CN113712747A - Dual-purpose intelligent wheelchair for flat ground and stairs and use method thereof - Google Patents
Dual-purpose intelligent wheelchair for flat ground and stairs and use method thereof Download PDFInfo
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- CN113712747A CN113712747A CN202110978483.2A CN202110978483A CN113712747A CN 113712747 A CN113712747 A CN 113712747A CN 202110978483 A CN202110978483 A CN 202110978483A CN 113712747 A CN113712747 A CN 113712747A
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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
- A61G5/066—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 endless belts
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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Abstract
The invention relates to a dual-purpose intelligent wheelchair for flat ground and stairs and a using method thereof, wherein the dual-purpose intelligent wheelchair comprises a stool, wherein side plates are arranged on two sides of the stool, handrails are arranged on the upper parts of the side plates, and a control assembly is arranged on the handrails; a front auxiliary supporting mechanism and a rear auxiliary supporting mechanism are arranged on the inner sides of the side plates in a swinging mode; the outer side surfaces of the single side plates are respectively provided with a crawler mechanism, the single crawler mechanisms are of pentagonal structures which are symmetrical front and back, the crawler mechanisms swing forwards or backwards relative to the side plates through the stair climbing auxiliary mechanism, the outer sides of the crawler mechanisms are respectively provided with a rotating wheel, and the power transmission mechanism drives the rotating wheel to rotate or drives a driving wheel at the top of the crawler mechanism to rotate; the power transmission mechanism drives the rotating wheel to rotate to run in the flat ground condition, the power transmission mechanism drives the track mechanism to transmit in the stair condition, meanwhile, the track mechanism climbs the stairs relative to the swing of the sitting stool through the stair climbing auxiliary mechanism, and under the two conditions, the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism are matched to keep the stability of the sitting stool, so that the dual purposes of flat ground and stairs are realized, and the use convenience is greatly improved.
Description
Technical Field
The invention relates to the technical field of wheelchairs, in particular to a dual-purpose intelligent wheelchair for flat ground and stairs and a using method thereof.
Background
The wheelchair is not only a tool for riding instead of walk for the elderly, the disabled and the handicapped, but also should be an exercise tool. The wheelchair should be comfortable during the running process of flat ground and climbing stairs, and especially when meeting obstacles, the seat is very important to ensure the levelness of the seat during the running process. In the prior art, the stability and comfort level of the wheelchair, especially the stability in the stair climbing process, cannot be effectively guaranteed, and the user experience is poor.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides a dual-purpose intelligent wheelchair for flat ground and stairs and a use method thereof, so that dual purposes of flat ground and stairs are realized, and the use convenience is greatly improved.
The technical scheme adopted by the invention is as follows:
a dual-purpose intelligent wheelchair for flat ground and stairs comprises a stool, wherein side plates are symmetrically and downwards arranged on two sides of the stool, handrails are respectively arranged on the upper parts of the outer side surfaces of the side plates, and control components are arranged on the handrails; a front auxiliary supporting mechanism and a rear auxiliary supporting mechanism are respectively arranged in front of and behind the inner sides of the two side plates in a swinging manner; the outer side surfaces of the single side plates are respectively provided with a crawler mechanism, the single crawler mechanisms are of pentagonal structures which are symmetrical front and back, the crawler mechanisms swing forwards or backwards relative to the side plates through the stair climbing auxiliary mechanism, and the outer sides of the crawler mechanisms are respectively provided with a rotating wheel; the crawler belt mechanism is characterized by further comprising a power transmission mechanism, wherein the power transmission mechanism drives the rotating wheel to rotate or drives the driving wheel at the top of the crawler belt mechanism to rotate.
As a further improvement of the above technical solution:
the structure of the crawler mechanism is as follows: including arranging in the backplate of curb plate lateral surface, the action wheel is installed in the top rotation of backplate lateral surface, and the front end and the rear end symmetry of backplate lateral surface rotate to install from the driving wheel, and the interval rotates around backplate lower part edge and installs the same from the driving wheel, installs the track around installing in the action wheel and all from the driving wheel outside, and the track is the pentagon structure.
The power transmission mechanism is arranged between the two side plates and drives the corresponding crawler belt mechanism or the corresponding rotating wheel to rotate through a rotating shaft which penetrates out; the back plate of the crawler mechanism is also provided with an arc-shaped hole which is concentric with the driving wheel and is used for the rotating shaft driving the rotating wheel to rotate to penetrate out.
The control assembly comprises a plurality of buttons distributed on handrails on two sides, and the buttons are used for carrying out flat ground state selection, stair climbing state selection, start-stop control and speed control; a display is further arranged on one of the armrests, and the current driving state and the temperature and humidity conditions are displayed through the display; still include loudspeaker, will report with the status information that the button corresponds through loudspeaker.
The front plate and the rear plate are arranged between the two side plates at intervals in the front-back direction, the front auxiliary supporting mechanism and the stair climbing auxiliary mechanism are arranged on the front plate, and the rear auxiliary supporting mechanism and the power transmission mechanism are arranged on the rear plate.
The structure of the power transmission mechanism is as follows: the stair climbing device comprises a driving motor fixedly arranged on a rear plate, wherein a driving gear is arranged at the output end of the driving motor, an intermediate gear and a walking gear are simultaneously meshed and assembled on the outer circumference of the driving gear, and a stair climbing gear is meshed and assembled outside the intermediate gear; the middle gear, the walking gear and the stair climbing gear are respectively rotatably arranged on the inner side surface of the side plate, and the centers of the middle gear and the walking gear are respectively provided with an overrunning clutch, so that the middle gear is driven to transmit when the driving gear rotates forwards clockwise, and the walking gear is driven to transmit when the driving gear rotates backwards anticlockwise; the walking gear and the stair climbing gear drive the corresponding rotating wheel and the corresponding crawler mechanism on the outer side through the rotating shaft respectively.
Climb building complementary unit's structure does: the stair climbing device comprises a stair climbing motor arranged on the bottom surface of a front plate, the top of the stair climbing motor is rotationally connected with the bottom surface of the front plate through a first rotating connector, the output end of the stair climbing motor faces downwards and is connected with a screw rod, a first nut assembly is arranged on the screw rod through a screw pair, a supporting beam extending towards two sides is fixedly arranged outside the first nut assembly, and the outer end of the supporting beam is fixedly installed with a crawler mechanism corresponding to the two sides.
The front auxiliary supporting mechanism and the rear auxiliary supporting mechanism are identical in structure, the front auxiliary supporting mechanism extends forwards to the front of the rotating wheel, and the rear auxiliary supporting mechanism extends backwards to the rear of the rotating wheel.
The structure of the front auxiliary supporting mechanism is as follows: the device comprises a supporting motor which is rotatably installed on the front side face of a front plate through a second rotary joint, the output end of the supporting motor is forward and connected with a lead screw, a second nut assembly is installed on the lead screw through a screw pair in a matched mode, a middle cross beam extending towards two sides is installed on the outer portion of the nut assembly, side rods are fixedly installed on the outer end of the middle cross beam respectively, an upper cross beam is installed on the top ends of the two side rods in a rotating mode, the two ends of the upper cross beam are fixedly installed on the inner side faces of side plates on two sides, and auxiliary wheels are installed at the lower ends of the two side rods in a downward tilting mode forward and in a rotating mode.
The use method of the dual-purpose intelligent wheelchair for flat ground and stairs comprises the following steps:
selecting a current driving state through a control assembly;
when the wheelchair is in a flat ground running state, the power transmission mechanism drives the rotating wheel to rotate forwards to realize running, the rotating wheel supports the wheelchair, and the front auxiliary support mechanism and the rear auxiliary support mechanism are used as auxiliary supports; the angle between the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism and the ground is adjusted through the front-back swing of the side plate and the stool, so that the stable state of the stool in the driving process is kept;
when the stair climbing state is achieved, the stair climbing auxiliary mechanism works to drive the crawler mechanism to swing relative to the side plate and the stool, the front lower side face of the crawler mechanism is attached to the stair, meanwhile, the power transmission mechanism drives the crawler mechanism to forward drive to walk when climbing stairs, the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism perform auxiliary supporting relative to the side plate and the front and rear swing adjustment of the stool, and the stable state of the stool in the stair climbing process is kept.
The invention has the following beneficial effects:
the stair climbing device is compact and reasonable in structure and convenient to operate, the power transmission mechanism drives the rotating wheels to rotate to run in the flat ground state, the power transmission mechanism drives the track mechanism to transmit in the stair state, meanwhile, the track mechanism swings relative to the stool through the stair climbing auxiliary mechanism to climb the stairs, and under the two states, the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism are matched to keep the stool stable, so that the dual purposes of flat ground and stairs are realized, the use convenience and comfort are greatly improved, and the use experience of customers is improved;
the invention also includes the following advantages;
through the arrangement of the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism, the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism are matched with the rotating wheels or the crawler mechanisms, when the wheelchair is supported, the angle is effectively adjusted through the swinging of the front auxiliary supporting mechanism and the rear auxiliary supporting mechanism relative to the sitting stool, and the stability of the sitting stool is kept.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the structure of the present invention (from another perspective, shown partially exploded).
Fig. 3 is a schematic view of the installation between the power transmission mechanism and the track mechanism and between the power transmission mechanism and the rotating wheels.
Fig. 4 is a schematic structural view of the stair climbing assisting mechanism and the front assisting supporting mechanism of the present invention.
Wherein: 1. a rotating wheel; 2. a control component; 3. a stool; 4. a power transmission mechanism; 5. a front plate; 6. a stair climbing assisting mechanism; 7. a front auxiliary support mechanism; 8. a crawler mechanism; 9. a back plate; 10. a rear auxiliary support mechanism;
11. a hand ring; 21. a controller; 31. a side plate; 32. a handrail;
41. a drive motor; 42. a driving gear; 43. an intermediate gear; 44. a stair climbing gear; 45. a traveling gear;
61. rotating the first joint; 62. a stair climbing motor; 63. a first nut component; 64. a support beam;
71. a second rotary joint; 72. an upper cross beam; 73. a support motor; 74. a middle cross beam; 75. a second nut component; 76. a side lever; 77. an auxiliary wheel;
81. a back plate; 82. a driven wheel; 83. a driving wheel; 84. a crawler belt; 811. an arc-shaped hole.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 and fig. 2, the dual-purpose intelligent wheelchair for flat ground and stairs of the present embodiment includes a stool 3, side plates 31 are symmetrically installed downward on two sides of the stool 3, handrails 32 are respectively installed on upper portions of outer side surfaces of the side plates 31, and a control assembly 2 is arranged on the handrails 32; the front and the rear of the inner sides of the two side plates 31 are respectively provided with a front auxiliary supporting mechanism 7 and a rear auxiliary supporting mechanism 10 in a swinging way; crawler mechanisms 8 are respectively installed on the outer side surfaces of the single side plates 31, the single crawler mechanisms 8 are of a pentagonal structure which is symmetrical front and back, the crawler mechanisms 8 swing forwards or backwards relative to the side plates 31 through the stair climbing auxiliary mechanism 6, and rotating wheels 1 are respectively installed on the outer sides of the crawler mechanisms 8; the crawler type crawler belt mechanism further comprises a power transmission mechanism 4, wherein the power transmission mechanism 4 drives the rotating wheel 1 to rotate or drives the driving wheel 83 at the top of the crawler belt mechanism 8 to rotate.
The power transmission mechanism 4 drives the rotating wheel 1 to rotate to run in the flat ground condition, the power transmission mechanism 4 drives the crawler belt mechanism 8 to transmit in the stair condition, meanwhile, the crawler belt mechanism 8 swings relative to the sitting stool 3 through the stair climbing auxiliary mechanism 6 to realize stair climbing, and under the two conditions, the front auxiliary supporting mechanism 10 and the rear auxiliary supporting mechanism 10 are matched to keep the sitting stool 3 stable, so that the dual purposes of flat ground and stairs are realized.
The track mechanism 8 with the pentagonal structure is in contact with the stairs through the downward inclined edge when climbing the stairs, so that the stairs can be conveniently ascended and descended.
The crawler 8 has the following structure: the novel side plate structure comprises a back plate 81 arranged on the outer side surface of a side plate 31, a driving wheel 83 is rotatably arranged at the top of the outer side surface of the back plate 81, driven wheels 82 are symmetrically and rotatably arranged at the front end and the rear end of the outer side surface of the back plate 81, the same driven wheels 82 are rotatably arranged at the lower edge of the back plate 81 at intervals in the front-back direction, crawler belts 84 are arranged around the driving wheel 83 and the outer sides of all the driven wheels 82, and the crawler belts 84 are of a pentagonal structure; the upper driving wheel 83 is driven by the power transmission mechanism 4 to rotate, and further drives the driven wheel 82 to rotate, and the crawler belt 84 performs transmission.
The power transmission mechanism 4 is arranged between the two side plates 31, and the power transmission mechanism 4 drives the corresponding crawler belt mechanism 8 or the corresponding rotating wheel 1 to rotate through a rotating shaft which penetrates out outwards; an arc-shaped hole 811 is further formed in the back plate 81 of the crawler 8, the arc-shaped hole 811 is concentric with the driving wheel 83, and the arc-shaped hole 811 is used for a rotating shaft driving the rotating wheel 1 to rotate to penetrate out; the arrangement of the arc-shaped holes 811 helps the crawler 8 to swing smoothly relative to the stool 3 under the driving of the stair climbing assisting mechanism 6.
The control component 2 comprises a plurality of buttons distributed on handrails 32 at two sides, and the buttons are used for carrying out flat ground state selection, stair climbing state selection, start-stop control and speed control; a display is further arranged on one of the armrests 32, and the current driving state and the temperature and humidity conditions are displayed through the display; still include loudspeaker, will report with the status information that the button corresponds through loudspeaker, also can set up on bluetooth module sends relevant information to other equipment of being convenient for operations such as cell-phone.
The front plate 5 is also sequentially provided with a temperature and humidity sensor, a levelness sensor and a controller 21, and the controller 21 is electrically connected with the control assembly 2, the temperature and humidity sensor, the levelness sensor, the power transmission mechanism 4, the stair climbing auxiliary mechanism 6, the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10; through the input of control assembly 2, switch level land or stair operating condition through controller 21, carry out work by corresponding power unit to through the current temperature and humidity value of temperature and humidity sensor real-time supervision, by the level sensor real-time supervision current level stability of sitting bench 3.
The front plate 5 and the rear plate 9 are arranged between the two side plates 31 at intervals in the front-rear direction, the front auxiliary supporting mechanism 7 and the stair climbing auxiliary mechanism 6 are arranged on the front plate 5, and the rear auxiliary supporting mechanism 10 and the power transmission mechanism 4 are arranged on the rear plate 9.
In this embodiment, the front plate 5 is an L-shaped structure with an opening facing forward, and the rear plate 9 is a vertical longitudinal plate.
As shown in fig. 3, the power transmission mechanism 4 has a structure in which: the device comprises a driving motor 41 fixedly arranged on the front side surface of a rear plate 9, wherein the output end of the driving motor 41 is provided with a driving gear 42, the outer circumference of the driving gear 42 is simultaneously engaged and assembled with an intermediate gear 43 and a walking gear 45, and the outer circumference of the intermediate gear 43 is engaged and assembled with a stair climbing gear 44; the intermediate gear 43, the walking gear 45 and the stair climbing gear 44 are respectively rotatably mounted on the inner side surface of the side plate 31, and overrunning clutches are respectively mounted at the circle centers of the intermediate gear 43 and the walking gear 45, so that the intermediate gear 43 is driven to transmit when the driving gear 42 rotates clockwise forwards, and the walking gear 45 is driven to transmit when the driving gear 42 rotates anticlockwise backwards; the walking gear 45 and the stair climbing gear 44 drive the corresponding rotating wheel 1 and the corresponding crawler belt mechanism 8 on the outer side to transmit through the rotating shaft respectively.
The intermediate gear 43 is an axial double-layer synchronizing gear, one of which is engaged with the driving gear 42 and the other of which is engaged with the stair climbing gear 44.
Through the arrangement of the overrunning clutch, the driving gear 42 drives one of the middle gear 43 and the walking gear 45 which are meshed with each other to rotate when rotating in different directions, so that one of the rotating wheel 1 or the crawler belt mechanism 8 is driven to transmit, and the driving motor 41 is a main power source for driving under two different states of flat ground or stairs.
In this embodiment, the power transmission mechanism 4 is located between the front plate 5 and the rear plate 9.
As shown in fig. 4, the stair climbing assistance mechanism 6 has a structure in which: the stair climbing mechanism comprises a stair climbing motor 62 installed on the bottom surface of a front plate 5, the top of the stair climbing motor 62 is rotatably connected with the bottom surface of the front plate 5 through a first rotating connector 61, the output end of the stair climbing motor 62 faces downwards and is connected with a lead screw, a first nut assembly 63 is installed on the lead screw through a screw pair, a support beam 64 extending towards two sides is fixedly installed outside the first nut assembly 63, and the outer end of the support beam 64 is fixedly installed with a crawler 8 corresponding to two sides.
Climb building motor 62 work, the lead screw rotates for nut component 63 is for lead screw axial displacement, drive supporting beam 64 along lead screw axial displacement, because climb between building motor 62 and the front bezel 5 and rotate through rotating joint 61 and be connected, supporting beam 64 and crawler 8's backplate 81 fixed mounting, thereby drive crawler 8 for sit bench 3 forward or backward swing, in climbing the building and traveling, make crawler 84's preceding downside press close to in the stair contact in crawler 8.
The front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 are identical in structure, the front auxiliary supporting mechanism 7 extends forwards to the front of the rotating wheel 1, and the rear auxiliary supporting mechanism 10 extends backwards to the rear of the rotating wheel 1.
The structure of the front auxiliary supporting mechanism 7 is as follows: the device comprises a supporting motor 73 which is rotatably arranged on the front side surface of a front plate 5 through a second rotary joint 71, the output end of the supporting motor 73 faces forwards and is connected with a lead screw, a second nut assembly 75 is arranged on the lead screw in a matching way through a screw pair, a middle cross beam 74 extending towards two sides is arranged outside the second nut assembly 75, side rods 76 are fixedly arranged on the outer end heads of the middle cross beam 74 respectively, an upper cross beam 72 is rotatably arranged at the top ends of the two side rods 76 together, two ends of the upper cross beam 72 are fixedly arranged on the inner side surfaces of side plates 31 at two sides, and the lower ends of the two side rods 76 incline forwards and downwards and are rotatably arranged at the end parts to form auxiliary wheels 77.
The support motor 73 works to drive the screw rod to rotate, so that the second nut assembly 75 on the screw rod moves along the axial direction of the screw rod, the side rods 76 at two ends are further pushed forwards or pulled backwards through the middle cross beam 74, and the side rods 76 swing forwards or backwards relative to the side plates 31 at two sides and the stool 3 above through the upper cross beam 72, so that the acting point of the lower auxiliary wheels 77 of the side rods 76 relative to the stool 3 on the ground is changed, and the levelness of the stool 3 relative to the ground is changed through simultaneous adjustment of the front auxiliary support mechanism 7 and the rear auxiliary support mechanism 10, so that the stability of the stool is adjusted by assistance.
In this embodiment, the two ends of the upper beam 72 and the side plate 31 may be fixed or rotatable.
Through the arrangement of the front and rear auxiliary supporting mechanisms 10, the front and rear auxiliary supporting mechanisms are matched with the rotating wheels 1 or the crawler mechanisms 8, so that the wheelchair is supported, and meanwhile, the angle is effectively adjusted through the swinging of the front and rear auxiliary supporting mechanisms 10 relative to the sitting stool 3, and the stability of the sitting stool 3 is kept.
In this embodiment, the power transmission mechanism 4 includes two groups, which respectively drive the rotating wheels 1 and the track mechanisms 8 on two sides to transmit; the two groups of power transmission mechanisms 4 are driven by a driving motor 41 together, and the driving motor 41 is a double-spindle output motor; or the two groups of power transmission mechanisms 4 are respectively driven by corresponding driving motors 41, and the two driving motors 41 are symmetrically arranged on the back plate 9 in a back-to-back manner.
In this embodiment, the outer side surface of the wheel 1 further extends outward along the circumferential direction to form a hand ring 11, and the hand ring 11 is convenient for a user to hold the hand, which is also helpful for hand exercise.
In this embodiment, an upward chair back is further installed at the rear edge of the stool 3.
Through the swing of preceding auxiliary stay mechanism 7 for sitting bench 3, combine the initial setting of supporting motor 73, obtain its swing angle, and sit the current angle of bench 3 and then can be obtained by the levelness sensor monitoring on the front bezel 5 to make to sit bench 3 and keep the level steady through the swing by preceding auxiliary stay mechanism 7 in the stair climbing process, obtain the inclination that corresponds the stair, and then help in the smoothness nature of climbing the building.
The use method of the dual-purpose intelligent wheelchair for flat ground and stairs of the embodiment comprises the following steps:
the current driving state is selected through the control component 2, the button corresponding to the flat ground state is pressed, the flat ground driving state is switched to, and the button corresponding to the stair climbing state is pressed, the stair climbing driving state is switched to;
when the wheelchair is in a flat ground running state, the power transmission mechanism 4 drives the rotating wheel 1 to rotate forwards to realize running, the rotating wheel 1 supports the wheelchair, and the front auxiliary support mechanism 7 and the rear auxiliary support mechanism 10 are used as auxiliary supports; the stable state of the stool 3 in the driving process is kept through the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 relative to the side plate 31 and the angle between the front-back swinging adjustment of the stool 3 and the ground;
the power transmission mechanism 4 drives the runner 1 to work in the following mode: the controller 21 controls the driving motor 41 to rotate reversely, the driving gear 42 rotates anticlockwise, the walking gear 45 meshed with the driving gear 42 rotates clockwise, the walking gear 45 drives the rotating wheel 1 to rotate clockwise through the rotating shaft extending outwards, walking is achieved, and the intermediate gear 43 does not rotate along with the anticlockwise rotation of the driving gear 42 due to the existence of the overrunning clutch.
When the stair climbing state is achieved, the stair climbing auxiliary mechanism 6 works to drive the crawler mechanism 8 to swing relative to the side plate 31 and the stool 3, the front lower side surface of the crawler mechanism 8 is attached to a stair, meanwhile, the power transmission mechanism 4 drives the crawler mechanism 8 to transmit forwards to walk when climbing the stair, the front auxiliary supporting mechanism 7 and the rear auxiliary supporting mechanism 10 perform auxiliary supporting relative to the side plate 31 and the stool 3 and perform forward and backward swing adjustment, and the stable state of the stool 3 in the stair climbing process is kept;
the specific way that the power transmission mechanism 4 drives the crawler belt mechanism 8 to transmit is as follows: the controller 21 controls the driving motor 41 to rotate forward, the driving gear 42 rotates clockwise, the intermediate gear 43 meshed with the driving gear 42 rotates counterclockwise to drive the stair climbing gear 44 to rotate clockwise, and the stair climbing gear 44 drives the driving wheel 83 in the crawler belt mechanism 8 to rotate clockwise through the rotating shaft extending outwards, so as to drive the crawler belt 84 to transmit forwards; the travel gear 45 does not rotate with the clockwise rotation of the drive gear 42 due to the overrunning clutch.
In this embodiment, the driving gear 42 drives the stair climbing gear 44 and the traveling gear 45 to rotate clockwise and counterclockwise, which are described with reference to the structure in fig. 3 as an example, and the other side is reversed.
The intelligent wheelchair disclosed by the invention realizes dual purposes of flat ground and stairs, greatly improves the use convenience and comfort, and improves the use experience of customers.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides a dual-purpose intelligent wheelchair of flat ground stair, is including sitting bench (3), its characterized in that: the side plates (31) are symmetrically and downwards arranged on two sides of the stool (3), handrails (32) are respectively arranged on the upper parts of the outer side surfaces of the side plates (31), and the control components (2) are arranged on the handrails (32); a front auxiliary supporting mechanism (7) and a rear auxiliary supporting mechanism (10) are respectively arranged at the front and the rear of the inner sides of the two side plates (31) in a swinging manner; crawler mechanisms (8) are respectively installed on the outer side surfaces of the single side plates (31), the single crawler mechanisms (8) are of a pentagonal structure which is symmetrical front and back, the crawler mechanisms (8) swing forwards or backwards relative to the side plates (31) through the stair climbing auxiliary mechanism (6), and rotating wheels (1) are respectively installed on the outer sides of the crawler mechanisms (8); the crawler belt type crawler belt mechanism is characterized by further comprising a power transmission mechanism (4), wherein the power transmission mechanism (4) drives the rotating wheel (1) to rotate or drives the driving wheel (83) at the top of the crawler belt mechanism (8) to rotate.
2. The dual-purpose intelligent wheelchair for flat ground and stairs of claim 1, wherein: the crawler mechanism (8) is structurally characterized in that: including arranging backplate (81) in curb plate (31) lateral surface, the top of backplate (81) lateral surface is rotated and is installed action wheel (83), and the symmetrical rotation of front end and the rear end of backplate (81) lateral surface is installed from driving wheel (82), and the interval rotates around backplate (81) lower part edge and installs the same from driving wheel (82), installs track (84) around installing in action wheel (83) and all from driving wheel (82) outsides, and track (84) are the pentagon structure.
3. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 2, wherein: the power transmission mechanism (4) is arranged between the two side plates (31), and the power transmission mechanism (4) drives the corresponding crawler belt mechanism (8) or the rotating wheel (1) to rotate through a rotating shaft which penetrates out; an arc-shaped hole (811) is further formed in the back plate (81) of the crawler mechanism (8), the arc-shaped hole (811) is concentric with the driving wheel (83), and the arc-shaped hole (811) is used for driving the rotating shaft of the rotating wheel (1) to penetrate out.
4. The dual-purpose intelligent wheelchair for flat ground and stairs of claim 1, wherein: the control assembly (2) comprises a plurality of buttons distributed on handrails (32) on two sides, and the buttons are used for carrying out flat ground state selection, stair climbing state selection, start-stop control and speed control; a display is further arranged on one of the armrests (32), and the current running state and the temperature and humidity conditions are displayed through the display; still include loudspeaker, will report with the status information that the button corresponds through loudspeaker.
5. The dual-purpose intelligent wheelchair for flat ground and stairs of claim 1, wherein: front plate (5) and back plate (9) are installed to the interval around between two curb plates (31), preceding auxiliary stay mechanism (7) and climb building auxiliary stay mechanism (6) and install on front plate (5), back auxiliary stay mechanism (10) and power transmission mechanism (4) are installed on back plate (9).
6. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 5, wherein: the structure of the power transmission mechanism (4) is as follows: the device comprises a driving motor (41) fixedly arranged on a rear plate (9), wherein the output end of the driving motor (41) is provided with a driving gear (42), the outer circumference of the driving gear (42) is simultaneously engaged and assembled with an intermediate gear (43) and a walking gear (45), and the outer circumference of the intermediate gear (43) is engaged and assembled with a stair climbing gear (44); the middle gear (43), the walking gear (45) and the stair climbing gear (44) are respectively rotatably mounted on the inner side surface of the side plate (31), and the centers of circles of the middle gear (43) and the walking gear (45) are respectively provided with an overrunning clutch, so that the middle gear (43) is driven to transmit when the driving gear (42) rotates clockwise forwards, and the walking gear (45) is driven to transmit when the driving gear (42) rotates anticlockwise backwards; the walking gear (45) and the stair climbing gear (44) drive the corresponding rotating wheel (1) and the corresponding crawler belt mechanism (8) on the outer side to transmit through the rotating shaft respectively.
7. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 5, wherein: the structure of the stair climbing auxiliary mechanism (6) is as follows: the stair climbing device comprises a stair climbing motor (62) installed on the bottom surface of a front plate (5), the top of the stair climbing motor (62) is rotatably connected with the bottom surface of the front plate (5) through a rotating joint I (61), the output end of the stair climbing motor (62) is downwards connected with a screw rod, a nut assembly I (63) is installed on the screw rod through a screw pair, a supporting beam (64) extending towards two sides is fixedly installed on the outer portion of the nut assembly I (63), and the outer end of the supporting beam (64) is fixedly installed with a crawler mechanism (8) corresponding to two sides.
8. The dual-purpose intelligent wheelchair for flat ground and stairs as claimed in claim 5, wherein: the front auxiliary supporting mechanism (7) and the rear auxiliary supporting mechanism (10) are identical in structure, the front auxiliary supporting mechanism (7) extends forwards to the front of the rotating wheel (1), and the rear auxiliary supporting mechanism (10) extends backwards to the rear of the rotating wheel (1).
9. The dual-purpose intelligent wheelchair for flat ground and stairs of claim 8, wherein: the front auxiliary supporting mechanism (7) is structurally characterized in that: the automatic assembling device comprises a supporting motor (73) which is rotatably installed on the front side face of a front plate (5) through a second rotary joint (71), the output end of the supporting motor (73) is forward and connected with a lead screw, a second nut assembly (75) is installed on the lead screw through a screw pair in a matched mode, a middle cross beam (74) extending towards two sides is installed outside the second nut assembly (75), side rods (76) are fixedly installed on the outer end of the middle cross beam (74) respectively, an upper cross beam (72) is installed on the top ends of the two side rods (76) in a rotating mode, two ends of the upper cross beam (72) are fixedly installed with the inner side faces of side plates (31) on two sides, the lower ends of the two side rods (76) are downward inclined forwards and are rotatably installed at the end portions of auxiliary wheels (77).
10. The use method of the flat ground and stair dual-purpose intelligent wheelchair as claimed in claim 1, wherein the method comprises the following steps: the method comprises the following steps:
selecting a current driving state through the control component (2);
when the wheelchair is in a flat ground running state, the power transmission mechanism (4) drives the rotating wheel (1) to rotate forwards to realize running, the rotating wheel (1) supports the wheelchair, and the front auxiliary support mechanism (7) and the rear auxiliary support mechanism (10) are used as auxiliary supports; the stable state of the stool (3) in the driving process is kept through the front auxiliary supporting mechanism (7) and the rear auxiliary supporting mechanism (10) relative to the side plate (31) and the angle between the front and rear swinging adjustment of the stool (3) and the ground;
for when climbing the building state, climb building complementary unit (6) work, drive crawler (8) for curb plate (31), sit bench (3) swing, downside and stair laminating before crawler (8), walking when power transmission mechanism (4) drive crawler (8) forward the transmission and climb the building simultaneously, preceding complementary stay mechanism (7) and back complementary stay mechanism (10) are for curb plate (31), sit the swing back and forth of bench (3) and adjust and carry out the auxiliary stay, and keep climbing the building in-process and sit the steady state of bench (3).
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| CN202110978483.2A CN113712747B (en) | 2021-08-25 | 2021-08-25 | Dual-purpose intelligent wheelchair for flat ground and stairs and application method thereof |
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| CN202110978483.2A CN113712747B (en) | 2021-08-25 | 2021-08-25 | Dual-purpose intelligent wheelchair for flat ground and stairs and application method thereof |
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| CN113712747B CN113712747B (en) | 2023-09-05 |
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| CN113712747B (en) | 2023-09-05 |
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