WO2020252759A1 - Fauteuil roulant électrique apte à monter des escaliers et procédé d'utilisation de ce dernier pour monter et descendre des marches - Google Patents

Fauteuil roulant électrique apte à monter des escaliers et procédé d'utilisation de ce dernier pour monter et descendre des marches Download PDF

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Publication number
WO2020252759A1
WO2020252759A1 PCT/CN2019/092197 CN2019092197W WO2020252759A1 WO 2020252759 A1 WO2020252759 A1 WO 2020252759A1 CN 2019092197 W CN2019092197 W CN 2019092197W WO 2020252759 A1 WO2020252759 A1 WO 2020252759A1
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WIPO (PCT)
Prior art keywords
row
wheels
wheelchair
wheel
universal wheels
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Application number
PCT/CN2019/092197
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English (en)
Chinese (zh)
Inventor
曾昭毅
Original Assignee
曾昭毅
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 曾昭毅 filed Critical 曾昭毅
Priority to PCT/CN2019/092197 priority Critical patent/WO2020252759A1/fr
Publication of WO2020252759A1 publication Critical patent/WO2020252759A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories

Definitions

  • the invention belongs to the technical field of electric wheelchairs, and particularly relates to an electric wheelchair capable of going up and down steps by itself.
  • the invention intends to realize the convenient, stable and safe up and down steps of the electric wheelchair, and at the same time, it can also be well adapted to flat ground operation.
  • the electric wheelchair consists of the seat body and universal wheels, drive wheels, battery and main control module, joystick, support frame and pin shaft, distance measurement sensor module, seat angle adjuster, chair wheel support rod, and chair wheel lifting device .
  • the four universal wheels are at the front end of the wheelchair as front wheels and steering wheels. They are distributed in two rows in front and rear. Each row has a universal wheel on the left and right sides of the wheelchair.
  • the four driving wheels are at the rear of the wheelchair. They are driven by electric motors as the rear wheels. Each row has a driving wheel on the left and right sides of the wheelchair.
  • the left and right driving wheels are driven by electric motors.
  • Different output rates can be realized, thereby controlling the speed of the wheelchair and completing the functions such as the steering of the wheelchair; the size and interval of the universal wheels are required to be that the front and rear universal wheels can be placed on a step at the same time without interference; The size and spacing of the driving wheels are required to be that the front and rear driving wheels can be placed on a step at the same time without interference with each other.
  • the width of each step is L.
  • the diameter of each wheel is D ⁇ L/2.
  • the universal wheels and the driving wheels are both fixed on the chair wheel support rods in the vertical direction; in the two rows of front and rear universal wheels and the driving wheels, the chair wheel support rods in each row are connected by the chair wheel lifting device,
  • the row of universal wheels or driving wheels can be raised or lowered by one step.
  • the second row of universal wheels and the first row of driving wheels of the wheelchair in the present invention are connected to the chair wheel lifting device through the chair wheel support rod.
  • the chair wheel lifting device is connected to the support frame through a pin shaft, and the chair wheel support rod connected to the chair wheel lifting device is directly connected to the support frame through a pin shaft; the support frame is the upper and lower levels in the horizontal direction, and the vertical direction
  • the four sets of chair wheel support rods form a parallelogram, and the parallelogram can be deformed by the pin shaft, which enables the chair wheel support rod to be kept in a vertical direction when the front and rear wheels of the wheelchair cross different steps and different heights.
  • the front end of the seat body is rigidly connected with the first group of chair wheel support rods that cannot be raised and lowered.
  • a self-locking seat angle adjuster is installed on the support frame, which engages with a gear fixed under the seat, and adjusts the angle between the seat body and the horizontal support frame through gear transmission.
  • the distance measuring sensor module is installed above the universal wheel and the driving wheel, and can measure the horizontal distance between the wheel and the front step and the vertical distance from the ground.
  • the joystick is a control device for the wheelchair user to manipulate the wheelchair forward, backward, and turn.
  • the wheelchair will move or turn in the corresponding direction according to the swing direction of the joystick; when climbing stairs, the wheelchair user does not need to make special controls.
  • the main control module detects the steps through the ranging sensor module, it will automatically control the chair wheels and the chair wheel support rods to complete the up and down steps.
  • the armrests on both sides of the seat body and the back side of the backrest are reserved for the installation position of the joystick, and the installation position of the joystick can be determined according to the user's hand health and usage scenarios.
  • the battery and the main control module are installed under the seat body, the battery provides power for the wheelchair movement, and the main control module is provided with an inclination sensor.
  • the main control module is the control center of the electric wheelchair. It receives the action instructions sent by the user through the operating lever, and coordinates the operation of various parts of the wheelchair according to the measurement data of the distance measuring sensor module, and performs forward, backward, left and right turns such as stairs climbing and flat running.
  • the main control module When the inclination sensor detects an angle tilt, the main control module outputs a control signal to the seat angle adjuster to adjust the angle between the seat body and the support frame to ensure the seat level;
  • a pair of chair wheel support rods are rigidly connected, and because the opposite sides of the parallelogram are parallel, this also ensures that all chair wheel support rods are always in a vertical state, thereby ensuring a stable center of gravity and preventing the wheelchair from falling over.
  • auxiliary brake mechanism on the driving wheel to ensure that the wheelchair can stop in time and be stable in a stationary state.
  • the front ranging sensor detects the approaching step, and the second row of universal wheels is driven by the chair wheel lifting device to extend downward to the height of a step. This action lifts the front of the wheelchair and the first row of universal wheels by one step. The height of the steps;
  • the first row of driving wheels extends downward to the initial position. This action lifts the rear end of the wheelchair, so that the second row of driving wheels is suspended and raised to the same height as the first row of driving wheels. Rows of driving wheels support and drive on the first step;
  • the main control module When the wheelchair approaches the steps, the main control module will judge whether the wheelchair is facing the steps according to the data detected by the left and right distance measuring sensors. If it is not facing the steps, the main control module will adjust the speed of the left and right driving wheels so that the wheelchair is facing behind the steps. Then proceed up and down the steps to avoid the chair wheel from stepping on and causing it to fall over.
  • four-wheel operation or eight-wheel operation mode can be selected according to road conditions.
  • the four chair wheels connected by the chair wheel lifting device can be raised upwards to reduce friction and noise; when running on the ground with rough road conditions, you can choose to run all eight wheels on the ground to provide better support.
  • the step-climbing mechanism only needs to continuously extend and retract the height of one step to repeatedly climb multiple steps, which reduces the size requirements of the climbing mechanism.
  • FIG. 1 Front view of the present invention
  • Figure 3 Right side view of the present invention
  • FIG. 4 Schematic diagram of the steps of the front wheel on the steps
  • FIG. 5 Schematic diagram of the steps of the rear wheel on the steps
  • Figure 6 Schematic diagram of the steps of the front wheel descending steps
  • Figure 7 Schematic diagram of the steps of the rear wheel descending steps.
  • 1- seat body 2- seat wheel support rod (universal wheel), 3- seat wheel support rod (front drive wheel), 4-pin shaft, 5 (5a-5d)-drive wheel, 6 (6a-6d) )-Universal wheel, 7-support frame, 8-chair wheel lifting device, 9-chair wheel support rod (rear driving wheel), 10-range sensor module, 11-battery and main control module, 12-seat angle Adjuster, 13-joystick.
  • the electric wheelchair of the present invention consists of a seat body 1 and universal wheels 6 (including four universal wheels 6a, 6b, 6c, and 6d), a driving wheel 5 (including driving wheel 5a) , 5b, 5c, and 5d), battery and main control module 11, joystick 13, support frame 7, pin 4, distance measuring sensor module 10, seat angle adjuster 12, chair wheel support rod 2, chair The wheel supporting rod 3 (front driving wheel), the chair wheel supporting rod 9 (rear driving wheel), and the chair wheel lifting device 8 are constituted.
  • the chair wheel support rods 2 and 3 are installed on the chair wheel lifting device 8.
  • the seat body 1, the chair wheel lifting device 8 and the chair wheel support rod 9 are connected with the support frame 7 through the pin 4 to form a deformable parallelogram. .
  • the universal wheels 6 are distributed in front and rear rows, 6a, 6c are the first row, 6b, 6d are the second row; the driving wheels 5 are distributed in front and rear two rows, 5a, 5c are the first row, and 5b , 5d is the second row.
  • the parallelogram deformation of the support frame 7 and the chair wheel support rods 2, 3, 9 etc. when going up and down steps will cause the horizontal front and rear intervals to be further reduced.
  • the wheels squeeze each other to make the front and rear rows of chair wheels staggered in the left and right directions, as shown in Figure 1 and Figure 2.
  • the chair wheel support rods 2, 3 and the chair wheel lifting device 8 mounted on the universal wheels 6b, 6d and the driving wheels 5a, 5c can lift the height of a step.
  • the battery and the main control module 11 are installed on the supporting frame 7 and fixed under the seat body 1.
  • the distance measuring sensor module 10 is installed beside the chair wheels 5 and 6, and detects the horizontal and vertical distances between the chair wheels and the steps.
  • the seat angle adjuster 12 is installed on the support frame 7 and engages with the seat body 1 through gears to adjust the angle between the seat body 1, the seat wheel support rods 2, 3, and 9 and the support frame 7.
  • the joystick 13 is installed on the armrest of the wheelchair and can be installed in several alternative positions. The user sends an action command to the main control module 11 through the joystick 13, and the main control module 11 refers to the information detected by the ranging sensor module 10 and the built-in inclination sensor to control the driving wheel 5, the chair wheel lifting device 8, and the seat angle adjustment
  • the device 12 performs actions to complete the instructions sent by the user.
  • Figure 4 is an exploded view of the steps of the universal wheel ascending steps:
  • the second row of universal wheels 6b, 6d extend downward to the height of a step, and the front end of the wheelchair and the first row of universal wheels 6a, 6c are raised to the height of a step;
  • Figure 5 is an exploded view of the steps of the driving wheel ascending steps:
  • the first row of driving wheels 5a, 5c extend downward to ascend to 5b, 5d, and lift the rear end of the wheelchair;
  • Figure 6 is an exploded view of the steps of the universal wheel descending steps:
  • Figure 7 is an exploded view of the steps of driving the wheel down:
  • the universal wheel and the driving wheel will take corresponding actions according to their own steps to complete the front of the wheelchair. And the back-end up and down stairs.
  • the seat angle adjuster 12 adjusts the angle between the seat body 1 and the support frame 7 during the entire process of going up and down according to the signal of the main control module 11 to ensure the level of the seat.
  • the driving wheel 5 can be directly driven by a motor, or it can be driven by a motor through gear or chain transmission; after being driven by a gear or chain, the front and rear driving wheels can be driven by the same motor, reducing the overall cost of the wheelchair.
  • the seat angle adjuster 12 can be realized by gear coupling or hydraulic rod, electric push rod, spiral screw rod and the like.
  • the chair wheel lifting device 8 can adopt linear motors, screw rods, hydraulic drive, etc., and the chair wheel lifting devices 8 on the left and right sides can be driven by the same set of power, which not only ensures synchronization, but also reduces power components and drive modules.
  • Additional distance measuring sensors or cameras can be added to the front and rear of the wheelchair to realize early detection of surrounding obstacles, so that the wheelchair can avoid or stop in advance, and further enhance the safety of the wheelchair operation.
  • the first row of universal wheels or the second row of driving wheels can also be selected to support up and down expansion, and the steps of the wheelchair up and down the steps are adjusted accordingly according to the expansion sequence.
  • the invention has a clear principle and a clear structure.
  • the key components involved such as driving wheels, batteries and main control modules, distance measuring sensor modules, seat angle adjusters, chair wheel lifting devices, etc. can all adopt mature industrial products or technical solutions. It can be realized and put into practical application using typical industrial design and manufacturing methods.
  • the invention solves the target technical problem by alternately climbing the steps with two rows of chair wheels, the working process is simple and clear, the working state is stable and reliable, the operation is simple and the applicability is wide.
  • the present invention has strong industrial applicability.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un fauteuil roulant électrique apte à monter des escaliers et un procédé d'utilisation de ce dernier pour monter et descendre des marches, le fauteuil roulant électrique est constitué d'un corps d'assise (1), de roues universelles (6), de roues d'entraînement (5), d'une batterie, d'un module de commande principal (11), d'un levier de fonctionnement (13), d'un châssis de support (7), de tiges de broche (4), de modules de détection mesurant une distance (10), d'un dispositif d'ajustement d'angle d'assise (12), de tiges de support de roue de fauteuil (2/3/9) et de dispositifs de levage de roue de fauteuil (8). Deux rangées contenant quatre roues universelles (6) au total sont disposées à l'extrémité avant du fauteuil roulant, et deux rangées contenant quatre roues d'entraînement (5) au total sont disposées à l'extrémité arrière du fauteuil roulant, chaque rangée de roues universelles (6) et de roues d'entraînement (5) pouvant être rétractée pour atteindre ainsi la fonction de monter des escaliers. Le fauteuil roulant électrique présente une conception nouvelle et une structure simple, et peut avec sécurité, et de manière stable, monter et descendre des marches. En même temps, le fauteuil roulant peut bien s'adapter à des conditions de sol plat sans nécessiter que l'utilisateur change l'état de fonctionnement du fauteuil roulant. Le fauteuil roulant électrique est pratique d'utilisation et est bénéfique pour les personnes présentant une difficulté à déplacer leurs membres inférieurs pour aller et venir et participer à des activités sociales.
PCT/CN2019/092197 2019-06-21 2019-06-21 Fauteuil roulant électrique apte à monter des escaliers et procédé d'utilisation de ce dernier pour monter et descendre des marches WO2020252759A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/092197 WO2020252759A1 (fr) 2019-06-21 2019-06-21 Fauteuil roulant électrique apte à monter des escaliers et procédé d'utilisation de ce dernier pour monter et descendre des marches

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PCT/CN2019/092197 WO2020252759A1 (fr) 2019-06-21 2019-06-21 Fauteuil roulant électrique apte à monter des escaliers et procédé d'utilisation de ce dernier pour monter et descendre des marches

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112829844A (zh) * 2021-01-05 2021-05-25 中国长江电力股份有限公司 智能爬楼运载机器人及方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592282A (en) * 1969-09-12 1971-07-13 Robert L Soileau Stair-traversing wheelchair apparatus
DE3343463A1 (de) * 1983-12-01 1985-06-13 Wolfgang 2055 Wohltorf Moré Treppengaengiger rollstuhl
GB2201926A (en) * 1987-03-04 1988-09-14 Monticolombi C G R Improvements in or relating to a stair-climbing device
CN101836922A (zh) * 2010-04-12 2010-09-22 王军 可靠平稳过沟,过坎,上楼梯,下楼梯的轮椅车
CN202191423U (zh) * 2011-08-26 2012-04-18 张秀川 可爬楼梯轮椅
CN204863728U (zh) * 2015-07-23 2015-12-16 绍兴文理学院 一种可爬阶梯式轮椅
CN106176075A (zh) * 2016-07-16 2016-12-07 梁庆昌 一种采用圆齿轮和非圆齿轮传动机构的可爬楼梯轮椅
KR20190056350A (ko) * 2019-05-06 2019-05-24 박종무 프로그램제어 계단이동 전동휠체어

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592282A (en) * 1969-09-12 1971-07-13 Robert L Soileau Stair-traversing wheelchair apparatus
DE3343463A1 (de) * 1983-12-01 1985-06-13 Wolfgang 2055 Wohltorf Moré Treppengaengiger rollstuhl
GB2201926A (en) * 1987-03-04 1988-09-14 Monticolombi C G R Improvements in or relating to a stair-climbing device
CN101836922A (zh) * 2010-04-12 2010-09-22 王军 可靠平稳过沟,过坎,上楼梯,下楼梯的轮椅车
CN202191423U (zh) * 2011-08-26 2012-04-18 张秀川 可爬楼梯轮椅
CN204863728U (zh) * 2015-07-23 2015-12-16 绍兴文理学院 一种可爬阶梯式轮椅
CN106176075A (zh) * 2016-07-16 2016-12-07 梁庆昌 一种采用圆齿轮和非圆齿轮传动机构的可爬楼梯轮椅
KR20190056350A (ko) * 2019-05-06 2019-05-24 박종무 프로그램제어 계단이동 전동휠체어

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112829844A (zh) * 2021-01-05 2021-05-25 中国长江电力股份有限公司 智能爬楼运载机器人及方法

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