KR900002241B1 - Wheel chair - Google Patents

Abstract

A motor driven wheel chair for climbing and descending stairs comprises a pair of H type frames (4,5)(6,7) each outside of a wheel (2,3) of the wheel chair (1). The H type frame has vertical poles (8-15) and a gear box (28,29), where motors for driving the H type frames are located. The motors and the frames are connected through the gear box, and a tooth part (8'-15') is formed at the upper of the frame so that the gears (20'-27') at the shaft of the motor is fitted to the tooth part. A micro computer (30) control the motors to drive the H-type frame.

Description

Stair wheelchair device

1 is a structural diagram of an apparatus of the present invention.

2 is a circuit diagram of the apparatus of the present invention.

3 (a) to (e) are flowcharts for explaining the operation of the apparatus of the present invention.

4 (a)-(c) are diagrams for explaining a step moving operation state of the apparatus of the present invention.

The present invention relates to a wheelchair device for a staircase, in particular, two H-shaped frames are installed on the wheels of the wheelchair, respectively, and poles are installed on the vertical pillars of the H-frame, respectively. It relates to a wheelchair device for stairs.

Conventional wheelchair device has a drawback that the wheelchair user is limited to the place to move because it is not possible to move in a continuous surface, such as a flat or inclined surface, and can not move in a continuous surface, such as a jaw staircase.

In particular, the power wheelchair device attached to the engine, etc., even though the wheelchair is powered, it is not possible to climb up and down the stairs, so that the power is not effectively used, and there is a disadvantage that the user is very uncomfortable.

The present invention is to install the two H-shaped frame each on the outside of the wheel of the wheelchair and to install the poles on the vertical column of the H-shaped frame in order to solve the conventional disadvantages, and attach the pole motor and the motor for moving the H-shaped frame, It is an object of the present invention to provide a stepped wheelchair for moving up or down stairs while storing a program for controlling a motor in a single chip microcomputer. It will be described in detail as follows.

Referring to FIG. 1, the apparatus of the present invention installs two H-shaped frames 4, 5, and 6 and 7 on the outer side of the wheels 2 and 3 of the conventional wheelchair 1, respectively, and the H-shaped frame 4 -In the vertical column part 4 ', 4', 4 ', 5', 5 ', 6', 6 ', 7', 7 ', the corresponding pole poles 8-15 are installed. The drive motors 16-19 for driving (4-7) are installed in the gear boxes 28 and 29, respectively, and the drive motors 20-27 for driving the poles 8-15 are H type. It is installed in the frame (4-7), and the motor (16-19) and the H-shaped frame (4-7) are connected by the gearboxes (28, 29), and the teeth (8) are provided at the upper end of the pole (8-15). '-15') (only 9 'is shown in FIG. 1 and 8', 10'-15 'are not shown in the same configuration as 9') to form a motor 20-27 (210,000 in FIG. 1). 20 and 22-27 are shown in the same configuration as 21, and the gears 20'-27 '(only 21' are shown in FIG. 1), 20 ', 22'-27' Is the same configuration as 21 ' The first to check whether to climb the stairs in the drive control microcomputer 30 of the motors 16 to 27 (not shown in FIGS. 2A and 21 to 26). The second step of investigating the steps and the associated stair climb if you are going to go up the stairs, or if you are going to go down the stairs if you are going to go down the stairs; The third step is to investigate whether to end all the operations, and if the operation is not finished, the process returns to the first stage, and when the operation ends, the H frames 4-7 and poles 8-15 are returned to their original positions. The program of the fourth step is stored, but such a program is repeated every step. The operation and effect of the apparatus of the present invention will be described with reference to FIGS. Same as

First, the process of going down the stairs is as follows.

Down stairs

1. The operation of the H-frames (4, 5, 6, 7) is determined by, for example, H-frames (4, 6) or H-frames (5, 7) such that a pair is operated on both sides of the wheel. That is, in FIG. 4, the H-type frames 4 and 6 will be described as an example. This case applies only when moving in a straight line direction. That is, the poles 8, 9, 12, 13 of the pair of H-shaped frames 4, 6 protrude downwards so that the wheels 2, 3 (wheels 3 not shown) of the wheelchair 1 move accordingly. ) Off the ground.

2. Advance another pair of H-shaped frames 5 and 7 (not shown in FIG. 4). At this time, the poles 10, 11, 14, 15 are in a completely contracted state.

3. The poles (10, 11, 14, 15) of the H-shaped frame (5, 7) protrudes downward to be grounded and then move the wheelchair (1) forward.

4. Retract and move the poles 8, 9, 12, 13 of the H-shaped frames 4, 6 forward.

5. Slightly contract the poles (10, 11, 14, 15) of the H frame (5, 7) to lower the center of gravity of the wheelchair (1). (Not shown in Figure 4)

Next time you go up the stairs, you can do the above steps in reverse order.

Climb stairs

1. The poles (8, 9, 12, 13) of the H-shaped frames (4, 6) protrude downward to lift the wheels of the wheelchair (1) off the ground.

2. Raise the center of gravity of the wheelchair (1) by further protruding the poles (8, 9, 12, 13) of the H-shaped frame (4, 6).

3. Move the H frame (5, 7) forward. At this time, the poles 10, 11, 14, and 15 are completely in a contracted state.

4. The poles (10, 11, 14, 15) of the H-shaped frames (5, 7) are projected downward to land on the step surface. (Not shown in Figure 4)

5. Move the center of gravity of the wheelchair (1) forward.

6. Move the H frame 4, 6 forward with the poles 8, 9, 12, 13 of the H frame 4, 6 fully retracted.

The configuration of the gearboxes 28 and 29 for this drive is characterized in that the motors 16 and 17 are fixed in the gearbox 28 and fixed to the shafts of the motors 16 and 17 as shown in FIG. The rack gears 16 'and 17' are engaged with the pinion gears 4a and 5a respectively formed on the cutting edges of the H-shaped frames 4 and 5, and the motors 18 and 19 (not shown) are provided inside the gearbox 29. It is fixed so that the pinion gear of the splitting frames of the H-shaped frames 6 and 7 and the rack gears of the motors 18 and 19 are engaged with each other.

In addition, as shown in FIG. 1, the vertical pillars 4 ', 4 ", 5', 5", 6 ', 6 ", 7', and 7" of the H-shaped frame 4-7 have a motor 20-. 27 are fixed to each other and are coupled to the rack gears of the motors 16-19 and the pinion gears of the poles 8-15 through the holes of the H-frame.

Accordingly, the H-shaped frame (4-7) is moved back and forth in the wheelchair by the motor (16-19). Since the forward and backward movement of the H-shaped frame (4-7) is a state movement for the wheelchair (1), if the wheelchair If the H frame is moved with (1) fixed, this is the movement of the H frame, and if the H frame is moved with all poles grounded, the gearbox is moved relative to the fixed pole (i.e. wheelchair movement). ) Is done. Also shown in FIG. 1 is a configuration of the ground portion of the pole poles 8-15. The pressure switch PS for detecting the grounding of the pole pole and the shrinkage detection switch ES necessary for contracting the pole pole are shown. The pressure switch PS is composed of a contact point PS ', a spring SP, and a spring-tipped moving part MO. If one pole is completely landed, more than 1/4 of the weight of the wheelchair and the user is loaded on the pole so that the spring SP is completely compressed and the pressure switch PS is connected. On the other hand, when the pole stand is recovered, the spring SP pushes the movable part MO, so that the pressure switch PS is turned off. When the pole is fully retracted, the contraction detection switch ES is turned on to stop driving of the associated motor.

Referring to (a) and (b) of FIG. 2, in (a) of FIG. 2, the balance of the wheelchair 1 is sensed and maintained by a known horizontal sensing switch HS in order to maintain the balance of the wheelchair 1. do. These horizontal sensing switches (HS) are composed of two pairs are positioned at right angles.

As shown in FIG. 2A, the electric circuit for controlling the configuration as shown in FIG. 1 includes an H-type frame drive motor 16-19 and pole pole drive motor 20-27 (motor 21-26). (Not shown) and a switch (SW ₁ -SW ₃ : step up, step down, end) and a level sensing switch (HS) for the user to give a command (corresponding to SW ₄ -SW ₇ in (a) of FIG. 2) And the pressure switch PS of each pole (corresponding to SW ₈ -SW ₁₅ in FIG. 2 (a)) and the shrinkage sensing switch (ES) (corresponding to SW ₁₆ -SW ₂₃ in FIG. 2 (a)) and the micro Computer (MC) 30.

Also shown in FIG. 2B is a detailed circuit of one motor drive control unit for controlling each motor 16-27. Here, the microcomputer 30 receives an input from the switches S ₁ -S _{23 and} sends a processing instruction in the form of 'high' voltage to either of the circuit input terminals R and L of FIG. 2 (b). To pass.

If a high voltage is applied to the input terminal R, the transistors Q ₁ and Q ₂ are turned on so that current flows in the order of power (B ⁺ ) → transistor (Q ₁ ) → motor (M) → transistor (Q1 ₂ ) → ground. When supplied to the motor M and the motor M is rotated in the forward direction, while a high voltage is applied to the input terminal L, the transistors Q ₃ and Q ₄ are turned on so that the power source B ⁺ is applied to the transistor Q ₃ . → Motor (M) → Transistor (Q ₄ ) → Ground, current flows in the reverse direction to the motor (M), and the motor (M) rotates in the reverse direction.

On the other hand, the time constant by the resistor R ₁ and the capacitor C ₁ is set to be much larger than the clock period of the microcomputer 30 so that the 'high' state applied to the input terminals R and L is output in the form of pulse. The driving time of the motor M can be lengthened.

In FIG. 3 (a)-(e), a flowchart for executing a program stored in the microcomputer 30, and FIG. 3 (a) is a flowchart showing overall program execution. In FIG. 3 (b), FIG. In FIG. 3 (a), the program for processing execution when going up the stairs is shown in FIG. 3 (c). In a), a flowchart showing program execution when all functions are stopped is shown. In (e) of FIG. 3, a flow chart showing the detailed program execution of the execution process in FIGS. 3 (b) to (d) is for maintaining the parallelism of the wheelchair 1 during program execution. It is set according to the type frame.

As described above, according to the present invention, there is provided a wheelchair device for stairs that can freely and safely climb or descend the stairs even if the wheelchair is freely liable.

Claims (1)

Two H-shaped frames 4, 5, 6, and 7 are respectively provided on the outer side of the wheels 2 and 3 of the conventional wheelchair 1, and a plurality of vertical posts of the H-shaped frames 4-7 ( 4 ', 4 ", 5', 5", 6 ', 6 ", 7', and 7") to install the corresponding pole poles 8-15, and to drive the H-shaped frame 4-7. The motor 16-19 is installed in the gearboxes 28 and 29, respectively, and the drive motor 20-27 for driving the pole poles 8-15 is installed in the H-frame 4-7. , The motor 16-19 and the H-shaped frame 4-7 are connected by gearboxes 28 and 29, and a plurality of teeth 8'-15 'are formed at the upper end of the pole 8-15. And the gears 20'-27 'supported on the shafts of the motors 20-27, and the driving of the plurality of motors 16-27 is controlled by the drive control microcomputer 30. Wheelchair device for stairs.

Images