (3-7); the synchronous crawler belt (3-11) bypasses the belt-removing auxiliary wheel (3-7) and the two traveling belt wheels (3-6); the first distance measuring sensor (3-12) is fixed at the end of the bottom of the track frame (3-5) close to the belt detaching frame (3-10) and is arranged outwards; the rotating shaft (3-1), the turnover shaft (3-2) and the motor mounting rack (3-3) are all arranged between the two single-side crawler assemblies and are fixed with the crawler frame (3-5) in the two single-side crawler assemblies; the shell of the crawler belt adjusting electric rod (3-4) is hinged with the middle part of the balance wheel bracket (2-1), and the pushing rod and the overturning shaft (3-2) form a revolute pair; the balance wheel bracket (2-1) and the rotating shaft (3-1) form a revolute pair;
the chair frame (1) consists of a bottom frame (1-1) and a mounting rack (1-2) which are fixed together; the bottom frame (1-1) is fixed with the rotating shaft (3-1) and the turnover shaft (3-2); the two side plates of the mounting rack (1-2) are respectively provided with a pitching adjusting sliding chute (1-3); a gyroscope is arranged on the chair frame (1);
the seat leveling module (4) comprises a cushion main body (4-2), a first gear (4-3), a rack (4-4) and a leveling driving component; the cushion main body (4-2) comprises a cushion plate, a first leveling sliding shaft (4-8), a second leveling sliding shaft (4-9) and a cushion connecting rod (4-10); four cushion connecting rods (4-10) are sequentially arranged at intervals, one ends of the four cushion connecting rods and the first leveling sliding shafts (4-8) form a revolute pair, and the other ends of the four cushion connecting rods and the second leveling sliding shafts (4-9) are fixed; the bottom surface of the cushion plate is fixed with each cushion connecting rod (4-10);
wherein, the two cushion connecting rods (4-10) are fixed with slide rails (4-12); a T-shaped sliding groove is formed in each sliding rail (4-12); the top of the chair frame (1) is supported with two coaxially arranged rollers; the two rollers are respectively arranged in the T-shaped chutes of the two slide rails (4-12); two ends of the first leveling sliding shaft (4-8) respectively penetrate through the pitching adjusting sliding grooves (1-3) on the two side plates of the mounting rack (1-2); a rack (4-4) is fixed on the mounting rack (1-2); a first gear (4-3) is fixed on the first leveling sliding shaft (4-8), and the first gear (4-3) is meshed with the rack (4-4); the first leveling sliding shaft (4-8) is driven by a leveling driving component;
the rear support wheel module (5) comprises a support wheel shaft (5-1), a support rod (5-2), a rear support wheel (5-3), a second distance measuring sensor (5-4) and a rear support electric rod (5-5); the inner end of the support rod (5-2) and the bottom frame (1-1) form a revolute pair; the supporting rod (5-2) is driven by a rear support electric rod (5-5); the middle part of the supporting wheel shaft (5-1) is fixed with the outer end of the supporting rod (5-2); a rear supporting wheel (5-3) is supported on the supporting wheel shaft (5-1); the second distance measuring sensor (5-4) is fixed on the support rod (5-2) and faces the rear support wheel (5-3).
2. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the belt removing adjusting assembly comprises a belt removing push rod (3-13), a belt removing sliding shaft (3-14), a threaded cylinder (3-15), a threaded shaft (3-16), a first bevel gear (3-17), a second bevel gear (3-18), a resistance spring (3-19) and a belt removing rotating shaft (3-20); the crawler frames (3-5) are provided with belt detaching chutes (3-21); the tape removing sliding shafts (3-14) penetrate through the tape removing sliding chutes (3-21); one end of each of the two belt removing push rods (3-13) and two ends of each of the belt removing sliding shafts (3-14) form a revolute pair, and the other end of each of the two belt removing push rods is hinged with two sides of the belt removing frame (3-10); one end of the threaded cylinder (3-15) and the middle part of the belt-removing sliding shaft (3-14) form a revolute pair; the external thread on the threaded shaft (3-16) and the internal thread on the threaded barrel (3-15) form a screw pair; the threaded shaft (3-16) is supported on the track frame (3-5); the first bevel gear (3-17) is fixed on the threaded shaft (3-16); the belt detaching rotating shaft (3-20) is supported on the crawler frame (3-5); the second bevel gear (3-18) is fixed on the belt detaching rotating shaft (3-20); the first bevel gear (3-17) is meshed with the second bevel gear (3-18); the resistance springs (3-19) are sleeved on the belt detaching rotating shafts (3-20), and two ends of the resistance springs respectively support against the second bevel gears (3-18) and the crawler frames (3-5); the outer end of the belt detaching rotating shaft (3-20) is provided with an inner hexagonal hole.
3. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the single-side track assembly further comprises a tensioning wheel (3-8) and a tensioning rod frame (3-9); the inner end of the tensioning rod frame (3-9) and the middle part of the crawler frame (3-5) form a revolute pair through a tensioning shaft; a torsion spring is sleeved on the tensioning shaft; two ends of the torsion spring are respectively fixed with the tension rod frame (3-9) and the crawler frame (3-5); the tensioning wheel (3-8) is supported at the outer end of the tensioning rod frame (3-9) and is propped against the outer side surface of the synchronous track (3-11).
4. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the rear supporting wheel (5-3), the belt disassembling frame (3-10) and the backrest plate are positioned at the same side of the balance wheel bracket (2-1); the pedal (4-5) is positioned at the other side of the balance wheel bracket (2-1).
5. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the track driving assembly comprises chain wheels (3-23), chains (3-24) and track driving motors (3-22); two chain wheels (3-23) and an output shaft of a crawler belt driving motor (3-22), wherein one of the two chain wheels is a traveling belt wheel (3-6); the two chain wheels (3-23) are connected through a chain (3-24); the crawler belt driving motors (3-22) are fixed on the motor mounting frame (3-3).
6. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the leveling driving component comprises a second gear (4-13) and a leveling motor (4-14); the leveling motor (4-14) is fixed at the bottom of the cushion main body (4-2); the two second gears (4-13) are respectively fixed with the output shafts of the leveling motors (4-14) and the first leveling slip shafts (4-8).
7. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: a hub motor is fixed in the balance wheel (2-2); the output shafts of the two hub motors are respectively fixed with the two ends of the balance wheel bracket (2-1).
8. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the seat leveling module (4) further comprises a pedal (4-5) and a pedal connecting rod (4-6); the top ends of the two pedal connecting rods (4-6) are respectively fixed with the two cushion connecting rods (4-10) positioned at the outer side, and the bottom ends of the two pedal connecting rods are respectively fixed with the two ends of the pedals (4-5); the pedal (4-5) is parallel to the cushion plate.
9. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the cushion main body (4-2) also comprises armrests; the two handrails are respectively arranged at the two sides of the cushion plate and are fixed with the cushion plate.
10. The composite self-balancing electric wheelchair as claimed in claim 1, wherein: the seat leveling module (4) further comprises a backrest main body (4-1); the backrest main body (4-1) comprises a backrest plate, a backrest rotating shaft (4-15), a backrest connecting rod (4-11) and a backrest turning rod (4-7); the backrest rotating shaft (4-15) is supported at the top of the bottom frame (1-1); the backrest plate is fixed with the backrest rotating shaft (4-15); the inner end of the backrest overturning rod (4-7) is fixed with the backrest rotating shaft (4-15); one end of the backrest connecting rod (4-11) is hinged with the outer end of the backrest turning rod (4-7), and the other end of the backrest connecting rod and the second leveling sliding shaft (4-9) form a revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920932617.5U CN210843883U (en) | 2019-06-20 | 2019-06-20 | Combined type self-balancing electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920932617.5U CN210843883U (en) | 2019-06-20 | 2019-06-20 | Combined type self-balancing electric wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210843883U true CN210843883U (en) | 2020-06-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920932617.5U Expired - Fee Related CN210843883U (en) | 2019-06-20 | 2019-06-20 | Combined type self-balancing electric wheelchair |
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| Country | Link |
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| CN (1) | CN210843883U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112336538A (en) * | 2020-11-28 | 2021-02-09 | 王海立 | Balanced wheelchair |
-
2019
- 2019-06-20 CN CN201920932617.5U patent/CN210843883U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112336538A (en) * | 2020-11-28 | 2021-02-09 | 王海立 | Balanced wheelchair |
| CN112336538B (en) * | 2020-11-28 | 2022-12-09 | 王海立 | Balanced wheelchair |
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Granted publication date: 20200626 Termination date: 20210620 |