CN216365601U

CN216365601U - Self-balancing cross lifting wheelchair

Info

Publication number: CN216365601U
Application number: CN202122657784.3U
Authority: CN
Inventors: 王召伟; 管中林; 郁浩
Original assignee: Anhui Jinbaihe Medical Equipment Co ltd
Current assignee: Anhui Jinbaihe Medical Equipment Co ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2022-04-26
Anticipated expiration: 2031-11-02

Abstract

A self-balancing cross lifting type wheelchair comprises a frame, wherein a cross supporting rod is arranged inside the frame, a gravity center adjusting mechanism is arranged on the top surface of the supporting rod, an inverted U-shaped seat frame is vertically arranged in the middle of the top surface of the frame, a seat plate is arranged on the top surface of the seat frame, a first swing damping mechanism is arranged on one side of the frame, and a second swing damping mechanism is arranged on the other side of the frame; the output end of the gravity center adjusting mechanism is connected with the transverse conversion rocker arm; the four wheels of the wheelchair have the functions of independent shock absorption and cross lifting and torque elimination, the vertical motion of the four wheels can be changed along with the change of the terrain during driving, and the gravity center of the wheelchair body can be automatically adjusted on an upper steep slope and a lower steep slope. The components are interconnected to enable the wheelchair to run on uneven ground with large height difference, the vertical motion of the four wheels can change along with the change of the ground to run fast, the wheels are always ensured to have uniform contact pressure support and gripping force on the ground, and the safe, comfortable and fast passing capability of the wheelchair in the field running is greatly improved.

Description

Self-balancing cross lifting wheelchair

Technical Field

The utility model belongs to the technical field of wheelchairs, and particularly relates to a self-balancing cross lifting type wheelchair.

Background

The prior wheelchair technology is as follows: four wheels are generally fixedly designed on a plane, and when the vehicle runs on uneven ground, jolting or suspension of the wheels occurs, smooth and quick passing is difficult to realize, and unsafe danger hidden danger exists at a slightly high speed; the existing wheelchair in the society is also provided with a damping spring, and the damping spring is small due to the small size of the wheelchair, so that the spring is very small in compression damping and torsion eliminating stroke in the running process, and the structure has redundant constraint, so that the wheelchair is difficult to have good damping and torsion eliminating functions. And the wheelbase of the wheelchair is very small, the driving stability of the wheelchair on uneven terrain is very poor, and particularly, the dangerous hidden dangers of forward bending and backward bending can be caused by the slightly large gradient of the wheelchair on steep slopes.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model provides a self-balancing cross lifting wheelchair, which has the following specific technical scheme:

a self-balancing cross lifting type wheelchair comprises a frame, wherein a cross supporting rod is arranged inside the frame, a gravity center adjusting mechanism is arranged on the top surface of the supporting rod, an inverted U-shaped seat frame is vertically arranged in the middle of the top surface of the frame, a seat plate is arranged on the top surface of the seat frame, a first swing damping mechanism is arranged on one side of the frame, and a second swing damping mechanism is arranged on the other side of the frame;

the output end of the gravity center adjusting mechanism is connected with a transverse conversion rocker arm, two ends of the transverse conversion rocker arm are assembled and connected with a first swinging damping mechanism and a second swinging damping mechanism, and the first swinging damping mechanism and the second swinging damping mechanism are in linkage cross lifting through the transverse conversion rocker arm; wheels are mounted at two ends of the first swing damping mechanism and the second swing damping mechanism.

Further, first rocking damper includes first rocking arm, second rocking arm, first damping spring pole, second damping spring pole and first vertical conversion rocking arm, a side middle part of car frame is equipped with first pivot perpendicularly, the inner of first rocking arm, second rocking arm all rotates the suit in first pivot, the wheel is all installed to the outer end of first rocking arm, second rocking arm, the one end of first damping spring pole is rotated the outer end top surface that is connected to first rocking arm, the other end rotates the top lateral wall that is connected to first vertical conversion rocking arm, the one end of second damping spring pole is rotated the outer end top surface that is connected to the second rocking arm, the other end rotates another lateral wall in top that is connected to first vertical conversion rocking arm, the middle part of first vertical conversion rocking arm rotates and connects in a lateral wall middle part of frame.

Further, the second sways damper includes third rocking arm, fourth rocking arm, third damping spring pole, fourth damping spring pole and the vertical conversion rocking arm of second, the perpendicular second pivot that is equipped with in another side middle part of car frame, the inner of third rocking arm, fourth rocking arm all rotates the suit in the second pivot, the wheel is all installed to the outer end of third rocking arm, fourth rocking arm, the one end of third damping spring pole rotates the outer end top surface, the other end that are connected to the third rocking arm and rotates the top lateral wall that is connected to the vertical conversion rocking arm of second, the one end of fourth damping spring pole rotates the outer end top surface that is connected to the fourth rocking arm, the other end rotates another lateral wall in top that is connected to the vertical conversion rocking arm of second, the middle part rotation of the vertical conversion rocking arm of second connects in another lateral wall middle part of seat of frame.

Furthermore, one end of the transverse conversion rocker arm is vertically and rotatably connected with a first pull rod, the other end of the transverse conversion rocker arm is vertically and rotatably connected with a second pull rod, the outer end of the first pull rod is rotatably connected with the bottom end of the first vertical conversion rocker arm, and the outer end of the second pull rod is rotatably connected with the bottom end of the second vertical conversion rocker arm.

Further, the focus adjustment mechanism is vertically distributed, the focus adjustment mechanism comprises a motor, a screw rod, a bottom plate and a sliding block, the bottom plate is arranged on the supporting rod, a fixing plate is vertically arranged at one end of the surface of the bottom plate, the other end of the bottom plate is provided with the motor, the output end of the motor is connected with the screw rod, the outer end of the screw rod is rotatably embedded into the fixing plate, the sliding block is sleeved outside the screw rod and slidably mounted on the bottom plate, a pin column is arranged on the top surface of the sliding block, and the transverse conversion rocker arm is rotatably sleeved on the pin column.

The utility model has the beneficial effects that: the four wheels of the wheelchair have the functions of independent shock absorption and cross lifting and torque elimination, the vertical motion of the four wheels can be changed along with the change of the terrain during running, and the gravity center of the wheelchair body can be automatically adjusted on an upper steep slope and a lower steep slope. The components are interconnected to enable the wheelchair to run on uneven ground with large height difference, the vertical motion of the four wheels can change along with the change of the ground to run fast, the wheels are always ensured to have uniform contact pressure support and gripping force on the ground, and the safe, comfortable and fast passing capability of the wheelchair in the field running is greatly improved.

Drawings

FIG. 1 shows a schematic structural view of a self-balancing cross-lift wheelchair of the present invention;

FIG. 2 shows a schematic structural view of the sway damping mechanism of the present invention;

FIG. 3 shows a schematic view of the wheelchair cross-lift configuration of the present invention;

FIG. 4 shows a schematic representation of the uphill and downhill configuration of the wheelchair of the present invention;

shown in the figure: 1. a vehicle frame; 11. a support bar; 2. a center of gravity adjusting mechanism; 21. a motor; 22. a screw; 23. a base plate; 231. a fixing plate; 24. a slider; 3. a first rocking damping mechanism; 31. a first rocker arm; 32. a second rocker arm; 33. a first shock absorbing spring rod; 34. a second shock absorbing spring rod; 35. a first vertical switching rocker arm; 4. a seat frame; 5. a transverse conversion rocker arm; 51. a first pull rod; 52. a second pull rod; 6. a second rocking damping mechanism; 61. a third rocker arm; 62. a fourth rocker arm; 63. a third shock-absorbing spring rod; 64. a fourth shock-absorbing spring rod; 65. a second vertical switching rocker arm; 7. a wheel; 8. a seat board.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1 and 2, a self-balancing cross-over lifting wheelchair comprises a frame 1, a cross-shaped support rod 11 is installed inside the frame 1, a gravity center adjusting mechanism 2 is installed on the top surface of the support rod 11, an inverted U-shaped seat frame 4 is vertically arranged in the middle of the top surface of the frame 1, a seat plate 8 is installed on the top surface of the seat frame 4, a first swing damping mechanism 3 is installed on one side of the frame 1, and a second swing damping mechanism 6 is installed on the other side of the frame 1;

the output end of the gravity center adjusting mechanism 2 is connected with a transverse conversion rocker arm 5, two ends of the transverse conversion rocker arm 5 are assembled and connected with a first swinging damping mechanism 3 and a second swinging damping mechanism 6, and the first swinging damping mechanism 3 and the second swinging damping mechanism 6 are in linkage cross lifting through the transverse conversion rocker arm 5; wheels 7 are mounted at two ends of the first swinging damping mechanism 3 and the second swinging damping mechanism 6; the gravity center adjusting mechanism can drive the transverse conversion rocker arm to move back and forth, so that the gravity center of the whole vehicle is changed, the vehicle body is prevented from inclining, and the movement requirements of the vehicle on an uphill slope and a downhill slope are met;

when the swinging damping mechanism on one side moves in a cross lifting mode, the swinging damping mechanism on the other side can be driven to work in a linkage mode, the wheels on two sides can lift in a cross mode, effective buffering and damping can be achieved, and stability of the vehicle can be guaranteed.

As shown in fig. 1 and 2, the first rocking damping mechanism 3 includes a first rocker arm 31, a second rocker arm 32, a first damping spring lever 33, a second damping spring lever 34 and a first vertical switching rocker arm 35, a first rotating shaft is vertically arranged in the middle of one side surface of the vehicle frame 1, the inner ends of the first rocker arm 31 and the second rocker arm 32 are rotatably sleeved on the first rotating shaft, the outer ends of the first rocker arm 31 and the second rocker arm 32 are both provided with wheels 7, one end of the first shock absorption spring rod 33 is rotatably connected to the top surface of the outer end of the first rocker arm 31, the other end of the first shock absorption spring rod is rotatably connected to the side wall of the top end of the first vertical conversion rocker arm 35, one end of the second shock absorbing spring rod 34 is rotatably connected to the top surface of the outer end of the second rocker arm 32 and the other end is rotatably connected to the other side wall of the top end of the first vertical switching rocker arm 35, the middle part of the first vertical conversion rocker arm 35 is rotatably connected with the middle part of one side wall of the seat frame 4; when first rocking arm upward movement, can drive first shock attenuation spring lever upwards rotate, first shock attenuation spring lever drives first vertical conversion rocking arm anticlockwise rotation, and first vertical conversion rocking arm can compress second shock attenuation spring lever downwards when rotating for first rocking downwards rotates, guarantees that the wheel promptly ground all the time.

As shown in fig. 1 and 2, the second rocking damping mechanism 6 includes a third rocker arm 61, a fourth rocker arm 62, a third damping spring lever 63, a fourth damping spring lever 64 and a second vertical switching rocker arm 65, a second rotating shaft is vertically arranged in the middle of the other side surface of the vehicle frame 1, the inner ends of the third rocker arm 61 and the fourth rocker arm 62 are rotatably sleeved on the second rotating shaft, the outer ends of the third rocker arm 61 and the fourth rocker arm 62 are both provided with wheels 7, one end of the third shock absorption spring rod 63 is rotatably connected to the top surface of the outer end of the third rocker arm 61, the other end of the third shock absorption spring rod is rotatably connected to the top end side wall of the second vertical conversion rocker arm 65, one end of the fourth shock-absorbing spring rod 64 is rotatably connected to the top surface of the outer end of the fourth rocker arm 62 and the other end is rotatably connected to the other side wall of the top end of the second vertical switching rocker arm 65, the middle part of the second vertical conversion rocker arm 65 is rotatably connected to the middle part of the other side wall of the seat frame 4; when the fourth rocker arm moves upwards, the fourth damping spring rod can be driven to rotate upwards, the third damping spring rod drives the second vertical conversion rocker arm to rotate anticlockwise, and the second vertical conversion rocker arm can compress the third damping spring rod downwards when rotating, so that the third vertical conversion rocker arm rotates downwards, and the wheels are guaranteed to grasp the ground all the time.

One end of the transverse conversion rocker arm 5 is vertically and rotatably connected with a first pull rod 51, the other end of the transverse conversion rocker arm is vertically and rotatably connected with a second pull rod 52, the outer end of the first pull rod 51 is rotatably connected with the bottom end of the first vertical conversion rocker arm 35, and the outer end of the second pull rod 52 is rotatably connected with the bottom end of the second vertical conversion rocker arm 65; when the first vertical conversion rocker arm rotates anticlockwise, the first pull rod can be driven to move, then the transverse conversion rocker arm is driven to rotate anticlockwise, the second pull rod drives the second vertical conversion rocker arm to rotate clockwise, the third rocker arm rotates upwards, the fourth rocker arm rotates downwards, four-wheel cross lifting is achieved, and four-wheel balance is guaranteed.

As shown in fig. 2, the gravity center adjusting mechanisms 2 are longitudinally distributed, each gravity center adjusting mechanism 2 includes a motor 21, a screw 22, a bottom plate 23 and a slider 24, the bottom plate 23 is disposed on the support rod 11, one end of the surface of the bottom plate 23 is vertically provided with a fixing plate 231, the other end of the surface of the bottom plate 23 is provided with the motor 21, the output end of the motor 21 is connected with the screw 22, the outer end of the screw 22 is rotatably embedded into the fixing plate 231, the slider 24 is sleeved outside the screw 22, the slider 24 is slidably mounted on the bottom plate 23, the top surface of the slider 24 is provided with a pin, and the transverse conversion rocker arm 5 is rotatably sleeved on the pin; when the motor works, the motor drives the screw rod to rotate, and the screw rod can drive the sliding block to move along the bottom plate when rotating, so that the positions of the sliding block and the transverse conversion rocker arm are changed, and the integral gravity center of the vehicle body can be changed.

By adopting the design of the gravity center adjusting mechanism, the transverse conversion rocker arm and the swinging damping mechanism, the wheelchair can have the following effects:

when the wheelchair runs on uneven terrain with large height difference, the load can be mutually converted along with the fluctuation of uneven ground, so that the pressure borne by wheels at high and low positions is basically uniform, any single wheel climbs to a high position, the inclination of the vehicle body is half less than that of the vehicle body in the prior art, the wheel can always be attached to the ground without suspension, the four wheels have equivalent supporting and gripping force to the ground, and the wheelchair cannot bump too much when going off the uneven ground; the gravity center of the vehicle body can be automatically adjusted when the vehicle body goes up and down a steep slope, the seat balance is kept, and flexible and rapid cross country is realized;

this interconnection is such that the wheel load does not gradually increase as the wheel climbs progressively higher for any single wheel climbing over an obstacle, and the load is also gradually reduced a little in contrast to prior wheelchair art. This means that the single round is climbing high can not be hard just as go on level land light, so this kind of flexibility has improved the steady comfortable safe performance and the quick throughput of wheelchair cross country driving for this kind of wheelchair is more energy-conserving the reduction of consumption, has prolonged cross country driving duration, can prolong the life of wheelchair.

It is noted that, in this document, relational terms such as first and second, and the like, if any, are 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A self-balancing cross-over type wheelchair is characterized in that: the swing frame comprises a car frame (1), wherein a cross-shaped supporting rod (11) is installed inside the car frame (1), a gravity center adjusting mechanism (2) is installed on the top surface of the supporting rod (11), an inverted U-shaped seat frame (4) is vertically arranged in the middle of the top surface of the car frame (1), a seat plate (8) is installed on the top surface of the seat frame (4), a first swing damping mechanism (3) is installed on one side of the car frame (1), and a second swing damping mechanism (6) is installed on the other side of the car frame;

the output end of the gravity center adjusting mechanism (2) is connected with a transverse conversion rocker arm (5), two ends of the transverse conversion rocker arm (5) are assembled and connected with a first swinging damping mechanism (3) and a second swinging damping mechanism (6), and the first swinging damping mechanism (3) and the second swinging damping mechanism (6) are linked and lifted in a cross way through the transverse conversion rocker arm (5); wheels (7) are mounted at the two ends of the first swinging damping mechanism (3) and the second swinging damping mechanism (6).

2. The self-balancing crossover lifting wheelchair of claim 1, wherein: the first swing damping mechanism (3) comprises a first rocker arm (31), a second rocker arm (32), a first damping spring rod (33), a second damping spring rod (34) and a first vertical conversion rocker arm (35), a first rotating shaft is vertically arranged in the middle of one side face of the vehicle frame (1), the inner ends of the first rocker arm (31) and the second rocker arm (32) are rotatably sleeved on the first rotating shaft, wheels (7) are mounted at the outer ends of the first rocker arm (31) and the second rocker arm (32), one end of the first damping spring rod (33) is rotatably connected to the top surface of the outer end of the first rocker arm (31), the other end of the first damping spring rod is rotatably connected to the side wall at the top end of the first vertical conversion rocker arm (35), one end of the second damping spring rod (34) is rotatably connected to the top surface of the outer end of the second rocker arm (32), and the other end of the second damping spring rod is rotatably connected to the side wall at the top end of the first vertical conversion rocker arm (35), the middle part of the first vertical conversion rocker arm (35) is rotatably connected with the middle part of one side wall of the seat frame (4).

3. The self-balancing crossover lifting wheelchair of claim 2, wherein: the second swinging damping mechanism (6) comprises a third rocker arm (61), a fourth rocker arm (62), a third damping spring rod (63), a fourth damping spring rod (64) and a second vertical conversion rocker arm (65), a second rotating shaft is vertically arranged in the middle of the other side face of the vehicle frame (1), the inner ends of the third rocker arm (61) and the fourth rocker arm (62) are rotatably sleeved on the second rotating shaft, wheels (7) are respectively arranged at the outer ends of the third rocker arm (61) and the fourth rocker arm (62), one end of the third damping spring rod (63) is rotatably connected to the top surface of the outer end of the third rocker arm (61), the other end of the third damping spring rod is rotatably connected to the side wall of the top end of the second vertical conversion rocker arm (65), one end of the fourth damping spring rod (64) is rotatably connected to the top surface of the outer end of the fourth rocker arm (62), and the other end of the fourth damping spring rod is rotatably connected to the side wall of the top end of the second vertical conversion rocker arm (65), the middle part of the second vertical conversion rocker arm (65) is rotatably connected with the middle part of the other side wall of the seat frame (4).

4. The self-balancing crossover lifting wheelchair of claim 3, wherein: the one end of violently changing rocking arm (5) is rotated perpendicularly and is connected first pull rod (51), the other end is rotated perpendicularly and is connected second pull rod (52), the outer end of first pull rod (51) is rotated and is connected in the bottom of first vertical conversion rocking arm (35), the outer end of second pull rod (52) is rotated and is connected in the bottom of second vertical conversion rocking arm (65).

5. The self-balancing crossover lifting wheelchair of claim 1, wherein: the gravity center adjusting mechanism (2) is longitudinally distributed, the gravity center adjusting mechanism (2) comprises a motor (21), a screw rod (22), a bottom plate (23) and a sliding block (24), the bottom plate (23) is arranged on the supporting rod (11), a fixing plate (231) is vertically arranged at one end of the surface of the bottom plate (23), the motor (21) is arranged at the other end of the surface of the bottom plate (23), the output end of the motor (21) is connected with the screw rod (22), the outer end of the screw rod (22) is rotatably embedded into the fixing plate (231), the sliding block (24) is sleeved outside the screw rod (22), the sliding block (24) is slidably arranged on the bottom plate (23), the top surface of the sliding block (24) is provided with a pin column, and the transverse conversion rocker arm (5) is rotatably sleeved on the pin column.