WO2020088356A1

WO2020088356A1 - Barrier-free automatic wheelchair capable of climbing stairs and running on flat ground

Info

Publication number: WO2020088356A1
Application number: PCT/CN2019/113208
Authority: WO
Inventors: 马海光
Original assignee: 马海光
Priority date: 2018-10-31
Filing date: 2019-10-25
Publication date: 2020-05-07
Also published as: CN109288632A

Abstract

Disclosed is a barrier-free automatic wheelchair capable of climbing stairs and running on flat ground, the wheelchair comprising a seat (1), an advancing assembly and a supporting assembly, wherein: with regard to the seat (1), the seat (1) is used for a user to sit; with regard to the advancing assembly, the advancing assembly comprises four advancing wheel sets, each advancing wheel set comprises a triangular crawler wheel (4) and a round idler wheel (5), one vertex angle of the triangular crawler wheel (4) is oriented downwards, and the lowest point of the triangular crawler wheel (4) is located above the lowest point of the round idler wheel (5); and with regard to the supporting assembly, the supporting assembly is used for connecting the seat (1) and the advancing assembly. The barrier-free automatic wheelchair can run on a flat road surface, and can also quickly cross an obstacle road surface such as stairs, and has good stability and high safety.

Description

Barrier-free automatic wheelchair capable of climbing stairs and walking flat

Technical field

The invention relates to a wheelchair, in particular to a barrier-free automatic wheelchair that can climb stairs and walk on a flat surface.

Background technique

Most domestic wheelchairs are ordinary electric wheelchairs, which are composed of simple batteries, motors, and wheels, and can only walk on flat roads. Although it can also go uphill, there is a danger of turning over. If you encounter obstacles such as stairs, ordinary wheelchairs are not useful at all. This is a very bad experience for people with inconvenient actions. They can't walk around casually like ordinary people.

There are also electric wheelchairs for climbing stairs in foreign countries, which use straight crawlers to climb stairs, but there is a problem that when going up the stairs, you cannot face the front. The experience of the person on the road is not very good. Just like a normal person with his back on the stairs, he will always worry about whether he will hit other people. Moreover, the speed of going up the stairs is relatively slow, which can not realize the function of random and free.

Patent 201210205979.7 discloses a wheelchair with double tracked wheels, including: a chair; a switching mechanism for switching between the roller transmission and the tracked wheel transmission of the wheelchair with double tracked wheels, the tracked wheel transmission has The first track wheel and the second track wheel connected by the connecting bracket.

The above-mentioned wheelchair needs to switch between the track wheel and the roller, which is cumbersome to operate, has poor stability, and the safety performance cannot be well guaranteed.

Summary of the invention

In view of the above problems, the present invention proposes an obstacle-free automatic wheelchair that can climb stairs and walk on the ground, can walk on a flat road, and can also quickly cross obstacles such as stairs, with good stability and high safety.

The specific technical solutions are as follows:

A barrier-free automatic wheelchair capable of climbing stairs and walking on the ground, including a seat, a traveling component and a supporting component, wherein:

Seat, the seat is used for the user to take a seat;

Traveling assembly, the traveling assembly includes four traveling wheel sets, each traveling wheel set includes a triangular track wheel and a round roller, one of the top angles of the triangular track wheel is set downward, and the lowest point of the triangular track wheel is located on the round wheel Above the lowest point of

The support assembly is used to connect the seat and the travel assembly.

Further, the supporting assembly includes an upper supporting plate, a lower supporting plate and a connecting plate;

The upper support plate is used to fix the seat;

The lower support plate is used to fix four traveling wheelsets;

The upper support plate is arranged in parallel above the lower support plate;

One end of the connection plate is rotatably fixed to one end of the upper support plate, and the other end of the connection plate is rotatably fixed to the other end of the lower support plate opposite to the upper support plate, so that the overall support assembly has a Z-shaped structure;

A first linear motor is arranged between the lower supporting plate and the connecting plate, and a second linear motor is arranged between the connecting plate and the upper supporting plate. The first linear motor and the second linear motor telescopically cooperate to realize the seat lifting or decline.

Further, a shock absorber is respectively provided on the first linear motor and the second linear motor.

Further, a foot pedal is provided on the seat, and a first distance sensor is provided at the bottom of the foot pedal.

Further, the four traveling wheel sets are arranged on the support assembly in the form of 2 * 2, and the traveling wheel sets located on both sides of the support assembly are driven and rotated by two driving assemblies, respectively.

Further, the drive assembly includes a transmission shaft, a drive motor, and a sprocket assembly;

The drive shaft is connected to the round roller and the triangle track wheel on the same traveling component, and the drive motor is linked to the drive shafts on the two traveling components on the same side of the support component through the sprocket component.

Further, a control handle is provided on the seat, and the control handle is used to control the wheelchair to advance, the wheelchair to retreat, the wheelchair to turn, the seat to raise or the seat to lower.

Further, the seat is movably arranged on the support assembly by a translation mechanism.

Further, the translation mechanism includes a third linear motor disposed on the support assembly, a sliding sleeve is sleeved on the output rod of the third linear motor, the sliding sleeve is fixedly connected to the seat, and the third linear motor drives the slider to move, thereby realizing the seat The chair moves.

Further, a slide rail is provided on the support assembly, a slide block is slidably provided on the slide rail, and the slide block is fixed on the seat.

Further, two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors are respectively provided corresponding to the two components close to the foot pedal.

The beneficial effects of the present invention are:

(1) The present invention will combine the triangle track wheel and the round roller to make the wheelchair not only have the function of smooth walking of ordinary travel tools, but also have the function of climbing stairs;

(2) The structural arrangement of the support assembly, combined with the first linear motor and the second linear motor, can realize the free lifting and lowering of the seat;

(3) The shock absorber is directly connected to the first linear motor and the second linear motor, so that the automatic wheelchair can filter out the bumpy movements during walking, making the user feel comfortable;

(4) The translation mechanism and guide rails are added to the wheelchair to make the seat adjustment more diversified.

BRIEF DESCRIPTION

Figure 1 is a side view of the invention.

Figure 2 is a rear view of the invention.

FIG. 3 is a schematic structural view of the present invention when the seat is lifted when encountering an obstacle.

4 is a schematic structural view (1) of the present invention when climbing a staircase.

5 is a schematic structural diagram (2) of the present invention when climbing a staircase.

6 is a schematic structural view of the present invention when going down stairs.

7 is a right side view of the state of FIG.

Fig. 8 is a schematic structural view of a sprocket assembly.

Reference mark

Seat 1, first traveling wheel set 2, second traveling wheel set 3, cam track wheel 4, round roller 5, upper support plate 6, lower support plate 7, connecting plate 8, upper support frame 9, lower support frame 10 , First linear motor 11, second linear motor 12, shock absorber 13, first drive assembly 14, second drive assembly 15, transmission shaft 16, drive motor 17, first transmission gear 18, second transmission gear 19 , The first chain 20, the pedal 21, the first distance sensor 22, the control handle 23, the third linear motor 24, the sliding sleeve 25, the slide rail 26, the slider 27, the battery pack 28, the third transmission gear 29, the fourth The transmission gear 30, the second distance sensor 31, the fifth transmission gear 32, and the sixth transmission gear 33.

detailed description

In order to make the technical solution of the present invention more clear and unambiguous, the present invention will be further described below in conjunction with the drawings. Any solution obtained by equivalent replacement and conventional reasoning of the technical features of the technical solution of the present invention falls into the protection scope of the present invention.

As shown in the figure, a barrier-free automatic wheelchair that can climb stairs and walk on the ground includes a seat 1, a traveling component and a supporting component, wherein:

Seat, the seat is used for the user to take a seat;

Traveling assembly, the traveling assembly includes two first traveling wheel sets 2 and two second traveling wheel sets 3, both the first traveling wheel set and the two second traveling wheel sets include a triangular track wheel 4 and a round roller 5, The direction of one of the top angles of the triangle track wheel is set downward, and the lowest point of the triangle track wheel is above the lowest point of the round wheel, that is, when the round wheel contacts the horizontal plane, the triangle track wheel is separated from the horizontal plane;

Support assembly, the support assembly is used to connect the seat and the traveling assembly;

The support assembly includes an upper support plate 6, a lower support plate 7 and a connecting plate 8; the upper support plate is used to fix the seat; the lower support plate is used to fix the four traveling wheel sets;

The upper support plate is arranged in parallel above the lower support plate;

Two upper support frames 9 are vertically arranged at the rear end of the upper support plate, and two lower support frames 10 are vertically arranged at the front end of the connection plate;

The rear end of the connecting plate is rotatably fixed on the upper support frame, and the lower support frame of the connecting plate is rotatably connected with the front end of the lower support frame, so that the overall support assembly has a Z-shaped structure;

A first linear motor 11 is provided between the rear end of the lower support plate and the front end of the connecting plate, and a second linear motor 12 is provided between the front end of the connecting plate and the rear end of the upper support plate. The two linear motors are respectively provided with a shock absorber 13, and the first linear motor and the second linear motor telescopically cooperate to realize the lifting or lowering of the seat;

Two first traveling wheel sets are provided on one side of the lower support plate, and two second traveling wheel sets are provided on the other side of the lower support plate. The first traveling wheel set and the second traveling wheel set pass through the first drive assembly 14 and The second driving assembly 15 is driven to rotate;

Both the first drive assembly and the second drive assembly include a transmission shaft 16, a drive motor 17, and a sprocket assembly;

The number of transmission shafts is two, and the two transmission shafts are respectively connected to the driving wheel of the round roller and the triangle track wheel on the same traveling component, so that the round roller and the triangle track wheel are linked;

The sprocket assembly includes two first transmission gears 18, two second transmission gears 19, two first chains 20, and a gear box. A third transmission gear 29, a fourth transmission gear 30, and a fifth transmission are provided in the gear box Gear 32 and sixth transmission gear 33;

In two first traveling wheel sets or two second traveling wheel sets:

The two first transmission gears are respectively fixed on the two transmission shafts, the two second transmission gears are coaxially fixed on the output shaft of the gear box, and the two first transmission gears respectively pass through the two first chains and the corresponding The two transmission gears are connected, and the drive motor is connected to the input shaft of the gear box;

In the gear box, the third transmission gear is fixed on the output shaft of the gear box, and realizes linkage with the second transmission gear, the third transmission gear meshes with the fifth transmission gear, and the fourth transmission gear coaxially fixed on the fifth transmission gear The gear and the fourth transmission gear mesh with the sixth transmission gear fixed on the input shaft;

The driving motor drives the two second transmission gears to rotate at the same time, so that the two transmission shafts on the same side rotate at the same time, thereby realizing the round roller and the triangle crawler wheel in the two first traveling wheel sets or the two second traveling wheel sets Turn simultaneously

A foot 21 is provided on the seat, and a first distance sensor 22 is provided at the bottom of the foot; a gyroscope is also provided on the seat;

Two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors 31 are respectively provided corresponding to the first traveling wheel group and the second traveling wheel group close to the foot pedal;

A control handle 23 is provided on the seat, and a control module is provided on the lower support plate. The control module is respectively connected with the control handle, the gyroscope, the first distance sensor, the second distance sensor, the first linear motor, the second linear motor, the first The three linear motors are connected to the drive motor, and the control handle is used to control the wheelchair forward, wheelchair backward, wheelchair turning, seat uplift or seat down through the control module.

The seat is movably arranged on the support assembly through the translation mechanism;

The translation mechanism includes a third linear motor 24 disposed on the upper support plate, a sliding sleeve 25 is sleeved on the output rod of the third linear motor, the sliding sleeve is fixedly connected to the seat, and the third linear motor drives the slider to move, thereby realizing the seat The chair moves; a slide rail 26 is provided on the support assembly, a slider 27 is slidably provided on the slide rail, and the slider is fixed on the seat;

A battery pack 28 is provided on the lower support plate, and the battery pack provides energy for the control module, the drive motor, the first linear motor, the second linear motor, the third linear motor, and the first distance sensor.

The control method of the automatic wheelchair of the present invention is as follows:

(1) As shown in Figures 1 and 2, the first drive assembly drives two first traveling wheel sets and the second drive assembly drives two second traveling wheel sets; the first distance sensor on the pedal is used for sensing Whether there is an obstacle in front; the first linear motor and the second linear motor perform telescopic movements to raise or lower the seat; the first linear motor and the second linear motor, the shock absorber serves to buffer the vibration; The third linear motor can move the seat forward or backward; the control handle controls the wheelchair to move forward or backward;

(2) In the initial state of the wheelchair, the seat is at the lowest position, which makes it easy to sit on the seat; once the wheelchair is started, the first linear motor and the second linear motor will perform an extension action to make the upper support plate and the lower The support plate makes a swing motion to raise the seat to a certain height;

(3) When the wheelchair is walking on a flat road, the height of the seat can be adjusted according to personal needs. When the seat is adjusted high, the first linear motor and the second linear motor perform an extension action to move the seat Raise; the first linear motor and the second linear motor retract, and the seat lowers;

(4) When the wheelchair is walking on a flat road, the four round rollers are in contact with the ground, the triangular track wheel is separated from the ground, and the drive motor drives the round roller to rotate through the sprocket assembly, thereby making the wheelchair forward or backward; because The triangle track wheel does not contact the ground, so the automatic wheelchair moves as smoothly and quickly as an ordinary wheelchair;

(5) The wheelchair can turn in place; when the automatic wheelchair turns to the right, the left triangle track wheel and round wheel turn clockwise, and the right tank wheel and round wheel turn counterclockwise to achieve steering; left When turning, the rotation direction of the triangle track wheel and the round roller is opposite to that when turning right;

(6) As shown in Figure 3, there is a first distance sensor on the footrest. When the automatic wheelchair is moving forward, if it encounters an obstacle higher than the height of the sensor, the seat will be automatically raised, so that the height of the sensor is higher than the obstacle Height

(7) As shown in Figure 4, after the seat is raised, the wheelchair can rely on the triangle track wheels to climb the stairs; the track of the triangle track wheels is forced on the edge of the stairs, which generates thrust to push the automatic wheelchair up; The gyroscope senses that the angle of the seat changes, and the first linear motor or the second linear motor will perform a stretching action to keep the seat in a horizontal position;

(8) As shown in Figure 5, when the wheelchair continues to climb, the triangle track wheel first contacts the ladder and uses the track to push the wheelchair up; the seat is kept in a horizontal position through the control of the control module;

(9) When the wheelchair climbs to the last step of the stairs, through the data sensed by the gyroscope, the control module controls the first linear motor or the second linear motor to keep the seat in a horizontal position;

(10) As shown in Figure 6, when going down the stairs, the track of the front triangular track wheel will contact the edge of the step, so that the wheelchair can move down smoothly; the seat controls the first linear motor or the second straight line through the control module The motor keeps the seat in a horizontal state; at the same time, the second distance sensor is used to detect the distance between the first traveling wheel group and the second traveling wheel group located on the front ends of both sides and the steps, to ensure that the first traveling wheel group and The second traveling wheel set reaches the ladder position at the same time, so that the two front wheels can go down the stairs at the same time, avoiding the phenomenon of one side wheelchair sliding down.

Claims

A barrier-free automatic wheelchair capable of climbing stairs and walking on the ground, including a seat, a traveling component and a supporting component, characterized by:

Seat, the seat is used for the user to take a seat;

Traveling assembly, the traveling assembly includes four traveling wheel sets, each traveling wheel set includes a triangular track wheel and a round roller, one of the top angles of the triangular track wheel is set downward, and the lowest point of the triangular track wheel is located on the round wheel Above the lowest point of

The support assembly is used to connect the seat and the travel assembly.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, wherein the support assembly includes an upper support plate, a lower support plate and a connection plate;

The upper support plate is used to fix the seat;

The lower support plate is used to fix four traveling wheelsets;

The upper support plate is arranged in parallel above the lower support plate;

One end of the connection plate is rotatably fixed to one end of the upper support plate, and the other end of the connection plate is rotatably fixed to the other end of the lower support plate opposite to the upper support plate, so that the overall support assembly has a Z-shaped structure;

A first linear motor is arranged between the lower supporting plate and the connecting plate, and a second linear motor is arranged between the connecting plate and the upper supporting plate. The first linear motor and the second linear motor telescopically cooperate to realize the seat lifting or decline.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 2, wherein a shock absorber is respectively provided on the first linear motor and the second linear motor.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, 2 or 3, wherein the seat is provided with a foot pedal, and the bottom of the foot pedal is provided with a first distance sensor.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, 2 or 3, characterized in that: four traveling wheel sets are arranged on the support assembly in the form of 2 * 2, and are located on both sides of the support assembly The traveling wheels on the side are driven and rotated by two driving assemblies respectively.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 5, wherein the driving assembly includes a transmission shaft, a driving motor and a sprocket assembly;

The transmission shaft is connected to the round roller and the triangle track wheel on the same traveling component, and the drive motor is linked to the transmission shafts on the two traveling components on the same side of the support component through the sprocket component.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 5 or 6, characterized in that: the seat is provided with a control handle, which is used to control the wheelchair forward, the wheelchair backward, the wheelchair turn The chair is raised or the seat is lowered.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, 2 or 3, characterized in that the seat is movably arranged on the support assembly by a translation mechanism.
The barrier-free automatic wheelchair capable of climbing stairs and walking horizontally according to claim 8, characterized in that the translation mechanism includes a third linear motor provided on the support assembly, and an output rod of the third linear motor is provided with a sliding sleeve The sleeve and the sliding sleeve are fixedly connected with the seat, and the third linear motor drives the slider to move, thereby realizing the movement of the seat.
The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 2 or 3, characterized in that: two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors are respectively close to The two pedals are set correspondingly to the components.