CN214909382U

CN214909382U - Wheel-track cooperative wheelchair

Info

Publication number: CN214909382U
Application number: CN202120601896.4U
Authority: CN
Inventors: 张慧云; 李志强; 李航; 高荣
Original assignee: Chengdu Technological University CDTU
Current assignee: Chengdu Technological University CDTU
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2021-11-30
Anticipated expiration: 2031-03-24

Abstract

The utility model discloses a wheel-track cooperative wheelchair, which comprises a chair body, a first driving device for driving the chair body to walk, a track walking mechanism, a wheel-type walking mechanism, a power switching system and a walking switching system; the crawler traveling mechanism and the wheel type traveling mechanism are connected with the chair body; the power switching system is used for switching the output end of the first driving device between connection with the crawler travelling mechanism or connection with the wheel type travelling mechanism; the walking switching system is used for switching between the lifting crawler walking mechanism or the lifting wheel type walking mechanism. The utility model provides a wheel-track cooperative wheelchair to solve the problem that the wheelchair is difficult to scramble the barrier among the prior art, realize being convenient for old person, disabled person can independently use the purpose that the wheelchair scrambleed the barrier.

Description

Wheel-track cooperative wheelchair

Technical Field

The utility model relates to the field of wheel chairs for the old and the disabled, in particular to a wheel-track cooperative wheel chair.

Background

In the current society, the elderly who lose walking ability and the disabled who have leg diseases occupy a certain proportion in the society, and the people can only walk with the help of a wheelchair when walking, but the common wheelchair can only walk on flat ground and cannot climb obstacles, so that the people can pass through the obstacles with the assistance of other people when using the wheelchair, and the process is very inconvenient. Some walking mechanisms capable of climbing obstacles, such as four-wheel four-track, four-wheel two-track, etc., also appear in the prior art. The four-wheel four-crawler traveling mechanism is characterized in that the rear two wheels are driving wheels, the front two wheels are steering wheels, the four crawler belts are composed of two crawler belts and two swing arm crawler belts, and the front two swing arm crawler belts can rotate for 360 degrees. The four-wheel crawler belt walking mechanism consists of four wheels and two crawler belts and is realized by matching four linear motors with a multi-rod mechanism. Therefore, the walking mechanism capable of climbing the obstacle in the prior art needs a plurality of motors to provide driving power, has a complex structure and higher cost, and is not beneficial to application in the field of wheelchairs.

SUMMERY OF THE UTILITY MODEL

The utility model provides a wheel-track cooperative wheelchair to solve the problem that the wheelchair is difficult to scramble the barrier among the prior art, realize being convenient for old person, disabled person can independently use the purpose that the wheelchair scrambleed the barrier.

The utility model discloses a following technical scheme realizes:

a wheel-track cooperative wheelchair comprises a chair body, a first driving device for driving the chair body to walk, a track walking mechanism, a wheel-type walking mechanism, a power switching system and a walking switching system; the crawler traveling mechanism and the wheel type traveling mechanism are connected with the chair body;

the power switching system is used for switching the output end of the first driving device between connection with the crawler travelling mechanism or connection with the wheel type travelling mechanism;

the walking switching system is used for switching between the lifting crawler walking mechanism or the lifting wheel type walking mechanism.

The problem to wheelchair among the prior art is difficult to scramble the barrier, the utility model provides a wheel-track collaborative wheelchair, including the chair body, the chair body is the part that the user provided the seat promptly, and a drive arrangement is used for providing power for the chair body, and the drive chair body advances or retreats, realizes the electronic walking of wheelchair. The first driving device can drive the wheelchair to walk by adopting any prior art. The wheelchair comprises two groups of different traveling mechanisms, namely a crawler traveling mechanism and a wheel type traveling mechanism. Wherein wheeled running gear is as the running part by the wheel as the name implies, has the nimble advantage of walking, nevertheless little with ground area of contact, when climbing and road surface environment are poor, skids easily, and can not climb through some complicated barriers. The crawler traveling mechanism is characterized in that a crawler is taken as a traveling part as the name implies, the contact area of the crawler traveling mechanism with a road surface is relatively large, the crawler traveling mechanism is not easy to slip during traveling, the crawler traveling mechanism can travel in a complex environment, and the crawler traveling mechanism has the defects of poor sensitivity and large friction resistance. This application sets up crawler travel mechanism, wheeled running gear simultaneously, and switches through walking switched systems, can switch according to concrete walking demand and adopt crawler travel mechanism or wheeled running gear. In addition, the power switching system is further arranged, so that power can be provided for walking under different working conditions through the first driving device, the structure is simplified, and the cost is reduced. Specifically, when the power switching system is used on flat ground, the power switching system is switched to the output end of the first driving device to be connected with the wheel type travelling mechanism, the travelling switching system is switched to the lifting crawler travelling mechanism, the crawler travelling mechanism is not connected with the first driving device at the moment and does not have power, and the wheel type travelling mechanism is contacted with the ground due to the fact that the crawler travelling mechanism is lifted, so that the purpose of rolling through the wheel type travelling mechanism is achieved; when the climbing device needs to climb obstacles such as stairs, the power switching system is switched to the output end of the first driving device to be connected with the crawler travelling mechanism, the travelling switching system is switched to the lifting wheel type travelling mechanism, the wheel type travelling mechanism is not connected with the first driving device at the moment and does not have power, and the wheel type travelling mechanism is lifted to be contacted with the ground through the crawler travelling mechanism, so that the purpose of climbing over the obstacles or climbing stairs through the crawler is achieved. The problem that the old people without walking ability and the disabled with leg diseases are difficult to go out independently can be solved, and the purpose of climbing obstacles can be achieved without the help of other people; and no matter what kind of walking mode is adopted in this application, its power source is first drive arrangement, has simplified power equipment's quantity and driving system's structure greatly, can show reduce cost.

Furthermore, crawler belt running gear is including being located the wheel board of chair body both sides, rotate and connect and be in first action wheel, the first follow driving wheel on the wheel board, the first track of following the driving wheel and the first outer track of following driving wheel is established to the cover. The chair body both sides all have the wheel board, all rotate on the wheel board of every side and connect first action wheel in the right side and first from the driving wheel to realize the track walking effect through the meshing with the track. In this scheme, when power switching system switches to crawler travel mode, power transmission to first action wheel can be had through arbitrary transmission mode to first drive arrangement's output.

Furthermore, the crawler traveling mechanism further comprises a plurality of intermediate wheels which are rotatably connected to the wheel plates, and the intermediate wheels are in contact with the crawler.

Furthermore, a first driven wheel and a first driving wheel on the wheel plate are distributed along the front and rear directions of the chair body; the middle wheel is as high as the first driving wheel, and the height of the first driven wheel is higher than that of the first driving wheel. Use wheelchair advancing direction to be preceding promptly, retreat the direction as the back, the hand first from driving wheel of wheel board is compared in the position that first action wheel is located more the place ahead, and because first highly being higher than first action wheel from the driving wheel, consequently makes first upwards lifting from the driving wheel form the angle of attack, is favorable to climbing the barrier through track running gear more.

Furthermore, the wheel type travelling mechanism comprises a second driving wheel and a second driven wheel which are respectively positioned at two sides of the chair body, and the second driving wheel and the second driven wheel are fixedly connected through a first rotating shaft. In this scheme, when the power switching system switches to wheeled walking mode, the output of first drive arrangement accessible transmission mode will be power transmission to the second action wheel wantonly.

Furthermore, the power switching system comprises a transmission main shaft connected with the output end of the first driving device, and a first friction clutch and a second friction clutch which are respectively positioned at two ends of the transmission main shaft; the output end of the first friction clutch is connected with the first driving wheel, and the output end of the second friction clutch is connected with the second driving wheel;

the power switching system also comprises a first push rod and a second driving device, wherein two ends of the first push rod are respectively connected with the first friction clutch and the second friction clutch, the second driving device is used for driving the first push rod to do linear motion, and the output direction of the second driving device is parallel to the axis of the transmission main shaft;

when the first push rod pushes the first friction clutch to be engaged, the second friction clutch is disengaged;

when the first push rod pushes the second friction clutch to be engaged, the first friction clutch is disengaged.

In this scheme, first drive arrangement drives the transmission main shaft all the time and rotates, and friction clutch is all connected at the both ends of transmission main shaft, and friction clutch is prior art, and it has two states of joint and separation, can transmit during the joint, can't transmit during the separation, and this scheme is just utilizing friction clutch's characteristics to realize power switching. Specifically, the power switching is realized by driving the first push rod through the second driving device: when the second driving device drives the first push rod to linearly move towards one side, the first push rod pushes the first friction clutch to be engaged, the second friction clutch is disengaged at the moment, the transmission main shaft transmits power to the first driving wheel, and the crawler traveling mechanism works at the moment; on the contrary, when the second driving device drives the first push rod to move linearly towards the other side in the reverse direction, the first push rod pushes the second friction clutch to be engaged, the first friction clutch is disengaged at the moment, the transmission main shaft transmits power to the second driving wheel, and the wheel type travelling mechanism works at the moment.

Furthermore, the transmission main shaft is connected with the output end of the first driving device through a first gear set, the output end of the first friction clutch is connected with the first driving wheel through a transmission chain, and the output end of the second friction clutch is connected with the second driving wheel through a second gear set.

Furthermore, the first driving wheels at two sides of the chair body are fixedly connected through a second rotating shaft, and the first driven wheels at two sides of the chair body are fixedly connected through a third rotating shaft; the walking switching system comprises a third driving device, a first transmission rod, a wheel plate and a second transmission rod which are sequentially hinged, and the second transmission rod and the third driving device are also hinged with each other.

The third driving device is arranged on the bottom of the chair body, and two ends of the third driving device are respectively hinged with the connecting piece and the first transmission rod; two ends of the first transmission rod are respectively hinged to the transmission main shaft and the second rotating shaft; the second rotating shaft and the third rotating shaft are both rotationally connected with the wheel plates on the two sides; two ends of the second transmission rod are respectively hinged with the third rotating shaft and the connecting piece; the third driving device is a linear telescopic device.

In the scheme, in the walking switching system, a third driving device, a first transmission rod, a wheel plate and a second transmission rod are sequentially hinged end to form a quadrilateral mechanism, when the third driving device extends, the first transmission rod swings outwards to drive the crawler to land, and second driving wheels on two opposite sides are lifted to realize crawler walking; on the contrary, when the third driving device is shortened, the first driving rod swings inwards to drive the crawler belt to lift, and the second driving wheels on the two sides land to realize wheel-type walking.

Further, the device also comprises a steering mechanism; the steering mechanism comprises a steering wheel detachably connected to the chair body, a transition rod positioned below the steering wheel and a support rod, and universal wheels are arranged at the bottom of the support rod; the support rod is fixedly connected with the steering wheel relatively. The user controls the steering wheel to rotate, drives the supporting rod and the universal wheel to synchronously rotate, and further realizes the control of the walking direction of the wheelchair. Of course, the steering wheel can be connected with the chair body through the existing random detachable connection mode, and can be detached when needed, so that the interference with road barriers and the like is avoided.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

1. the utility model relates to a wheel-track cooperative wheelchair has solved the old person who loses the walking ability and the disabled who has leg disease and has been difficult to independently go out the problem, need not to rely on other people's help can realize the purpose of climbing the obstacle.

2. The utility model relates to a wheel-track collaborative wheelchair through two friction clutch, can provide power for wheeled walking and crawler travel respectively, and its power source is first drive arrangement, has simplified power equipment's quantity and driving system's structure greatly, can show reduce cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an embodiment of the present invention;

FIG. 3 is a partial rear view of an embodiment of the present invention;

FIG. 4 is a schematic view of a partial structure according to an embodiment of the present invention;

FIG. 5 is a schematic view of a partial structure according to an embodiment of the present invention;

FIG. 6 is a schematic view of a partial structure according to an embodiment of the present invention;

fig. 7 is a schematic view of a steering mechanism according to an embodiment of the present invention.

Reference numbers and corresponding part names in the drawings:

1-a chair body, 2-a first driving device, 3-a wheel plate, 4-a first driving wheel, 5-a first driven wheel, 6-a crawler belt, 7-an intermediate wheel, 8-a second driving wheel, 9-a second driven wheel, 10-a first rotating shaft, 11-a transmission main shaft, 12-a first friction clutch, 13-a second friction clutch, 14-a first push rod, 15-a second driving device, 16-a first gear set, 17-a transmission chain, 18-a second gear set, 19-a second rotating shaft, 20-a third driving device, 21-a first transmission rod, 22-a second transmission rod, 23-a third rotating shaft, 24-a connecting piece, 25-a steering wheel, 26-a transition rod, 27-a supporting rod and 28-a universal wheel.

Detailed Description

To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention. In the description of the present application, it is to be understood that the terms "front", "back", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are used for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the scope of the present application.

Example 1:

as shown in fig. 1 to 3, the wheel-track cooperative wheelchair comprises a chair body 1, a first driving device 2 for driving the chair body 1 to travel, a track traveling mechanism, a wheel traveling mechanism, a power switching system and a travel switching system; the crawler traveling mechanism and the wheel type traveling mechanism are connected with the chair body 1;

the power switching system is used for switching the output end of the first driving device 2 between connection with the crawler travelling mechanism or connection with the wheel type travelling mechanism;

The crawler belt walking mechanism comprises wheel plates 3 positioned on two sides of the chair body 1, a first driving wheel 4 rotatably connected to the wheel plates 3, a first driven wheel 5, and a crawler belt 6 sleeved outside the first driving wheel 4 and the first driven wheel 5.

Example 2:

in the wheel-track cooperative wheelchair shown in fig. 1 to 6, on the basis of embodiment 1, the track traveling mechanism further includes a plurality of intermediate wheels 7 rotatably connected to the wheel plate 3, and the intermediate wheels 7 are in contact with the track 6. A first driven wheel 5 and a first driving wheel 4 on the wheel plate 3 are distributed along the front and back directions of the chair body 1; the middle wheel 7 is equal to the first driving wheel 4 in height, and the height of the first driven wheel 5 is higher than that of the first driving wheel 4. The wheel type walking mechanism comprises a second driving wheel 8 and a second driven wheel 9 which are respectively positioned at two sides of the chair body 1, and the second driving wheel 8 and the second driven wheel 9 are fixedly connected through a first rotating shaft 10.

The power switching system comprises a transmission main shaft 11 connected with the output end of the first driving device 2, a first friction clutch 12 and a second friction clutch 13 which are respectively positioned at two ends of the transmission main shaft 11; the output end of the first friction clutch 12 is connected with the first driving wheel 4, and the output end of the second friction clutch 13 is connected with the second driving wheel 8; the power switching system further comprises a first push rod 14 and a second driving device 15, wherein two ends of the first push rod 14 are respectively connected with the first friction clutch 12 and the second friction clutch 13, the second driving device 15 is used for driving the first push rod 14 to do linear motion, and the output direction of the second driving device 15 is parallel to the axis of the transmission main shaft 11;

when the first push rod 14 pushes the first friction clutch 12 to be engaged, the second friction clutch 13 is disengaged;

when the first push rod 14 pushes the second friction clutch 13 to engage, the first friction clutch 12 is disengaged.

The transmission main shaft 11 is connected to the output of the first drive device 2 via a first gear set 16, the output of the first friction clutch 12 is connected to the first drive pulley 4 via a transmission chain 17, and the output of the second friction clutch 13 is connected to the second drive pulley 8 via a second gear set 18. The first driving wheels 4 on two sides of the chair body 1 are fixedly connected through a second rotating shaft 19, and the first driven wheels 5 on two sides of the chair body 1 are fixedly connected through a third rotating shaft 23; the walking switching system comprises a third driving device 20, a first transmission rod 21, a wheel plate 3 and a second transmission rod 22 which are sequentially hinged, and the second transmission rod 22 and the third driving device 20 are also hinged with each other.

The chair further comprises a connecting piece 24 arranged at the bottom of the chair body 1, and two ends of the third driving device 20 are respectively hinged with the connecting piece 24 and the first transmission rod 21; two ends of the first transmission rod 21 are respectively hinged on the transmission main shaft 11 and the second rotating shaft 19; the second rotating shaft 19 and the third rotating shaft 23 are both rotationally connected with the wheel plates 3 on the two sides; two ends of the second transmission rod 22 are respectively hinged with the third rotating shaft 23 and the connecting piece 24; the third driving device 20 is a linear expansion device.

The power switching system and the wheel-track switching system in the embodiment are simple and compact compared with the existing travelling mechanism, are suitable for wheelchairs of the old and the disabled who are difficult to walk, and can conveniently realize walking on flat ground and climbing obstacles.

Example 3:

a wheel-track cooperative wheelchair as shown in fig. 1 to 7, further comprising a steering mechanism on the basis of any one of the above embodiments; the steering mechanism comprises a steering wheel 25 detachably connected to the chair body 1, a transition rod 26 positioned below the steering wheel 25 and a support rod 27, and universal wheels 28 are arranged at the bottom of the support rod 27; the support bar 27 is fixedly connected to the steering wheel 25.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, the term "connected" used herein may be directly connected or indirectly connected via other components without being particularly described.

Claims

1. A wheel-track cooperative wheelchair comprises a chair body (1) and a first driving device (2) for driving the chair body (1) to walk, and is characterized by further comprising a track walking mechanism, a wheel-type walking mechanism, a power switching system and a walking switching system; the crawler traveling mechanism and the wheel type traveling mechanism are connected with the chair body (1);

the power switching system is used for switching the output end of the first driving device (2) between connection with the crawler travelling mechanism or connection with the wheel type travelling mechanism;

2. The wheel-track cooperative wheelchair as claimed in claim 1, wherein the track walking mechanism comprises wheel plates (3) at two sides of the chair body (1), a first driving wheel (4) rotatably connected to the wheel plates (3), a first driven wheel (5), and a track (6) sleeved outside the first driving wheel (4) and the first driven wheel (5).

3. A wheel-track cooperative wheelchair according to claim 2, wherein the track-running mechanism further comprises a plurality of intermediate wheels (7) rotatably connected to the wheel plate (3), the intermediate wheels (7) being in contact with the track (6).

4. A wheel-track cooperative wheelchair according to claim 3, wherein the first driven wheel (5) and the first driving wheel (4) on the wheel plate (3) are distributed along the front and back directions of the chair body (1); the middle wheel (7) is as high as the first driving wheel (4), and the height of the first driven wheel (5) is higher than that of the first driving wheel (4).

5. A wheel-track cooperative wheelchair according to claim 2, wherein the wheel-type travelling mechanism comprises a second driving wheel (8) and a second driven wheel (9) which are respectively positioned at two sides of the chair body (1), and the second driving wheel (8) and the second driven wheel (9) are fixedly connected through a first rotating shaft (10).

6. A wheel-track coordinated wheelchair according to claim 5, characterized in that the power switching system comprises a transmission main shaft (11) connected with the output end of the first driving device (2), a first friction clutch (12) and a second friction clutch (13) respectively positioned at two ends of the transmission main shaft (11); the output end of the first friction clutch (12) is connected with the first driving wheel (4), and the output end of the second friction clutch (13) is connected with the second driving wheel (8);

the power switching system further comprises a first push rod (14) and a second driving device (15), wherein two ends of the first push rod (14) are respectively connected with the first friction clutch (12) and the second friction clutch (13), the second driving device (15) is used for driving the first push rod (14) to do linear motion, and the output direction of the second driving device (15) is parallel to the axis of the transmission main shaft (11);

when the first push rod (14) pushes the first friction clutch (12) to be engaged, the second friction clutch (13) is disengaged;

when the first push rod (14) pushes the second friction clutch (13) to be engaged, the first friction clutch (12) is disengaged.

7. A wheel-track coordinated wheelchair in accordance with claim 6, characterized in that the transmission main shaft (11) is connected with the output of the first driving device (2) through a first gear set (16), the output of the first friction clutch (12) is connected with the first driving wheel (4) through a transmission chain (17), and the output of the second friction clutch (13) is connected with the second driving wheel (8) through a second gear set (18).

8. A wheel-track cooperative wheelchair as claimed in claim 6, wherein the first driving wheels (4) at both sides of the chair body (1) are fixedly connected through a second rotating shaft (19), and the first driven wheels (5) at both sides of the chair body (1) are fixedly connected through a third rotating shaft (23); the walking switching system comprises a third driving device (20), a first transmission rod (21), a wheel plate (3) and a second transmission rod (22) which are sequentially hinged, and the second transmission rod (22) and the third driving device (20) are also hinged with each other.

9. A wheel-track cooperative wheelchair according to claim 8, further comprising a connecting member (24) installed at the bottom of the chair body (1), wherein both ends of the third driving device (20) are respectively hinged with the connecting member (24) and the first transmission rod (21); two ends of the first transmission rod (21) are respectively hinged to the transmission main shaft (11) and the second rotating shaft (19); the second rotating shaft (19) and the third rotating shaft (23) are rotatably connected with the wheel plates (3) on the two sides; two ends of the second transmission rod (22) are respectively hinged with the third rotating shaft (23) and the connecting piece (24); the third driving device (20) is a linear telescopic device.

10. A wheel and track cooperative wheelchair as claimed in any one of claims 1 to 9, further comprising a steering mechanism; the steering mechanism comprises a steering wheel (25) detachably connected to the chair body (1), a transition rod (26) positioned below the steering wheel (25) and a support rod (27), and universal wheels (28) are arranged at the bottom of the support rod (27); the supporting rod (27) is relatively fixedly connected with the steering wheel (25).