CN109363841A - A kind of Multifunctional rehabilitation vehicles - Google Patents
A kind of Multifunctional rehabilitation vehicles Download PDFInfo
- Publication number
- CN109363841A CN109363841A CN201811177919.2A CN201811177919A CN109363841A CN 109363841 A CN109363841 A CN 109363841A CN 201811177919 A CN201811177919 A CN 201811177919A CN 109363841 A CN109363841 A CN 109363841A
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- Prior art keywords
- worm
- gear
- wheel
- skeleton
- multifunctional rehabilitation
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- 238000009434 installation Methods 0.000 claims abstract description 21
- 239000000203 mixture Substances 0.000 claims description 8
- 244000309464 bull Species 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 12
- 241000237858 Gastropoda Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- 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
-
- 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
-
- 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
- A61G5/1037—Wheelchairs having brakes manipulated by assisting person
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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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of Multifunctional rehabilitation vehicles, including wheel running gear, endless track installation, intermediate rotary shaft, anti-overturn mechanism, worm and gear walking switching device and mobile manipulator mechanism, it is characterised in that: the intermediate rotary shaft both ends are installed on wheel running gear skeleton and endless track installation skeleton；The anti-overturn mechanism is installed on wheel running gear skeleton；The worm and gear walking switching device connection wheel running gear and endless track installation；The mobile manipulator mechanism is installed on wheel running gear skeleton.The configuration of the present invention is simple securely and reliably realizes public bus reserved for the disabled climbing stairs, anti-slip back and anti-tipping function.
Description
Technical field
The present invention relates to a kind of public bus reserved for the disabled technical field, specially a kind of Multifunctional rehabilitation vehicles.
Background technique
Public bus reserved for the disabled designs for convenience of patient is pushed, and most of public bus reserved for the disabled is that roller sub-line walks to realize mobile.
And many hospitals do not have elevator, public bus reserved for the disabled stair activity is needed by manpower, and general moveable public bus reserved for the disabled is unable to satisfy automatically
The requirement of stair activity.
Summary of the invention
The present invention provides a kind of Multifunctional rehabilitation vehicles, with solve it is mentioned above in the background art can not stair activity requirement
The problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of Multifunctional rehabilitation vehicles, including wheel running gear, endless track installation, intermediate rotary shaft, anti-overturn mechanism, worm gear snail
Bar walking switching device and mobile manipulator mechanism, it is characterised in that: the intermediate rotary shaft both ends are installed on wheel Running System
It unites on skeleton and endless track installation skeleton；The anti-overturn mechanism is installed on wheel running gear skeleton；The snail
Worm and gear walking switching device connection wheel running gear and endless track installation；The mobile manipulator mechanism is installed on vehicle
It takes turns on running gear skeleton.
The wheel running gear, including body frame, two front-wheels, front wheel truck, two rear-wheels, decelerating through motor
Mechanism and two gear-boxes；Two round holes are set on the inside of the body frame, for installing intermediate rotary shaft；The vehicle body
4 rotation axis are set on the outside of skeleton, for installing worm and gear walking switching device；Before two front-wheels are respectively arranged in
Take turns bogie both ends；The front wheel truck is installed on body frame；Two gear-box both ends are separately connected two
A rear-wheel and motor decelerating mechanism；The gear-box is installed on body frame.
Each gear-box includes shell and 5 identical gears.
The endless track installation, including two groups of Athey wheel compositions, crawler belt skeleton, motor decelerating mechanism and anti-slip back machine
Structure；Two groups of Athey wheels composition is respectively arranged in crawler belt skeletal internal；The motor decelerating mechanism is installed on Athey wheel
On anteriomedial axis.
The Athey wheel composition, including crawler belt, two walking bull wheels, 3 walking support steamboats and two tensioning wheels；Institute
The crawler belt skeleton stated is by two groups of outriggers, two groups of medial cradles and connecting plate composition；5 crawler belts are arranged in the outrigger
Take turns mounting hole and slotted hole.
The anti-slip back mechanism, including counnter attack runner shaft, spring, pressing plate and mounting base；The counnter attack runner shaft peace
Loaded on Athey wheel hind axle；The spring connection pressing plate closely takes turns end and mounting base；The pressing plate is installed by revolute pair
In mounting base；The mounting base is mounted on inside the inside clamping plate of crawler belt skeleton at nearly rear-wheel.
The intermediate rotary shaft, including square bar and two bearings；The square bar both ends are respectively arranged in endless track installation
Crawler belt skeleton square hole in；Two bearings are respectively arranged in the body frame circular hole of wheel running gear.
It is rectangular configuration among the square bar, both ends are circular configuration.
The anti-overturn mechanism includes telescopic rod and screwed pressing with shaft.
The worm and gear walking switching device includes motor, Worm Wheel System case；The Worm Wheel System
Case includes built-in worm gear, external worm screw and shell；The external worm end setting rotation circular hole of the Worm Wheel System case,
And it is connected in the rotation axis of body frame；Shell one end setting rotation circular hole of the Worm Wheel System case, and connect
In in the rotation axis of crawler belt skeleton.
The mobile manipulator mechanism includes worm and gear lifting device, worm and gear lifting device and mounting base；Institute
The worm and gear lifting device stated includes motor, external worm screw and shell；The worm and gear lifting device includes motor, outside
Set worm screw and shell；The shell of the worm and gear lifting device passes through revolute pair respectively and is connected to mounting base and worm and gear
On the external worm screw of lifting device；The shell of the worm and gear lifting device is connected in mounting base by revolute pair；Institute
The external worm screw of two worm and gear lifting devices of the mobile manipulator mechanism stated is rigidly connected.
A kind of Multifunctional rehabilitation vehicles further include two seats being installed on wheel running gear skeleton.
For the even running for guaranteeing public bus reserved for the disabled, the invention also includes a set of complete machine control systems.Wherein, whole-control system
The main automatic control realized to mobile manipulator, motor reducer and worm and gear lifting device.Its main control process are as follows:
Before stair climbing, whole-control system controls the motor speed of worm and gear walking switching device, thus 4 worm screws of control
Synchro-draw at this time under reaction force, wheel running gear is propped up and leaves ground and reaches so that endless track installation lands
Closing control circuit after certain safe altitude；When endless track installation stair climbing, it is big that whole-control system detects the gradient automatically
It is small, two, the rear-wheel end transmission mechanism of control worm and gear walking switching device is opened, worm screw is further extended, until wheel row
The vehicle body of walking system reaches horizontality.At the end of ladder, crawler travel to horizontal plane, worm and gear walking switching device
Latter two motor reversal, worm screw compression, until the vehicle body of wheel running gear is horizontal.
When public bus reserved for the disabled reaches beside hospital bed, the F folder rigidity of anti-overturn mechanism is fixed on hospital bed leg or other objects first
On body；Then the movement of whole-control system control mobile manipulator, realizes the movement up and down to cantilever beam, thus real
Now pick the purpose of patient.
Compared with prior art, the beneficial effects of the present invention are:
One, stair climbing demand can be realized by automatically switching wheel running gear to endless track installation；
Two, during stair climbing, two groups of the front and back worm screw for the switching device that can be walked by adjusting worm and gear stretches,
It is horizontal to realize vehicle body, to keep seat horizontal, guarantees the comfort of patient patient；
Three, anti-slip back mechanism, guarantee caterpillar belt structure stair climbing that can be safe and reliable are provided with；
Four, it is provided with anti-tipping structure, hospital bed or other objects are caught by F clamping structure when in use, guarantees to use public bus reserved for the disabled
It will not overturn, achieve the purpose that safe and reliable during picking patient；
Five, by setting mobile manipulator, realize that picking patient leaves public bus reserved for the disabled automatically.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of Multifunctional rehabilitation vehicles；
Fig. 2 is the structural schematic diagram of wheel running gear；
Fig. 3 is the structural schematic diagram of gear-box；
Fig. 4 is the structural schematic diagram of endless track installation；
Fig. 5 is the structural schematic diagram of Athey wheel composition；
Fig. 6 is the structural schematic diagram of crawler belt skeleton；
Fig. 7 is the structural schematic diagram of anti-reverse mechanism；
Fig. 8 is anti-overturn mechanism schematic diagram；
Fig. 9 is the structural schematic diagram of worm and gear walking switching device；
Figure 10 is mechanically moving hands movement schematic diagram；
Figure 11 is the mounting base schematic diagram of mobile manipulator；
Figure 12 is crawler belt climbing schematic diagram.
In figure: 100- wheel running gear, 101- body frame, 102- front-wheel, 103- front wheel truck, 104- rear-wheel,
105- motor decelerating mechanism, 110- gear-box, 111- shell, 112- gear；200- endless track installation, 210- Athey wheel group
At, 220- crawler belt skeleton, 203- motor decelerating mechanism, the anti-slip back mechanism of 204-, 221- crawler belt, 212- walking bull wheel, 213- row
It walks and supports steamboat, 214- tensioning wheel, 221- outrigger, 222- medial cradle, 223- connecting plate, 241 counnter attack runner shafts, 242-
Spring, 243- pressing plate, 244- mounting base；300- intermediate rotary shaft, 301- square bar, 302- bearing；400- anti-overturn mechanism, 402- stretch
Contracting bar, the screwed pressing of 401-；500- worm and gear walking switching device；600- mobile manipulator mechanism；700- seat.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one: being shown in attached drawing 1, embodiment when running for wheel running gear 100 of the present invention.Driver is sitting in front stall
Chair, patient are sitting in rear seat.At this point, worm and gear walking switching device system is in close state, control system is directly controlled
The motor reducer of wheel running gear processed, realizes the walking of level road.
Embodiment two: being shown in attached drawing 12, for the embodiment of crawler belt climbing.When endless track installation stair climbing, full-vehicle control
System detects gradient size automatically, and two, the rear-wheel end motor of control control worm and gear walking switching device further stretches
Worm screw, until the vehicle body of wheel running gear reaches horizontality.At the end of ladder, crawler travel to horizontal plane, worm gear snail
Bar and latter two motor reversal for walking switching device, worm screw shrink, until the vehicle body of wheel running gear is horizontal.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (12)
1. a kind of Multifunctional rehabilitation vehicles, including wheel running gear (100), endless track installation (200), intermediate rotary shaft (300),
Anti-overturn mechanism (400), worm and gear walking switching device (500) and mobile manipulator mechanism (600), it is characterised in that: institute
Intermediate rotary shaft (300) both ends stated are installed on wheel running gear (100) skeleton and endless track installation (200) skeleton；Institute
The anti-overturn mechanism (400) stated is installed on wheel running gear (100) skeleton；The worm and gear walking switching device
(500) wheel running gear (100) and endless track installation (200) are connected；The mobile manipulator mechanism (600) is installed on
On wheel running gear (100) skeleton.
2. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: the wheel running gear (100),
Including body frame (101), two front-wheels (102), front wheel truck (103), two rear-wheels (104), motor decelerating mechanism
(105) and two gear-boxes (110)；Two round holes are set on the inside of the body frame (101)；The body frame
(101) 4 rotation axis are arranged in outside；Two front-wheels (102) are respectively arranged in front wheel truck (103) both ends；It is described
Front wheel truck (103) be installed on body frame (101)；Two gear-box (110) both ends are separately connected two
Rear-wheel (104) and motor decelerating mechanism (105)；The gear-box (110) is installed on body frame (101).
3. a kind of Multifunctional rehabilitation vehicles according to claim 2, it is characterised in that: each gear-box includes shell
(111) and 5 identical gears (112).
4. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: the endless track installation (200),
Including two groups of Athey wheels compositions (210), crawler belt skeleton (220), motor decelerating mechanism (203) and anti-slip back mechanism (240)；It is described
Two groups of Athey wheels composition (210) to be respectively arranged in crawler belt skeleton (220) internal；Motor decelerating mechanism (203) installation
In on Athey wheel (210) anteriomedial axis.
5. a kind of Multifunctional rehabilitation vehicles according to claim 4, it is characterised in that: the Athey wheel forms (210), packet
It includes crawler belt (211), two walking bull wheels (212), 3 walking supports steamboat (213) and two tensioning wheels (214)；The shoe
Band skeleton (220) is by two groups of outriggers (221), two groups of medial cradles (222) and connecting plate (223) composition；The outside
5 Athey wheel mounting holes and slotted hole is arranged in bracket (221).
6. a kind of Multifunctional rehabilitation vehicles according to claim 4, it is characterised in that: the anti-slip back mechanism (240), packet
It includes counnter attack runner shaft (241), spring (242), pressing plate (243) and mounting base (244)；Counnter attack runner shaft (241) installation
In on Athey wheel hind axle；Spring (242) connection pressing plate (243) closely wheel end and mounting base (244)；The pressing plate
(243) it is mounted on mounting base (244) by revolute pair；The mounting base (244) is mounted on the inside of crawler belt skeleton (220)
At the internal nearly rear-wheel of clamping plate (222).
7. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: the intermediate rotary shaft (300), including
Square bar (301) and two bearings (302)；Square bar (301) both ends are respectively arranged in the crawler belt skeleton of endless track installation
(220) in square hole；Two bearings are respectively arranged in body frame (101) circular hole of wheel running gear (100).
8. a kind of Multifunctional rehabilitation vehicles according to claim 7, it is characterised in that: be square among the square bar (301)
Shape structure, both ends are circular configuration.
9. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: anti-overturn mechanism (400) packet
Include telescopic rod (402) and screwed pressing (401) with shaft.
10. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: the worm and gear, which is walked, to be switched
Device (500) includes motor (501), Worm Wheel System case (502)；The Worm Wheel System case (502) includes built-in
Worm gear, external worm screw and shell；The external worm end setting rotation circular hole of the Worm Wheel System case (502), and even
It is connected in the rotation axis of body frame (101)；Shell one end setting rotation circular hole of the Worm Wheel System case (502),
And it is connected in the rotation axis of crawler belt skeleton (220).
11. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: the mobile manipulator mechanism
It (600) include worm and gear lifting device (601), worm and gear lifting device (602) and mounting base (603)；The worm gear
Worm screw lifting device (601) includes motor, external worm screw and shell；The worm and gear lifting device (602) includes motor,
External worm screw and shell；The shell of the worm and gear lifting device (601) passes through revolute pair respectively and is connected to mounting base
(603) and on the external worm screw of worm and gear lifting device (602)；The shell of the worm and gear lifting device (602) is logical
Revolute pair is crossed to be connected on mounting base (603)；Two worm and gear lifting devices of the mobile manipulator mechanism (600)
(601) external worm screw is rigidly connected.
12. a kind of Multifunctional rehabilitation vehicles according to claim 1, it is characterised in that: further include two and be installed on wheel row
Seat (700) on walking system (100) skeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811177919.2A CN109363841A (en) | 2018-10-10 | 2018-10-10 | A kind of Multifunctional rehabilitation vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811177919.2A CN109363841A (en) | 2018-10-10 | 2018-10-10 | A kind of Multifunctional rehabilitation vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109363841A true CN109363841A (en) | 2019-02-22 |
Family
ID=65403438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811177919.2A Pending CN109363841A (en) | 2018-10-10 | 2018-10-10 | A kind of Multifunctional rehabilitation vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109363841A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002085476A (en) * | 2000-09-14 | 2002-03-26 | Toyota Auto Body Co Ltd | Wheelchair capable of climbing stairs |
| CN1785144A (en) * | 2005-09-02 | 2006-06-14 | 沈国定 | Trolley type carriage for carrying patients to surgical operate |
| CN101797202A (en) * | 2010-01-18 | 2010-08-11 | 张瑞钧 | Crawler-type land-stair dual-purpose scooter |
| CN203381672U (en) * | 2013-05-29 | 2014-01-08 | 武汉优莱格科技发展有限公司 | Crawler type stair climbing barrow |
| CN104382705A (en) * | 2014-11-21 | 2015-03-04 | 王正东 | Off-road stair-climbing wheelchair capable of realizing wheel and track switching |
| CN105167927A (en) * | 2015-09-17 | 2015-12-23 | 哈尔滨工程大学 | Wheel-track combined wheelchair capable of climbing stairs |
| CN106264912A (en) * | 2016-10-09 | 2017-01-04 | 珠海索奇电子科技有限公司 | Electric cart for going-up stairs |
| CN108272567A (en) * | 2018-03-15 | 2018-07-13 | 苏州智辅机电有限公司 | The compound vehicle of automatically controlled track type climbing-building walking |
-
2018
- 2018-10-10 CN CN201811177919.2A patent/CN109363841A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002085476A (en) * | 2000-09-14 | 2002-03-26 | Toyota Auto Body Co Ltd | Wheelchair capable of climbing stairs |
| CN1785144A (en) * | 2005-09-02 | 2006-06-14 | 沈国定 | Trolley type carriage for carrying patients to surgical operate |
| CN101797202A (en) * | 2010-01-18 | 2010-08-11 | 张瑞钧 | Crawler-type land-stair dual-purpose scooter |
| CN203381672U (en) * | 2013-05-29 | 2014-01-08 | 武汉优莱格科技发展有限公司 | Crawler type stair climbing barrow |
| CN104382705A (en) * | 2014-11-21 | 2015-03-04 | 王正东 | Off-road stair-climbing wheelchair capable of realizing wheel and track switching |
| CN105167927A (en) * | 2015-09-17 | 2015-12-23 | 哈尔滨工程大学 | Wheel-track combined wheelchair capable of climbing stairs |
| CN106264912A (en) * | 2016-10-09 | 2017-01-04 | 珠海索奇电子科技有限公司 | Electric cart for going-up stairs |
| CN108272567A (en) * | 2018-03-15 | 2018-07-13 | 苏州智辅机电有限公司 | The compound vehicle of automatically controlled track type climbing-building walking |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20240110 Address after: 213000 No.32, Lvshu East Road, Xuejia Town, Xinbei District, Changzhou City, Jiangsu Province Applicant after: Changzhou Kedong vehicle equipment factory Address before: No. 60 Chenjiatang, Xinmin Village Committee, Xuejia Town, Xinbei District, Changzhou City, Jiangsu Province, 213000 Applicant before: Chen Chuandong |
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