CN210698041U

CN210698041U - Novel stair climbing wheelchair robot

Info

Publication number: CN210698041U
Application number: CN201920636527.1U
Authority: CN
Inventors: 麦永峰; 王域丞; 李东轩; 李昱昊; 郑怡馨; 喻泰铖
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2020-06-09
Anticipated expiration: 2029-05-06

Abstract

The utility model discloses a novel climb stair wheelchair robot, include: the device comprises a positioning mechanism and a climbing mechanism, wherein the positioning mechanism consists of two groups of parallelogram mechanisms which are hinged with each other and a first electric push rod, and the parallelogram mechanisms consist of four groups of rods which are hinged with each other and are in a parallelogram shape; the climbing mechanism includes: support, front wheel assembly and rear wheel assembly, the support sets up two sets ofly, the rear wheel assembly includes: the climbing device comprises a mounting frame, a second electric push rod and a climbing rod, wherein the climbing rod is connected with the mounting frame in a relatively sliding mode. The utility model discloses a climb stair wheelchair robot to two parallelogram mechanisms are as positioning mechanism, constitute climbing mechanism with electronic pole of climbing. Through the mutual cooperation of two mechanisms, the climbing of stairs is completed, and the goal that the stairs face upstairs and downstairs when going upstairs and downstairs can be realized, so that the mode that the wheelchair goes upstairs and downstairs can better accord with the logic thinking of daily movement, and the comfort of a user is improved.

Description

Novel stair climbing wheelchair robot

Technical Field

The utility model relates to a climbing robot specifically is a novel stair wheelchair robot climbs.

Background

The aging degree of the Chinese population is continuously deepened at present. The data show that the population number of the Chinese China over 65 years old reaches 13755 ten thousands of people in 2014, and accounts for 10.1 percent of the national proportion. On the other hand, the number of disabled persons is also increasing substantially. If auxiliary stair climbing equipment such as a stair climbing wheelchair is used, the old and the disabled can face the stairs more leisurely.

Foreign research on stair climbing devices has begun relatively early, and generally speaking, stair climbing devices can be divided into wheel set type, crawler type, stepping support type and other additional auxiliary type stair climbing devices according to the principle of stair climbing function implementation.

The wheel set type stair climbing device has the advantages that the movement modes of the small wheels are different when the device walks on the flat ground and climbs stairs: when walking on the flat ground, the small wheels rotate around the respective axes, and when climbing stairs, the small wheels revolve around the central shaft together. Wheelsets wheelchairs have some disadvantages. First, each wheel in a wheel set must have its own drive train, and thus the wheelchair vehicle can be very bulky. Secondly, it is even more fatal that the wheel set geometry cannot be adjusted to a step geometry. In addition, the planet wheel mechanism has larger fluctuation of the gravity center when going upstairs and downstairs, and has larger influence on the comfort of a user.

The crawler-type mechanism has more applications in stair climbing wheelchairs, and compared with a wheel set mechanism, the crawler-type mechanism has more continuous motion mode and higher transmission efficiency. During the process of going upstairs and downstairs, the gravity center of the wheelchair always moves along a straight line parallel to the connecting line of the stair step edges, the fluctuation of the gravity center is small, and the movement is stable. In addition, the crawler structure has the advantages of simple control, capability of adapting to stairs and obstacles with various sizes and the like. In general, however, the track wheelchair is not suitable for use in environments where the stair step is too smooth and the slope is greater than 30 ° to 35 °. In addition, the crawler wheel chair easily damages the edge of the stair when climbing the stair, and the later maintenance cost is higher. The development of the tracked wheelchair is restricted by the series of problems.

The step-by-step support type stair climbing wheelchair is one of all forms of stair climbing wheelchairs with high safety, the most complex transmission mechanism and the most complex control. The climbing mechanism of the step-by-step support type stair climbing wheelchair consists of a connecting rod mechanism. This type of stair-climbing wheelchair mainly comprises two types, namely a leg system and a wheel-leg hybrid system.

In addition, most wheel leg wheelchair robots on the market are back to the stair when climbing stair, and this is opposite with people's daily motion logic, has reduced user's comfort level, has influenced passenger's experience to a certain extent.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a novel stair wheelchair robot climbs to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a novel stair-climbing wheelchair robot, comprising: the device comprises a positioning mechanism and a climbing mechanism, wherein the positioning mechanism consists of two groups of parallelogram mechanisms which are hinged with each other and a first electric push rod, the parallelogram mechanisms consist of four groups of rods which are hinged with each other and are in a parallelogram shape, the parallelogram mechanisms are connected with a seat, the tail end of the first electric push rod is respectively hinged with the two groups of parallelogram mechanisms, and the top end of the first electric push rod is connected to the seat;

the climbing mechanism includes: support, front wheel assembly and rear wheel assembly, the support sets up two sets ofly, is connected with parallelogram mechanism respectively, front wheel assembly and rear wheel assembly are fixed in two sets of support bottoms respectively, and front wheel assembly and rear wheel assembly all include: the mounting frame is fixedly connected with the support, two ends of the second electric push rod are respectively rotatably connected with the climbing rod and the support, and the climbing rod is relatively slidably connected with the mounting frame; rotatable front wheel group and rear wheel group are installed respectively to two sets of support bottoms, set up steering mechanism and actuating mechanism on the front wheel group, be used for controlling the front wheel group respectively and turn to and drive the motion of front wheel group.

As a further aspect of the present invention: the steering mechanism comprises a first steering engine and a steering connecting rod, and the steering connecting rod is connected with the first steering engine and the front wheel set respectively.

As a further aspect of the present invention: the driving mechanism comprises a motor and a bevel gear set, and the motor is connected with a rotating shaft of the front wheel set through the bevel gear set.

As a further aspect of the present invention: the front wheel set and the rear wheel set are respectively provided with a screw rod mechanism, the screw rod mechanism comprises a second steering engine, a screw rod, a sliding block and a sliding rail, the sliding rail is fixedly arranged below the mounting frame, the sliding block is arranged on the sliding rail in a sliding mode, the screw rod is arranged at the bottom of the mounting frame and connected with the second steering engine, the screw rod penetrates through a threaded hole in the sliding block, and the front wheel set or the rear wheel set is arranged at the bottom of the sliding block.

As a further aspect of the present invention: the climbing rods incline at an angle of 35 degrees relative to the bracket.

As a further aspect of the present invention: the two sides of the bottom end of the climbing rod in the rear wheel assembly are respectively provided with a rubber sleeve, the climbing rod in the front wheel assembly is fixedly provided with a stay bar, and the two sides of the bottom of the stay bar are respectively provided with a rubber sleeve.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a climb stair wheelchair robot, the mechanism motion principle of stair wheelchair is climbed in the design to two parallelogram mechanisms are as positioning mechanism, constitute climbing mechanism with electronic pole of climbing. Through the mutual cooperation of two mechanisms, the climbing of stairs is completed, and the goal that the stairs face upstairs and downstairs when going upstairs and downstairs can be realized, so that the mode that the wheelchair goes upstairs and downstairs can better accord with the logic thinking of daily movement, and the comfort of a user is improved.

Drawings

Fig. 1 is a structural diagram of the present invention.

Fig. 2 is a schematic view of the middle screw mechanism of the present invention.

Fig. 3 is an enlarged structural view at a in fig. 1.

Fig. 4 is a structural diagram of the middle front wheel assembly of the present invention.

Fig. 5 is a schematic diagram of a PID control system of the middle and rear positioning push rods of the present invention.

Fig. 6 is a schematic diagram of a PID control system of the middle and front climbing push rod of the present invention.

Fig. 7 is a schematic diagram of a driving PID control system of the middle driving mechanism of the present invention.

Fig. 8 is a schematic diagram of the step-up process of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 4, in an embodiment of the present invention, a novel stair climbing wheelchair robot includes: the wheelchair comprises a positioning mechanism and a climbing mechanism, wherein the positioning mechanism comprises two groups of parallelogram mechanisms 21 which are hinged with each other and a first electric push rod 22, the parallelogram mechanisms 21 comprise four groups of rods which are hinged with each other and are in a parallelogram shape, the parallelogram mechanisms 21 are connected with the seat 1, the tail ends of the first electric push rods 21 are respectively hinged with the two groups of parallelogram mechanisms 21, the top ends of the first electric push rods 21 are connected to the seat 1, the two groups of parallelogram mechanisms 21 are respectively driven to move through the first electric push rods 21, in the driving process, the seat 1 can be kept horizontal all the time by utilizing the characteristics of the parallelogram mechanisms, the posture of the wheelchair can be changed on the other hand, and the relative movement of wheels in a certain range.

The climbing mechanism includes: support 4, front wheel assembly and rear wheel assembly, support 4 sets up two sets ofly, is connected with parallelogram mechanism 21 respectively, front wheel assembly and rear wheel assembly are fixed in two sets of 4 bottoms of supports respectively, and front wheel assembly and rear wheel assembly all include: the climbing device comprises a mounting frame 31, a second electric push rod 32 and a climbing rod 33, wherein the mounting frame 31 is fixedly connected with a support 4, two ends of the second electric push rod 32 are respectively rotatably connected with the climbing rod 33 and the support 4, the climbing rod 33 is relatively slidably connected with the mounting frame 31, the climbing rod 33 inclines for 35 degrees relative to the support 4, in addition, two rubber sleeves 331 are respectively arranged at two sides of the bottom end of the climbing rod 33 positioned at the rear side, a support rod 332 is fixedly arranged on the climbing rod 33 positioned at the front side, and two rubber sleeves 331 are respectively arranged at two sides of the bottom of the support rod 332; rotatable front wheel group 54 and back wheelset 35 are installed respectively to two sets of supports 4 bottoms, set up steering mechanism and actuating mechanism on the front wheel group 54, steering mechanism includes first steering wheel 52 and turns to the connecting rod 55, turn to the connecting rod 55 and be connected with first steering wheel 52 and front wheel group 54 respectively, realize turning to through first steering wheel 52 drive front wheel group 52, actuating mechanism includes motor 53 and bevel gear group 51, and motor 53 is connected through bevel gear group 51 and front wheel group 54's pivot for drive front wheel group 54 rotates.

In order to prevent the wheels from contacting and interfering with the steps in the climbing process, the front wheel set 54 and the rear wheel set 35 are both provided with a screw mechanism 34, the screw mechanism 34 comprises a second steering engine 341, a screw 342, a sliding block 343 and a sliding rail 344, the sliding rail 344 is fixedly arranged below the mounting frame 31, the sliding block 343 is slidably arranged on the sliding rail 344, the screw 342 is mounted at the bottom of the mounting frame 31 and connected with the second steering engine 341, the screw 342 penetrates through a threaded hole in the sliding block 343, and the front wheel set 54 or the rear wheel set 35 is mounted at the bottom of the sliding block 343.

As shown in fig. 5, which is a schematic diagram of a PID control system of the first electric putter 21, for the electric putter of the front and rear positioning mechanism, the model is simplified as applying a pair of interaction forces to the putter head and the putter base, and the PID input is the elongation error of the putter and the output is the magnitude of the thrust. Because the steady state of the system must be maintained by a certain acting force, in order to prevent the wheelchair from shaking violently and overshooting in the starting-up stage, an initial value F0 of the force is superposed on the PID output signal, so that the PID can reach the steady state more quickly.

As shown in fig. 6, which is a schematic diagram of a PID control system of the second electric push rod 33, the electric push rod control, controlled quantity and actuating mechanism of the climbing rod 33 are the same as those of the first electric push rod 21, and the climbing stage and the non-climbing stage have different stresses and belong to two different systems, so that the parameters of the climbing stage and the non-climbing stage are respectively set, and the integral term is reinitialized when the two stages are switched.

As shown in fig. 7, which is a schematic diagram of a PID control system of a driving mechanism of the front wheel set 54, the input of the PID control system is a speed deviation, and the output is a torque of the front wheel set 54. In order to reduce the overshoot of the wheel speed, an integral separation PID control algorithm is adopted. In order to avoid the occurrence of accidents such as wheel stalling, the integral term is limited. In addition, the output of the torque is limited by the maximum torque of the wheel motor and is also subjected to amplitude limiting. Before torque output is performed, it should be determined whether the current state of the front wheel set 54 is in contact with the ground, and if the wheels are suspended, the torque output is zero.

The process of going up the steps of the utility model is shown in figure 8, when the wheelchair starts to move forward, when the wheels are close to the barrier, the wheelchair stops moving;

the climbing rod 33 at the side of the front wheel set 54 moves downwards to be contacted with the ground, and the weight of the wheelchair is transferred to the climbing rod 33;

the wheels move to the upper right under the driving of the climbing rod 33, meanwhile, the screw rod 342 drives the sliding block 343 to drive the front wheel set 54 to move backwards so as to avoid interference with the steps, and finally, the front wheel set 54 climbs the steps in a resultant motion in the upward direction;

when the height of current wheelset 54 is enough, lead screw 342 drive wheel moves to initial position forward, climbs the pole 33 shrink, and front wheelset 54 and first order step contact, the weight of wheelchair shifts to the wheel again on, accomplishes climbing of first order step up to this point, and it is visible, at whole climbing in-process, the contact point on wheelchair and ground remains 4 throughout, is favorable to like this that the system is in stable state all the time.

The process of going downstairs is similar to the above-mentioned process, and the process of going downstairs is rear wheel group 35 forward direction, and when rear wheel group 35 was close to the edge of step, climbing pole 33 expanded climbs, 33 and ground contact, and lead screw 342 drives rear wheel group 35 forward motion in order to avoid interfering with the step, then climbing pole 33 contracts, and when the wheel contacted with ground, the wheel recovered to original state.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A novel stair-climbing wheelchair robot, comprising: positioning mechanism, climbing mechanism, its characterized in that: the positioning mechanism consists of two groups of parallelogram mechanisms (21) which are hinged with each other and a first electric push rod (22), the parallelogram mechanisms (21) consist of four groups of rods which are hinged with each other and are in a parallelogram shape, the parallelogram mechanisms (21) are connected with the seat (1), the tail ends of the first electric push rods (22) are respectively hinged with the two groups of parallelogram mechanisms (21), and the top ends of the first electric push rods are connected to the seat (1);

the climbing mechanism includes: support (4), front wheel assembly and rear wheel assembly, support (4) set up two sets ofly, are connected with parallelogram mechanism (21) respectively, front wheel assembly and rear wheel assembly are fixed in two sets of supports (4) bottoms respectively, and front wheel assembly and rear wheel assembly all include: the climbing device comprises a mounting frame (31), a second electric push rod (32) and a climbing rod (33), wherein the mounting frame (31) is fixedly connected with a support (4), two ends of the second electric push rod (32) are respectively and rotatably connected with the climbing rod (33) and the support (4), and the climbing rod (33) is relatively and slidably connected with the mounting frame (31); the bottom of the two groups of brackets (4) is respectively provided with a rotatable front wheel set (54) and a rotatable rear wheel set (35), and the front wheel set (54) is provided with a steering mechanism and a driving mechanism which are respectively used for controlling the front wheel set (54) to steer and driving the front wheel set (54) to move.

2. The novel stair-climbing wheelchair robot of claim 1, wherein: the steering mechanism comprises a first steering engine (52) and a steering connecting rod (55), and the steering connecting rod (55) is respectively connected with the first steering engine (52) and the front wheel set (54); the driving mechanism comprises a motor (53) and a bevel gear set (51), and the motor (53) is connected with a rotating shaft of the front wheel set (54) through the bevel gear set (51).

3. The novel stair-climbing wheelchair robot of claim 1, wherein: the front wheel set (54) and the rear wheel set (35) are respectively provided with a screw rod mechanism (34), each screw rod mechanism (34) comprises a second steering engine (341), a screw rod (342), a sliding block (343) and a sliding rail (344), each sliding rail (344) is fixedly arranged below the mounting frame (31), each sliding block (343) is arranged on each sliding rail (344) in a sliding mode, each screw rod (342) is mounted at the bottom of the mounting frame (31) and connected with the second steering engine (341), each screw rod (342) penetrates through a threaded hole in each sliding block (343), and the bottom of each sliding block (343) is provided with the front wheel set (54) or the rear wheel set (35).

4. The novel stair-climbing wheelchair robot of claim 1, wherein: the climbing rod (33) inclines for 35 degrees relative to the bracket (4).

5. The novel stair-climbing wheelchair robot of claim 1, wherein: rubber sleeves (331) are respectively arranged on two sides of the bottom end of the climbing rod (33) in the rear wheel assembly, a support rod (332) is fixedly arranged on the climbing rod (33) in the front wheel assembly, and the rubber sleeves (331) are respectively arranged on two sides of the bottom of the support rod (332).