KR102382528B1 - Lift method for wheel chair using lift apparatus - Google Patents

Abstract

The present invention relates to a method of ascending and descending stairs using a stair ascending and descending assistance device for a wheelchair, the method comprising the steps of: sensing whether there are stairs in front or behind the support portion through a first sensor ; And when it is confirmed that there is a staircase in the front or rear through the first sensor, the inclination-response part is protruded to the outside of the support part so as to be able to ascend and descend the stairs, and the stair lift assist device for wheelchairs is formed at a predetermined angle with respect to the flat floor surface. Including; preparing to ascend and descend.
According to the present invention, it is possible to provide safe lifting and lowering of the wheelchair occupants by stably coupling the wheelchair and raising and lowering the wheelchair in a state in which the handle, the wheel, and the lower frame of the wheelchair are stably fixed when going up and down the stairs.

Description

Stair lifting method using a stair lifting assist device for wheelchairs {Lift method for wheel chair using lift apparatus}

The present invention relates to a method of ascending and descending stairs using an auxiliary device for ascending and descending stairs for a wheelchair, and more particularly, by providing a method of stably engaging the wheelchair and at the same time ascending and descending the stairs, and providing a method for safely lifting and lowering the wheelchair to the wheelchair occupants It relates to a method of ascending and descending stairs using an assistive device for ascending and descending stairs for wheelchairs.

In general, wheelchairs are mainly designed to travel on flat ground, and in particular, there is a huge disadvantage that stairs cannot be climbed.

On the other hand, for the disabled who cannot climb the stairs, in public facilities, a separate slope is constructed on the stairs so that wheelchairs can also climb it. In order to reduce construction costs as much as possible, ignoring convenience facilities for the disabled, only stairs are being built.

Therefore, there is still a social problem that disabled people in wheelchairs face a huge barrier such as stairs and receive great restrictions on their right to move.

Accordingly, a lifting device for a wheelchair has been developed and proposed to improve convenience in consideration of the difficulties associated with using a wheelchair.

In such a wheelchair lift device, a person in a wheelchair is put on the wheelchair lift device together with the wheelchair, and the wheelchair is raised to a desired position by using a lift means such as a lift. It is a device that allows you to board, move on the ground, or go up and down stairs.

However, when going up and down the stairs, the wheelchair is arranged to be inclined at the same angle as the inclination of the stairs, so the occupants may feel psychologically uneasy, and the wheelchair may be separated from the elevator because the wheelchair cannot be stably fixed. problems may arise.

(Korea Registered Patent No. 10-1083365 B1 (2011.11.14. Announcement)

It is an object of the present invention to provide a method of ascending and descending stairs using a stair lifting assist device for a wheelchair that can provide a safe lifting and lowering operation for wheelchair occupants by stably coupling the wheelchair and at the same time providing a stable lifting operation method when going up and down stairs will be.

The object of the present invention is not limited to the object mentioned above, and other objects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description.

In order to achieve the above object, in an embodiment of the present invention a pair of support; A plurality of chain gears respectively coupled to both ends of the shaft connecting the pair of support; a driving unit coupled to at least one location in a plurality of chain gears; Track wheels connected to a plurality of chain gears to drive the plurality of chain gears together to be grounded on the floor while moving forward or backward; One end is rotatably connected to the support, and when one end is rotated, the other end is rotated so as to contact the floor surface to adjust the inclined angle of the support portion inclined; and a tilting unit that is rotatably coupled to the support, grips at least one of the floor and the handle of the wheelchair, fixes the wheelchair, and adjusts the horizontal state of the wheelchair by tilting the wheelchair to correspond to the inclined angle of the support; And a plurality of first sensors for detecting the condition of the stairs located on the front, rear, and floor surface of the support; the stair elevation method using the stair elevation assistance device for a wheelchair comprising the front or rear of the support portion through the first sensor Sensing whether there is a staircase in the ; And when it is confirmed that there is a staircase in the front or rear through the first sensor, the inclination-response part is protruded to the outside of the support part so as to be able to ascend and descend the stairs, and the stair lift assist device for wheelchairs is formed at a predetermined angle with respect to the flat floor surface. Including; preparing to ascend and descend.

Here, in the case of the condition that the stair climbing assist device for a wheelchair climbs the stairs, in a state in which the stair elevation assisting device for a wheelchair is formed at a predetermined angle with respect to a flat floor surface, the wheelchair until the track wheel contacts the stairs through the driving unit moving the stair lift assist device forward; When it is confirmed that the front of the track wheel is in contact with the stairs, the step of introducing the inclination counter to the inside of the support unit and climbing the stairs through the track wheel; And through the first sensor, when it is sensed that the stairs have been climbed, the stair climbing assistance device for wheelchairs is installed on the upper floor while protruding the incline-response part to the outside of the support part and abutting the incline-response part to the inside of the support part again. It may further include a step of seating.

Here, when the stair climbing assist device for wheelchair is in a state of going down the stairs, the stair elevation assisting device for wheelchair is formed at a predetermined angle downward toward the stairs, and the rear end of the stair elevation assisting device for wheelchair is in contact with the stairs When it is confirmed, the step of introducing the inclination counter to the inside of the support, stopping the operation of the driving unit to form a sliding driving device for the wheelchair lift up and down along the stairs; adjusting the rotation speed of the chain gear so that the speed of moving downward through a brake coupled to at least one of the plurality of chain gears is less than or equal to a preset speed; And when it is confirmed that the stairs are all descended through the first sensor, protruding the inclination-response part to the outside of the support part to seat the stair elevation assist device for wheelchairs on the lower floor surface, and then introducing the support part back to the inside; includes; do.

Here, it is possible to charge the battery in the step of forming the sliding drive to the lower layer.

Here, when the stair climbing assist device for wheelchair moves to the upper or lower floor, based on the angle of the stair elevation assist device for wheelchair inclined with respect to the stairs, the angle of the wheelchair riding on the stair elevation assist device for wheelchair becomes horizontal. It may further include; adjusting the horizontal state of the wheelchair.

Here, a plurality of first sensors are disposed on each of the front, rear, and bottom surfaces of the support part, and the support part may include a second sensor sensing the inclination of the support part to sense the inclination angle of the support part.

The stair elevating method using the stair elevating assist device for a wheelchair according to the present invention can provide safe elevating and lowering of the occupants by stably elevating the wheelchair when climbing up and down the stairs while stably coupling the wheelchair.

In addition, it is possible to provide stability to the wheelchair occupant by sensing the stairs and obstacles located in the front and rear and adjusting the angle of the wheelchair based on the sensing.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description.

1 to 2 are flowcharts and conceptual diagrams of a method of ascending and descending using a stair ascending and descending assistance device for a wheelchair according to an embodiment of the present invention.
3 to 4 are flowcharts and conceptual views of a descending method using a stair lift assisting device for a wheelchair according to an embodiment of the present invention.
5 is a perspective view of a stair lift assist device for a wheelchair according to an embodiment of the present invention.
6 is a perspective view illustrating a state in which a wheelchair is mounted on a stair lift assisting device for a wheelchair.
7 is a block diagram of a stair lift assist device for a wheelchair according to an embodiment of the present invention.
8 is a view showing the driving of the inclination-response unit of the stair climbing assistance device for wheelchairs.
9 is a detailed view of part 'A' of FIG. 6 .
FIG. 10 is a detailed view of part 'B' of FIG. 6 .
11 is a detailed view of part 'C' of FIG. 6 .
12 is a view showing the arrangement position and sensing characteristics of the sensor of the stair climbing assistance device for a wheelchair.
13 is a conceptual diagram of the operation of the stair lift assist device for a wheelchair according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this case, it should be noted that in the accompanying drawings, the same components are denoted by the same reference numerals as much as possible. Detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically illustrated in the accompanying drawings.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, throughout the specification, "on" means to be located above or below the target part, and does not necessarily mean to be located above the gravitational direction.

First, in the present invention, the front is defined as the position where the second chain gear 122 and the third chain gear 123 are arranged and the position where the first chain gear 121 is arranged as the rear.

1 to 2 are flowcharts and conceptual diagrams of the ascending and descending method using the stair ascending and descending assistance device for wheelchairs according to an embodiment of the present invention. Reference numerals for the configuration refer to FIGS. 5 to 7 .

It is sensed whether there is a step in front of the support 110 through the first sensor 190 (S100). The first sensor 190 may sense the entire front area at various angles through the second front sensor 192 provided in front of the support unit 110 . In addition, when the wheelchair is boarded in the stair elevation assisting device for a wheelchair before sensing, the step of fixing the wheelchair to the stair elevation assisting device for a wheelchair through a plurality of stabilizers is further included.

When it is confirmed that there are stairs in front through the first sensor 190, the inclination-response unit 150 is protruded out of the bottom surface of the support unit 110 so as to be able to ascend and descend the stairs, so that the stair climbing assistance device for wheelchairs (10) is formed at a predetermined angle with respect to the flat floor surface to prepare for lifting (S200). At this time, by pre-rotating the tilting unit 160 to the stair lift assist device at a predetermined angle so that the angle of the wheelchair W is in a horizontal state, it is possible to provide stability to the disabled or the patient riding the wheelchair.

In a state in which the stair elevation assisting device 10 for a wheelchair is formed at a predetermined angle with respect to a flat floor surface, the track wheel 140 proceeds forward through the driving of the driving unit 130, and the stair elevation assisting device 10 for a wheelchair. moves forward until it contacts the stairs (S300).

When it is confirmed that the front of the track wheel 140 is in contact with the stairs, the inclination response unit 150 is introduced into the support unit 110 and the stairs are moved up and down the stairs through the track wheel 140 . goes up (S400). At this time, when the track wheel 140 comes into contact with the stairs, the inclination response unit 150 is introduced back into the support unit 110 and does not affect when the track wheel 140 moves along the stairs.

At this time, since the wheelchair is coupled along the support 110 , it forms the same inclination as the support 110 . As such, if the wheelchair maintains the tilted state, anxiety may be provided to the disabled or the patient on board. In order to solve this problem, the present invention is a wheelchair riding on the stair elevation assistance device 10 for a wheelchair using the tilting unit 160 based on the angle of the stair elevation assistance device 10 for a wheelchair inclined with respect to the stairs Adjust the angle to be in a horizontal state (S500). Therefore, although the support unit 110 is in a tilted state, since the wheelchair maintains a horizontal state, it is possible to prevent fear, etc. from being induced in the patient or the disabled in the wheelchair.

Through the first sensor 190, when it is sensed that the stairs have been climbed, the inclination-response unit 150 is protruded out of the bottom surface of the support unit 110 so that it abuts against the upper floor, and the inclination-response unit 150 is removed. The stair lift assisting device for wheelchairs is seated on the upper floor while flowing into the inside of the support unit 110 again (S600). In addition, the wheelchair is adjusted to be in a horizontal state again through the tilting unit 160 .

At this time, since the first sensor 190 is provided in plurality in the front and on the floor, the sensing height for sensing the upper floor of the front area is higher than the height sensed when all the stairs are climbed. You can determine whether or not it has risen.

Through this method, it is possible to stably move the wheelchair located on the upper floor to the lower floor.

3 to 4 are flowcharts and conceptual views of a descending method using a stair lift assisting device for a wheelchair according to an embodiment of the present invention.

It is sensed whether there is a step in front of the support 110 through the first sensor 190 (S100). The first sensor 190 may sense the entire rear area at various angles through the first front sensor 191 provided at the rear of the support unit 110 . In addition, when the wheelchair is boarded in the stair elevation assisting device for a wheelchair before sensing, the step of fixing the wheelchair to the stair elevation assisting device for a wheelchair through a plurality of stabilizers is further included.

When it is confirmed that there are stairs in the rear through the first sensor 190, the inclination-response unit 150 is protruded out of the bottom surface of the support unit 110 so as to be able to ascend and descend the stairs, so that the stairs ascending and descending assistance device for wheelchairs (10) is formed at a predetermined angle with respect to the flat floor surface to prepare for lifting (S200). At this time, by rotating the tilting unit 160 at a predetermined angle to the stair lift assist device so that the angle of the wheelchair W is in a horizontal state, when descending, instead of looking downward, the disabled person riding in a wheelchair faces the front. Alternatively, it may provide stability to the patient.

When it is confirmed that the stair elevation assisting device 10 for wheelchairs is formed at a predetermined angle in the downward direction toward the stairs, and it is confirmed that the rear end of the stair elevation assisting device for wheelchairs contacts the stairs, the inclination response unit 150 is attached to the support unit 110 ), and stops the operation of the driving unit 130 to form a sliding drive to the lower floor along the stairs for the stair lift assist device for wheelchairs (S300).

At this time, since the wheelchair is coupled along the support 110 , it forms the same inclination as the support 110 . As such, if the wheelchair maintains the tilted state, anxiety may be provided to the disabled or the patient on board. In order to solve this problem, the present invention is a wheelchair riding on the stair elevation assistance device 10 for a wheelchair using the tilting unit 160 based on the angle of the stair elevation assistance device 10 for a wheelchair inclined with respect to the stairs Adjust the angle to be in a horizontal state (S400). Therefore, although the support unit 110 is in a tilted state, since the wheelchair maintains a horizontal state, it is possible to prevent fear, etc. from being induced in the patient or the disabled in the wheelchair.

In addition, when the present invention moves in the downward direction, it is not driven by the power transmitted from the driving unit, but the stair lift assisting device 10 for wheelchairs moves to the lower floor along the direction of gravity. control is needed Accordingly, the rotational speed of the chain gear 120 is set so that the speed of moving downward through the brake coupled to at least one of the plurality of chain gears 120 is less than or equal to a preset speed (S500).

When it is confirmed that the stairs are all descended through the first sensor 190, the inclination-response unit 150 is protruded to the outside of the support unit to seat the stair lift assist device for wheelchairs on the lower floor, and then the support unit 110 is installed. It is introduced into the inside again (S600). In addition, the wheelchair is adjusted to be in a horizontal state again through the tilting unit 160 .

At this time, since the first sensor 190 is provided in plurality in the front and on the floor, the sensing height for sensing the upper floor of the front area is higher than the height sensed when all the stairs are climbed. You can determine whether or not it has risen.

Hereinafter, a detailed description will be given of a stair lift assisting device for a wheelchair for performing the above operation.

5 is a perspective view of a stair climbing assistance device for a wheelchair according to an embodiment of the present invention, FIG. 6 is a perspective view showing a state in which a wheelchair is boarded on the stair elevation assistance device for a wheelchair, and FIG. It is a block diagram of a stair lift assist device for wheelchairs.

5 to 7, the stair elevation assisting device 10 for a wheelchair according to an embodiment of the present invention provides stable elevation of the wheelchair W to the upper or lower floors by boarding the wheelchair W. , the support unit 110 , the chain gear 120 , the driving unit 130 , the track wheel 140 , the inclination response unit 150 and the tilting unit 160 .

First, the present invention defines the direction in which the rear of the wheelchair is disposed as the front, and the opposite direction as the rear.

The support unit 110 is provided as a pair, extends along the traveling direction of the wheelchair (W), and is arranged with a width smaller than the distance between the wheels of the wheelchair (W).

The chain gear 120 is coupled to the outer direction of the support 110 at both ends of the shaft connecting the pair of support parts 110 , and is arranged in plurality along the extending direction of the support part 110 .

The driving unit 130 is coupled to one of the plurality of chain gears 120 to provide a driving force so that the chain gear 120 can rotate.

The track wheel 140 connects the plurality of chain gears 120 so that the plurality of chain gears 120 are driven together according to the driving of the driving unit 130 . The track wheel 140 may provide traction on the floor surface, such as stairs, to provide stable ascending and descending guidance.

One end of the inclination response unit 150 is rotatably connected to the support unit 110 , and the other end rotates while rotating so that the other end abuts the floor surface to adjust the support unit 110 to an inclined angle.

The tilting part 160 is rotatably coupled to the support part 110, grips at least one of the floor and the handle H of the wheelchair W, and fixes the wheelchair W, and the support part 110 is tilted. Adjust the horizontal state of the wheelchair (W) by tilting the wheelchair (W) to correspond to the angle.

Hereinafter, each configuration will be described in more detail with reference to FIGS. 4 to 9 .

8 is a view showing the driving of the inclination-response part of the stair climbing assistance device for a wheelchair, FIG. 9 is a detailed view of part 'A' of FIG. 6 , FIG. 10 is a detailed view of part 'B' of FIG. 6 , and FIG. 11 is 6 is a detailed view of part 'C', FIG. 12 is a view showing the arrangement position and sensing characteristics of the sensor of the stair climbing assistance device for a wheelchair, and FIG. 13 is a stair elevation assistance device for a wheelchair according to an embodiment of the present invention This is a working concept.

Each configuration will be described in more detail with reference to FIGS. 8 to 13 .

The support part 110 is formed in a plate shape, and is disposed adjacent to each other. Since the support part 110 is provided with the chain gears 122 and 123 up and down in the front, it is formed relatively high compared to the rear, and the circumferential direction of the support part 110 is fixed through a plurality of coupling shafts 111 to be inside. Create a receiving space.

The chain gear 120 includes a first chain gear 121 , a second chain gear 122 , and a third chain gear 123 . The first chain gear 121 is coupled to the rear of the support 110 . The second chain gear 122 is coupled to the front of the support unit 110 spaced apart from the first chain gear 121 in one direction. In addition, the third chain gear 123 is spaced apart from the second chain gear 122 in a diagonally upward direction and is coupled to the support unit 110 . In this way, the second chain gear 122 and the third chain gear 123 are stacked and arranged in the upward direction, and the track wheels 140 along the surface form a ground surface on the stairs, etc. It is possible to provide stable driving without overturning when driving. In the present invention, although the chain gear 120 is formed of three as an example, an additional gear may be provided between the first chain gear 121 and the second chain gear 122 .

In addition, the chain gear formed in plurality may be provided with a plate brake capable of controlling the rotational driving of the gear. When the present invention moves downward and slides by gravity, the plate flake can provide stable downward driving by making the downward movement speed to be less than or equal to a preset speed.

The driving unit 130 is disposed behind the support unit 110 . The driving unit 130 may be gear-coupled to each of the first chain gears 121 connected to the supporting units 110 provided as a pair so that they can be simultaneously driven.

In addition, a battery 180 spaced apart from one side of the driving unit 130 to provide power is provided. The battery 180 may be formed of a rechargeable battery capable of charging and discharging. In the present invention, the battery 180 not only does not use power through sliding driving by gravity on a downhill slope, but also the battery 180 may be charged in this driving step.

The track wheel 140 is formed to surround the first chain gear 121 , the second chain gear 122 , and the third chain gear 123 . The track wheel 140 may provide smooth movement without slipping on a slope such as stairs by increasing the gripping force with the floor surface by forming the contact surface in a shape such as irregularities (凹凸). At this time, a loop is formed so that the upper surface connecting the first chain gear 121 and the third chain gear 123 forms an inclination.

In this way, when the upper surface of the track wheel 140 forms an inclination, when the wheelchair enters and is seated in the rear, the entrance and seating of the wheelchair may be hindered due to the upper surface of the inclined track wheel 140 . . In order to prevent this, the present invention is provided with a pulley gear (170).

The pulley gear 170 is tracked so that the upper surface of the track wheel 140 forming an inclination is in the same horizontal state as the lower surface of the track wheel 140 connecting the first chain gear 121 and the second chain gear 122 It is coupled to the support 110 through the shaft so that one region of the upper surface of the wheel 140 can be pressed from the upper side to the lower side. The pulley gear 170 may be formed so that an outer circumferential surface corresponds to the concave-convex ground surface of the track wheel 140 . The pulley gear 170 rotates while in contact with the contact surface according to the rotation of the orbit wheel 140 without a separate driving unit.

One end of the inclined portion 150 is rotatably connected to the support 110, and the other end rotates while rotating so that the other end abuts the floor to adjust the support 110 to an inclined angle to form a step such as a staircase. As to provide smooth lifting and lowering in the terrain, it is configured to include a rotation shaft 151 , a moving wheel 152 , a rotation motor 153 and a rotation support shaft 154 .

The rotation shaft 151 is rotatably coupled in the downward direction of the support part 110 between the pair of support parts 110 and extends toward the front. Since the rotation shaft 151 is not driven when traveling on flat ground, it does not protrude outwardly between the supports 110 and maintains a hidden state. Then, the rotation shaft 151 protrudes from a ramp formed with a step difference, such as a staircase, and the orbit wheel 140 is brought into contact with the stairs through a moving wheel 152 coupled to the terminal end, so that smooth elevation can be achieved. In this case, a stopper 1511 may be provided in the terminal region of the rotation shaft 151 . The stopper 1511 prevents the rotation shaft 151 from being opened at a predetermined angle or more, thereby preventing the rotation shaft 151 from being opened at an incorrect angle due to an impact or the like, thereby providing stable driving when lifting and lowering.

The moving wheel 152 is coupled to the terminal end of the rotating shaft 151 , and when the rotating shaft 151 protrudes toward the floor, it abuts against the floor to form a gripping force together with the orbital wheel 140 . Since the moving wheel 152 serves as a lever so that the track wheel 140 can ascend and descend at a position where a step such as a step is formed, it is not smooth and is formed of a cushioned material so as not to slip on the contact surface. it is preferable

The rotation motor 153 serves to drive the rotation shaft at a preset angle.

One end of the rotation support shaft 154 is coupled to the moving wheel 152 , and the other end is coupled to the support unit 110 to guide the position of the moving wheel 152 according to the rotation of the rotation shaft 151 . Therefore, the rotation support shaft 154 can guide the rotation shaft 151 to rotate stably, and even in a state in which the rotation shaft 151 is accommodated in the support part 151, it can be prevented from protruding outward due to an impact or the like. can

The tilting unit 160 is rotatably coupled to the support unit 110 , gripping the floor and the handle H of the wheelchair W, and tilting the wheelchair W to correspond to the inclined angle of the support unit 110 . (W) is stably fixed to prevent the wheelchair (W) from being separated when ascending and descending a ramp such as stairs. (164) is provided.

The vertical support 161 is formed as a pair, and one end is rotatably coupled to the support unit 110 , and the other end is extended upward to support the rear side of the wheelchair. Accordingly, the angle of the vertical support 161 may be adjusted to be inclined backward according to the operation of the hydraulic driving unit 162 . The vertical support members 161 are spaced apart from each other by a predetermined distance and extend upward, so that they are adjacent to each other through the spacing maintaining unit 1614 so as to stably maintain the spaced distance to each of the upper and lower portions and at the same time to firmly support the wheelchair. can be fixed.

In addition, the vertical support 161 may include a handle support 1611 , a fixing bracket 1612 , and an operation button 1613 . The handle support 1611 extends from the upper end of the vertical support 161 to both sides in the width direction, and it is possible to change the position to be variably coupled to the vertical support 161 according to the position of the handle H of the wheelchair.

The fixing bracket 1612 is coupled to the end of the handle support 1611 so that the direction surrounding the pole P of the wheelchair handle H is formed in a ring shape, and the ring region is driven to rotate to fix the wheelchair handle (H). The wheelchair (W) supported by the vertical support 161 can be firmly fixed so that it does not move.

The operation button 1613 serves to operate the fixing bracket 1612, and rotates the fixing bracket 1612 in one direction according to the pressing, and as the pressing is released, the fixing bracket 1612 can be rotated in the opposite direction. It may be formed as an index plunger with an index plunger, but the operation method of the fixing bracket 1612 is not limited thereto.

One end of the hydraulic drive unit 162 is coupled to the vertical support unit 161 , and the other end is coupled through a shaft rotatably coupled to the support unit 110 . The other end of the hydraulic drive unit 162 is rotatably coupled to the front of supporting the wheelchair through a shaft coupled between the second chain gear 122 and the third chain gear 123 so that the cylinder is expanded or contracted through hydraulic force. A tilting force is provided so that the angle of the vertical support 161 is adjusted.

One end of the wheel fixing unit 163 is coupled to the lower end of the vertical support 1611 , and the other end extends in the width direction of the supporting unit 110 to fix the wheel T of the wheelchair. The wheel fixing part 161 is formed to be bent toward the front extending a predetermined distance in both directions along the width direction of the support 110, and is formed to be bent outward again so that the wheel T of the wheelchair can be firmly fixed. do. When the wheelchair (W) enters toward the front, the wheel fixing unit 163 may automatically drive the wheelchair (W) in a direction surrounding the wheel (T).

One end of the frame support 164 is coupled to the upper or lower end of the vertical support 161 to which the wheel fixing part 163 is coupled, and a 'U'-shaped seating groove 1641 is formed at the other end of the lower part of the wheelchair. The frame BF may be supported. In addition, a lower fixing bracket (not shown) may be provided in the seating groove 1641 to more firmly fix the lower frame BF of the wheelchair. The lower fixing bracket rotates in a direction surrounding the lower frame BF so that the lower frame BF does not slide the seating groove 1641 and a solidly coupled state can be maintained.

In addition, the present invention provides a first sensor 190 capable of detecting an object positioned on the front, rear, and bottom surfaces of the support portion as a center and a second sensor 194 capable of sensing the degree of inclination of the support portion 110 . and a control unit 200 capable of adjusting the operating states of the tilt response unit 150 and the tilt unit 160 according to values sensed through each sensor.

The first sensor 190 may be formed of a first front sensor 191 provided at the front, a first rear sensor 192 provided at the rear, and a first central sensor 193 provided at the center. The first front sensor 191 is arranged in plurality along the coupling shaft 111 for coupling the support 110 to the front to be spaced apart from each other.

At this time, the first front sensor 191 is not arranged to face the same direction along the coupling shaft 111, but is arranged to face the upper side, the front side, and the lower side so that the entire area in the front is sensed, so that the elevating driving and forward/backward movement It is possible to accurately sense the various environments of the wheelchair. The first rear sensor 192 senses the rear through a plurality of sensors, and may form an arrangement direction in the same manner as that of the first front sensor 191 . The first central sensor 193 is arranged in plurality in the longitudinal direction along the axial direction of the lower portion of the support 110 to sense the lower surface. The first sensor 190 may be provided as a proximity or ultrasonic sensor.

The second sensor 194 is coupled to the support 110 to sense an inclined angle of the support 110 . The second sensor may be formed as a tilt sensor.

The controller 200 may control the rotation conditions of the tilt response unit 150 and the tilt unit 160 based on the values sensed by the first sensor 190 and the second sensor 194 . In addition, it is possible to control the operating state of the driving unit 130 . For example, in the case of going down the stairs, the operation of the driving unit 130 may be stopped, and the free sliding driving may be performed by gravity.

The stair elevation assisting device for a wheelchair according to the present invention provides safe elevation to a wheelchair occupant by stably coupling the wheelchair and elevating the wheelchair while stably fixing the handle, the wheel, and the lower frame of the wheelchair when going up and down the stairs. can provide In addition, it is possible to provide stability to the wheelchair occupant by sensing the stairs and obstacles located in the front and rear and adjusting the angle of the wheelchair based on the sensing.

On the other hand, the embodiments of the present invention disclosed in the present specification and drawings are only presented as specific examples to easily explain the technical contents of the present invention and help the understanding of the present invention, and are not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

110: support 120: chain gear
130: driving unit 140: track wheel
150: tilt response unit 160: tilting unit
170: pulley gear 180: battery
190: first sensor 200: control unit

Claims (6)

a pair of supports; a plurality of chain gears respectively coupled to both ends of the shaft connecting the pair of supports; a driving unit coupled to at least one of the plurality of chain gears; a track wheel connected to the plurality of chain gears to drive the plurality of chain gears together to be grounded on the floor while moving forward or backward; an inclination response part having one end rotatably connected to the support part, and rotating so that the other end abuts the bottom surface when the one end rotates to adjust the support part to an inclined angle; and a tilting part that is rotatably coupled to the support part, fixes the wheelchair by gripping at least one of the floor and the handle of the wheelchair, and adjusts the horizontal state of the wheelchair by tilting the wheelchair to correspond to the inclined angle of the support part; And a plurality of first sensors for detecting the condition of the stairs located on the front, rear and floor surfaces of the support;
Sensing whether there is a step in the front or rear of the support through the first sensor; and
When it is confirmed that there is a staircase in the front or rear through the first sensor, the inclination-response part is protruded to the outside of the support part so that the stairs can be ascended and descended, and the stair lift assisting device for wheelchair is set at a predetermined angle with respect to the flat floor surface. Formed into a step of preparing for elevating; is made,
If the condition for the wheelchair climbing assistance device to go up the stairs is,
In a state in which the stair elevation assisting device for a wheelchair is formed at a predetermined angle with respect to a flat floor surface, moving the stair elevation assisting device for a wheelchair forward until the track wheel comes into contact with the stairs through the driving unit;
When it is confirmed that the front of the track wheel is in contact with the stairs, introducing the inclination-response part to the inside of the support part and ascending the stairs through the track wheel; and
When it is sensed that the stairs have been climbed through the first sensor, the stairs for wheelchairs are raised and lowered while the inclination-responding part is protruded to the outside of the support part and brought into contact with the upper floor surface while the incline-corresponding part is introduced into the inside of the support part again. It further comprises; seating the auxiliary device on the upper layer;
When the stair climbing assist device for wheelchairs is in a state of going down the stairs,
When it is confirmed that the stair elevation assisting device for wheelchairs is formed at a predetermined angle downward toward the stairs, and it is confirmed that the rear end of the stair elevation assisting device for wheelchairs is in contact with the stairs, the inclination-response portion is introduced into the support portion and , by stopping the operation of the driving unit to form a sliding drive to the lower floor along the stairs for the stair lift assist device for wheelchairs;
adjusting the rotation speed of the chain gear so that a speed of moving downward through a brake coupled to at least one of the plurality of chain gears is less than or equal to a preset speed; and
When it is confirmed that the stairs are all descended through the first sensor, protruding the inclination-response part to the outside of the support part to seat the stair elevation assistance device for wheelchairs on the lower floor surface, and then introducing it back into the support part ; Stair lifting method using a stair lift assist device for a wheelchair, characterized in that it includes.
delete delete The method of claim 1,
In the step of forming a sliding drive to the lower layer,
A method of ascending and descending stairs using an auxiliary device for stair climbing for wheelchairs, characterized in that the battery is charged.
The method of claim 1,
When the wheelchair stair lift assist device moves to the upper or lower floors,
Adjusting the horizontal state of the wheelchair so that the angle of the wheelchair riding on the stair ascending and descending assisting device for a wheelchair is in a horizontal state based on the angle of the stair ascending and descending assisting device for a wheelchair inclined with respect to the stairs; further comprising A method of ascending and descending stairs using a stair lift assist device for wheelchairs, characterized in that.
6. The method of claim 5,
The first sensor is
A plurality of front, rear and bottom surfaces of the support are respectively disposed,
The support part,
A method of ascending and descending stairs using a stair lifting assistance device for a wheelchair, characterized in that a second sensor for sensing the inclination of the support is provided to sense the inclined angle of the support.

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