CN214713092U - Track assembly, walking wheel telescopic switching structure and stair climbing vehicle body - Google Patents

Abstract

The utility model discloses a track subassembly, flexible switching structure of walking wheel and stair climbing automobile body, it includes track subassembly, walking wheel, flexible subassembly and drive assembly, flexible subassembly is including mutually supported slide rail and spout, the walking wheel is connected on the slide rail, flexible subassembly still links to each other with drive assembly, and drive assembly drives the walking wheel removes along the spout, when the walking wheel is in the first state, the walking wheel is outstanding downwards track subassembly to can direct contact ground, when the walking wheel is in the second state, the walking wheel is retracted to the above-mentioned of track subassembly, thereby can leave ground. The utility model discloses a track subassembly, the flexible switching structure of walking wheel utilize mobilizable walking wheel to realize the switching in turn of walking wheel and track, walk the walking of walking wheel around subaerial usefulness promptly, walk with the track on the step.

Description

Track assembly, walking wheel telescopic switching structure and stair climbing vehicle body

Technical Field

The utility model relates to a motor vehicle technical field, concretely relates to track subassembly, walking wheel are flexible to be switched over structure and climb building automobile body, applicable in the building wheelchair of intelligence climbing.

Background

The stair climbing wheelchair is an indispensable tool for riding instead of walk for the elderly, the infirm and the disabled with the injured lower limbs, the range of motion of wheelchair users is gradually enlarged along with the increase of barrier-free facilities, but the wheelchair is greatly limited by stairs. The stair climbing wheelchair can be divided into: star wheel type, crawler type and stepping support type.

The stair climbing mechanism of the star wheel type stair climbing wheelchair consists of a plurality of small wheels which are uniformly distributed on a Y-shaped, five-star or cross-shaped tie rod. Each small wheel can rotate around the respective axis and can also revolve around the central shaft along with the tie rod. When walking on the flat ground, each small wheel rotates, and when climbing stairs, each small wheel revolves together, thereby realizing the function of climbing stairs.

The stair climbing wheelchair with the crawler-type mechanism adopts a continuous walking mode compared with a star-type wheel mechanism, and when a crawler leaves an upper step or moves to a lower step, the crawler inclines forwards and backwards due to gravity center deviation. The crawler-type stair climbing wheelchair is not suitable for being used in the environment with too smooth stair steps and the gradient of more than 30-35 degrees. The resistance of the crawler-type stair climbing wheelchair is large when the crawler-type stair climbing wheelchair travels on the flat ground, and the turning at the corner is not flexible. Therefore, various improvements have been proposed at home and abroad, which is still not ideal.

The principle of the step-by-step support type stair climbing wheelchair is that the wheelchair simulates the action of climbing stairs of a human body and is alternately supported by two sets of supporting devices so as to realize the function of going upstairs and downstairs. But the transmission mechanism is complex, the durability is poor, and the application is less.

Disclosure of Invention

To the problem that exists among the prior art, the utility model provides a flexible switching structure of track subassembly, walking wheel and climb building automobile body.

In order to realize the purpose, the utility model discloses a technical scheme as follows:

track subassembly, walking wheel are flexible to be switched over structure, including track subassembly, walking wheel, flexible subassembly and drive assembly, flexible subassembly is including the slide rail and the spout of mutually supporting, the walking wheel is connected on the slide rail, flexible subassembly still links to each other with drive assembly, and drive assembly drives the walking wheel removes along the spout, and when the walking wheel is in the first state, the walking wheel is outstanding downwards track subassembly to can direct contact ground, when the walking wheel is in the second state, the walking wheel is retracted to the above-mentioned of track subassembly, thereby can leave ground.

Optionally, the track assembly comprises a track support, at least two track wheels and a track annularly surrounding the track wheels, at least one track wheel being a drive wheel.

Optionally, the track assembly includes a track supporting frame, at least three rear track wheels and a track annularly wrapped around the track wheels, at least one track wheel is a driving wheel, the rear track assembly is divided into a front track section and a rear track section by the three track wheels, and the front track section and the rear track section are arranged in an L shape.

Optionally, the chute is mounted on the track support.

Optionally, the drive assembly is mounted on the track support.

Optionally, the driving assembly is an electric push rod.

Optionally, the road wheel is a universal wheel or a hub motor wheel.

Optionally, the number of the track assemblies is two, the two chutes are respectively installed on the inner sides of the two track support frames, a chute beam is arranged between the chutes, the two traveling wheels are connected together through a wheel shaft, two ends of the wheel shaft are respectively connected to the sliding rails at two ends, and the driving assembly is connected between the chute beam and the sliding rail beam.

Optionally, a slide rail cross beam is further connected between the two slide rails.

Stair climbing vehicle body, including foretell track subassembly, the flexible switching structure of walking wheel, still include the drive track subassembly pivoted power unit.

The utility model discloses a track subassembly, the flexible switching structure of walking wheel utilize mobilizable walking wheel to realize the switching in turn of walking wheel and track, walk the walking of walking wheel around subaerial usefulness promptly, walk with the track on the step.

Drawings

FIG. 1 is a front view of the intelligent stair-climbing wheelchair of the present invention;

FIG. 2 is a right side view of FIG. 1;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a bottom view of FIG. 1;

FIG. 5 is a top view of FIG. 1;

FIG. 6 is a first perspective view of FIG. 1;

FIG. 7 is a second perspective view of FIG. 1;

FIG. 8 is a third perspective view of FIG. 1;

FIG. 9 is an initial state diagram of the intelligent stair climbing wheelchair of the present invention;

FIG. 10 is an initial stair-climbing state diagram of the intelligent stair-climbing wheelchair of the present invention;

FIG. 11 is a state diagram of the intelligent stair climbing wheelchair of the present invention during stair climbing;

FIG. 12 is a diagram of the stair climbing wheelchair of the present invention in a state of climbing to the top;

fig. 13 is a stair climbing completion state diagram of the intelligent stair climbing wheelchair of the invention.

In the figure:

a front track assembly 1; a front crawler side fender 11; a front crawler wheel 12; a front crawler belt 13;

a rear track assembly 2; a front track section 21; a rear track section 22; a rear crawler side fender 23; rear track wheels 24; a rear crawler 25; a tension pulley 26;

a first rotating shaft 3;

a first drive mechanism 4; a first electric push rod 41; a first connection assembly 42;

a front road wheel 5;

a second drive mechanism 6; a second electric push rod 61; a steering arm 62; a support arm 63; a steering shaft 64;

a rear traveling wheel 7;

a third drive mechanism 8; a third electric putter 81; a slide rail 82; a chute 83; an axle 84; a chute beam 85; a slide rail cross member 86;

a motor 9;

a seat 10;

a first leg 110;

a fourth electric putter 120.

Detailed Description

The applicant obtains in studying intelligence building wheelchair the utility model discloses a track subassembly, the flexible switching structure of walking wheel, consequently the utility model discloses specific embodiment will expand the explanation gradually based on intelligent building wheelchair's inventive concept, and the track subassembly of this application, the flexible switching structure of walking wheel will be fully embodied in some parts of a plurality of embodiments, and the rest part can be regarded as the example of the specific application of the utility model.

Example 1 double track support Structure

The dual track support structure of the present embodiment is described with reference to fig. 1 to 13, and includes a front track assembly 1, a rear track assembly 2, a first rotating shaft 3, and a first driving mechanism 4.

Wherein: the rear crawler assembly 2 comprises a front crawler section 21 and a rear crawler section 22, the rear crawler section 22 and the front crawler section 21 are arranged in an L shape, and the rear crawler section 22 inclines upwards and is used for climbing a slope or climbing steps. The first rotating shaft 3 is arranged at the rear end of the front crawler assembly 1 or close to the rear end, and meanwhile, the first rotating shaft 3 is arranged at the front end of the rear crawler assembly 2 or close to the front section, so that the front crawler assembly 1 and the rear crawler assembly 2 are inverted V-shaped after being folded, on one hand, the front-back distance of the double-crawler supporting structure can be shortened, the size is reduced, the steering is convenient, and on the other hand, a triangular firm supporting structure is formed when the crawler supporting frames of the front crawler assembly 1 and the rear crawler assembly 2 are used as a supporting body. The first driving mechanism 4 drives the front crawler assembly 1 and/or the rear crawler assembly 2 to rotate around the first rotating shaft 3, when the rotation is in a first state, the front end of the front crawler assembly 1 and the rear end of the rear crawler assembly 2 incline downwards, the rear crawler assembly 2 and the front crawler assembly 1 form an included angle, and when the rotation is in a second state, the walking planes of the front crawler assembly 1 and the rear crawler assembly 2 are on the same plane.

Specifically, the front crawler assembly 1 comprises a front crawler support frame, the front crawler support frame comprises two front crawler side stoppers 11 and a connecting rod connected between the two front crawler side stoppers 11, front crawler wheels 12 are arranged at the front end and the rear end of the front crawler support frame, and one front crawler wheel 12 at the rear end is a driving wheel. A front nylon track is arranged below the two front crawler side baffles 11, and a front crawler 13 is annularly wrapped outside the two front crawler wheels 12.

Specifically, the rear track section 22 and the front track section 21 are fixed together, which means that the included angle between the L-shaped rear track section 22 and the front track section 21 is not changed, and when in the first state, the rear track section 22 extends backward or backward and upward. The front track section 21 and the rear track section 22 are one of the following: (1) the back crawler belt component 2 is formed by winding the same crawler belt into an integral crawler belt structure, and the back crawler belt component 2 is formed by winding two crawler belts into two independent crawler belt structures. When the form (1) is adopted, the rear track assembly 2 includes a rear track frame including two rear track side guards 23 and a connecting rod connected between the two rear track side guards 23. The two rear crawler side blocks 23 are bent into an L shape, rear crawler wheels 24 are arranged at two ends of each rear crawler side block, a rear crawler wheel 24 is arranged on the outer side of a corner of the L shape, a tension wheel 26 is arranged on the inner side of the corner of the L shape, and the rear crawler wheel 24 at the front end is a driving wheel. And a rear crawler belt 25 annularly wrapped outside the three front crawler wheels 12, and an idler 26 presses the outside of the rear crawler belt 25. Three rear track wheels 24 divide the rear track assembly 2 into a front track section 21 and a rear track section 22.

Specifically, the rear end of the front track assembly 1 has a driving wheel, the front end of the rear track assembly 2 has a driving wheel, the central axis of the driving wheel of the front track wheel 12 is the same as the central axis of the driving shaft of the rear track assembly 2, and the driving shaft is driven by the motor 9 to rotate, so that the front track 13 and the rear track 25 are driven to operate simultaneously. The drive shaft forms the first rotation shaft 3.

As a specific example, the first drive mechanism 4 includes: a first link assembly 42 connecting the rear track assembly 2; one end of the first push-pull mechanism is connected with a fixed point, and the fixed point refers to one end which is not retractable under the action of the push rod and is shown as a hinged connection. The other end of the first push-pull mechanism is connected with the first connecting component 42, and the first push-pull mechanism drives the rear crawler assembly 2 to realize the conversion between the first state and the second state through the first connecting component 42. In a specific example of the structure, the first push-pull mechanism is a first electric push rod 41, one end of the first electric push rod 41 is connected to the front track supporting frame, and the other end is connected to the first connecting assembly 42. The first link assembly 42 is formed by extending upwardly from the front drive wheel of the rear track frame. When the telescopic rod of the first electric push rod 41 stretches back and forth, the rear crawler belt assembly 2 is driven to rotate around the driving shaft, and the conversion between the first state and the second state is realized.

Embodiment 2 double-crawler walking stair-climbing chassis structure

The dual-track walking stair-climbing chassis structure of the present embodiment is described with reference to fig. 1 to 13, and includes the dual-track support structure of embodiment 1, and further includes front walking wheels 5, a second driving mechanism 6, rear walking wheels 7, a third driving mechanism 8, and a power mechanism.

The front road wheels 5 are located at or near the front end of the front track assembly 1 and the rear road wheels 7 are mounted at or near the rear end of the rear track assembly 2 so that the front road wheels 5 and the rear road wheels 7 have a greater distance.

The second driving mechanism 6 and the third driving mechanism 8 respectively drive the front traveling wheels 5 and the rear traveling wheels 7 to move, and when the front traveling wheels 5 or the rear traveling wheels 7 move to a first state, the front traveling wheels 5 or the rear traveling wheels 7 protrude downwards to the front crawler belt assembly 1 or the rear crawler belt assembly 2, so that the front traveling wheels 5 or the rear traveling wheels 7 can be directly contacted with the ground. When the front road wheels 5 or the rear road wheels 7 move to the second state, the front road wheels 5 or the rear road wheels 7 retract upwards to the upper side of the front crawler belt assembly 1 or the rear crawler belt assembly 2, so that the front road wheels or the rear road wheels can leave the ground. The structure is used for realizing the alternate switching of the walking wheels and the crawler, namely walking by the front and rear walking wheels 7 on the ground and walking by the crawler on the steps.

A power mechanism, optionally a motor 9, provides power to the front and rear track assemblies 1, 2.

For the alternative switching walking of cooperation walking wheel and track, when current track subassembly 1 and back track subassembly 2 were in the first state, preceding walking wheel 5 or back walking wheel 7 were also in the first state, and when current track subassembly 1 and back track subassembly 2 were in the second state, preceding walking wheel 5 or back walking wheel 7 were also in the second state. It will be appreciated that this approach may be implemented using controllers, having coordinated courses of action.

Compared with the transmission mode in the prior art, the double-crawler-belt walking stair-climbing chassis structure disclosed by the invention can be continuous, smooth and uninterrupted in the switching of the first state and the second state of the front crawler assembly 1 and the rear crawler assembly 2 and the switching of the first state and the second state of the front walking wheels 5 and the rear walking wheels 7, and can realize continuous, smooth and uninterrupted actions of going up and down steps. As a stair climbing wheelchair, the height change of the seat 10 during upstairs and downstairs is also continuous, smooth and uninterrupted.

As a specific example, the front road wheels 5 and the rear road wheels 7 are moved in one of the following ways: (1) rotating around a second rotating shaft, and (2) sliding along a track.

Specifically, the mode (1) includes: one end of the second push-pull mechanism is connected with a fixed point, and the other end of the second push-pull mechanism is connected with the second connecting component. The second connecting component comprises a second rotating shaft, and the second push-pull mechanism drives the second rotating shaft to rotate so as to drive the front traveling wheels 5 or the rear traveling wheels 7 to realize the conversion between the first state and the second state.

The front end of the front crawler assembly 1 has a front crawler wheel 12, the rear end of the rear crawler assembly 2 has a rear crawler wheel 24, the second rotating shaft passes through the axle center of the front crawler wheel 12 or the rear crawler wheel 24, and the axle center of the front crawler wheel 12 or the rear crawler wheel 24 is a non-driving wheel. This allows the front road wheels 5 to be mounted at the front end of the front track assembly 1 and the rear road wheels 7 to be mounted at the rear end of the rear track assembly 2, so that the front road wheels 5 and the rear road wheels 7 have a greater distance.

In the above description, the second push-pull mechanism is the driving assembly, the second connecting assembly is the steering assembly, and the second rotating shaft is the steering shaft 64.

The following exemplifies the former traveling wheels 5 in the manner (1).

The steering assembly comprises a support arm 63 and a steering arm 62 which are connected to a steering shaft 64, wherein the front traveling wheels 5 are installed at the end part of the steering arm 62, the driving assembly is connected to the end part of the support arm 63, the driving assembly drives the steering shaft 64 to rotate through the support arm 63, and the steering shaft 64 drives the front traveling wheels 5 to rotate through the steering arm 62. The driving assembly is arranged on the front crawler supporting frame, and the driving assembly is a second electric push rod 61. The front traveling wheels 5 are universal wheels. The number of the front crawler assemblies 1 is two, the steering shaft 64 passes through the axial centers of two non-driving wheels, and the number of the front traveling wheels 5 is two.

The mode (2) includes:

one end of the third push-pull mechanism is connected with a fixed point, and the other end of the third push-pull mechanism is connected with the third connecting component;

the sliding rail 82 is connected with the front travelling wheel 5 or the rear travelling wheel 7;

the third push-pull mechanism drives the sliding rail 82 to slide, so as to drive the front traveling wheels 5 or the rear traveling wheels 7 to realize the conversion between the first state and the second state.

In the above description, the telescopic assembly includes the slide rail 82 and the sliding slot 83 which are matched with each other, the third push-pull mechanism is connected by the driving member, and the driving assembly drives the traveling wheel to move along the sliding slot 83.

The following traveling wheels 7 are exemplified as the mode (2).

To simplify the structure, the rear track frame is used as a vehicle body frame, and the slide groove 83 and the slide rail 82 are mounted on the front track frame. A drive assembly is mounted on the track support. The driving component is a third electric push rod 81. The rear travelling wheel 7 is a wheel of a hub motor 9, and can provide power for the rear travelling wheel when travelling on the ground.

The number of the rear crawler assemblies 2 is two, the two sliding grooves 83 are respectively installed on the inner sides of the two rear crawler support frames, a sliding groove cross beam 85 is arranged between the sliding grooves 83, the two rear walking wheels 7 are connected together through a wheel shaft 84, two ends of the wheel shaft 84 are respectively connected to the sliding rails 82 at two ends, and the driving assembly is connected between the sliding groove cross beam 85 and the rail shaft 84. Advantageously, a sliding rail cross member 86 is further connected between the two sliding rails 82.

Embodiment 3 double-track walking stair climbing vehicle

The dual-track walking stair climbing vehicle of the embodiment is described with reference to fig. 1 to 13, and comprises the dual-track walking stair climbing chassis structure of the embodiment 2 and a supporting mechanism, wherein the supporting mechanism is connected to the front track assembly 1. The support mechanism may be a chair 10, a bed, a pallet or a carriage or the like.

Advantageously, one end of the racking mechanism is directly or indirectly connected to the rear end of the front track assembly 1 by a first brace 110 and the other end is directly or indirectly connected to the front end of the front track assembly 1 by a second brace. This structure makes preceding track subassembly 1 of two crawler-belt walking stair climbing cars and back track subassembly 2 as the main part support part of bearing mechanism, is different from traditional building wheelchair of climbing and attaches the track on the wheelchair basis, and this structure is succinct compacter, reduces redundantly.

Specifically, the rear end of the front track frame extends upward to form a first support member 110, and the support mechanism is connected to the upper end of the first support member 110. The front end of the front track supporting frame is connected with a second supporting piece, and the second supporting piece is a fourth electric push rod 120. The levelness and the gravity center of the supporting mechanism can be adjusted as required through the fourth electric push rod 120.

Embodiment 4 Intelligent stair climbing wheelchair

As shown in fig. 1 to 13, the intelligent stair climbing wheelchair includes a dual-track walking stair climbing vehicle according to embodiment 3, wherein the supporting mechanism is a chair 10, and further includes a controller, and the controller is connected with a power mechanism, a first electric push rod 41, a second electric push rod 61 and a third electric push rod 81.

The second branch is fourth electric putter 120, still including the angle sensor who is used for detecting seat 10 inclination, angle sensor links to each other with controller and fourth electric putter 120, and the controller drives seat 10 and rotates to required inclination according to angle sensor's signal instruction fourth electric putter 120, including the levelness that can real-time detection seat, controls fourth electric putter 120 and adjusts the levelness of seat at any time, makes the seat remain the horizontality throughout, increases people's level and sense of security.

According to the intelligent stair climbing wheelchair, the seat 10 is mounted on the front crawler belt assembly 1, and the front crawler belt 13 assembly and the rear crawler belt assembly 2 can be folded or laid flat, so that when the front crawler belt assembly 1 and the rear crawler belt assembly 2 are in the first state, the seat 10 is in a higher and normal seat 10 position, and the sitting posture is more comfortable; when front track assembly 1 and back track assembly 2 are in the second state, because front track assembly 1 and back track assembly 2 move down to the parallel state, also make seat 10 position decline naturally, be favorable to reducing the focus, avoid the focus skew and tilt from beginning to end.

Specifically, the seat 10 includes the following components: the chair comprises a chair surface, a chair back, armrests, leg bearings, foot bearings and a push-pull handle, wherein the chair surface, the chair back, the armrests, the leg bearings, the foot bearings and the push-pull handle are folded to a plane where the chair surface is located through a folding mechanism. The folding mechanism adopts a conventional foldable limiting structure, specifically, the leg support is lifted upwards to be on the same plane with the chair surface, the foot support is folded upwards to be above the leg support, the chair back is folded downwards to be above the chair surface, and the armrest is folded upwards or downwards to be on the same plane with the chair back.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Track subassembly, walking wheel are flexible to be switched over structure, its characterized in that, including track subassembly, walking wheel, flexible subassembly and drive assembly, flexible subassembly is including the slide rail and the spout of mutually supporting, the walking wheel is connected on the slide rail, flexible subassembly still links to each other with drive assembly, and drive assembly drives the walking wheel removes along the spout, and when the walking wheel was in the first state, the walking wheel is outstanding downwards the track subassembly to can direct contact ground, when the walking wheel was in the second state, the walking wheel is retracted to the above-mentioned of track subassembly, thereby can leave ground.

2. The track assembly, road wheel telescoping switching arrangement of claim 1, wherein the track assembly comprises a track support frame, at least two track wheels and a track annularly wrapped around the track wheels, at least one track wheel being a drive wheel.

3. The track assembly and road wheel telescopic switching structure as claimed in claim 1, wherein the track assembly comprises a track support frame, at least three rear track wheels and a track annularly surrounding the track wheels, at least one track wheel is a driving wheel, the three track wheels divide the rear track assembly into a front track section and a rear track section, and the front track section and the rear track section are arranged in an L shape.

4. The track assembly, road wheel telescoping switch arrangement of claim 2, wherein said runner is mounted on said track support.

5. The track assembly, road wheel telescoping switch arrangement of claim 2, wherein said drive assembly is mounted on said track frame.

6. The track assembly and road wheel telescopic switching structure as claimed in claim 1, wherein the driving assembly is an electric push rod.

7. The track assembly and road wheel telescopic switching structure as claimed in claim 1, wherein the road wheels are universal wheels or hub motor wheels.

8. The track assembly and traveling wheel telescopic switching structure as claimed in claim 2, wherein the track assembly is provided with two sliding grooves, two sliding grooves are respectively installed on the inner sides of the two track support frames, a sliding groove beam is arranged between the sliding grooves, the two traveling wheels are connected together through a wheel shaft, two ends of the wheel shaft are respectively connected to the sliding rails at two ends, and the driving assembly is connected between the sliding groove beam and the sliding rail beam.

9. The track assembly and road wheel telescopic switching structure as claimed in claim 8, wherein a rail cross member is further connected between the two rails.

10. The stair climbing vehicle body is characterized by comprising the crawler assembly and the telescopic traveling wheel switching structure as claimed in any one of claims 1 to 9, and further comprising a power mechanism for driving the crawler assembly to rotate.

Images