CN103068352B - 电动中间轮驱动轮椅 - Google Patents
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Abstract
中间轮驱动类型的轮椅包括底盘框架(10)、一对前连杆臂(30)和一对后连杆臂。这些连杆臂枢转地连接到底盘框架。前脚轮(32)和驱动轮(53)固定到前连杆臂。后脚轮(42)固定到后连杆臂。每个前连杆臂(30)借助相应联接机构(70)可操作地连接到相邻后连杆臂(40),所述联接机构设置成将所述前连杆臂(30)和后连杆臂(40)中的一方绕相应的第一枢转轴线和第二枢转轴线的枢转运动转换为所述前连杆臂(30)和所述后连杆臂(40)中的另一方绕相应的第一枢转轴线和第二枢转轴线的相反的枢转运动。
Description
技术领域
本发明总体上涉及轮椅,并且具体地涉及中间轮驱动类型的电动轮椅。
背景技术
中间轮驱动类型的电动轮椅近年来日益受欢迎。中间轮驱动轮椅通常包括三对轮,包括一对前轮、一对后轮以及移动驱动轮,其中驱动轮设置在前轮和后轮之间。通常包括电动马达和齿轮箱的驱动单元操作地连接到每个中间轮。通过电气控制相应驱动单元,可以独立地推进该驱动轮,用于向前、向后以及沿任何期望的转动方向驱动轮椅。
与其他类型的电动轮椅相比,中间轮驱动轮椅通常提供良好的稳定性和舒适的骑乘,即使在诸如户外驾驶时面临的不均匀表面上时也是如此。
相当重要的是,电动轮椅是稳定的,并且不容易翻倒或倾翻,并且电动轮椅在各种表面上都提供舒适的骑乘。为了向骑乘轮椅的人员提供良好的移动性,相当重要的是,该轮椅能够爬上障碍物(例如,路缘、门阶等)并且从障碍物下来。还期望的是,轮椅在相对少的部件并且尤其很少的移动部件的情况下呈现出结实的构造。
现有技术包括具有不同类型的连杆臂和悬架装置的中间轮驱动轮椅的大量示例。US4,513,832给出了用于轮椅的带轮底盘的示例。该底盘包括承载第一对支承轮和一对驱动轮的第一框架结构以及承载第二对支承轮的第二框架结构。第一和第二框架结构彼此可枢转地连接。
US7,516,984B2公开了一种中间轮驱动类型的电动轮椅的接合机构(jointedmechanism)。该接合机构包括主底盘组件、两个前脚轮组件、两个后脚轮组件以及被固定到后脚轮组件中的相应后脚轮组件的两个驱动轮组件。前脚轮组件被铰接到主底盘组件。后脚轮组件被铰接到前脚轮组件,并且借助相应的枢转臂板组件被固定到主底盘。
发明内容
本发明的目的在于提供一种中间轮驱动类型的改善的轮椅。又一目的在于提供一种具有爬上和爬下障碍物的增强能力的这种轮椅。另一目的是提供一种具有增大的稳定性的这种轮椅。又一目的是提供一种具有以将中间轮保持与表面牵引接触的增强能力的这种轮椅。又另一目的在于提供一种具有以在经过障碍物时保持全部轮都接触表面的增强能力的这种轮椅。又一目的在于提供一种骑乘舒适的这种轮椅。又另一目的在于提供这样的轮椅,该轮椅包括相对少的结构部件并且制造简单并且使用可靠。
这些以及其他目的借助本发明的轮椅来实现。根据本发明,该轮椅包括:底盘框架;一对前连杆臂,每个前连杆臂均借助单个第一枢轴在相应的第一枢转轴线处枢转地连接到所述底盘框架;一对前脚轮,每个前脚轮均固定到相应的前连杆臂;一对驱动组件,每个驱动组件均固定到相应的前连杆臂,并且包括驱动轮以及操作地连接到相应的驱动轮的马达;一对后连杆臂,每个后连杆臂均借助单个第二枢轴在相应的第二枢转轴线处枢转地连接到所述底盘框架;以及一对后脚轮,每个后脚轮均固定到相应的后连杆臂。每个前连杆臂均借助相应的联接机构操作地连接到相邻的后连杆臂,所述联接机构设置成将所述前连杆臂和所述后连杆臂中的一方绕相应的第一枢转轴线和第二枢转轴线的枢转运动转换为所述前连杆臂和所述后连杆臂中的另一方绕相应的第一枢转轴线或第二枢转轴线的相反的枢转运动。
根据本发明的轮椅提供许多优点。通过将前脚轮和驱动轮设置到前连杆臂,一旦前脚轮接触到障碍物,马达所产生的扭矩就向上推动前轮。由此,极大地有利于爬上以及经过障碍物,这继而导致对于骑乘轮椅的人员来说更大的移动性以及增强的骑乘舒适性。通过联接机构来连接前连杆臂和后连杆臂的布置意味着始终保持全部轮都接触地面的能力的增强,甚至在经过不均匀表面和障碍物时也是如此。由此,增强了轮椅的稳定性、安全性和舒适性以及驱动轮的牵引能力。本发明的布置还允许得到包括较少可动部件数量以及较少结构部件的总数量的简单且可靠的构造。
每个联接机构均可包括支柱,所述支柱被接收在槽中,其中,所述支柱固定到所述前连杆臂和所述后连杆臂中的一方,并且所述槽设置在所述前连杆臂和所述后连杆臂中的另一方中。由此,实现简单且可靠的连接构造,这需要最少的可动部件以及维护。
另选地,每个联接机构均可包括第一构件和第二构件,所述第一构件固定到所述前连杆臂,所述第二构件固定到所述后连杆臂,并且其中,所述第一构件和所述第二构件借助弹性的第三构件彼此连接。由此,通过该联接机构来实现附加减振。
所述第三构件可构成橡胶芯,并且所述第一构件和所述第二构件可构成成型到所述橡胶芯的彼此相对的端部构件。这允许得到联接机构的简单且可靠的设计。
所述轮椅可包括一对减震器,这一对减震器枢转地连接到所述底盘框架并且连接到相应的后连杆臂。结合设置在前连杆臂和后连杆臂之间的联接机构,这允许单个减震器可以用于衰减全部轮以及设置在底盘框架的一个横向侧的两个连杆臂的运动。
所述减震器可包括相应的可调节的压缩弹簧。由此实现了:通过调节单个悬置弹簧,可以同时调节全部轮以及设置在底盘框架的一个横向侧的两个连杆臂的悬置特征。
在每个前连杆臂处,所述第一枢转轴线可大致设置在所述前脚轮和所述驱动轮的相应的旋转轴线之间。由此,当相应的前脚轮爬上障碍物时,驱动轮将被朝向地面推动。这增强了驱动轮和地面之间的牵引接触,这继而有利于经过障碍物。
在每个后连杆臂处,所述第二枢转轴线可大致设置在所述联接机构与所述后脚轮的旋转轴线之间。由此,驱动轮被朝向地面推动,以由此增强当相应的后脚轮定位在较高高度时(例如,当从路缘(curb)等下来时)的牵引接触。
所述第一枢转轴线和第二枢转轴线可优选地大致设置在所述驱动轮的相应的旋转轴线的下方。在向前驱动期间,这有利于当前脚轮接触障碍物时前脚轮的升高。在向后驱动期间,该实施方式有利于当后脚轮接触障碍物时后脚轮的升高。该实施方式因此有利于沿向前驱动方向和向后驱动方向爬上以及经过障碍物。
前连杆臂和/或后连杆臂可由竖直设置的板状材料形成。藉此,当相应的脚轮被侧向撞击时,该连杆臂可用作板簧。由此,减少对轮椅以及骑乘轮椅的人员的横向冲击,这继而降低了损坏轮椅的风险并且增加了对于骑乘轮椅的人员的舒适性。
根据本发明的轮椅的其他目的和优势在实施方式的下述详细说明中被阐述。
附图说明
在下文中结合附图给出本发明的详细示例性说明,在附图中:
图1是根据本发明的实施方式的轮椅的立体图。
图2是在图1中所示的轮椅中所包括的底盘组件的局部分解立体图。
图3a、图3b和图3c是图2中所示的底盘的侧视图,并且分别示出了当轮椅行进在大致均匀表面上时、当爬上路缘时、以及当从路缘下来时不同底盘部件的位置。
具体实施方式
在图1中,示出了根据本发明的一个实施方式的轮椅。该轮椅是中间轮驱动类型的电动轮椅。该轮椅包括底盘1、座椅2、靠背3、足支承件4以及两个臂支承件5。该轮椅还包括用于为轮椅的牵引及其他电动力功能(例如,升高以及倾斜座椅和靠背)提供动力以及对其进行控制的电池(未示出)以及控制机构(未示出)。
在图2中更详细地示出了轮椅的底盘1。底盘1包括中央底盘框架10。该底盘框架10包括许多钢板,这些钢板被紧固到一起以形成大致盒状的构造。在底盘框架10的每个横向侧,设置有轮和连杆臂装置20、20’。两个这样的轮和连杆臂装置20、20’是类似的,并且唯一不同在于其适于固定到底盘框架10的相应横向侧。为了简明起见,下述说明局限于设置在底盘框架10的右手侧的轮和连杆臂装置20。应当理解的是,在下文给出的右手侧的轮和连杆臂装置20的说明同样适用于左手侧的轮和连杆臂装置20’。
轮和连杆臂装置20包括前连杆臂30和后连杆臂40。前连杆臂30和后连杆臂40由诸如钢的板状材料形成。板状材料取向成使得:该板状材料的大致延伸平面设置成在正常使用期间与竖直平面平行。换句话说,板状材料的大致延伸平面大致垂直于轮椅的轮的旋转轴线。由此,前连杆臂30和后连杆臂40用作板簧,该板簧吸收并且衰减施加到所述连杆臂30、40上的任何横向撞击。
前连杆臂30在第一枢转轴线处枢转地附接到底盘框架10,该第一枢转轴线由第一枢轴11限定,该第一枢轴被固定到底盘框架10的侧壁12并且从该侧壁12横向延伸。前连杆臂30包括轴承31,第一枢轴11被接收在该轴承31中。前脚轮32借助脚轮支承件被固定到前连杆臂30。在图2中,仅左手侧的轮和连杆臂装置20’的前脚轮支承件33’可见。然而要理解的是,右手侧的前脚轮支承件类似于左手侧的前脚轮支承件33’,并且不同仅在于其适于被附接到底盘框架10的右手侧。前脚轮支承件被接收在设置于前连杆臂30的前端处的轴承座34中,使得前脚轮支承件能够绕竖直的前脚轮枢转轴线枢转。
前连杆臂还包括后部35,该后部从轴承31向后延伸。驱动组件50刚性地固定到前连杆臂30的后部35上。驱动组件50包括电动马达51、齿轮箱52和驱动轮53。马达51借助齿轮箱52操作地连接到驱动轮53。由枢轴11限定的第一枢转轴线大致设置在前脚轮32与驱动轮53的旋转轴线之间,即,前脚轮的旋转轴线设置在第一枢转轴线的前部,并且驱动轮的旋转轴线设置在第一枢转轴线的后部。
后连杆臂40在第二枢转轴线处枢转地附接到底盘框架10,该第二枢转轴线由第二枢轴13限定,该第二枢轴被固定到底盘框架10的侧壁12上并且从该侧壁12横向延伸。后连杆臂40包括轴承41,第二枢轴13被接收在该轴承41中。后脚轮42借助后脚轮支承件被固定到后连杆臂40。在图2中,仅左手侧的轮和连杆臂装置20’的后脚轮支承件43’可见。但是要理解的是,右手侧的后脚轮支承件类似于左手侧的后脚轮支承件43’,并且不同仅在于其适于被附接到底盘框架10的右手侧。后脚轮支承件被接收在设置于后连杆臂40的后端处的轴承座44中,使得后脚轮支承件能够绕竖直后脚轮枢转轴线枢转。
后连杆臂40包括从轴承41向前延伸的前部45,使得该前部的前端与前连杆臂30的后部35的后端重叠。总体被标记为70的联接机构被设置在后连杆臂40的前部45与前连杆臂30的后部35之间。在所示的实施方式中,联接机构70包括细长槽36,该细长槽设置在前连杆臂30的后部35中并且靠近后端。联接机构70还包括支柱46,该支柱被固定到后连杆臂40的前部45并且靠近前端。支柱46借助螺栓被固定到后连杆臂40,并且从前连杆臂40朝向底盘框架10横向延伸。支柱46包括靠近前连杆臂40设置的第一筒形部以及远离前连杆臂40设置的第二筒形部。第二筒形部的直径小于第一筒形部的直径。联接机构70还包括衬套47,该衬套被接收在槽36中。该衬套包括对置的平行引导面,衬套借助所述平行引导面被引导,以用于沿着槽36的延伸部的大致直线进行线性移动。支柱的第二筒形部被枢转地接收在设置于衬套47中的中央圆形通孔中。如容易理解的,联接机构70起作用,以使得前连杆臂30绕第一枢转轴线沿第一旋转方向的枢转运动被转换为后连杆臂40绕第二枢转轴线沿相反旋转方向的枢转运动。因此,后连杆臂40绕第二枢转轴线沿第一旋转方向的枢转运动被转换为前连杆臂30绕第一枢转轴线沿相反旋转方向的枢转运动。
后连杆臂40还借助减震器60连接到底盘框架10。减震器60在一端处被枢转地固定到底盘框架10的侧壁12,并且在另一端处在轴承41和轴承座44之间枢转地固定到后连杆臂40。减震器60包括居中地设置的液压伸缩装置以及压缩弹簧61,所述压缩弹簧围绕居中伸缩装置设置在外部。减震器60的刚度借助调节螺母62能够被调节,压缩弹簧61的一端由该调节螺母62支承。
现还参考图3a至图3c,将在下文描述根据本发明的上述实施方式的轮椅的运行。在图3a至图3c中,驱动轮53用点状线示出,以用于更大的可见性和清楚性。
在图3a中,底盘被示出为处于其中前脚轮32、驱动轮53和后脚轮42全都止靠在水平地面上的位置。在该位置中,衬套47在槽36中定位在向前位置。
在图3b中,底盘1已经被向前驱动,使得前脚轮32接触并爬上路缘,该路缘从水平地面向上突出。在图3b所示的位置处,前连杆臂30已经绕第一枢转轴线P1逆时针枢转。当前脚轮32接触路缘的竖直边缘时发生前连杆臂30的这种枢转运动,并且马达51所产生的扭矩作用在前连杆臂30上。
前连杆臂30的逆时针枢转运动具有若干个有益效果。首先,这允许前脚轮32容易地爬上路缘。其次,这相对于底盘框架10向下推动驱动轮53,从而使得该驱动轮53靠在地面上,以确保驱动轮53在爬上路缘的整个过程中保持牵引。第三,当驱动轮53被相对于底盘框架10向下推动时,承载轮椅的主要负载的底盘框架10被向上提升,以由此有利于底盘框架10转变到较高的高度(level)上面。第四,前连杆臂30和后连杆臂40之间的联接机构70促使后连杆臂绕第二枢转轴线P2顺时针枢转。后连杆臂40的该枢转运动允许底盘框架10向后倾斜,这进一步有利于爬上路缘。后连杆臂40的顺时针枢转还增强了驱动轮53被推到地面上的能力,以由此进一步增加驱动轮与地面之间的牵引。
如图3b所示,前连杆臂30和后连杆臂的枢转运动已经使得衬套47(见图2)在槽36中向后移位。在从图3b所示的位置继续向前驱动的情况下,驱动轮53将接触路缘的竖直边缘。当驱动轮53开始爬路缘时,前连杆臂30绕枢转轴线P1顺时针枢转。前连杆臂30的该枢转运动将借助联接机构70被转换为后连杆臂40绕枢转轴线P2的逆时针枢转运动。由此,后脚轮42将保持与水平地面接触,直到该后脚轮接触路缘的竖直边缘并且被向上拉动到位于路缘顶部上的较高的水平表面上。
图3c示出了当从路缘下来时的底盘。当前脚轮32经过路缘时,前连杆臂绕枢转轴线P1顺时针枢转。底盘框架10由此相对于驱动轮53下降。前连杆臂30的枢转运动借助联接机构70被转换为后连杆臂40绕枢转轴线P2的逆时针枢转运动,由此促使后脚轮42与地面保持接触。当驱动轮53经过路缘时,前连杆臂30逆时针枢转并且后连杆臂40顺时针枢转,以由此确保全部三个轮32、42、53在降下期间也都保持与地面接触。
通过上述布置,全部轮32、42和53在爬上和爬下路缘等的期间都将恒定地接触地面。如容易理解的,这同样适用于其中轮椅跨过诸如石头等的障碍物时的情况,其中轮32、42、53接连地爬上和爬下该障碍物。由此,以最有效的方式促进了驱动轮53的牵引以及底盘1和整个轮椅的稳定性。上述布置还允许设置在后连杆臂40和底盘框架10之间的单个减震器60用于吸收并抑制设置在底盘框架10的相应横向侧处的连杆臂30、40以及全部三个轮32、42、53的运动。因此,本发明的布置允许在较少可动部件数量以及较少部件总数量的情况下得到相对简单、结实且可靠的构造。
在图4a和图4b中,示出了联接机构的另选实施方式。在该实施方式中,联接机构包括第一构件171、第二构件172和第三构件173。第一构件是刚性的并且构成第一端部构件。第二构件也是刚性的并且构成第二端部构件。第一构件171和第二构件172彼此相对地设置并且借助第三构件173相互连接。第三构件由大致筒形弹性橡胶芯形成。在图4b所示的实施方式中,第一构件171、第二构件172和第三构件173都是大致筒形的,并且第一构件171和第二构件172被成型到第三构件173的相对的轴向两端。第二构件172还形成为筒形套筒,其接收第三构件173的主轴向部。
联接机构170设置在前连杆臂130和后连杆臂140之间,使得前连杆臂130和后连杆臂140相互连接。第一构件171借助第一螺钉174固定到前连杆臂130的后部135,该第一螺钉被以螺纹的方式接收在第一构件171中。第二构件172借助第二螺钉175固定到后连杆臂140的前部145,该第二螺钉被以螺纹的方式接收在第二构件172中。
正如上述联接机构70那样,根据图4a和图4b所示的实施方式的联接机构170起作用,以使得前连杆臂130绕第一枢转轴线沿第一旋转方向的枢转运动被转换为后连杆臂140绕第二枢转轴线沿相反旋转方向的枢转运动。因此,后连杆臂140绕第二枢转轴线沿第一旋转方向的枢转运动被转换为前连杆臂130绕第一枢转轴线沿相反旋转方向的枢转运动。在联接机构70的上述实施方式中,这种旋转运动的转换借助支柱46相对于槽36的滑动运动来完成。在图4a和图4b所示的联接机构170中,该旋转运动的转换借助能够弹性变形的第三弹性构件173来完成。由此,当前连杆臂130和后连杆臂140绕它们相应的枢转轴线同时枢转时,第一构件171和第二构件172能够相互连接并且同时跟随其相应的圆弧线。
图4a和图4b所示的联接机构170提供了附加的减振,这对于轮椅使用者而言可提高舒适性。
在上文中,已经描述了本发明的示例性实施方式。然而本发明不局限于上述给出的示例,并且可以在本发明的范围内自由变化。设置在前连杆臂和后连杆臂之间的联接机构例如可包括支柱或类似构件,该支柱或类似构件被固定到前连杆臂并且接收于设置在后连杆臂中的槽内。还可以取代支柱和槽布置,该联接机构包括齿轮装置,其中固定到前连杆臂的第一带齿构件交互地接合固定到后连杆臂的第二带齿构件。同样,设置在前连杆臂和后连杆臂之间的其他联接机构也是可行的,只要所述联接机构能够将其中一个连杆臂的沿一个方向的枢转运动转换为另一连杆臂的沿相反方向的枢转运动即可。
Claims (10)
1.一种轮椅,所述轮椅包括:
底盘框架(10);
一对前连杆臂(30),每个前连杆臂均借助单个第一枢轴(11)在相应的第一枢转轴线(P1)处直接且枢转地连接到所述底盘框架;
一对前脚轮(32),每个前脚轮均固定到相应的前连杆臂;
一对驱动组件(50),每个驱动组件均刚性固定到相应的前连杆臂,并且包括驱动轮(53)以及操作地连接到相应的驱动轮的马达(51);
一对后连杆臂(40),每个后连杆臂均借助单个第二枢轴(13)在相应的第二枢转轴线(P2)处直接且枢转地连接到所述底盘框架;以及
一对后脚轮(42),每个后脚轮均固定到相应的后连杆臂,其中,
所述第一枢轴和所述第二枢轴被布置为低于所述驱动轮的相应旋转轴线,并且其中
每个前连杆臂(30)均借助相应的联接机构(70)操作地连接到相邻的后连杆臂(40),所述联接机构设置成将所述前连杆臂和所述后连杆臂中的一方绕相应的所述第一枢转轴线或所述第二枢转轴线的枢转运动转换为所述前连杆臂和所述后连杆臂中的另一方绕相应的所述第一枢转轴线或所述第二枢转轴线的相反的枢转运动。
2.根据权利要求1所述的轮椅,其中,每个联接机构(70)均包括支柱(46),所述支柱被接收在槽(36)中,且所述支柱(46)固定到所述前连杆臂(30)和所述后连杆臂(40)中的一方,并且所述槽(36)被设置在所述前连杆臂(30)和所述后连杆臂(40)中的另一方中。
3.根据权利要求1所述的轮椅,其中,每个联接机构均包括第一构件和第二构件,所述第一构件固定到所述前连杆臂,所述第二构件固定到所述后连杆臂,且所述第一构件和所述第二构件借助弹性的第三构件彼此连接。
4.根据权利要求3所述的轮椅,其中,所述第三构件构成橡胶芯,并且所述第一构件和所述第二构件构成成型到所述橡胶芯的彼此相对的端部构件。
5.根据权利要求1至4中任一项所述的轮椅,所述轮椅包括一对减震器(60),这一对减震器枢转地连接到所述底盘框架(10)并且连接到相应的后连杆臂(40)。
6.根据权利要求5所述的轮椅,其中,所述减震器(60)包括可调节的压缩弹簧(61)。
7.根据权利要求1至4中任一项所述的轮椅,其中,在每个前连杆臂(30)处,所述第一枢转轴线(P1)设置在所述前脚轮(32)和所述驱动轮(53)的相应旋转轴线之间。
8.根据权利要求1至4中任一项所述的轮椅,其中,对于每个后连杆臂(40),所述第二枢转轴线(P2)设置在所述联接机构(70)与所述后脚轮(42)的旋转轴线之间。
9.根据权利要求1至4中任一项所述的轮椅,其中,所述前连杆臂(30)由竖直设置的板状材料形成。
10.根据权利要求1至4中任一项所述的轮椅,其中,所述后连杆臂(40)由竖直设置的板状材料形成。
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Also Published As
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US8851214B2 (en) | 2014-10-07 |
CN103068352A (zh) | 2013-04-24 |
EP2593067A1 (en) | 2013-05-22 |
US20120012416A1 (en) | 2012-01-19 |
EP2593067B1 (en) | 2020-02-12 |
US9320661B2 (en) | 2016-04-26 |
US20160262962A1 (en) | 2016-09-15 |
US20150014070A1 (en) | 2015-01-15 |
WO2012008907A1 (en) | 2012-01-19 |
US9579242B2 (en) | 2017-02-28 |
EP2593067A4 (en) | 2015-06-03 |
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