CN2555821Y - Self-balancing electric wheel-chair - Google Patents
Self-balancing electric wheel-chair Download PDFInfo
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- CN2555821Y CN2555821Y CN 02214861 CN02214861U CN2555821Y CN 2555821 Y CN2555821 Y CN 2555821Y CN 02214861 CN02214861 CN 02214861 CN 02214861 U CN02214861 U CN 02214861U CN 2555821 Y CN2555821 Y CN 2555821Y
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- chair
- wheel shaft
- chair body
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Abstract
A self-balancing powered wheel chair comprises a chair, a driving gear and a running gear that consist of a wheel axle and a road wheel. The chair is moveable arranged on the wheel axle as an axle center, the lower swinging torque of which is bigger than the swinging torque of the upper chair and a people in wheelchair. The chair can keep the gravity center of the chair vertically downward all the time. The wheel chair is also provided with a collapsible auxiliary wheel device and an auxiliary drive device. The wheel chair can continuously climb over steps and stairs when moving. The people in wheelchair are steadily ensconced in the chair no matter when the wheel chair is moving or climbing the steps. So the utility model that is comfortable and steady has the advantages of convenient operation, time and labor saving and high maneuverability.
Description
One, technical field
This utility model relates to the walking instrument of the belt wheel that a kind of invalid uses, particularly the wheelchair of driven by power walking.
Two, background technology
Wheelchair is disabled people person and the handicapped ideal walking-replacing tool of weak patient, old people, for their life brings great convenience.Wherein, electric wheelchair is owing to adopt driven by power, overcome with the hand propelled bigger shortcoming of physical demands of advancing, and is subjected to the favor of user deeply.Be provided with carrying personnel's Riding Accommodation in the electric wheelchair, by the walking of actuator drives running gear, control the speed of travel, direction, start or stop by manipulation device by power set.Generally also be provided with throwing over barrier, stairs device in the electric wheelchair.
The patent No. is 96224512,98230180 utility model patent, and application number is in 98800755 the application for a patent for invention, to disclose some such devices.The utility model of the patent No. 96224512,98230180 adopts hydraulic lift, crawler type device respectively, realizes stair activity.But these install complicated operation, can not continuous walking, move slowly, and practicality is bad.
The patent application of application number 98800755 discloses a kind of wheelchair, it comprises a pair of driving wheel and is configured in the caster on the chair frame of being installed in before and after this driving wheel respectively, between chair frame and driving wheel, be provided with link component, the one end swing of this link component freely is connected the top of chair frame, and above-mentioned driving wheel can be rotated to support on its other end.The rotating shaft of driving wheel, at least forwardly caster runs under the step state before, is configured in the rear side of the junction point of link component and chair frame.When anterior caster is run into step when wheelchair advances walking, because link component is that rotate at the center with the junction point with the chair frame, interval between anterior caster and the driving wheel narrows down, simultaneously, because the front side of chair frame is that fulcrum rises with the rear portion caster, so anterior caster be raised to step above, so just finished crossing to step.In this technical scheme, castor is stretched in the forward and backward side of wheelchair, and the object around touching easily when mobile constitutes the dyskinesia.
In addition, the maximum weak point that above-mentioned design exists is: wheelchair throwing over barrier, step, and during climb and fall, can not held stationary or balance, not only the occupant does not feel well, and topples easily, brings potential safety hazard.
In order to solve the problem of stationarity, the utility model of the patent No. 94222322 provides a kind of self-regulated center of gravity formula wheelchair, it is by crawler belt, horizontal tooth bar, the longitudinal rack of the horizontal fork of control swing and vertical fork and control amplitude of fluctuation, with the actuating device and the motor of tooth bar engagement, circuit controling switch and walking power set are formed; Wheelchair when walking circuit controling switch with the fluctuating swing on road surface, connect circuit, thereby before and after the control fork and swing and keep the gravity balance of wheelchair, make wheelchair safety and stability or when crossing step at climb and fall.And the utility model of the patent No. 97240147 disclosed be the self-propelled wheelchair of a kind of clear space, the main inclination of responding to board by the loop control unit of oil pressure balance group, rise or descend thereby order about oil tappet, make seat maintenance level or steady, steadily comfortable with what guarantee to advance.Though these above-mentioned design parts have solved the stationarity problem, complex structure, reliability is not high, and the production cost height.
Three, summary of the invention
This utility model purpose is at above-mentioned deficiency, designs a kind of crossing over blockage, can keep the equilibrated electric wheelchair of carrying personnel automatically during climb and fall.
Another purpose of the present utility model, provide that a kind of structure is small and exquisite, walking flexibly, the electric wheelchair of crossing over blockage continuously.
For realizing first purpose, the self-balancing type electric wheelchair of this utility model design comprises carrying personnel's chair body, running gear and driving device at least; Running gear comprises wheel shaft and is driven the road wheel of running by wheel shaft; Driving device comprises supply unit, the power set that are electrically connected with power supply, and be connected in actuating device between power set and the wheel shaft, it is characterized in that: the bottom of chair body is provided with the power set adjustable shelf, chair body, power set adjustable shelf are that the axle center is pivotably connected on wheel shaft with the wheel shaft, and power set are arranged in the power set adjustable shelf.
For realizing second purpose, in the above-mentioned self-balancing type electric wheelchair, also be provided with auxiliary wheel device and auxiliary drive; The auxiliary wheel device comprises the movable device that places chair body rear portion, and auxiliary wheel shaft drives the auxiliary wheel that turns round by auxiliary wheel shaft, and controlling organization; Auxiliary drive comprises auxiliary power unit, with the auxiliary power unit that is electrically connected of auxiliary power unit, and the auxiliary drive that is connected in auxiliary power unit and auxiliary wheel shaft; Movable device is linked by rotating shaft by forearm and postbrachium, and forearm is connected with the chair body rotationally by connecting shaft, and auxiliary wheel shaft is set on the postbrachium; Controlling organization comprises and stretches controlling organization and shrink controlling organization two parts, stretches controlling organization and comprises tooth bar, and front gear, driving gear set, and be connected in backgear on the connecting shaft; Tooth bar is connected on the power set adjustable shelf, and tooth bar, front gear, driving gear set and backgear be engaged transmission according to this; Shrink controlling organization and comprise the back-moving spring that is connected between chair body rear portion and the movable device.
By above-mentioned controlling organization, be obstructed, make wheelchair to be in halted state at road wheel, stretch controlling organization and drive movable device and stretch, make auxiliary wheel contact to earth running, promotion chair body; Be in normal transport condition at wheelchair, shrink controlling organization and drive the movable device contraction, auxiliary wheel is packed up.
This utility model adopted comparatively simple structure, no matter make wheelchair static or advance, the chair body remains center of gravity vertically downward, has guaranteed that seat and occupant are in level, has comfortable, advantage stably.When running into bigger barrier such as step, stair, apply augmented thrust to wheelchair, make it to surmount obstacles easily by the auxiliary wheel device, and cross action be in advancing continuously, automatically finish, need not to pause, easy and simple to handle, time saving and energy saving.Because the auxiliary wheel device is movable flexible, folding automatically when travelling on the level land can not influence and normally travel and turn to.
Four, description of drawings
Below in conjunction with drawings and Examples this utility model is described in further detail.
Fig. 1 is the front view (auxiliary wheel device folding state) of self-balancing type electric wheelchair.
Fig. 2 is another state diagram (auxiliary wheel device extended configuration) of Fig. 1.
Fig. 3 is the right view of Fig. 1.
Fig. 4 is the left view of Fig. 1.
Fig. 5 is the cutaway view along A-A direction among Fig. 1.
Fig. 6 is the partial enlarged drawing of B part among Fig. 1.
Fig. 7 is the left view of Fig. 6.
Fig. 8 is the sketch map of crossing step of self-balancing type electric wheelchair.
Five, the specific embodiment
As Fig. 1, Fig. 3, Fig. 4, shown in Figure 5, the self-balancing type electric wheelchair comprises the chair body, and running gear and driving device travel thereby running gear drives drive chair body by driving device.Running gear comprise wheel shaft 1 and the road wheel 2,2 by rolling bearing 52,52 ' be located at wheel shaft 1 two ends '.
The chair body comprises superposed seat and is positioned at the support 3 of bottom that seat is made up of seat board 4, handrail 5 and backrest 6, is used for the carrying personnel.Be connected with seat bracing frame 7 on the support 3, the seat board 4 of seat is connected with seat bracing frame 7 by connector 8, shock-proof spring 9, lowers the effect of jolting, shaking to play.Seat and support 3 be connected as a single entity the back, by rolling bearing 10,10 ' be connected on the wheel shaft 1, and can wheel shaft 1 be axis swing.
Driving device comprises power supply 12, direct current generator 13, actuating device.Power supply 12 adopts rechargeable battery, and it is connected to it by lead and direct current generator 13 electric energy is provided.Power supply 12 is arranged in the support 3, to increase the weight of chair body bottom.Direct current generator 13 both can be arranged in the support 3, also can be arranged in the power set adjustable shelf 11 of special configuration.Power set adjustable shelf 11 is connected on the wheel shaft 1 by rolling bearing 53,53 ' also, and can wheel shaft 1 be axis swing.Actuating device comprises the motor chain drum of being located on direct current generator 13 output shafts 14, is located at the wheel shaft chain drum 15 on the wheel shaft 1, and is connected in the driving chain 16 between the chain drum 14,15.Direct current generator 13 is by this actuator drives wheel shaft 1 running, drive road wheel 2,2 ' rotate, advance.
Travelling by manipulation device control of wheelchair, manipulation device comprises the joystick 17 and the control crank of being located on the right handrail 18 that is arranged on the handrail of a seat left side.Joystick 17 is provided with by-pass cock, be used to control direct current generator 13 startup, stop and rotating speed, thereby control wheelchair transport condition.Control crank 18 is used to control turning to of wheelchair, its structure such as Fig. 6, shown in Figure 7, handle 19 can swing around axle 20, brake lever 21 be used for pulling brake steel wire 22,22 ', steel ball 23 and spring 24 are used for position fixing knob 19.Brake steel wire 22,22 ' respectively control wheel shaft brakes 25,25 ', clutch switch 26,26 ' respectively and electromagnetic clutch 27,27 ' is connected are taken turns shaft brake, electromagnetic clutch is arranged on the wheel shaft 1.Need a left side or when turning right, left or the right side move handle 19, touch clutch switch, simultaneously by brake lever 21 pulling brake steel wires, under the combined effect of wheel shaft brake and electromagnetic clutch, a skidding travelling wheel stops, opposite side road wheel normal rotation, thereby realizes a left side or right-hand rotation.The advantage of this control mode is: radius of turn is little, turns to flexibly, can realize that 360 ° of electromagnetic clutchs are existing product commonly used, and its structure is that those of ordinary skill is known, not tired one by one stating.
This self-balancing type electric wheelchair relies on following mode to realize self-balancing: because seat and support 3 are connected as a single entity afterwards, by rolling bearing 10,10 ' be connected on the wheel shaft 1, and can wheel shaft 1 be axis swing.And be positioned at the total force of the support 3 of bottom and device located therein and they to wheel base from product, greater than superposed seat and carrying personnel's total force and they product to the distance of wheel shaft, be the moment of the moment of bottom greater than top, so just make the chair body remain center of gravity vertically downward, thereby guaranteed that seat and occupant are in level all the time.
When carrying personnel's weight increases or other reason, when making the moment of upper and lower part change, can make it to return to again the self-balancing state by in support 3, balancing weight being set.As long as the horsepower of direct current generator 13 is enough greatly, suitably increase balancing weight, can improve the ability of cross-country, climbing, crossing over blockage and the stair activity of electric wheelchair simultaneously.
Below in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, the device that is used for crossing over blockage and stair activity in the self-balancing type electric wheelchair is described, this part device comprises auxiliary wheel device and auxiliary drive.
The auxiliary wheel device comprise auxiliary wheel 28,28 ', auxiliary wheel shaft 29, movable device, and drive that movable device is done to stretch or the controlling organization of contractile motion.Movable device is by forearm 30,30 ' and postbrachium 31,31 ' link by rotating shaft 32, forearm 30,30 ' be connected rotationally with support 3 by connecting shaft 33, postbrachium 32,32 ' on be provided with and assist wheel shaft 29.Junction at forearm and postbrachium also is provided with locating part 41, to limit the maximum subtended angle of forward and backward arm.Auxiliary wheel 28,28 ' by auxiliary wheel shaft 29 two ends of rolling bearing 51,51 ' be located at.
Auxiliary drive comprises accessory power supply 34, direct current stand-by motor 35 and auxiliary drive.Accessory power supply 34 and direct current stand-by motor 35 all are arranged in the support 3.Accessory power supply 34 adopts rechargeable battery, and being connected to it with direct current stand-by motor 35 by lead provides electric energy.Auxiliary drive comprises the stand-by motor chain drum of being located on direct current stand-by motor 35 output shafts 36, be located at the rotating shaft duplex chain drum 37 in the rotating shaft 32, be located at the auxiliary wheel shaft chain drum 38 on the auxiliary wheel shaft 29, and be connected in accessory drive chain 39,40 between stand-by motor chain drum 36, rotating shaft duplex chain drum 37 and the auxiliary wheel shaft chain drum 38, direct current stand-by motor 35 drives auxiliary wheel shaft 29 by described chain drum 36,37,38 and driving chain 39,40, thereby drives auxiliary wheel 28,28 ' running.
Above-mentioned controlling organization comprises the stretching, extension controlling organization and shrinks controlling organization two parts.
Stretch controlling organization and comprise arc-shaped rack 42, front gear 43 is arranged on the driving gear set of being made up of reduction gearing 44a, 44b, 44c on the support 3, and is connected in the backgear 45 on the connecting shaft 33.The front end of arc-shaped rack 42 is connected on the power set adjustable shelf 11 by screw 46, be provided with chute 47 in the middle of the arc-shaped rack 42, chute 47 is sheathed on tooth bar dog screw 48, and tooth bar dog screw 48 is fixed on the support 3, guiding and position-limiting action are played in the motion of arc-shaped rack 42.Front gear 43 meshes with arc-shaped rack 42, reduction gearing 44a simultaneously, and reduction gearing 44a, 44b, 44c be engaged transmission according to this, backgear 45 and reduction gearing 44ac engagement.Thus, when power set adjustable shelf 11 motion,, can drive connecting shaft 33 rotations, make the auxiliary wheel device rotate, make simultaneously the forearm of movable device and postbrachium to open, until auxiliary wheel 28,28 ' contact to earth, as shown in Figure 2 by these above-mentioned gears.
The contraction controlling organization comprises the back-moving spring 49 between the rotating shaft 32 that is connected chair body rear portion and movable device, is used to make the forearm of movable device and postbrachium to be folded together, and returns to state shown in Figure 1.
Advance when wheelchair and to run into step, during obstacles such as stair, road wheel 2,2 ' be obstructed, wheel shaft 1 is in stop state, but this moment, direct current generator 13 still rotated, transmission by driving chain 16, direct current generator 13 can move upward around wheel shaft 1 for overcoming resistance, because direct current generator 13 is fixed on the power set adjustable shelf 11, power set adjustable shelf 11 is upwards swing also, makes auxiliary wheel 28 by stretching controlling organization as previously mentioned, 28 ' contact to earth, start auxiliary drive this moment, auxiliary wheel 28,28 ' running applies augmented thrust to the chair body, and wheelchair is surmounted obstacles, and so goes on, can realize crossing continuously step, speeling stairway, as shown in Figure 8.After surmounting obstacles, wheel shaft 1 is rotated further, and power set adjustable shelf 11 is got back to original position to lower swing, by back-moving spring 49 forearm and postbrachium is folded together, and the auxiliary wheel device recovers former state.
Between the rotating shaft 32 of chair body rear portion and movable device, also be provided with telescopic lever 50, when needed, with telescopic lever 50 locking of leaving behind, make auxiliary wheel 28,28 ' contact to earth, and with it support, the realization four-wheel travels, and increases its stationarity, and can select four-wheel drive, front-wheel drive or rear wheel drive this moment neatly.
Travel saferly for making, be provided with the hydrargyrum stop switch in the chair body.Wheelchair is when travel in abominable location on rugged road surface, abrupt slope etc.; when the angle of inclination, all around of chair body and horizontal plane during greater than a certain setting value; the action of hydrargyrum stop switch is shut down direct current generator 13, realizes stopping to change travel direction, prevents that wheelchair from toppling, turning on one's side.The hydrargyrum stop switch adopts existing commercially available prod.
Claims (5)
1, self-balancing type electric wheelchair comprises carrying personnel's chair body, running gear and driving device at least; Running gear comprises wheel shaft and is driven the road wheel of running by wheel shaft; Driving device comprises supply unit, the power set that are electrically connected with power supply, and be connected in actuating device between power set and the wheel shaft, it is characterized in that: the bottom of chair body is provided with the power set adjustable shelf, chair body, power set adjustable shelf are that the axle center is pivotably connected on wheel shaft with the wheel shaft, and power set are arranged in the power set adjustable shelf.
2, self-balancing type electric wheelchair according to claim 1 is characterized in that: also be provided with auxiliary wheel device and auxiliary drive; The auxiliary wheel device comprises the movable device that places chair body rear portion, and auxiliary wheel shaft drives the auxiliary wheel that turns round by auxiliary wheel shaft, and controlling organization; Auxiliary drive comprises auxiliary power unit, with the auxiliary power unit that is electrically connected of auxiliary power unit, and the auxiliary drive that is connected in auxiliary power unit and auxiliary wheel shaft; Movable device is linked by rotating shaft by forearm and postbrachium, and forearm is connected with the chair body rotationally by connecting shaft, and auxiliary wheel shaft is set on the postbrachium; Controlling organization comprises and stretches controlling organization and shrink controlling organization two parts, stretches controlling organization and comprises tooth bar, and front gear, driving gear set, and be connected in backgear on the connecting shaft; Tooth bar is connected on the power set adjustable shelf, and tooth bar, front gear, driving gear set and backgear be engaged transmission according to this; Shrink controlling organization and comprise the back-moving spring that is connected between chair body rear portion and the movable device.
3, self-balancing type electric wheelchair according to claim 1 and 2 is characterized in that: described chair body is formed by connecting by shock absorbing apparatus by superposed seat and the support that is positioned at the bottom.
4, self-balancing type electric wheelchair according to claim 2, it is characterized in that: the junction at forearm and postbrachium is provided with locating part, to limit the maximum subtended angle of forward and backward arm.
5, self-balancing type electric wheelchair according to claim 2 is characterized in that: be provided with chute in the middle of the tooth bar, chute is sheathed on the tooth bar dog screw, and the tooth bar dog screw is fixed on the chair body, guiding and position-limiting action are played in the motion of arc-shaped rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02214861 CN2555821Y (en) | 2002-04-17 | 2002-05-17 | Self-balancing electric wheel-chair |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02214225 | 2002-04-17 | ||
| CN02214225.8 | 2002-04-17 | ||
| CN 02214861 CN2555821Y (en) | 2002-04-17 | 2002-05-17 | Self-balancing electric wheel-chair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2555821Y true CN2555821Y (en) | 2003-06-18 |
Family
ID=34064972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02214861 Expired - Fee Related CN2555821Y (en) | 2002-04-17 | 2002-05-17 | Self-balancing electric wheel-chair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2555821Y (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173304A (en) * | 2007-03-27 | 2011-09-07 | 爱考斯研究株式会社 | Vehicle |
| CN101646595B (en) * | 2007-03-27 | 2011-09-21 | 爱考斯研究株式会社 | Vehicle |
| CN102240240A (en) * | 2011-07-07 | 2011-11-16 | 周锦鸿 | Balance-adjustable wheelchair |
| CN103948476A (en) * | 2014-05-05 | 2014-07-30 | 北京理工大学 | Two-wheeled wheelchair with multi-degree-of-freedom gravity center adjusting function |
| CN104323896A (en) * | 2014-11-25 | 2015-02-04 | 陆惠平 | Ladder vehicle capable of horizontally crawling |
| TWI486156B (en) * | 2013-06-11 | 2015-06-01 | Univ Nan Kai Technology | Composite swing wheelchair |
| CN107088120A (en) * | 2017-05-09 | 2017-08-25 | 日照市中医医院 | A kind of hemiplegia self-balancing wheelchair |
| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| CN108394423A (en) * | 2018-05-08 | 2018-08-14 | 中唐空铁科技有限公司 | A kind of balancing seat |
| CN108433596A (en) * | 2018-03-16 | 2018-08-24 | 天津科技大学 | Multifunctional bathing chair |
| CN110169880A (en) * | 2019-06-20 | 2019-08-27 | 浙江科技学院 | A kind of combined type self-balancing electric wheel chair and its application method |
| CN110801351A (en) * | 2019-11-25 | 2020-02-18 | 浙江师范大学行知学院 | Hand-driven wheelchair |
| CN113397847A (en) * | 2021-06-15 | 2021-09-17 | 上海工程技术大学 | Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair |
-
2002
- 2002-05-17 CN CN 02214861 patent/CN2555821Y/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173304A (en) * | 2007-03-27 | 2011-09-07 | 爱考斯研究株式会社 | Vehicle |
| CN101646595B (en) * | 2007-03-27 | 2011-09-21 | 爱考斯研究株式会社 | Vehicle |
| CN102240240A (en) * | 2011-07-07 | 2011-11-16 | 周锦鸿 | Balance-adjustable wheelchair |
| TWI486156B (en) * | 2013-06-11 | 2015-06-01 | Univ Nan Kai Technology | Composite swing wheelchair |
| CN103948476A (en) * | 2014-05-05 | 2014-07-30 | 北京理工大学 | Two-wheeled wheelchair with multi-degree-of-freedom gravity center adjusting function |
| CN103948476B (en) * | 2014-05-05 | 2016-04-20 | 北京理工大学 | There is the two-wheeled wheelchair of multiple degrees of freedom center-of-gravity regulating function |
| CN104323896A (en) * | 2014-11-25 | 2015-02-04 | 陆惠平 | Ladder vehicle capable of horizontally crawling |
| CN104323896B (en) * | 2014-11-25 | 2017-04-19 | 陆惠平 | Ladder vehicle capable of horizontally crawling |
| CN107088120A (en) * | 2017-05-09 | 2017-08-25 | 日照市中医医院 | A kind of hemiplegia self-balancing wheelchair |
| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| CN108433596A (en) * | 2018-03-16 | 2018-08-24 | 天津科技大学 | Multifunctional bathing chair |
| CN108394423A (en) * | 2018-05-08 | 2018-08-14 | 中唐空铁科技有限公司 | A kind of balancing seat |
| CN110169880A (en) * | 2019-06-20 | 2019-08-27 | 浙江科技学院 | A kind of combined type self-balancing electric wheel chair and its application method |
| CN110801351A (en) * | 2019-11-25 | 2020-02-18 | 浙江师范大学行知学院 | Hand-driven wheelchair |
| CN110801351B (en) * | 2019-11-25 | 2024-05-28 | 浙江师范大学行知学院 | Hand-driven wheelchair |
| CN113397847A (en) * | 2021-06-15 | 2021-09-17 | 上海工程技术大学 | Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |