CN102697614A - Stand-assisting stair-climbing wheelchair - Google Patents

Abstract

A wheelchair for standing up and climbing stairs, comprising: a chair part, the chair part is used for the user to sit on; and the switch between the crawler belt transmission; and the auxiliary standing mechanism, the auxiliary standing mechanism is arranged on the underside of the chair, and is used to assist the user to stand; wherein, the switching mechanism of the standing and climbing wheelchair is a five-bar mechanism, Controlled by 2 linear motors, it has 8 movable bodies and 11 low pairs, and its degree of freedom is 2. The switching mechanism of the stair-climbing assistance wheelchair of the present invention uses the five-bar mechanism to compensate the structural error of the four-bar mechanism, realizes high-precision motion output or completes more complex motion rules, and thereby realizes the switching between roller transmission and crawler transmission, At the same time, the auxiliary standing mechanism with a parallelogram structure is used to assist the user to stand up, and can realize the functions of keeping the seat in a horizontal state and adjusting the center of gravity of the seat when climbing stairs and overcoming obstacles.

Description

Stair climbing wheelchair

technical field

The invention relates to the technical field of machinery and control, in particular to a wheelchair for standing up and climbing stairs.

Background technique

Wheelchairs are an indispensable means of transportation for the elderly and infirm. But, traditional wheelchair just can't cross when encountering hurdle. Among them, going up and down stairs is the biggest obstacle for these people with disabilities. In 2000, in order to solve the problem of going up and down stairs in these houses, the country considered installing elevators for these houses, but due to various reasons, the plan was shelved.

At present, the way abroad to solve the problem of wheelchair users crossing the stairs is to use the emergency evacuation transport equipment of the building - the stair climber, which is about to temporarily fix the wheelchair on the stair climber, so as to go up and down the stairs. Put it back to the original place after use, and the operation procedure is loaded down with trivial details. Although it can solve the problem of going up and down stairs for wheelchair users, it cannot go up and down stairs in buildings that are not equipped with stair climbing vehicles.

Stair climbing wheelchairs at home and abroad usually use a four-bar mechanism or a planetary gear mechanism to realize going up and down stairs. For the planetary wheel type stair-climbing wheelchair, the structure is simple, and a self-locking mechanism is used to ensure that it does not fall when going up and down stairs. But this stair-climbing wheelchair has poor adaptability to stairs, and cannot meet the needs of users for comfort and reliability.

For the crawler-type stair-climbing wheelchair, the crawler is used when going up and down the stairs to ensure the continuity of the process of going up and down the stairs. However, the above-mentioned crawler-type stair-climbing wheelchair needs to be completed with the help of others every time the crawler is installed, and the operation is cumbersome, the structure is heavy, and it is inconvenient to carry, which greatly limits the places where the wheelchair can go up and down stairs.

For the crawler and wheel combined stair climbing wheelchair, the wheelchair uses a four-bar structure to realize the conversion of the wheel and the crawler by lifting the wheels. However, the stair-climbing wheelchair adopts a four-bar structure and has only one degree of freedom, so it cannot realize high-precision operation output or complete more complicated motion laws.

Therefore for the existing problems of the prior art, the designer of this case actively researches and improves by virtue of years of experience in this industry, and thus has invented a kind of wheelchair to help stand and climb stairs.

Contents of the invention

The present invention is aimed at the conventional stair-climbing wheelchairs in the prior art, which have poor adaptability to stairs, cannot meet the needs of users for comfort and reliability, and cannot achieve high-precision operation output or complete more complex movements. Defects such as regularity provide a wheelchair for climbing stairs.

Another object of the present invention is to provide an auxiliary wheelchair for the defects of the prior art, such as the poor adaptability to stairs, the inability to meet the user's needs for comfort and reliability, and the user's sedentary discomfort. The steps of the auxiliary standing mechanism of the stair climbing wheelchair.

In order to solve the above problems, the present invention provides an auxiliary wheelchair for standing up and climbing stairs, including: a wheelchair for standing up and climbing stairs, including: a chair part, the chair part is used for the user to sit on; a switching mechanism, the switching mechanism is set Under the chair part, it is used for switching between the roller transmission and the crawler belt transmission of the stair climbing aid mechanism; and the auxiliary standing mechanism, the auxiliary standing mechanism is arranged on the lower side of the chair part, and is used to assist the user Standing; wherein, the switching mechanism of the standing-climbing wheelchair is a five-bar mechanism, controlled by 2 linear motors, with 8 movable mechanisms and 11 low pairs, and its degree of freedom is 2.

Optionally, one end of the switching mechanism is movably connected to the first fixed point provided on the standing-climbing wheelchair, and the other end of the switching mechanism is connected to the second fixed point on the standing-climbing wheelchair. Fixed connection.

Optionally, one end of the first rod of the switching mechanism is movably connected with the first fixed point; the other end of the first rod is movably connected with one end of the second rod of the switching mechanism; the switching mechanism The other end of the second rod is flexibly connected to one end of the first linear motor on the fourth rod; the first bending part of the second rod is axially connected at the end point of the third rod; The other end of the four rods is movably connected with the fifth rod; the other end of the fifth rod is fixedly connected with the third rod; one end of the sixth rod is fixedly arranged on the third rod; The other end of the sixth rod is flexibly connected to one end of the second linear motor on the seventh rod; the other end of the seventh rod is flexibly connected to one end of the eighth rod; the other end of the eighth rod It is movably connected with one end of the rod fixed at the second fixed point; the second bending part of the eighth rod is axially connected at the end point of the third rod.

Optionally, the auxiliary standing mechanism includes a first strut, a second strut, a third strut, and a fourth strut arranged in a parallelogram; the first strut is parallel to the third strut setting; the second pole is arranged in parallel with the fourth pole; one end of the second pole is flexibly connected to a point on the first pole; the other end of the second pole is connected to the The endpoint of the third pole is flexibly connected; one end of the fourth pole is flexibly connected to the endpoint on the first pole; the other end of the fourth pole is flexibly connected to the point on the third pole ; A fifth pole is set between the end of the third pole close to the fourth fixed point and the second pole, and a third linear motor is set on the fifth pole; A fourth linear motor is arranged on the sixth pole between the third fixed point and the supporting point adjacent to the fourth fixed point.

Optionally, the third pole is in an "L" shape.

In order to achieve another object of the present invention, the present invention provides a method for the auxiliary standing mechanism of the standing-climbing wheelchair to realize the auxiliary standing function, and the method includes the following steps:

Executing step S1: driven by the third linear motor, and the third linear motor is extended, the connection point between the second pole and the first pole is centered on the other end of the second pole , and move with the length of the second pole as the radius;

Executing Step S2: Since the first pole, the second pole, the third pole and the fourth pole form a parallelogram, the second pole and the fourth pole have the same movement law; The first support rod rotates around the connection point F of the first support rod and the fourth support rod, and the first support rod is always parallel to the third support rod, so that the chair is always supported for use the back of the victim;

Step S3 is executed: the third linear motor is driven and extended, thereby realizing the assisting standing function of the standing-climbing wheelchair.

Optionally, the auxiliary standing mechanism of the wheelchair for standing up and climbing stairs further includes:

Executing step S4: the fourth linear motor is driven, the third linear motor has no elongation movement, and the third support rod rotates clockwise at a certain angle around the fourth fixed point, thereby realizing climbing stairs And the function that the seat can maintain a horizontal state and adjust the center of gravity of the seat when overcoming obstacles.

Optionally, the size of the angle is determined by the angles of stairs and obstacles.

To sum up, the switching mechanism of the standing and climbing wheelchair according to the present invention uses the five-bar mechanism to compensate for the structural error of the four-bar mechanism, so as to realize high-precision motion output or complete more complex motion rules, and thereby realize the transmission of rollers and The switch of the crawler transmission, and the use of the auxiliary standing mechanism with a parallelogram structure to assist the user to stand up, and can realize the functions of keeping the seat in a horizontal state and adjusting the center of gravity of the seat when climbing stairs and over obstacles.

Description of drawings

Fig. 1 shows the schematic diagram of the three-dimensional structure of the wheelchair of the present invention to help stand and climb stairs;

Fig. 2 shows the schematic structural diagram of the principle structure of the switching mechanism of the wheelchair for standing up and climbing stairs of the present invention;

Fig. 3 shows the schematic diagram of the structure and principle of the auxiliary standing mechanism of the wheelchair of the present invention;

Fig. 4 is a schematic diagram showing the adjustment level and center of gravity of the wheelchair of the present invention;

Fig. 5 shows the schematic diagram of the initial stage of going upstairs with the second crawler belt of the stair-climbing wheelchair of the present invention;

Fig. 6 is a schematic diagram showing the first crawler belt and the second crawler belt of the wheelchair climbing stairs according to the present invention;

Fig. 7 is a schematic diagram of the second crawler of the stair-climbing aid wheelchair according to the present invention after it has completed going upstairs.

Detailed ways

In order to illustrate the technical content, structural features, achieved goals and effects of the present invention in detail, the following will be described in detail in conjunction with the embodiments and accompanying drawings.

Please refer to FIG. 1 . FIG. 1 is a three-dimensional structural schematic diagram of the stair-climbing assistance wheelchair of the present invention. The wheelchair 1 for standing up and climbing stairs includes a chair part 10 for the user to ride on; a switching mechanism 11 between roller transmission and crawler belt transmission, and the switching mechanism 11 is arranged under the chair part 10 , and is used for switching between the roller transmission and the crawler belt transmission of the stair climbing aid mechanism 1, and the auxiliary standing mechanism 12, the auxiliary standing mechanism 12 is arranged on the lower side of the chair part 10, and is used to assist the user stand.

Please continue to refer to FIG. 1 and refer to FIG. 2 in combination. FIG. 2 is a schematic diagram showing the principle structure of the switch mechanism of the stair-climbing assistance wheelchair of the present invention. In the present invention, the roller transmission mode is adopted when the standing-climbing wheelchair 1 is moving on flat ground; the crawler transmission mode is adopted when the standing-climbing wheelchair 11 is going up and down stairs. Wherein, the switching between the roller transmission mode and the crawler belt transmission mode is realized by the lifting control of the crawler belt by the switching mechanism 11 . One end of the switching mechanism 11 is movably connected with the first fixed point 13 provided on the standing-climbing wheelchair 1; Point 14 fixed connection.

Please continue to refer to FIG. 2 , the switching mechanism 11 of the wheelchair 1 for standing up and climbing stairs according to the present invention is a five-bar mechanism controlled by two linear motors, with 8 movable mechanisms and 11 lower pairs, and its degree of freedom is 2. Specifically, point A at one end of the first rod 110 of the switching mechanism 11 is flexibly connected to the first fixed point 13; point B at the other end of the first rod 110 is connected to the second rod 111 of the switching mechanism 11 One end of the second rod 111 of the switching mechanism 11 is flexibly connected to point D at the other end of the second rod 111 and one end of the first linear motor 113a on the fourth rod 112 is flexibly connected; the first bending part of the second rod 111 1111 is axially connected at point C at the end point of the third rod 114; the other end E point of the fourth rod 112 is flexibly connected with the fifth rod 115; the other end of the fifth rod 115 is connected with the The third bar 114 is fixedly connected; one end of the sixth bar 116 is fixedly arranged on the third bar 114; the other end of the sixth bar 116 is connected with the second linear motor 113b on the seventh bar 117 One end is movably connected; the other end of the seventh rod 117 is movably connected with one end of the eighth rod 118; the other end of the eighth rod 118 is movably connected with one end of the rod 119 fixedly arranged on the second fixed point 14 ; The second bending portion 1181 of the eighth rod 118 is axially connected at the end point J of the third rod 114 .

Please continue to refer to FIG. 2 , and describe in detail the working principle of the switching mechanism 11 of the wheelchair 1 for standing up and climbing stairs according to the present invention. When the switching mechanism 11 of the wheelchair 1 for standing up and climbing stairs according to the present invention switches between the roller drive and the crawler belt drive, the following steps are included:

Step S11 is executed: the first linear motor 113a is driven and extended laterally. At this time, the point B at one end of the second rod 111 that is movably connected with the first linear motor 113a is different from the connection point. The point A of the first fixed point 13 is the center of the circle, and the length of AB is the radius and moves clockwise. ; That is, the first rod 110 rotates clockwise around point A. Under the push of the first linear motor 113a, the second rod 111 rotates with the first rod 111 and pushes the end point C of the third rod 114 to move up and down.

Executing step S12: the eighth rod 118 is driven by the second DC motor 113b to rotate around the point K at one end of the rod 119 that is different from the second fixed point 14, and under the push of the eighth rod 118, the The end point J of the third rod 114 moves up and down.

Step S13 is executed: during the up-and-down movement of the end points C and J of the third rod 114 , the lifting and lowering of the caterpillar is realized, thereby realizing the switching between the roller transmission and the crawler transmission.

Please continue to refer to FIG. 1 and refer to FIG. 3 in conjunction with FIG. 3 . FIG. 3 is a schematic diagram of the structure and principle of the auxiliary standing mechanism of the stair-climbing wheelchair of the present invention. The auxiliary standing mechanism 12 of the standing-climbing wheelchair 1 is fixedly arranged on the wheelchair frame (not shown) of the standing-climbing wheelchair 1 through the third fixed point 15 and the fourth fixed point 16 . The auxiliary standing mechanism 12 includes a first strut 121 , a second strut 122 , a third strut 123 , and a fourth strut 124 arranged in a parallelogram. Wherein, the first pole 121 is arranged parallel to the third pole 123 ; the second pole 122 is arranged parallel to the fourth pole 124 . The third pole 123 is in the shape of "". One end of the second pole 122 is flexibly connected to the point E on the first pole 121 ; the other end of the second pole 122 is flexibly connected to the end point C of the third pole 123 . One end of the fourth pole 124 is movably connected to the end point F on the first pole 121 ; the other end of the fourth pole 124 is movably connected to the point B on the third pole 123 . A fifth pole 125 is set between the end of the third pole 123 close to the fourth fixed point 16 and the second pole 122, and a third linear motor is arranged on the fifth pole 125 126a. A fourth linear motor 126 b is provided on the sixth support rod 127 between the third fixed point 15 and the supporting point 17 adjacent to the fourth fixed point 16 .

Please continue to refer to FIG. 3 , and describe in detail the working principle of the standing-assisting mechanism of the stair-climbing assistance wheelchair of the present invention. The auxiliary standing mechanism 12 of the wheelchair 1 for helping to stand and climb stairs described in the present invention comprises the following steps when realizing the auxiliary standing function:

Step S21 is executed: driven by the third linear motor 126a, and the third linear motor 126a is extended, then the connection point E between the second rod 122 and the first rod 121 is formed by the second rod 122 The other end point C is the center of the circle, and moves with the length of the second pole 122 as the radius. That is, the connection point E between the second pole 122 and the first pole 121 rotates counterclockwise around the other end point of the second pole 122 .

Execute step S22: Since the first strut 121, the second strut 122, the third strut 123, and the fourth strut 124 form a parallelogram, the second strut 122 and the fourth strut 124 have the same laws of motion. The first pole 121 rotates around the connection point F of the first pole 121 and the fourth pole 124, and the first pole 121 is always parallel to the third pole 123, so that The chair portion 10 always supports the user's back.

Step S23 is executed: the third linear motor 126a is driven and extended, thereby realizing the assisting standing function of the stair-climbing wheelchair 1 .

Please continue to refer to Fig. 1, and refer to Fig. 4, the present invention further includes the following steps in order to realize the function that the seat can maintain a horizontal state and adjust the center of gravity of the seat when climbing stairs and surmounting obstacles:

Execute step S24: the fourth linear motor 126b is driven, at this time, the third linear motor 126a has no elongation movement, and the third support rod 123 rotates clockwise around the fourth fixed point 16 by a certain angle , the size of the angle is determined by the angle of the stairs and obstacles, so as to realize the functions of maintaining the horizontal state of the chair portion 10 and adjusting the center of gravity of the seat when climbing stairs and overcoming obstacles.

Please continue to refer to FIG. 1 , and refer to FIG. 5 , FIG. 6 , and FIG. 7 in conjunction with FIG. 5 . FIG. 5 shows a schematic diagram of the second crawler of the stair-climbing wheelchair of the present invention at the initial stage of going upstairs. Fig. 6 is a schematic view of the first crawler and the second crawler of the wheelchair climbing stairs according to the present invention. Fig. 7 is a schematic diagram of the second crawler of the stair-climbing aid wheelchair according to the present invention after it has completed going upstairs. When the stair-climbing assistance wheelchair 1 encounters a staircase, the switching mechanism 11 adjusts the inclination of the second caterpillar belt 18b until the second crawler belt 18b is completely attached to the staircase surface. Subsequently, the second crawler belt 18b and the first crawler belt 18a continue to rotate. After the first crawler belt 18a is smoothly adjusted by the switching mechanism 11 to be in contact with the stair surface, the second crawler belt 18b and the first crawler belt 18a go upstairs at the same time. When the level manned chair (not shown) of the stair-climbing wheelchair 1 detects by the sensor that the process of going up stairs is over, the second crawler belt 18b is smoothly adjusted to the level by the switching mechanism 11, and continues to Move forward until the first crawler belt 18a is also adjusted to the level. That is, the process of going up stairs is completed.

Apparently, the process of going down the stairs is similar to the process of going up the stairs, and will not be explained in detail here.

To sum up, the switching mechanism of the standing and climbing wheelchair according to the present invention uses the five-bar mechanism to compensate for the structural error of the four-bar mechanism, so as to realize high-precision motion output or complete more complex motion rules, and thereby realize the transmission of rollers and The switch of the crawler transmission, and the use of the auxiliary standing mechanism with a parallelogram structure to assist the user to stand up, and can realize the functions of keeping the seat in a horizontal state and adjusting the center of gravity of the seat when climbing stairs and over obstacles.

Those skilled in the art will appreciate that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Therefore, if any modification or variation falls within the scope of protection of the appended claims and their equivalents, the present invention is deemed to cover such modification and variation.

Claims (8)

1. one kind is helped upright stair-climbing wheel chair, it is characterized in that, saidly helps upright stair-climbing wheel chair to comprise:

Chair portion, said chair portion is used for user and takes;

Switching mechanism, said switching mechanism are arranged on said chair subordinate, and are used for the switching between the said roller transmission that helps upright Climbing building device 1 is transmitted with crawler belt; And,

The auxiliary mechanism of standing, the said auxiliary mechanism of standing is arranged on said chair subordinate side, and is used for assisting user to stand;

Wherein, said to help the switching mechanism of upright stair-climbing wheel chair be five-rod, by 2 linear electric motors controls, has 8 movable devices and 11 lower pairs, and its degree of freedom is 2.

2. as claimed in claim 1ly help upright stair-climbing wheel chair; It is characterized in that; One of said switching mechanism end flexibly connects with being arranged on said first fixing point that stands on the stair-climbing wheel chair that helps, and the other end of said switching construction helps second fixing point on the upright stair-climbing wheel chair to be fixedly connected with said.

3. as claimed in claim 1ly help upright stair-climbing wheel chair, it is characterized in that an end of first bar of said switching mechanism and said first fixing point flexibly connect; One end of second bar of the other end of said first bar and said switching mechanism flexibly connects; First linear electric motors, one end on the other end of said switching mechanism second bar and said the 4th bar flexibly connects; The axle type connects first kink of said second bar at the end points place of said the 3rd bar; The other end of said the 4th bar and said the 5th bar flexibly connect; The other end of said the 5th bar is fixedly connected with said the 3rd bar; One end of said the 6th bar is fixedly installed on said the 3rd bar; One end of second linear electric motors on the other end of said the 6th bar and said the 7th bar flexibly connects; One end of the other end of said the 7th bar and said the 8th bar flexibly connects; The other end of said the 8th bar flexibly connects with an end of the bar that is fixedly installed on second fixing point; Second kink of said the 8th bar connects in the end points axle type of said the 3rd bar.

4. as claimed in claim 1ly help upright stair-climbing wheel chair, it is characterized in that the said auxiliary mechanism of standing comprises first pole, second pole, the 3rd pole that parallelogram is provided with, and the 4th pole; Said first pole and said the 3rd pole laterally arrange; Said second pole and said the 4th pole laterally arrange; Point on one end of said second pole and said first pole flexibly connects; The end points of the other end of said second pole and said the 3rd pole flexibly connects; One end of said the 4th pole and the end points on first pole flexibly connect; Point on the other end of said the 4th pole and said the 3rd pole flexibly connects; Between closing on of said the 3rd pole said the 4th fixing point one end and said second pole, the 5th pole is set, and on said the 5th pole, the 3rd linear electric motors is set; At said the 3rd fixing point and close on the 6th pole between the strong point of said the 4th fixing point the 4th linear electric motors are set.

5. as claimed in claim 4ly help upright stair-climbing wheel chair, it is characterized in that said the 3rd pole is L-shaped.

6. as claimed in claim 1ly help upright stair-climbing wheel chair, it is characterized in that, said help upright stair-climbing wheel chair auxiliary stand mechanism realize auxiliary station render meritorious service can the time may further comprise the steps:

Execution in step S1: by said the 3rd linear motor driving, the elongation of said the 3rd linear electric motors, the junction point of then said second pole and said first pole is the center of circle with another end points of second pole, and is that radius moves with the length of said second pole;

Execution in step S2: owing to said first pole, second pole, the 3rd pole, the 4th pole constitute parallelogram, so said second pole has the identical characteristics of motion with said the 4th pole; Said first pole is rotated around the junction point F of said first pole and said the 4th pole point, and said first pole is also parallel with said the 3rd pole all the time, makes chair portion support the back of user all the time;

Execution in step S3:, thereby realize helping the auxiliary station of the upright stair-climbing wheel chair ability of rendering meritorious service through the driving and the elongation of said the 3rd linear electric motors.

7. as claimed in claim 6ly help upright stair-climbing wheel chair, it is characterized in that, said help upright stair-climbing wheel chair auxiliary stand mechanism realize auxiliary station render meritorious service can the time further comprise:

Execution in step S4: said the 4th linear motor driving; Said the 3rd linear electric motors do not have stretching motion; Said the 3rd pole clockwise rotates certain angle around said the 4th fixing point, and then the function that chair portion can keep level and regulate the seat center of gravity when realizing climbing building and obstacle detouring.

8. as claimed in claim 7ly help upright stair-climbing wheel chair, it is characterized in that the size of said angle is decided by the angle of stair and barrier.

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