CN216294465U - Self-adaptive seat and all-terrain wheelchair - Google Patents
Self-adaptive seat and all-terrain wheelchair Download PDFInfo
- Publication number
- CN216294465U CN216294465U CN202121764348.XU CN202121764348U CN216294465U CN 216294465 U CN216294465 U CN 216294465U CN 202121764348 U CN202121764348 U CN 202121764348U CN 216294465 U CN216294465 U CN 216294465U
- Authority
- CN
- China
- Prior art keywords
- seat
- crawler
- track
- assembly
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Handcart (AREA)
Abstract
The utility model discloses a self-adaptive seat and all-terrain wheelchair, which comprises a supporting seat and a seat, wherein the seat comprises a seat surface and also comprises: the supporting seat is rotatably connected with the adjustable supporting component, and when the adjustable supporting component rotates around the supporting seat, the seat surface of the seat is always kept parallel; the angle adjusting mechanism is used for adjusting the angle of the seat to enable the seat surface of the seat to be always parallel; the rotating mechanism is used for driving the seat to rotate; the adjustable supporting component is connected with the rotating mechanism, and the rotating mechanism is connected with the seat through the angle adjusting mechanism; the supporting seat is also connected with a traveling mechanism. The wheelchair can travel in all terrains, the seat surface of the wheelchair is always parallel to the ground in the stair climbing process, the center of gravity of the wheelchair is pressed on the front section of the wheelchair in the stair climbing process, the overall stability is better, the wheelchair is effectively prevented from overturning, and the safety factor is high.
Description
Technical Field
The utility model relates to the technical field of wheelchairs, in particular to a self-adaptive seat and an all-terrain wheelchair.
Background
The wheelchair is an essential travel tool for the elderly, the infirm and the disabled with the injured lower limbs, the range of motion of wheelchair users is gradually enlarged along with the increase of barrier-free facilities, but the wheelchair is greatly limited by stairs and steep slopes with large gradient. The wheelchair can be divided into: star wheel type, crawler type and stepping support type.
The stair climbing mechanism of the star wheel type wheelchair is composed of a plurality of small wheels which are uniformly distributed on a Y-shaped, five-star or cross-shaped tie rod. Each small wheel can rotate around the respective axis and can also revolve around the central shaft along with the tie rod. When walking on the flat ground, all the small wheels rotate, and when climbing stairs and steep slopes, all the small wheels revolve together, so that the function of climbing stairs is realized.
The ladder wheelchair with the crawler-type mechanism adopts a more continuous walking mode than the star-type mechanism, and when the crawler leaves the previous step or moves to the next step, the crawler inclines forwards and backwards due to the deviation of the gravity center. The crawler-type stair climbing wheelchair is not suitable for being used in the environment with too smooth stair steps and the gradient of more than 30-35 degrees. The resistance of the crawler-type stair climbing wheelchair is large when the crawler-type stair climbing wheelchair travels on the flat ground, and the turning at the corner is not flexible. Therefore, various improvements have been proposed at home and abroad, which is still not ideal.
The principle of the step-by-step support type stair climbing wheelchair is that the wheelchair simulates the action of climbing stairs of a human body and is alternately supported by two sets of supporting devices so as to realize the function of going upstairs and downstairs. But the transmission mechanism is complex, the durability is poor, and the application is less.
Therefore, a wheelchair which can adapt to various complex terrains, is flexible, has high safety factor and is not easy to overturn is urgently needed.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems in the prior art, a self-adaptive seat and all-terrain wheelchair is provided.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
the utility model provides a self-adaptive seat, which comprises a supporting seat and a seat, wherein the seat comprises a seat surface and further comprises:
the supporting seat is rotatably connected with the adjustable supporting component, and when the adjustable supporting component rotates around the supporting seat, the seat surface of the seat is always kept parallel;
the angle adjusting mechanism is used for adjusting the angle of the seat to enable the seat surface of the seat to be always parallel;
the rotating mechanism is used for driving the seat to rotate;
the adjustable supporting assembly is connected with the rotating mechanism, and the rotating mechanism is connected with the seat through the angle adjusting mechanism; the supporting seat is further connected with a traveling mechanism.
Preferably, the adjustable support assembly comprises a first connecting frame and a second connecting frame, the bottom ends of the first connecting frame and the second connecting frame are rotatably connected with the supporting seat, and the upper ends of the first connecting frame and the second connecting frame are rotatably connected with the same horizontal supporting plate; the first connecting frame and the second connecting frame are the same in length and are parallel.
Preferably, the horizontal support plate is fixedly connected with a limiting disc, the limiting disc is provided with a plurality of second limiting grooves, the first connecting frame is provided with a first limiting groove, and positioning pins penetrate through the first limiting groove and the second limiting grooves; when the limiting disc rotates around the first connecting frame, the second limiting groove and/or the first limiting groove clamp the positioning pin.
Preferably, the number of the second limiting grooves is three, the second limiting groove positioned in the middle is matched with the positioning pin for walking on the flat ground, the second limiting groove positioned on the left side is matched with the positioning pin for climbing stairs, and the second limiting groove positioned on the right side is matched with the positioning pin for descending stairs; the distance from the second limiting groove positioned on the left side to the second limiting groove in the middle is larger than the distance from the second limiting groove positioned on the right side to the second limiting groove in the middle.
Preferably, the rotating mechanism comprises a rotating seat which is rotatably connected with the adjustable supporting component, the rotating seat is provided with a plurality of open slots, the adjustable supporting component is further rotatably connected with rotating blocks matched with the open slots, and the rotating blocks are arranged in the open slots in an initial state.
Preferably, the rotating mechanism comprises a hub motor, the angle adjusting mechanism is connected with the hub motor through a rotating shaft, and the hub motor is connected with the seat surface of the seat; an angle sensor is arranged in the hub motor, and the hub motor and the angle sensor are connected with a controller.
Preferably, the seat still include with the back of the chair that the seat links to each other, the seat is kept away from the one end of the back of the chair rotates and is connected with the shank and supports, the bottom of seat articulates there is the electric push rod, the electric push rod with the shank is supported articulatedly.
The utility model provides an all terrain wheelchair, includes foretell a self-adaptation seat, running gear includes preceding track subassembly and back track subassembly, preceding track subassembly and back track subassembly respectively through preceding rotating turret and back rotating turret with the supporting seat is articulated, preceding track subassembly includes preceding track section and back track section, form first contained angle between back track section and the preceding track section, still include:
a rotation shaft disposed at or near a rear end of the front track assembly and at the same time disposed at or near a front end of the rear track assembly;
the front crawler assembly and/or the rear crawler assembly rotate around the rotating shaft, when the rotating shaft is in a first state, the rear end of the rear crawler section and the front section of the rear crawler assembly incline upwards, the rear crawler section and the rear crawler assembly form an included angle, and when the rotating shaft is in a second state, the rear crawler section and the traveling plane of the rear crawler assembly are located on the same plane.
Preferably, the rear track assembly comprises a rear track frame, at least two rear track wheels and a rear track annularly surrounding the rear track wheels, at least one of the rear track wheels is a driving wheel, the rear track wheels are rotatably mounted on the rear track frame, and the at least two rear track wheels are matched with each other, so that the traveling bottom surface of the rear track forms a plane; one end of the rear rotating frame is hinged with the rear crawler support, and the other end of the rear rotating frame is hinged with the supporting seat.
Preferably, the front crawler belt section and the rear crawler belt section adopt a crawler belt structure which is formed by wrapping the same crawler belt into a whole; the front crawler assembly comprises a front crawler, a front crawler support, a guide wheel and at least two front crawler wheels are arranged on the front crawler, the guide wheel and the two front crawler wheels divide the front crawler assembly into a front crawler section and a rear crawler section, the guide wheel is arranged at one end, far away from the rear crawler section, of the front crawler section, and the guide wheel is higher than the front crawler wheels, so that a first included angle is formed between the guide wheel and the front crawler wheels; one end of the front rotating frame is hinged with the front crawler support, and the other end of the front rotating frame is hinged with the supporting seat.
Preferably, the rear end of the front track assembly is provided with a driving wheel, the front end of the rear track assembly is provided with a driving wheel, a central shaft of the driving wheel of the front track assembly and a central shaft of the driving wheel of the rear track assembly are the rotating shaft, and the front track assembly and the rear track assembly are both rotatably connected with the rotating shaft.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the front crawler assembly and the rear crawler assembly are hinged with the supporting seat and can rotate relatively, so that when the stair climbing action is carried out, the front crawler assembly is in contact with the step and then drives the front crawler assembly and the rear crawler assembly to form an included angle, under the action of the angle adjusting mechanism, the chair surface is always kept parallel to the ground, the gravity center of the device is pressed on the front section of the chair surface, the forward turning of a vehicle cannot be caused, the safety coefficient is high, compared with a conventional wheelchair stair climbing mechanism, the gravity center is easy to be unstable conventionally, and the device is inclined.
2. According to the utility model, through the rotatable crawler belt, after the step climbing action is finished, the middle part of the conventional wheelchair chassis is contacted with the uppermost step, so that the wheelchair chassis can rotate instantly under the action of gravity, the front section of the wheelchair is rapidly contacted with the ground, and in the process, the front section of the wheelchair needs to be pressed down by manual force, if the force is too small, the wheelchair is easy to turn over and damage the chassis.
3. According to the front crawler assembly, the guide wheels are higher than the front crawler wheels, so that an included angle is formed between the front crawler section and the rear crawler section, and due to the fact that the included angle is larger, the whole structure of the crawler is considered, and therefore the triangular crawler mode is adopted, the triangular structure enables the front crawler assembly to have better stability, the requirement on the crawler is lower, the use requirement is lower, and the effects of reducing cost and being convenient to maintain are achieved.
4. The adjustable supporting component is arranged to form a parallelogram structure, so that the rotating mechanism formed by the rotating seat can be always kept in a state of being parallel to the supporting seat, the overall stability is better, and the chair seat is driven to rotate by a proper angle under the action of the hub motor and the angle sensor along with the climbing action, so that the chair seat is always kept in a parallel state, and the gravity center of the seat is approximately overlapped with the gravity center of the crawler belt by matching with the crawler belt structure, thereby being beneficial to the overall stability.
5. The adjustable supporting component is provided with three states, when the upper end of the adjustable supporting component is positioned at the upper left side, the gravity center moves forwards, the adjustable supporting component is suitable for walking on the flat ground, when climbing, the upper end of the adjustable supporting component is arranged at the upper right side, the gravity center of a seat is approximately overlapped with the gravity center of a crawler, the stability of the wheelchair during climbing is improved, the backward tilting is prevented, when going downhill, the upper end of the adjustable supporting component is positioned at the upper left side, the inclination degree is larger, the gravity center of the seat moves backwards, the stability of the wheelchair during going downhill is improved, the forward tilting is prevented, the operation is simple, the use is convenient, and the safety coefficient is higher.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an overall perspective view one of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is an overall front view of the present invention;
FIG. 4 is a perspective view of a portion of the seat of FIG. 1;
FIG. 5 is a second perspective view of the seat portion of FIG. 1;
FIG. 6 is a front view of the seat portion of FIG. 1;
FIG. 7 is a perspective view of a portion of the adjustable support assembly of FIG. 4;
FIG. 8 is a front view of a portion of the first link frame of FIG. 6;
FIG. 9 is a schematic view of the all terrain wheelchair of the present invention;
figure 10 is a front elevational view of the all terrain wheelchair in the condition one of figure 9.
Description of reference numerals:
1, a seat; 11 an electric push rod; 12 a leg support; 13 a chair surface; 14, a chair back;
2, supporting a seat; 21 a damping spring;
3 an adjustable support assembly; 31 a first link frame; 311 a first link; 312 first limiting groove; 32 a second connecting frame; 321 a second link; 33 a horizontal support plate; 34 a limiting disc; 341 second limit groove; 35 positioning pins;
a rear track assembly; 4, a rear crawler belt; 41 a rear rotating frame; 42 rear track wheels; 43 driving a motor; 44 rear track frame; 45 rear supporting wheels;
a front track assembly; 5, a front crawler belt; a 51 front rotating frame; 52 a front track section; 53 rear track section; 54 front track wheels; 55 a guide wheel; 56 a front track frame; 57 rear supporting wheels;
6, fixing a seat; 61 rotating the seat; 611 open slots; 62 rotating the block;
7, a hub motor; 71 a rotating shaft;
8, a tensioning device; 9 rotating the shaft.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Example one
As shown in fig. 1-10, the present embodiment provides an adaptive seat, which comprises a support seat 2 and a seat 1, wherein the seat 1 comprises a seat surface 13, the support seat 2 is used for the integral support work of the seat, and the seat surface 13 is used for the hip support of the user. Further comprising:
the supporting seat 2 is rotatably connected with the adjustable supporting component 3, and when the adjustable supporting component 3 rotates around the supporting seat 2, the seat surface 13 of the seat 1 is always parallel;
the angle adjusting mechanism is used for adjusting the angle of the seat 1 so that the seat surface 13 of the seat 1 is always kept parallel;
the rotating mechanism is used for driving the seat 1 to rotate;
the adjustable supporting component 3 is connected with the rotating mechanism, and the rotating mechanism is connected with the seat 1 through the angle adjusting mechanism; the supporting seat 2 is also connected with a traveling mechanism.
The adjustable supporting component 3 comprises a first connecting frame 31 and a second connecting frame 32, the bottom ends of the first connecting frame 31 and the second connecting frame 32 are rotatably connected with the supporting seat 2, and the upper ends of the first connecting frame 31 and the second connecting frame 32 are rotatably connected with the same horizontal supporting plate 33; the first and second links 31 and 32 are the same in length and parallel.
Wherein, first link 31 includes two identical first connecting rods 311, and the bottom of two first connecting rods 311 all rotates with supporting seat 2 to be connected, and the upper end of two first connecting rods 311 all rotates with horizontal support plate 33 to be connected.
The second connecting frame 32 includes two identical second connecting rods 321, the bottom ends of the two second connecting rods 321 are rotatably connected to the supporting base 2, and the upper ends of the two second connecting rods 321 are rotatably connected to the horizontal supporting plate 33.
The two first connecting rods 311, the horizontal supporting plate 33 and the supporting seat 2 form a parallelogram structure together; the two second connecting rods 321, the horizontal supporting plate 33 and the supporting seat 2 form a parallelogram structure together; the first connecting rod, the second connecting rod 321, the horizontal supporting plate 33 and the supporting seat 2 together form a parallel structure, and two parallel structures are formed.
Therefore, the first connecting frame 31, the second connecting frame 32, the horizontal support plate 33 and the support base 2 together form four parallelogram structures, which is beneficial to the stability of the seat 1, so that the horizontal support plate 33 and the seat surface 13 of the seat 1 can always keep a parallel state when the first connecting frame 31 and the second connecting frame 32 rotate around the support base 2.
The link all includes the aim at of two connecting rods, falls into two connecting rod structures with the link, and the effect that can play material saving is not only better, and the support nature is better simultaneously, and the connecting rod more convenient processing, and the material of connecting rod is strengthened to the accessible does benefit to the holistic fixed of seat.
The horizontal support plate 33 is fixedly connected with a limiting disc 34, the limiting disc 34 is provided with a plurality of second limiting grooves 341, the first connecting frame 31 is provided with a first limiting groove 312, and positioning pins 35 penetrate through the first limiting groove 312 and the second limiting grooves 341; when the restraining disk 34 rotates about the first connecting bracket 31, the second restraining groove 341 and/or the first restraining groove 312 clamp the positioning pin 35.
In this example, there are three second limit grooves 341, the second limit groove 341 located in the middle is matched with the positioning pin 35 for walking on the flat ground, the second limit groove 341 located on the left side is matched with the positioning pin 35 for climbing stairs, and the second limit groove 341 located on the right side is matched with the positioning pin 35 for descending stairs; the distance from the second position-limiting groove 341 on the left side to the second position-limiting groove 341 in the middle is greater than the distance from the second position-limiting groove 341 on the right side to the second position-limiting groove 341 in the middle.
The second position-limiting grooves 341 are arranged in a manner as shown in fig. 8, the second position-limiting grooves 341 on the left side are arranged on the left side of the position-limiting disk 34, and the second position-limiting grooves 341 on the middle and right sides are arranged on the right side of the position-limiting disk 34. The two limiting disks 34 are arranged on two sides of the horizontal support plate 33 and are respectively matched with the two first connecting rods 311.
The first limiting groove 312 is formed in the first connecting rod 311, and the length of the first limiting groove 312 is long enough, so that the positioning pin 35 can slide freely in the first limiting groove 312.
The second limit groove 341 is arc-shaped, so that when a user sits on the seat surface 13, the user can drive the limit disc 34 to rotate counterclockwise under the action of the gravity of the user, so that the positioning pin 35 can be always clamped in the arc-shaped groove of the second limit groove 341, and the positioning pin 35 is prevented from falling off.
When the mode is used, the second limit groove 341 does not limit the movement of the positioning pin 35 any more by only driving the limit disc 34 to rotate by a certain angle, so that the positioning pin 35 drops in the first limit groove 312, and the positioning pin 35 is not located in the second limit groove 341 at the moment, so that the adjustable supporting component 3 can be controlled to rotate freely. Adopt this kind of mode, locating pin 35 is located first spacing groove 312 all the time, and convenient operation through the self gravity that does benefit to the user, can drive second spacing groove 341 and press from both sides tight locating pin 35.
The first limiting groove 312 and the second limiting groove 341 may also be in a hole manner, at this time, the first limiting groove 312 is a first limiting hole, and the second limiting groove 341 is a second limiting hole, so that the position of the limiting disc 34 may be relatively fixed by inserting the positioning pin 35 into the first limiting hole and the second limiting hole. When the positioning device is used, the positioning pin 35 is pulled out, so that the limiting disc 34 can rotate freely, the positioning effect on the limiting disc 34 is better in the mode, and the limiting disc 34 is always kept in a relatively fixed state as long as the positioning pin 35 is not pulled out.
The rotating mechanism comprises a rotating seat 61 rotatably connected with the adjustable supporting component 3, the horizontal supporting plate 33 is fixedly connected with a fixed seat 6, the fixed seat 6 is fixedly connected with the rotating seat 61, the rotating seat 61 is provided with a plurality of open grooves 611, the horizontal supporting plate 33 is further rotatably connected with a rotating block 62 matched with the open grooves 611, and in an initial state, the rotating block 62 is arranged in the open grooves 611.
In this example, the opening grooves 611 are provided in two in total, and the two opening grooves 611 are symmetrically provided, wherein one opening groove 611 is provided directly above the first link frame 31 and the other opening groove 611 is provided directly above the second link frame 32, so that when the rotating block 62 is rotated into the opening groove 611, the fixing of the rotation angle of the seat 1 can be achieved.
The seat 1 comprises two rotation angles, wherein one rotation angle is that the seat 1 faces the front, and the other rotation angle is that the seat 1 faces the rear. Therefore, the seat is convenient to use according to different scenes of the seat 1, and the corresponding angle of the seat 1 is different.
The rotating mechanism comprises a hub motor 7, the angle adjusting mechanism is connected with the hub motor 7 through a rotating shaft 71, and the hub motor 71 is connected with the seat surface 13 of the seat 1; the in-wheel motor 71 is internally provided with an angle sensor, and the in-wheel motor 71 and the angle sensor are connected with a controller.
The rotating shaft 71 penetrates through the rotating seat 61 and is fixedly connected with the rotating seat 61, and the rotating shaft 71 is rotatably connected with the in-wheel motor 7, so that when the in-wheel motor 7 rotates, the seat 13 can be driven to rotate, and under the action of the angle sensor, the seat 13 is always kept in a parallel state.
The seat 1 further comprises a seat back 14 connected with a seat surface 13, one end, far away from the seat back 14, of the seat surface 13 is rotatably connected with a leg support 12, an electric push rod 11 is hinged to the bottom end of the seat surface 13, and the electric push rod 11 is hinged to the leg support 12.
The electric push rod 11 is connected with an independent remote controller, the remote controller can control the work of the electric push rod 11, and the electric push rod 11 can drive the leg support 12 to rotate around the chair surface 13.
Example two
As shown in fig. 1 to 10, the present embodiment provides a crawler-type support chassis, including the adaptive seat according to the first embodiment, the traveling mechanism includes a front crawler assembly and a rear crawler assembly, the front crawler assembly and the rear crawler assembly are respectively hinged to the support base 2 through a front rotating frame 51 and a rear rotating frame 41, the front crawler assembly includes a front crawler section 52 and a rear crawler section 52, a first included angle is formed between the rear crawler section 52 and the front crawler section 52, and the first included angle is an obtuse angle.
Further comprising: a rotating shaft 9, the rotating shaft 9 being disposed at or near a rear end of the front track assembly, and at the same time the rotating shaft 6 being disposed at or near a front end of the rear track assembly;
the front and/or rear track assemblies rotate about the axis of rotation 6, when the rotation is in a first state, the rear ends of the rear track sections 52 and the front sections of the rear track assemblies are inclined upwardly and the rear track sections 52 are at an angle to the rear track assemblies, and when the rotation is in a second state, the rear track sections 52 are in the same plane as the plane of travel of the rear track assemblies.
The rear track assembly includes a rear track frame 44, at least two rear wheels 42 and a rear track 4 annularly wrapped around the rear wheels 42, at least one of the rear wheels 42 being a drive wheel, the rear wheels 42 each being rotatably mounted to the rear track frame 44, the at least two rear wheels 42 cooperating with each other to form a plane on a walking bottom surface of the rear track 4.
Wherein, back track support 44 still rotates and is connected with a plurality of back supporting wheel 45, back supporting wheel 45 is wound around to back track 4 annular, and back supporting wheel 45 plays the effect of support to back track 4 to make the walking bottom surface of back track 4 form a plane, do benefit to the climbing action, back crawler wheel 42 sets up the position of being close to preceding crawler assembly, and back crawler wheel 42 diameter is greater than back supporting wheel 45, thereby makes the upper surface of back track 4 form an inclined plane.
The back track 4 is provided with two and the symmetry sets up in the both sides of supporting seat 2, and two track structures do benefit to the device and adapt to various complicated topography, and do benefit to holistic stability.
The front track segment 52 and the rear track segment 53 are one of the following: (1) the front crawler belt assembly is formed by winding the same crawler belt into an integral crawler belt structure, and (2) the front crawler belt assembly is formed by winding two crawler belts into two independent crawler belt structures.
When the form (1) is adopted, the front track assembly comprises a front track 5, a front track support 56, a guide wheel 55 and at least two front track wheels 54 are arranged on the front track 5, the guide wheel 55 and the two front track wheels 54 divide the front track assembly into a front track section 52 and a rear track section 52, the guide wheel 55 is arranged at one end of the front track section 52 far away from the rear track section 52, and the guide wheel 55 is higher than the front track wheels 54, so that a first included angle is formed between the guide wheel 55 and the front track wheels 54.
Viewed from the other direction in the figure, the front track frame 56 is bent into an L shape, and one end of each end is provided with a guide wheel 55, one end of each end close to the rear track assembly is provided with a front track wheel 54, the front track section 52 and the rear track section 53 form an L-shaped structure, and a first included angle between the front track section and the rear track section is always kept constant. At the L-shaped corner, the upper surface of the front track 5 is an inclined surface, so that the front track 5 forms a triangular firm support structure, and the shape of the front track 5 forms the structure shown in fig. 1.
Leading wheel 55 is higher than preceding athey wheel 54 in the preceding crawler assembly to make preceding crawler segment 52 and back crawler segment 53 form the contained angle, because of the angle of this contained angle is great, consider crawler overall structure, consequently adopt the mode of triangle-shaped track, the triangle-shaped structure makes preceding crawler assembly have better stability, and the requirement itself to the track is lower, and the operation requirement is lower, plays reduce cost, maintains convenient effect.
The bottom surface of the rear crawler belt section 53 and the bottom surface of the rear crawler belt 4 form a plane, normal walking of the device is facilitated, the front crawler belt section 52 inclines obliquely upwards, the inclined angle is matched with the gradient of a conventional step, contact with the step is facilitated, and therefore the device is driven to wholly climb the step.
The two front caterpillars 5 are symmetrically disposed on both sides of the two rear caterpillars 4.
When the step climbing action is carried out, under the action of the gravity of the device, the front crawler belt assembly and/or the rear crawler belt assembly rotate around the rotating shaft 6, when the rotation is in a first state, the front crawler belt section 52 inclines downwards, the rear end of the rear crawler belt section 53 and the front section of the rear crawler belt 4 incline upwards, an included angle is formed between the rear crawler belt section 53 and the front section of the rear crawler belt 4, and when the rotation is in a second state, the rear crawler belt section 53 and the walking plane of the rear crawler belt 4 are on the same plane.
One end of the front rotating frame 51 is hinged with the front crawler support 56, and the other end of the front rotating frame 51 is hinged with the support seat 2. The front rotary frame 51 is provided on both sides of the front track frame 56, and plays a role of clamping the front track frame 56.
One end of the rear rotating frame 41 is hinged with the rear track support 44, and the other end of the rear rotating frame 41 is hinged with the support seat 2. The rear rotating frame 41 is provided at both sides of the rear track frame 44, and plays a role of clamping the rear track frame 44.
Preceding rotating turret 51 and supporting seat 2 articulated shaft and back rotating turret 41 are the same axle with supporting seat 2 articulated shaft to when convenient current track subassembly and back track subassembly revolute axis of rotation 6 and take place relative rotation, preceding rotating turret 51 and back rotating turret 41 take place to rotate simultaneously, do benefit to going on of climbing work.
The rear end of the front track assembly has a drive wheel disposed on the rear side of the rear track section 53. The front end of the rear track assembly has a drive wheel disposed on the front side of the rear track 4. The center shaft of the drive wheel of the front track assembly and the center shaft of the drive shaft of the rear track assembly are the same shaft, the shaft is a rotating shaft 6, and the front track assembly and the rear track assembly are both rotatably connected with the rotating shaft 6.
The utility model also provides a self-adaptive climbing method, and the all-terrain wheelchair comprises the following steps:
in a flat ground walking state, the leg support 12 of the seat 1 is positioned in front of the seat 1, the upper end of the adjustable support component 3 inclines towards the upper left, the walking mechanism drives the seat 1 to perform flat ground walking action, and in the process, the seat surface 13 of the seat 1 is always kept parallel;
before climbing, the rotating mechanism drives the seat 1 to rotate, the leg support 12 of the seat 1 is positioned behind the seat 1, the adjustable support component 3 rotates around the support seat 2, the upper end of the adjustable support component 3 inclines towards the upper right, the walking mechanism drives the seat 1 to climb, and in the process, the seat surface 13 of the seat 1 is always kept parallel;
in climbing: the walking mechanism drives the seat 1 to climb, and meanwhile, the angle adjusting mechanism drives the seat 1 to rotate, so that the seat surface 13 of the seat 1 is always parallel;
after climbing: the rotating mechanism drives the seat 1 to rotate, the leg support 12 of the seat 1 is positioned in front of the seat 1, and the adjustable support component 3 rotates around the support seat 2 to return to a flat ground walking state;
before going downhill: the leg support 12 of the seat 1 is positioned in front of the seat 1, the adjustable support component 3 rotates around the support seat 2, the upper end of the adjustable support component 3 inclines towards the upper left side, and the included angle between the adjustable support component 3 and the ground is smaller than that between the adjustable support component 3 and the ground when the adjustable support component walks on a flat ground;
in the downhill slope: the walking mechanism drives the seat 1 to go downhill, and the angle adjusting mechanism drives the seat 1 to rotate at the same time, so that the seat surface 13 of the seat 1 is always kept parallel;
after going downhill: the adjustable supporting component 3 rotates around the supporting seat 2 and returns to a flat ground walking state.
When the climbing operation is carried out on the steps, when the steps are climbed, the front section of the front crawler belt section 52 is downwards inclined to contact the steps, the front crawler belt 5 and the rear crawler belt 4 are driven by the driving wheel to rotate, climbing action is carried out, meanwhile, the front crawler belt assembly and the rear crawler belt assembly rotate around the rotating shaft 6, the rear end of the rear crawler belt section 52 and the front end of the rear crawler belt assembly are upwards inclined, the rear crawler belt section 52 and the rear crawler belt assembly form an included angle, at the moment, the angle adjusting mechanism drives the seat 1 to rotate, and the seat surface 13 of the seat 1 is enabled to be always kept parallel.
The method for adjusting the rotation of the supporting component 3 includes that the positioning pin 35 is moved out of the second limit groove 341, at this time, the first connecting frame 31 and the second connecting frame 32 can freely rotate around the supporting seat 2, then the corresponding second limit groove 341 is rotated to the position of the first limit groove 312, and the positioning pin 35 is inserted into the second limit groove 341 and the first limit groove 312, so that the angle of the supporting component 3 can be adjusted and fixed.
The method for driving the seat 1 to rotate by the rotating mechanism includes that the rotating block 62 is moved out of the open slot 611 by rotating the rotating block 62, the rotating block 62 does not limit the rotation of the rotating seat 61, and after the rotating seat 61 is rotated by a proper angle, the rotating block 62 is rotated to move the rotating block 62 into the open slot 611, so that the position of the rotating seat 611 is relatively fixed.
The method for driving the seat 1 to rotate by the angle adjusting mechanism comprises the steps that under the action of the angle sensor, the angle sensor sends corresponding signals to the controller according to the change of the angle of the seat 13, and the controller controls the hub motor 7 to rotate so as to drive the seat 13 to rotate, so that the seat 13 is always kept in a parallel state.
The front crawler assembly and the rear crawler assembly can rotate relatively, so that when climbing stairs, the front crawler assembly is in contact with the steps to drive the front crawler assembly and the rear crawler assembly to form an included angle, the seat 13 is always parallel to the ground under the action of the angle adjusting mechanism, the gravity center of the device is pressed on the front section of the seat 13, the vehicle cannot be turned forwards, the safety coefficient is high, and compared with a conventional wheelchair climbing stair mechanism, the conventional wheelchair climbing stair mechanism is easy to cause unstable gravity center and further cause inclination of the device.
After the step climbing action is completed, the middle part of the conventional wheelchair chassis is contacted with the uppermost step, so that the wheelchair chassis can rotate instantly under the action of gravity, the front section of the wheelchair can be rapidly contacted with the ground, in the process, the front section of the wheelchair needs to be pressed down manually, if the force is too small, the wheelchair can be easily turned over, and the chassis can be easily damaged.
Adjustable supporting component is provided with three kinds of states altogether, when adjustable supporting component upper end is located the upper left side, make the focus antedisplacement, be applicable to the level land walking, during the climbing, adjustable supporting component upper end becomes the upper right side setting, make 1 focus of seat and track focus be close the coincidence, the stability of wheelchair when improving the climbing, prevent the hypsokinesis, when the downhill path, adjustable supporting component upper end is located the upper left side and the degree of inclination is bigger, make 1 focus of seat antedisplacement, the stability of wheelchair when improving the downhill path, prevent to lean forward, therefore, the steam generator is simple in operation, high durability and convenient use, and safety factor is higher.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. The utility model provides an adaptive seat, includes supporting seat and seat, the seat includes the seat, its characterized in that still includes:
the supporting seat is rotatably connected with the adjustable supporting component, and when the adjustable supporting component rotates around the supporting seat, the seat surface of the seat is always kept parallel;
the angle adjusting mechanism is used for adjusting the angle of the seat to enable the seat surface of the seat to be always parallel;
the rotating mechanism is used for driving the seat to rotate;
the adjustable supporting assembly is connected with the rotating mechanism, and the rotating mechanism is connected with the seat through the angle adjusting mechanism; the supporting seat is also connected with a traveling mechanism;
the adjustable supporting assembly comprises a first connecting frame and a second connecting frame, the bottom ends of the first connecting frame and the second connecting frame are rotatably connected with the supporting seat, and the upper ends of the first connecting frame and the second connecting frame are rotatably connected with the same horizontal supporting plate; the first connecting frame and the second connecting frame are the same in length and are parallel;
the horizontal supporting plate is fixedly connected with a limiting disc, the limiting disc is provided with a plurality of second limiting grooves, the first connecting frame is provided with a first limiting groove, and positioning pins penetrate through the first limiting groove and the second limiting grooves; when the limiting disc rotates around the first connecting frame, the second limiting groove and/or the first limiting groove clamp the positioning pin.
2. The adaptive seat according to claim 1, wherein the number of the second limiting grooves is three, the second limiting groove in the middle is matched with the positioning pin for walking on the flat ground, the second limiting groove on the left side is matched with the positioning pin for climbing stairs, and the second limiting groove on the right side is matched with the positioning pin for descending stairs; the distance from the second limiting groove positioned on the left side to the second limiting groove in the middle is larger than the distance from the second limiting groove positioned on the right side to the second limiting groove in the middle.
3. The adaptive seat according to claim 1, wherein the rotating mechanism includes a rotating base rotatably connected to the adjustable supporting component, the rotating base has a plurality of open slots, the adjustable supporting component further rotatably connects to a rotating block matching with the open slots, and in an initial state, the rotating block is disposed in the open slots.
4. The adaptive seat according to claim 1, wherein the rotating mechanism comprises a hub motor, the angle adjusting mechanism is connected with the hub motor through a rotating shaft, and the hub motor is connected with the seat surface of the seat; an angle sensor is arranged in the hub motor, and the hub motor and the angle sensor are connected with a controller.
5. The adaptive seat according to claim 1, further comprising a seat back connected to the seat surface, wherein a leg support is rotatably connected to one end of the seat surface, which is far away from the seat back, and an electric push rod is hinged to the bottom end of the seat surface and hinged to the leg support.
6. An all terrain wheelchair including an adaptive seat as claimed in any one of claims 1 to 5, the running mechanism including a front track assembly and a rear track assembly, the front and rear track assemblies being articulated to the support base by a front and rear bogie, respectively, the front track assembly including a front track section and a rear track section, the rear track section forming a first angle with the front track section, and further comprising:
a rotation shaft disposed at or near a rear end of the front track assembly and at the same time disposed at or near a front end of the rear track assembly;
the front crawler assembly and/or the rear crawler assembly rotate around the rotating shaft, when the rotating shaft is in a first state, the rear end of the rear crawler section and the front section of the rear crawler assembly incline upwards, an included angle is formed between the rear crawler section and the rear crawler assembly, and when the rotating shaft is in a second state, the traveling planes of the rear crawler section and the rear crawler assembly are on the same plane;
the front crawler assembly and the rear crawler assembly are respectively connected with an independent driving mechanism or the same driving mechanism to drive the front crawler assembly and the rear crawler assembly to rotate.
7. The all-terrain wheelchair of claim 6, wherein the rear track assembly includes a rear track frame, at least two rear wheels and a rear track annularly wrapped around the rear wheels, at least one of the rear wheels being a drive wheel, the rear wheels each being rotatably mounted to the rear track frame, the at least two rear wheels cooperating with each other such that the rear track tread surface forms a plane; one end of the rear rotating frame is hinged with the rear crawler support, and the other end of the rear rotating frame is hinged with the supporting seat.
8. The all-terrain wheelchair as claimed in claim 6, wherein the front track section and the rear track section are of a track structure which is integrally wrapped by the same track; the front crawler assembly comprises a front crawler, a front crawler support, a guide wheel and at least two front crawler wheels are arranged on the front crawler, the guide wheel and the two front crawler wheels divide the front crawler assembly into a front crawler section and a rear crawler section, the guide wheel is arranged at one end, far away from the rear crawler section, of the front crawler section, and the guide wheel is higher than the front crawler wheels, so that a first included angle is formed between the guide wheel and the front crawler wheels; one end of the front rotating frame is hinged with the front crawler support, and the other end of the front rotating frame is hinged with the supporting seat.
9. The all-terrain wheelchair of claim 6, wherein the rear end of the front track assembly has a drive wheel, the front end of the rear track assembly has a drive wheel, and the central axis of the drive wheel of the front track assembly and the central axis of the drive wheel of the rear track assembly are the rotational axis, and wherein the front track assembly and the rear track assembly are each rotatably coupled to the rotational axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121764348.XU CN216294465U (en) | 2021-07-30 | 2021-07-30 | Self-adaptive seat and all-terrain wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121764348.XU CN216294465U (en) | 2021-07-30 | 2021-07-30 | Self-adaptive seat and all-terrain wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216294465U true CN216294465U (en) | 2022-04-15 |
Family
ID=81086056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121764348.XU Active CN216294465U (en) | 2021-07-30 | 2021-07-30 | Self-adaptive seat and all-terrain wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216294465U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113730118A (en) * | 2021-07-30 | 2021-12-03 | 北京纳德智能科技有限公司 | Self-adaptive seat, all-terrain wheelchair and self-adaptive climbing method |
-
2021
- 2021-07-30 CN CN202121764348.XU patent/CN216294465U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113730118A (en) * | 2021-07-30 | 2021-12-03 | 北京纳德智能科技有限公司 | Self-adaptive seat, all-terrain wheelchair and self-adaptive climbing method |
| CN113730118B (en) * | 2021-07-30 | 2024-04-19 | 南京万彩游乐设备有限公司 | Self-adaptive seat, all-terrain wheelchair and self-adaptive climbing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4044850A (en) | Wheelchair | |
| US4823900A (en) | Four-wheel drive wheel-chair with compound wheels | |
| US4645222A (en) | Vehicle and method of operating same | |
| US4432425A (en) | Wheel chair | |
| US4926952A (en) | Four-wheel drive wheelchair with compound wheels | |
| US4566707A (en) | Wheel chair | |
| US4108449A (en) | Stair-climbing wheelchair | |
| CN112773621A (en) | Support structure, chassis structure, intelligent stair climbing wheelchair and method for climbing stairs | |
| CN105596160B (en) | The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs | |
| CN216294465U (en) | Self-adaptive seat and all-terrain wheelchair | |
| WO1994007452A1 (en) | Stair transcending conveyance | |
| CN113730118A (en) | Self-adaptive seat, all-terrain wheelchair and self-adaptive climbing method | |
| CN113619696B (en) | Crawler-type carrying chassis, horizontal stair climbing machine and self-adaptive climbing method | |
| US20090045002A1 (en) | Wheelchair | |
| CN206315205U (en) | A kind of seat can keep the crawler self wheeled chair of level automatically | |
| CA1228007A (en) | Four-wheel drive wheelchair with compound wheels | |
| CN216294466U (en) | Rotary type supporting seat and all-terrain wheelchair | |
| JP3502335B2 (en) | Self-propelled vehicles such as stairs for the sick | |
| CN216222062U (en) | Adjustable supporting component and all-terrain wheelchair | |
| CN216535831U (en) | Crawler-type supporting chassis and all-terrain wheelchair | |
| WO2006103787A1 (en) | Traveling device | |
| DE2165452A1 (en) | ILLUSTRATION WITH UNLIMITED FREEDOM OF MOVEMENT | |
| CN209757397U (en) | Stair climbing device | |
| CN110742743A (en) | All-terrain electric wheelchair | |
| CN214729184U (en) | Track assembly, walking wheel rotation switching structure and stair climbing vehicle body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |