CN107174422A - A kind of Self-balancing electronic stair-climbing wheel chair - Google Patents
A kind of Self-balancing electronic stair-climbing wheel chair Download PDFInfo
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- CN107174422A CN107174422A CN201710455043.2A CN201710455043A CN107174422A CN 107174422 A CN107174422 A CN 107174422A CN 201710455043 A CN201710455043 A CN 201710455043A CN 107174422 A CN107174422 A CN 107174422A
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- 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
- A61G5/061—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 for climbing stairs
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- 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
- A61G5/063—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 with eccentrically mounted wheels
- A61G5/065—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 with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
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- 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
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- 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
- A61G5/1005—Wheelchairs having brakes
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- 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
- A61G5/1051—Arrangements for steering
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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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)
- Retarders (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of Self-balancing electronic stair-climbing wheel chair, including seat portion, drive part, shoe, planetary gear train.Drive part is divided into walking mechanism and switching mechanism；In order that structure is compacter, walking mechanism and switching mechanism use the form of interior outer shaft, by controlling different motors to work, common walking can be completed through planetary gear train change, stands and walks and climb three kinds of building mode of operation, wheelchair walking mechanism during building is climbed is locked, Anti-slip support is put down simultaneously, can effectively prevent the skidding of wheelchair.The present invention is also equipped with gyroscope system, wheelchair posture can be transferred into controller in real time, can voluntarily control the position of seat, it is ensured that seat is horizontal.The present invention can effectively prevent skidding during wheelchair stair-climbing, and simple and compact for structure, cost is low, and adapt to a variety of complex road conditions.
Description
Technical field
The invention belongs to electric wheelchair technical field, it is related to a kind of realized by planetary gear train change and commonly walks, stands
Vertical walking and the intelligent wheel chair for climbing building, especially a kind of Self-balancing electronic stair-climbing wheel chair.
Background technology
With the aggravation of Chinese population astogeny：End the end of last year, China's Mainland 60 one full year of life above population has reached 2.2
Hundred million, account for the 16.1% of population.In addition, disabled population has also reached 4,000 ten thousand.Above-mentioned colony how is helped to better blend into
Society, live and work in peace and contentment, be Chinese society it is extremely urgent need solve significant problem.
Wheelchair is long-standing as the walking-replacing tool of special population, but common wheelchair can not be in complexity such as stair, gullies
Used under road conditions, it is necessary to which stair-climbing wheel chair helps them to solve this predicament.At present, stair-climbing wheel chair can mainly divide according to the kind of drive
For：Three kinds of crawler type, star wheel type and stepping brace type.
The technology of track type climbing-building wheelchair comparative maturity, center of gravity fluctuation is relatively small when walking；It is also relatively more steady,
But because weight and volume is all more poor than larger, flexibility, the abrasion to stair is also larger, and the maintenance cost ratio in wheelchair later stage
It is higher.Therefore the application in life is limited.
Stepping brace type stair-climbing wheel chair motion ratio is more steady, is adapted to various sizes of stair；But to the requirement of control program
Higher, operation is more complicated, slow in one's movements in level walking；In addition, height of the seat away from ground is larger, the heart is caused to user
Reason it is frightened and in-convenience in use.Therefore it need to be generally applied in combination with train.
Star wheel type stair-climbing wheel chair can be divided into two-wheeled group formula, three-wheel group formula and many wheel groups by the number in wheel group using steamboat
Formula, the advantage more than wheel group is that stability when wheelchair stair-climbing is terraced is good, and center of gravity fluctuation range is small, but the thing followed has the disadvantage volume
Increase, flexibility is deteriorated.
Because the wheelspan and height of star-wheel are fixed, and the height of stair is different with width, is easily misplaced in creeping
Skidding, the star-wheel Climbing building device of prior art needs artificially due to not having non-skid braking function, therefore in upper go downstairs
Assist, and due to complicated, limit its popularization.
Chinese patent application (application number：201310082561) a kind of barrier free wheelchair is described, the wheelchair is main by leading
Constituted to wheel, the first planetary assemblies, two the second planetary assemblies and corresponding power drive unit, and each second planetary assemblies
Two planetary gears are installed, the mechanism has used three planetary assemblies, because planetary assemblies are more, add the complexity of structure.
And first planetary assemblies be arranged in the middle of the directive wheel of front end two, user is using more inconvenient, it is also possible to cause security incident.
Patent No. 201110097167 describes a kind of planet wheel type stair-climbing electric wheelchair, and three-wheel group formula planet is utilized in the patent
Installed on the planetary gear train of train, i.e. both sides in three planetary gears, and the planetary gear of every side wheel system and use a wheel hub motor, this
Sample causes wheelchair during building is climbed because each wheel protonatomic mass is different, and gravity center shift is than larger.And need under artificial auxiliary
It can realize and climb building function.Paper《Stair climbing wheelchair research based on planetary gear train》Used in (Ma Yongwei, University Of Tianjin, 2008)
Two-wheeled planetary gear train, the switching mechanism of use is directly anchored on casing, so undoubtedly increases casing difficulty of processing.Wheelchair
Front end is provided with directive wheel, and when climbing building, walking mechanism does not have locking device therefore needs artificial assistance.Prior art is climbed
Stair wheelchair uses three-wheel group formula, or two-wheeled group formula to add auxiliary body mostly, is oriented to while wheelchair front end also needs to install
Walking mechanism so undoubtedly increases the complexity of Wheelchair structure and security is low without locking function when wheel and upset.
Stair-climbing wheel chair as special personage walking-replacing tool, ensure security on the premise of, should also take into account practicality, into
Originally with volume size.
The content of the invention
It is an object of the invention to overcome the defect of prior art there is provided a kind of Self-balancing electronic stair-climbing wheel chair, based on two
Group planetary gear structure, can be achieved common walking by the conversion of planetary gear train, stands and walk and climb building Three models, wheelchair is being climbed
Walking mechanism is locked under building pattern, and Anti-slip support is put down, and can effectively prevent skidding during wheelchair stair-climbing, simple in construction,
Cost is low.
In order to solve the above mentioned problem of prior art, the present invention uses following technical scheme.
A kind of Self-balancing electronic stair-climbing wheel chair of the present invention, including seat portion, seat connection section, planetary gear train, fill
Turbine, drive part, control section, monitoring part, shoe and footrest mechanism；It is characterized in that：
Including the planetary gear train described in two groups, it is connected respectively by an outer shaft with a drive case, then passes through one
Individual rhombus rolling bearing units seat, which is arranged on, to be arranged on the train casing of the wheelchair both sides；Pass through the conversion of described planetary gear train
The common walking of wheelchair can be achieved, stands and walks and climb three kinds of building mode of operation；
Described shoe includes an anti-skidding motor and a support frame, is arranged on by a horizontal rolling bearing units
On the bottom plate of drive case；
Described drive part is arranged in drive case, including a walking mechanism and a switching mechanism, can be to two
Skidding star wheel series provide walking and climb the power in building；Described walking mechanism includes two sets of movable motors and traveling speed reducer group
Part, walking little gear, walking gear wheel, outer shaft, outer shaft gear, transition axis, transition gear, output shaft, output gear；Described
Switching mechanism includes two sets of upset motors and is connected with upset reducer assemblies, upset little gear, upset gear wheel, interior axle, interior axle
Part, output shaft coupling piece, transition shaft coupling piece, climb building axle；4 described motors are set with decelerator using parallel all around
Put；Two described movable motors are arranged on the bottom of a rectangle fixed mount with traveling speed reducer；Two upset motors are with turning over
Turn the top that decelerator is arranged on described rectangle fixed mount；Described traveling speed reducer and upset decelerator is respectively provided with self-locking work(
Energy.
Described wheelchair is in commonly walking mode of operation, and described movable motor is connected with traveling speed reducer, is walked small
Gear is engaged with walking gear wheel, and walking gear wheel is connected by outer shaft with outer shaft gear, and outer shaft gear is engaged with transition gear,
Transition gear is engaged with output gear, and now each gear of planetary gear train is driven by output shaft and inflated around respective center rotation
Take turns rotation.
Described wheelchair is when climbing building mode of operation, and upset motor is connected with upset decelerator, upset little gear and upset
Gear wheel is engaged, and upset gear wheel is connected by interior axle with interior shaft coupling piece, and now each gear is surrounded in interior axle in planetary gear train
Heart axle revolves round the sun；Now, described walking mechanism is locked using self-locking device, and described anti-skidding motor work, support frame is put down, from
And skidding when effectively preventing wheelchair stair-climbing.
Described wheelchair is in standing mode of operation：Upset motor is first worked, and upset canine tooth is driven by overturning little gear
Wheel rotation, then building axle rotation is climbed by interior axle drive, now each gear revolves round the sun around interior axle central shaft in planetary gear train, waits wheelchair
Standing state is reached, switching mechanism is locked, then movable motor works, drives walking gear wheel to rotate by little gear of walking,
Drive outer shaft gear to rotate by outer shaft again, then output gear is delivered to by transition gear, now each gear of planetary gear train
Around respective center rotation, wheelchair realizes walking of standing.
Described movable motor is provided with electromagnetic braking brake gear.
Described planetary gear train, in addition to a transition gear, are arranged between described output gear and outer shaft gear,
Outer shaft gear is engaged with transition bearing, and transition gear is engaged with output gear, and output gear, transition gear and outer shaft gear pass through
Rhombus rolling bearing units are arranged on train casing.
Described shoe includes support frame, flake bearing, electric pushrod, anti-skidding motor, mounting bracket and Horizontal band
Seat bearing, before wheelchair stair-climbing, anti-skidding motor work, driving electric push rod elongation, support frame is put down, and electric pushrod self-locking is prevented
Only skidded during wheelchair stair-climbing.
Described control section includes master controller, gyroscope system, control panel；Described master controller uses meaning method
The STM32 main control chips of company, described gyroscope system includes three-axis gyroscope sensor and 3-axis acceleration flowmeter sensor,
The wheelchair posture detected is sent to master controller by gyroscope system, and wheelchair can be regulated and controled in real time；Described control
Panel includes three axle Hall operation handles and button switch, and three described axle Horll's Handles are by controlling movable motor to complete wheelchair
Forward-reverse, turn left turn right.
Compared with prior art, the present invention has advantages below and beneficial effect：
It realize that wheelchair is commonly walked, stands and walk and climb building three 1. can change using the present invention by simple planetary gear train
Plant motor pattern.
2. wheelchair of the present invention is in upset, its walking mechanism is lockable, and equipped with shoe, effectively prevent and climb
Skidding caused by inflated wheel rotation during building, wheelchair switching mechanism when standing walking is locked, improves walking of standing
Security.
3. the present invention is driven in planetary gear train using interior outer shaft, the overall dimensions of wheelchair are efficiently reduced, are gone simultaneously
Except the directive wheel installed in wheelchair front end.Not only ensure that wheelchair function and security performance, and make the reduction of its cost, weight and
Volume reduces.
Brief description of the drawings
Fig. 1 is the side schematic view under the standing pattern of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 2 is the left view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 3 is the top view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 4 is the isometric upward view of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 5 is the side schematic view climbed under building pattern of the Self-balancing electronic stair-climbing wheel chair of one embodiment of the invention.
Fig. 6 is the profile of one group of planetary gear train of one embodiment of the invention.
Fig. 7 is the side view of one under the walking mode group planetary gear train of one embodiment of the invention.
Fig. 8 is the side view of one in the switching process group planetary gear train of one embodiment of the invention.
Wherein, 100 seat portion：101 handspikes, 102 backrests, 103 handrails, 104 governor motions；200 seat connecting portions
Point：201 seat connections, 202 hinges；300 planetary gear trains, 301 output shafts, 302 output shaft coupling pieces, the connection of 303 transition axises
Part, 304 transition axises, 305 transition axis needle bearings, 306 transition gears, 307 outer shaft gears, shaft coupling piece in 308,309 climb building
Axle, 310 train casings, 311 outer shafts, 312 walking little gears, 313 traveling speed reducers, 314 movable motors, 315 interior axles, 316 turn over
Turn gear wheel, 317 upset motors, 318 upset decelerators, 319 upset little gears, 320 outer shaft needle bearings, 321 walking canine tooths
Wheel, 322 rhombus rolling bearing units, 323 output gears, 324 output shaft needle bearings；400 inflated wheels, 401 bolts；500 drive divisions
Point, 501 drive cases；600 control sections：601 display screens, 602 front side ultrasonic sensors, 603 right-side ultrasonic-wave sensors,
604 cameras, 605 rear side ultrasonic sensors, 606 left side ultrasonic sensors, 607 guidance panels；700 shoes, 701
Support frame, 702 flake bearings, 703 electric pushrods, 704 anti-skidding motors, 705 mounting brackets, 706 horizontal rolling bearing units；800 pin
Pedal gear, 801 pedals, 802 brake pedals, 803 expansion links.
Fig. 9 is ADAMS simulation analysis figures when self-balancing electric wheel chair of the present invention climbs building.Wherein, Fig. 9 a drive cases and two
The amplitude of wheelchair barycenter during side wheel chair difference setting angle, torque variation diagram during Fig. 9 b maximum loads is left during Fig. 9 c maximum loads
Right both sides power of motor change.
Embodiment
It is further to the present invention below in conjunction with the accompanying drawings to describe in detail.
As Figure 1-5, be one embodiment of the invention Self-balancing electronic stair-climbing wheel chair structural representation, there is shown with
Part connection situation of the embodiment in the case where walking, stand and climb building pattern.The present embodiment includes seat portion 100, seat
Coupling part 200, two planetary gear trains 300, four inflated wheels 400, drive part 500, shoe 700 and footrest mechanism
800.Seat connection 201 is hinged in seat portion 100 and drive case 501 respectively by hinge 202, both sides train casing
310 are connected by outer shaft 311 with drive case 501.Pedal 801 is fixed in seat portion 100 by expansion link 803, is filled
Turbine 400 is fixed on the end face of output shaft 301 axially through bolt 401, and inflated wheel 400 transmits moment of torsion with output shaft 301 by key,
Shoe 700 is arranged on the bottom plate of drive case 501 by rolling bearing units 706.
Fig. 6 is the profile of one group of planetary gear train of one embodiment of the invention.
Fig. 7 is the side view of one under the walking mode group planetary gear train of one embodiment of the invention.
Fig. 8 is the side view of one in the switching process group planetary gear train of one embodiment of the invention.
As shown in figs 6-8, planetary gear train 300 includes：Output shaft 301, transition axis 304, climb building axle 309, it is outer shaft 311, interior
Axle 315, the output gear 323 on output shaft 301, the transition gear 306 on transition axis 304, installation are outside
Outer shaft gear 307 on axle 311, each gear and axle transmit moment of torsion by key, and axle is fixed on axially through holding screw and jump ring
On, output shaft 301, transition axis 304 and outer shaft 311 are arranged on train casing 310 by rhombus rolling bearing units 322.Climb building axle
309 are connected with interior axle 315 by interior shaft coupling piece 308, and interior axle 315 and interior shaft coupling piece 308 transmit moment of torsion by key, axially logical
Holding screw is crossed to fix.Transition axis 304 is connected with climbing building axle 309 by transition shaft coupling piece 303, output shaft 301 is with climbing building axle
309 are connected by exporting shaft coupling piece 302, and output shaft coupling piece 302 is built with output shaft needle bearing 324, transition axis connection
Part 303 is fixed on output shaft 301 built with transition axis needle bearing 305, the output two ends of shaft coupling piece 302 by jump ring, mistake
Cross shaft coupling piece 303 and the two ends of interior shaft coupling piece 308 are fixed on by jump ring and climbed on building axle 309.
Upset and walking tail house are connected by gear pair respectively at upset motor 317 and movable motor 314, and walking is big
Gear 321 is arranged on outer shaft 311 by key, is fixed axially through holding screw and jump ring；Upset gear wheel 316 is pacified by key
In interior axle 315, fixed axially through holding screw and jump ring；The front end of movable motor 314 is provided with traveling speed reducer 313,
The front end of upset motor 317 is provided with upset decelerator 318, and described decelerator is with self-locking, and described motor is direct current generator.
Shoe 700 includes：Support frame 701, flake bearing 702, electric pushrod 703, anti-skidding motor 704, installation branch
Frame 705 and horizontal rolling bearing units 706 are constituted, and anti-skidding motor 704 is bolted in mounting bracket 705, electric pushrod 703
One end is arranged on support frame 701 by flake bearing 702, and the other end is bolted in mounting bracket 705, installs branch
Frame 705 is hinged in the bottom of drive case 501, and support frame 701 is arranged on the bottom of drive case 501 by horizontal rolling bearing units 706.
Before wheelchair stair-climbing, anti-skidding motor 704 is worked, and driving electric push rod 703 extends, and support frame 701 is put down, and electric pushrod 703 is certainly
Lock, prevents skidding during wheelchair stair-climbing.The anti-skidding driving electric push rod 703 of motor 704 shrinks after the completion of climbing building, then drives support
Frame 701 is withdrawn.
Described seat portion 100 includes handspike 101, backrest 102, handrail 103, governor motion 104.Described backrest
102 angle adjustables, described handrail 103 is Height Adjustable, and described pedal 801 is folding.Described seat portion
Points 100 hinged in drive case 501 by seat connection 201, and the described lower end of pedal 801 need not install universal
Wheel.
Described control section includes master controller, gyroscope system, control panel 607.The master of described master controller
Control the STM32 that chip uses Yi Fa companies.Described gyroscope system includes three-axis gyroscope sensor and three axis accelerometer
The posture for detecting wheelchair is sent to master controller by sensor, gyroscope system, and wheelchair can be regulated and controled in real time.It is described
Control panel 607 include three axle Hall operation handles and button switch, described three axle Horll's Handles, which pass through, controls walking electricity
Machine 314 completes the forward-reverse of wheelchair, turns left to turn right.Described shift knob includes power switch, upper switch downstairs, row of standing
Switch, electromagnetic brake switch are walked, electromagnetic brake switch controls movable motor 314, and movable motor 314 is braked when climbing building, together
When walking mechanism it is locked, in order to prevent the planetary gear train rotation when climbing building.
Described locking mechanism is the traveling speed reducer 313 with self-locking and upset decelerator 318, and wheelchair is walked in upset
, so there is skidding to prevent wheelchair wheel certainly in mechanism self-locking.
The braking scheme of wheelchair has a variety of, can use the brake scheme of battery truck, and the present embodiment is used with disc brake apparatus
Inflated wheel 400, the braking of wheelchair is completed by the brake pedal 802 for controlling to be arranged on pedal 801.In addition, using powered
The movable motor 314 of magnetic brake, movable motor 314 is braked during wheelchair stair-climbing, is added braking effect using two kinds of brakes, is also carried
The security of Gao Liaopa buildings process.
Wherein, described monitoring portion point includes display screen 601 and camera 604, and camera 604 is arranged on wheelchair rear,
User can understand rear environment by display screen 601, in addition, display screen 601 can show the electricity of lithium battery.Display screen
601 are arranged on wheelchair left armrests by fixture, and foldable；Described monitoring part also includes being arranged on wheelchair surrounding
4 ultrasonic sensors (602,603,605,606), when wheelchair is close to object, can alarm and display screen has red light sudden strain of a muscle
It is bright.
When wheelchair runs into barrier, the size of current of monitoring module monitors movable motor 314, when electric current exceedes necessarily
Value, upset motor 317 works, and raises wheelchair inflated wheel 400, so as to smoothly clear the jumps.
User can be switched over by guidance panel 607 to the mode of operation of wheelchair, under common walking mode, can be led to
Cross action bars and complete the forward-reverse of wheelchair, the functions such as right-hand rotation of turning left.When wheelchair stair-climbing, press and climb building button, it is now powered
The movable motor 314 of magnetic brake is braked, and walking mechanism is locked, while Anti-slip support 701 is put down, wheelchair starts to climb building, so
Effectively prevent skidding.When user needs to switch standing walking mode, the standing pattern button of lower panel, wheelchair are pressed first
Reached by switching mechanism after standing state, switching mechanism is locked, then complete the standing walking work(of wheelchair by action bars again
Energy.
Three kinds of mode of operations of the embodiment of the present invention are described as follows：
(1) common walking：
Movable motor 314 drives walking little gear 312 to rotate by traveling speed reducer 313, is delivered to walking gear wheel
321, drive outer shaft gear 307 to rotate by outer shaft 311, then output gear 323 is delivered to by transition gear 306, then pass through
Output shaft 301 drives inflated wheel 400 to rotate.Now each gear completes the common walking function of wheelchair, institute around respective center rotation
The walking mechanism speed stated is than being 50, and planetary gear speed is than being 1.
(2) building is climbed：
Anti-skidding motor 704 is worked, and electric pushrod 703 drives support frame 701 to put down, and upset motor 317 is slowed down by overturning
Device 318 drives upset little gear 319 to rotate, and is delivered to upset gear wheel 316, and climbing building axle 309 by the drive of interior axle 315 rotates,
Now, walking mechanism is locked, each planetary gear geo-stationary, and around the center of interior axle 315, turn over function is realized in revolution to train, completes to climb
Electric pushrod 703 drives support frame 701 to withdraw behind building, and described switching mechanism speed is than being 100.
(3) stand and walk：
Upset motor 317 first works, and drives upset gear wheel 316 to rotate by overturning little gear 319, then pass through interior axle
315 drives are climbed building axle 309 and rotated, and now each gear revolves round the sun around the central shaft of interior axle 315 in planetary gear train 300, waits wheelchair to reach
Standing state, switching mechanism is locked, and then movable motor 314 works, and walking gear wheel 321 is driven by little gear 312 of walking
Rotation, then drive outer shaft gear 307 to rotate by outer shaft 311, then output gear 323 is delivered to by transition gear 306, now
Each gear of planetary gear train 300 realizes walking of standing around respective center rotation, wheelchair, and such user can be with normal person's height phase
When.
In the present embodiment, described 4 sets of direct current generators and decelerator, provide to both sides train walk and climb building respectively
Power.In order to structure more densification, 4 direct current generators are with decelerator using parallel all around.Two movable motors 314
Rectangle fixed mount bottom is arranged on traveling speed reducer 313, two upset motors 317 and upset decelerator 318 are arranged on rectangle
Fixed mount top.
In addition, seat portion 100 can be automatically adjusted according to the motion state of wheelchair, the gyroscope system on wheelchair
System is transferred to the posture of wheelchair in controller, can be to the position adjustments of seat portion 100 so that seat portion 100 keeps level
Position.
In order to verify the reasonability of the present invention, the exploitativeness of the present invention program is verified by Virtual Prototype Technique.First
Wheelchair is modeled by three-dimensional software SolidWork, dynamics simulation is carried out the threedimensional model of wheelchair is imported into ADMAS
Analysis.Requirement according to China to stair size, it is considered to robot is stair step width is minimum, height it is maximum in the case of climb
Building is most difficult to, this programme verifies wheelchair stair-climbing performance in the case where stair step width is 270mm, is highly 160mm environment, and train is turned over
Tarnsition velocity is 0.6rad/s, maximum load 80kg.
Such as Fig. 9, t1 represent that wheelchair is turned to the period of standing place, and t2 represents that wheelchair arrives at a station from second step upset
The period of vertical position, Fig. 9 a, due to drive case 501 and the difference of the setting angle of planetary gear train 300, the center of gravity of wheelchair can be sent out
Changing, by analysis can proper drive case 501 and the setting angle of planetary gear train 300 be 35 degree when wheelchair stair-climbing gravity center shift
Scope is minimum；Fig. 9 b understand that wheelchair torque needed for the startup stage (t1) and each step incipient stage (t2) for climbing building is larger；
Fig. 9 c are the changed power situations of wheelchair both sides motor when maximum load climbs building, it is known that the building motor 317 of climbing of both sides may be selected
Power is 200W direct current generators.
Claims (8)
1. a kind of Self-balancing electronic stair-climbing wheel chair, including seat portion (100), seat connection section (200), planetary gear train
(300), inflated wheel (400), drive part (500), control section, monitoring part, shoe (700) and footrest mechanism
(800)；
It is characterized in that：
Including the planetary gear train (300) described in two groups, it is connected respectively by an outer shaft (311) with a drive case (501),
Then it is arranged on and is arranged on the train casing (310) of the wheelchair both sides by a rhombus rolling bearing units seat (322)；Pass through
The conversion of described planetary gear train (300) can be achieved the common walking of wheelchair, stand and walk and climb three kinds of building mode of operation；
Described shoe 700 includes an anti-skidding motor (704) and a support frame (701), horizontal is usherd to seat by one
Bearing (706) is arranged on the bottom plate of drive case (501)；
Described drive part (500) is arranged in drive case (501), including a walking mechanism and a switching mechanism,
The power for walking and climbing building can be provided to both sides planetary gear train (300)；Described walking mechanism includes two sets of movable motors (314)
With traveling speed reducer (313) component, walking little gear (312), walking gear wheel (321), outer shaft (311), outer shaft gear
(307), transition axis (304), transition gear (306), output shaft (301), output gear (323)；Described switching mechanism includes
Two sets of upset motors (317) and upset decelerator (318) component, upset little gear (319), upset gear wheel (316), interior axle
(315), interior shaft coupling piece (308), output shaft coupling piece (302), transition shaft coupling piece (303), climb building axle (309)；Described 4
Individual motor (314,317) and decelerator (313,318), which are used, all around to be arranged in parallel；Two described movable motors (314)
The bottom of a rectangle fixed mount is arranged on traveling speed reducer (313) component；Two upset motors (317) and upset decelerator
(318) component is arranged on the top of described rectangle fixed mount；Described traveling speed reducer (313) and upset decelerator (318)
It is respectively provided with self-locking device.
2. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, it is characterised in that described wheelchair is in common row
When walking mode of operation, described movable motor (314) is connected with traveling speed reducer (313), and walking little gear (312) is big with walking
Gear (321) is engaged, and walking gear wheel (321) is connected by outer shaft (311) with outer shaft gear (307), now planetary gear train
(300) each gear is around respective center rotation.
3. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, it is characterised in that described wheelchair is climbing Lou works
During operation mode, upset motor (317) is connected with upset decelerator (318), upset little gear (319) and upset gear wheel (316)
Engagement, upset gear wheel (316) is connected by interior axle (315) with interior shaft coupling piece (308), now each in planetary gear train (300)
Gear revolves round the sun around interior axle (315) central shaft；Now, described walking mechanism utilizes locked, the described anti-skidding electricity of self-locking device
Machine (704) is worked, and support frame (701) is put down, so that skidding when effectively preventing wheelchair stair-climbing.
4. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, it is characterised in that described wheelchair is in standing work
During operation mode：Upset motor (317) first works, and drives upset gear wheel (316) to rotate by overturning little gear (319), then lead to
Cross interior axle (315) drive and climb building axle (309) rotation, now each gear is public around interior axle (315) central shaft in planetary gear train (300)
Turn, wait wheelchair to reach standing state, switching mechanism is locked, then movable motor (314) works, and passes through little gear of walking (312)
Walking gear wheel (321) rotation is driven, then drives outer shaft gear (307) to rotate by outer shaft (311), then passes through transition gear
(306) output gear (323) is delivered to, now each gear of planetary gear train (300) is around respective center rotation, and wheelchair, which is realized, stands
Walking.
5. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1 or 2, it is characterised in that described movable motor
(314) it is provided with electromagnetic braking brake gear.
6. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, it is characterised in that described planetary gear train
(300), in addition to a transition gear (306), it is arranged between described output gear (323) and outer shaft gear (307), outside
Shaft gear (307) is engaged with transition bearing (306), and transition gear (306) is engaged with output gear (323), output gear
(323), transition gear (306) and outer shaft gear (307) are arranged on train casing (310) by rhombus rolling bearing units (322).
7. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, it is characterised in that described shoe
(700) support frame (701), flake bearing (702), electric pushrod (703), anti-skidding motor (704), mounting bracket (705) are included
With horizontal rolling bearing units (706), before wheelchair stair-climbing, anti-skidding motor (704) work, driving electric push rod (703) elongation, support
Frame (701) is put down, electric pushrod (703) self-locking, prevents skidding during wheelchair stair-climbing.
8. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, it is characterised in that described control section includes
Master controller, gyroscope system, control panel (607)；Described master controller uses the STM32 main control chips of Yi Fa companies,
Described gyroscope system includes three-axis gyroscope sensor and 3-axis acceleration flowmeter sensor, and gyroscope system is detecting
Wheelchair posture is sent to master controller, and the position of seat can be regulated and controled in real time；Described control panel (607) includes three
Axle Hall operation handle and button switch, three described axle Horll's Handles are by controlling movable motor (314) to complete before wheelchair
Enter to retreat, turn left to turn right.
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| CN201710455043.2A CN107174422B (en) | 2017-06-16 | 2017-06-16 | A kind of Self-balancing electronic stair-climbing wheel chair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710455043.2A CN107174422B (en) | 2017-06-16 | 2017-06-16 | A kind of Self-balancing electronic stair-climbing wheel chair |
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| Publication Number | Publication Date |
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| CN107174422A true CN107174422A (en) | 2017-09-19 |
| CN107174422B CN107174422B (en) | 2018-12-14 |
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| CN201710455043.2A Active CN107174422B (en) | 2017-06-16 | 2017-06-16 | A kind of Self-balancing electronic stair-climbing wheel chair |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107898566A (en) * | 2017-12-25 | 2018-04-13 | 定远县中林机械技术有限公司 | A kind of adaptive stair activity wheelchair |
| CN109350383A (en) * | 2018-12-17 | 2019-02-19 | 珠海市研泰电子科技有限公司 | A kind of wheelchair sitting posture balance system based on gyroscope |
| CN109498297A (en) * | 2018-12-30 | 2019-03-22 | 天津传世科技有限公司 | Balancing seat controller |
| CN109662846A (en) * | 2017-10-16 | 2019-04-23 | 苏州艾尔楠医疗器械有限公司 | One kind is convenient for climbing wheelchair capable of climbing up stair |
| CN110051512A (en) * | 2019-05-09 | 2019-07-26 | 法罗适(上海)医疗技术有限公司 | A kind of multifunctional intellectual walking frame |
| CN110126953A (en) * | 2019-05-27 | 2019-08-16 | 朱幕松 | Electronic big wheel type multifunctional stairway vehicle |
| CN110575327A (en) * | 2019-10-17 | 2019-12-17 | 闫学堂 | Balance wheelchair |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
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