CN103230320A - Reconfigurable wheel leg combination type wheelchair - Google Patents
Reconfigurable wheel leg combination type wheelchair Download PDFInfo
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- CN103230320A CN103230320A CN2013101654499A CN201310165449A CN103230320A CN 103230320 A CN103230320 A CN 103230320A CN 2013101654499 A CN2013101654499 A CN 2013101654499A CN 201310165449 A CN201310165449 A CN 201310165449A CN 103230320 A CN103230320 A CN 103230320A
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Abstract
本发明公开一种可重构的轮腿复合式轮椅车，采用模块化设计，其特征在于该轮椅主要由前腿机构、前腿调节机构、前腿动力传输机构、可调节脚踏板、轮椅机架、座椅调节机构、爬楼梯机构、座椅、安全带、主动轮、万向轮和控制器组成；所述轮椅机架是轮椅各机构联系的中心构件，两组前腿调节机构对称安装在轮椅机架的前端悬臂上，并与前腿动力传输机构连接；前腿动力传输机构布置在轮椅机架内的前部；座椅调节机构通过四个连杆铰接在轮椅机架上部的外滑道上，其上固定有座椅；手柄控制器安装在座椅扶手上，并与控制器连接；爬楼梯机构安装在轮椅机架后端底部；两个主动轮分别安装在轮椅机架中部两侧；两个万向轮对称固定在轮椅机架的后悬臂上。
The invention discloses a reconfigurable wheel-leg composite wheelchair, which adopts a modular design, and is characterized in that the wheelchair is mainly composed of a front leg mechanism, a front leg adjustment mechanism, a front leg power transmission mechanism, an adjustable foot pedal, a wheelchair Frame, seat adjustment mechanism, stair climbing mechanism, seat, safety belt, driving wheel, universal wheel and controller; the wheelchair frame is the central component connecting the various mechanisms of the wheelchair, and the two sets of front leg adjustment mechanisms are symmetrical Installed on the front cantilever of the wheelchair frame and connected with the front leg power transmission mechanism; the front leg power transmission mechanism is arranged in the front of the wheelchair frame; the seat adjustment mechanism is hinged on the upper part of the wheelchair frame through four connecting rods On the outer slideway, the seat is fixed on it; the handle controller is installed on the armrest of the seat and connected with the controller; the stair climbing mechanism is installed at the bottom of the rear end of the wheelchair frame; two driving wheels are respectively installed in the middle of the wheelchair frame On both sides; two universal wheels are symmetrically fixed on the rear cantilever of the wheelchair frame.
Description
Technical field
The present invention relates to a kind of wheelchair technology, specifically is a kind of reconfigurable wheel-leg combined type wheel Wheel-chair.
Background technology
Electric wheelchair (or wheel Wheel-chair) can make things convenient for people's walking of handicapped old man and lower limb incompleteness, but present common wheelchair all only is adapted at walking on level land or the slope, does not possess the building of climbing obstacle detouring function.Yet run into step, stair or ditch through regular meeting in the living environment, limited the scope of application of electric wheelchair greatly.So beginning one's study, people have the electric wheelchair of functions such as stair climbing.It is electronic or manual that " the operation Multipurpose wheelchair " of designs such as Dong Shangbin discloses a kind of employing, can the level land Multipurpose wheelchair (referring to ZL86210653) that uses of operation and stair activity.The front wheel that its major technique content is the wheelchair side and rear roller be by three little star-wheels that above diameter is identical, be distributed on the wheel shaft be the center of circle, be on the circumference of radius with the step height, constitute planetary gear.Planetary gear has level land operation rotation, also has the structure around the roller shaft revolution during stair activity except rotation.The weak point of this structure is that by the condition control on road surface, obstacle climbing ability is very uncertain fully for the kinestate of pivoted arm.In " applied research of planet gear type stair climbing wheelchair " literary composition that Jin Qiang etc. delivers, a kind of " full control " planetary gear structure (referring to " Chinese rehabilitation medicine magazine " 2011 the 26th volumes the 1st phase P66) disclosed, strengthened the controllability that planetary gear is climbed the building process.But stationarity was not high when still there was stair activity in this structure, and deficiencies such as center of gravity big rise and fall can make the occupant not feel well." a kind of wheelchair of stair climbing " of designs such as Guo Yongli discloses a kind of occupant only needs both hands to shake the stair climbing wheelchair that advances, stops, moves back, changes (referring to ZLO1211658.0) that handle just can be controlled wheelchair.Its major technique content is to adopt track structure, is suitable for topping bar, and is provided with autobalance, can keep the seat level when wheelchair tilts forward and back.Though this structure is steady than planet gear type, suffered resistance was bigger when used on the track structure level land, and scanning frequency is not high, and the chassis is lower, obstacle climbing ability is poor, and motion and turning underaction, and these problems have limited its promoting the use of in daily life.
In the research to stair climbing wheelchair, the U.S., France, Germany and Japan occupy an leading position, and technology is relatively ripe.The electric stair climbing ladder wheelchair that France Topchair company produces, four wheels are arranged at its bottom, use during the operation of level land; When running into extreme terrains such as stair, wheelchair can be lowered into ground with the rubber belt track of both sides, four wheels are packed up, rely on crawler belt to finish functions such as climbing the building, wherein brave horse H8 series electric stair climbing wheelchair adopts the crawler type Climbing building device, its seat, the equal adjustable tilt angle of backrest can be climbed the step below 20 centimetres, and the stair climbing ruling grade is 35 degree.The iBOT3000 type of the U.S. adopts the planetary gear Climbing building device, and there is the solid castor of 10 centimetres of a pair of diameters the front, and there is the inflated wheel of 30 centimetres of two pairs of diameters the back.Can not only climb the stair of height below 21 centimetres and be no more than 15 centimetres high " road serratd edge ", and can be at the sandy beach, slope and rugged road surface walk, and trailing wheel can " be stood up " and walked upright, the occupant is raise, pick and place the object (referring to " Chinese rehabilitation medicine magazine " 2005 the 20th volumes the 5th phase P366-P367) that is positioned at eminence.IBOT3000 has developed into iBOT4000 at present, is the highest product of performance in this field.But above-mentioned wheelchair price is all very high, is difficult to be accepted by common user.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is that a kind of reconfigurable wheel-leg combined type wheel Wheel-chair is provided.This takes turns the quick operation that Wheel-chair can be realized the level land, and stair activity and obstacle detouring are striden safe, the stable and comfortable operation of ditch etc., and user can be realized by the independent operation joystick, and having simple in structurely, cheap, stationarity is good, characteristics such as it is flexible to turn are suitable for industrialization promotion and implement.
The technical scheme that the present invention solve the technical problem is: design a kind of reconfigurable wheel-leg combined type wheel Wheel-chair, adopt modularized design, it is characterized in that this wheelchair mainly is made up of preceding leg mechanism, foreleg governor motion, foreleg power transmission mechanism, adjustable foot pedal, wheelchair frame, seat regulator, stairs climbing device, seat, seat belt, drivewheel, universal wheel and controller;
Described wheelchair frame shape exactly likes trunk and the extremity of animal, is the central component of each mechanism's contact of wheelchair, mainly comprises front boom, sprocket wheel baffle plate, external slideway, back boom and set of cells; Preceding leg mechanism has two groups, is installed in by foreleg governor motion symmetry on the front end cantilever of wheelchair frame, is connected with the foreleg power transmission mechanism by the chain transmission; The foreleg power transmission mechanism is arranged in the wheelchair frame anterior; Seat regulator on the external slideway of wheelchair upper rack, fixedly has seat by four rod hinge connections on it; Handle controller is installed on the handrail of seat, is connected with the controller of wheelchair by lead; Stairs climbing device is installed in the bottom, rear end of wheelchair frame, can realize the pose regulatory function, simultaneously the power of toothrow wheel Wheelchairs Available speeling stairway; Two drivewheel leucorrhea motors are installed in the both sides of wheelchair central rack respectively; Two universal wheels are fixed on the back boom of wheelchair frame respectively symmetrically;
Leg mechanism comprises that pose is regulated and two functional modules of power output before described: the power transport module mainly is made up of casing, directive wheel, sprocket wheel, little idle wheel and travelling gear; The final drive shaft of one terminal link chain link wheel utilizes bearing block to be installed on the casing, be connected to travelling gear and the engagement of little idle wheel on the final drive shaft, little idle wheel meshes with the stem gear that is installed in hind axle again, hind axle is installed between preceding connecting plate and the left gear connecting rod by bearing block, and directive wheel is installed, stem gear and another little idle wheel engagement, another little idle wheel meshes with the stem gear that is installed on the front axle again, front axle is installed in left back connecting plate, between the right back connecting plate, directive wheel is installed on it, on sprocket wheel transmission power to two directive wheel, realize the power transmission; The attitude adjustment module is mainly by preceding connecting plate, left back connecting plate, right back connecting plate, right gear connecting rod, left gear connecting rod, left leading screw, right leading screw, and left slider nut, right slider nut, guide runner and guide post thereof are formed; The top of casing is equipped with a plurality of parallel guide rails, with be socketed in right leading screw on have a tooth bar the left slider nut cooperate installation, the top that is installed in the left gear connecting rod on the transmission final drive shaft has the bar shaped tooth, cooperate installation with the left slider nut, position by turning handle adjusting slider nut, thereby drive the swing of left gear connecting rod, preceding connecting plate, realize the regulatory function of the first joint pose; The right slider nut lower end that cooperates with another guide rail and be socketed on the left leading screw also has the bar shaped tooth, be connected with a joggle with the right gear connecting rod that is contained on the transmission final drive shaft, the hinged guide runner of the other end of right gear connecting rod, after can being installed in, slide block slides on the guide rod of connecting plate, when regulating left leading screw, right slider nut drives the right gear connecting rod swing, and the right gear connecting rod drives guide runner and slides at guide rod, can realize the adjusting of second joint pose;
Described foreleg elevating mechanism is mainly formed by heightening handle, middle connecting plate, foreleg leading screw, nut, lead, upper junction plate and lower connecting plate; Heighten handle and be connected on the middle connecting plate by bearing block, the lower end is connected to pinion, and gear wheel is connected the feed screw nut lower end with pin, and cooperates with pinion; Feed screw nut is socketed on the foreleg leading screw, and with bearing be connected with the affixed bearing sleeve of middle connecting plate in, the foreleg leading screw is fixed between the lower connecting plate; Two pilot hole seats are fixed in the hole of middle connecting plate, and two leads cooperate with it respectively, and two ends are separately fixed on upper junction plate and the lower connecting plate; Handle is heightened in rotation, can drive the nut rotation, thereby make lower connecting plate move up and down with the foreleg leading screw, the height of leg mechanism before changing:
Described foreleg power transmission mechanism mainly by foreleg motor, driving bevel gear, middle bearing bracket, driving shaft, form by cantilever power transmission shaft and sprocket wheel; The foreleg motor is connected the inside of wheelchair frame by the foreleg ring flange, the driving bevel gear that the axle head of foreleg motor is installed cooperates with the drive bevel gear transmission on being connected driving shaft, driving shaft is fixed on the front end cantilever of wheelchair frame by a pair of middle bearing bracket, the two ends of driving shaft are linked with the secondary bevel gear respectively, the cantilever power transmission shaft that a pair of axle head is linked with the secondary bevel gear is fixed in the front end jib foot of wheelchair frame by two pairs of cantilevered axle bearings, axle cogs respectively and output shaft, secondary Bevel Gear Transmission on the driving shaft cooperates, the other end of two output shafts is separately installed with sprocket wheel, and is connected with the wheelchair frame by the sprocket shaft bearing; By the rotation of controller control foreleg motor, realize the power of preceding leg mechanism is carried;
Described adjustable foot pedal gear mainly is made up of pedal handle, pedal leading screw, pedal slider nut and gathering sill; Pedal handle and pedal leading screw are affixed, and be installed in the middle front part of wheelchair frame by top chock and step, the pedal slider nut is socketed on the pedal leading screw, its chute cooperates with the gathering sill that is fixed on the wheelchair frame front, slide block can be moved at vertical direction, pedal is connected with the pedal slider nut by two pins, rotates the height that the pedal handle can be adjusted pedal; Described chair mounted is on the seat frame of seat regulator, and seat belt is installed in the bottom of seat back positions;
Described seat regulator is divided into angular adjustment module and altitude mixture control module; The angular adjustment module mainly is made up of seat motor, planetary gear, central gear, front rod, follow-up connecting rod, rear slider, front-slider, seat guide post and seat frame; The seat motor is installed on the seat frame by the seat ring flange, the planetary gear that the output axle head is installed and the central gear engagement that is connected on the horizontal connecting shaft, form planet circular system, horizontal connecting shaft passes the bottom of front-slider, and two ends are connected with front rod with pin respectively, the other end of front rod is hinged on the wheelchair frame, one end of two follow-up connecting rods is hinged on respectively on the wheelchair frame, the other end then is hinged on the rear slider respectively, four connecting rods constitute two groups of four-bar mechanisms, the pose form of the rotation governor motion by planetary gear; The altitude mixture control module mainly is made up of height adjustment knob, bevel pinion, bevel gear wheel, preceding leading screw, feed screw nut, rear slider, front-slider, follow-up connecting rod and front rod; Feed screw nut is nested in the interstitial hole of rear slider, and be socketed on the preceding leading screw, rear slider and two guide rods are connected, one end of guide rod is connected on the seat frame, one end is connected on the middle housing, and casing is installed on the seat frame, and an end of preceding leading screw is installed on the seat frame, the other end is equipped with the bevel pinion with the terminal bevel gear engagement of height adjustment knob, and height adjustment knob is installed on the middle housing by bearing block; Front-slider cooperates installation with guide rod, and by feed screw nut be socketed in the back leading screw on, one end of back leading screw is connected on the seat frame, the other end is equipped with the bevel pinion with the terminal bevel gear engagement of height adjustment knob, two groups of screw mechanisms have been formed the elevating mechanism of seat, can adjust the height of seat by turning handle, whole seat regulator is connected with external slideway on the wheelchair frame by inner slide;
Described stairs climbing device is divided into power transmission mechanism and two modules of pose governor motion; The power transmission mechanism module is mainly by motor, chassis main frame, idle wheel, cross moving axis, output bevel gear, back drive bevel gear and toothrow wheel, toothrow wheel shaft are formed down; Following motor is connected chassis main frame inside by the forward flange dish, and the output bevel gear of following motor shaft end keyed jointing cooperates with the back drive bevel gear that is installed in the cross moving axis, and the cross end shaft is the keyed jointing shaft end gear respectively, and is installed on the chassis main frame by rear bearing block; Shaft end gear cooperates with the front end gear of the row's of being installed in wheel shaft, row's wheel shaft is installed on the chassis main frame by bearing block, and terminal gear and toothrow wheel is installed, reach the chassis main frame outside, terminal gear cooperates with idle wheel, idle wheel cooperates with the toothrow wheel again, the toothrow wheel is connected on the float gear shaft, the other end of axle is equipped with the toothrow wheel, the toothrow wheel cooperates with another idle wheel again, and idle wheel cooperates with the toothrow wheel that another is installed on the wheel shaft, and the float gear shaft is connected on the chassis main frame by bearing, axle head is equipped with the toothrow wheel, realizes the continuous transmission of moment; Power transmission mechanism has two groups, is installed in the both sides of chassis main frame respectively, and every group mainly comprises five toothrow wheels, four idle wheels and five toothrow wheels, two groups of power transmission mechanisms are symmetrically distributed, and by the controller control rotation of motor down, realize climbing the required power in building to the transmission of toothrow wheel; The pose adjustment module is mainly by rear motor, front motor, back leading screw, and parts such as preceding leading screw, rear slider nut, front-slider nut and back stay, back rocking bar, back link, preceding rocking bar and front tension bar are formed; Front motor is fixed on centre position, wheelchair frame bottom by rear stub, the output axle head is affixed by leucorrhea clutch and preceding leading screw, the other end of preceding leading screw is connected with the wheelchair frame by front-end bearing pedestal, the front-slider nut sleeve is connected on the preceding leading screw, and cooperate installation with gathering sill on being fixed in the wheelchair frame, the two ends of passing the preceding transverse axis of front-slider nut bottom are hinged with front tension bar respectively, the other end of front tension bar and the middle part of preceding rocking bar are hinged, preceding rocking bar one end and wheelchair frame are hinged, and an end and chassis main frame are hinged; Rear motor is installed in the afterbody centre position of wheelchair frame by upper flange plate, output shaft is connected with the back leading screw by the leucorrhea clutch, the other end of leading screw is installed on the wheelchair frame, the rear slider nut sleeve is connected on the leading screw of back, back stay and rear slider nut are hinged, the other end of back stay is hinged on the tranverse connecting rod of back, the two ends of back tranverse connecting rod are connected with the middle part of back rocking bar, one end of back rocking bar is hinged on the afterbody of wheelchair frame, the other end and back stay are hinged, the other end and the chassis main frame of back stay are hinged, thereby form a pair of symmetrical distribution five-rod, regulate the position of front-slider nut and rear slider nut respectively by front motor and rear motor, the change in location of drivening rod realizes the adjustment of chassis pose;
Described controller is the controlling organization of reconfigurable wheel-leg combined type wheel Wheel-chair, and it mainly comprises main frame, slave, input module, display module, power module, sensor detection module, fault diagnosis module, driver module, communication module, driver module, timer module and sensor detection module; Input module comprises keyboard input and two submodules of handle input, is used for the operational order input; Display module comprises liquid crystal display and two submodules of digital demonstration, is used for showing the wheelchair running status; Power module comprises that accumulator, electric weight detect and the voltage output module, for whole wheelchair provides the energy; The sensor detection module comprises position probing and A/D signal conversion module, monitors the wheelchair run location in real time also and main-machine communication; Fault diagnosis module comprises that fault diagnosis and fault get rid of module, the fault that may occur for detection of system when getting rid of the wheelchair operational mode and switch; Driver module is mainly used in driving main motor, clutch and alarm; Driver module is mainly used in the driven management of driving motor, base plate electric machine and seat motor; Time block comprises intervalometer and actuator time block, is used to operator settings running time; The sensor detection module comprises angular displacement sensor, angular-rate sensor and force transducer module, is used for monitoring in real time the kinestate of each driving wheel of wheelchair and other auxiliary device.
Compared with prior art, the present invention takes turns Wheel-chair and has following advantage concurrently:
1. easy to use; But occupant's independent operation is realized smoothly and steadily climbing up and down stairs, has improved occupant's freedom of action degree, has alleviated nurse personnel's labor intensity; The equal scalable in the height of seat and angle of inclination, the Convenient wheelchair occupant uses.The wheel-leg combined type wheel Wheel-chair of embodiment is when climbing and obstacle detouring, and foreleg is to move synchronously respectively with retreating, and its load strengthens, and the movement locus of lower limb is simplified, thereby has simplified control system and control operation.
2. it is strong to climb the building ability; Leg mechanism and back leg mechanism before the wheelchair chassis is equipped with make the wheel Wheel-chair compare existing stair climbing wheel chair and have stronger climbing ability, to the comparatively complicated road surface of environment or barrier is arranged and landform such as ditch has stronger adaptive capacity; Simultaneously, during stair climbing, the toothed wheel that is interspersed can be blocked the step of stair, has strengthened the power that the wheel Wheel-chair is climbed the building effectively, has strengthened the building ability of climbing of wheel Wheel-chair greatly.
3. safety and stability is good; Embodiment has adopted the design of wheel-leg combined type wheel Wheel-chair, has increased safety and the comfortableness of climbing building and obstacle detouring, advances to support wheelchair in effective cooperation of climbing building and obstacle detouring hour wheel lower limb, and its fuselage stability and load are better than existing four lower limbs and odex; And the present invention takes turns Wheel-chair equal forward travel when climbing building and obstacle detouring, meets the custom that people's climbing is advanced, and strengthens the security of user.
4. suitability height; When climbing the building, the wheel Wheel-chair obtains stairs climbing device and stretches out, and realizing the stair climbing action, and when move on the level land, stairs climbing device is regained, and to strengthen speed and the motility that the wheel Wheel-chair moves, has the good road surface suitability.Simultaneously, the present invention takes turns Wheel-chair both can global design, also can reequip on the basis of common wheelchair, and leg mechanism, Climbing building device and seat regulator etc. before for example increasing, it is less that cost increases, and function and efficient but increase greatly.
Description of drawings
Fig. 1 is the overall structure sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 2 is the preceding leg mechanism master TV structure sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 3 is the right TV structure sketch map of preceding leg mechanism of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 4 is the foreleg elevating mechanism master TV structure sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 5 is the foreleg elevating mechanism plan structure sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 6 is the foreleg power transmission mechanism structural representation of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 7 is the adjustable foot pedal gear structural representation of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 8 is the wheel Wheel-chair rack construction sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Fig. 9 is the seat regulator perspective view of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Figure 10 is the seat regulator rack construction sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Figure 11 is the stairs climbing device master TV structure sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Figure 12 is the stairs climbing device plan structure sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Figure 13 is the wheel Wheel-chair stair activity sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention; Wherein, Figure 13 (a) is the go upstairs SBR of working stage of wheelchair; Figure 13 (b) is the wheelchair pilot process state of going upstairs; Figure 13 (c) goes upstairs for wheelchair and finishes stage condition; Figure 13 (d) is the wheelchair stage SBR of going downstairs; Figure 13 (e) is the wheelchair pilot process state of going downstairs; Figure 13 (f) goes downstairs for wheelchair and finishes stage condition;
Figure 14 is that the wheel Wheel-chair of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention is striden the ditch sketch map; Wherein, Figure 14 (a) strides the SBR of ditch working stage for wheelchair; Figure 14 (b) strides the state of ditch process starting stage for wheelchair; Figure 14 (c) strides ditch process interstage state for wheelchair; Figure 14 (d) strides ditch process done state for wheelchair;
Figure 15 is the wheel Wheel-chair obstacle detouring sketch map of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention; Wherein, Figure 15 (a) is that the work of wheelchair obstacle detouring is gone up a slope the starting stage; Figure 15 (b) is wheelchair obstacle detouring drivewheel climbing state; Figure 15 (c) crosses state for wheelchair obstacle detouring integral body; Figure 15 (d) is the wheelchair obstacle detouring; Figure 15 (e) is the wheelchair obstacle detouring descending interstage; Figure 15 (f) is the terminal stage of wheelchair obstacle detouring descending;
Figure 16 is the control system structured flowchart of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Figure 17 is the level land pattern control sequence block diagram of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention;
Figure 18 be a kind of embodiment of the reconfigurable wheel-leg combined type of the present invention wheel Wheel-chair climb building pattern control sequence block diagram;
Figure 19 is the obstacle detouring of a kind of embodiment of the reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention and crosses ditch pattern control sequence block diagram.
The specific embodiment
The invention will be further described below in conjunction with embodiment and accompanying drawing thereof:
The reconfigurable wheel-leg combined type wheel Wheel-chair of the present invention's design (is called for short wheel Wheel-chair or wheelchair, foretell 19 referring to figure), adopt modularized design, it is characterized in that this wheelchair mainly is made up of preceding leg mechanism 1, foreleg elevating mechanism 2, foreleg power transmission mechanism 3, adjustable foot pedal 4, wheelchair frame 5, seat regulator 6, stairs climbing device 7, controller 14, drivewheel 17 and universal wheel 18.
The motion of described each principal organ and implementation step all are independently, but the process of wheelchair stair activity is to be finished by the sequence of movement combined effect that control system (controller) is coordinated each principal organ.
Now introduce the specific embodiment (transmission and motion mode have also further been expressed concrete structure and the connected mode of mechanism) of each principal organ.
1). the specific embodiment of wheelchair frame 5: described wheelchair frame 5 is central components of each mechanism's contact of wheelchair, shape exactly likes trunk and the extremity of animal, mainly comprises front boom 501, sprocket wheel baffle plate 502, external slideway 503, back boom 504 and is installed in its inner set of cells 505; Leg mechanism 1 is fixed in corresponding foreleg elevating mechanism 2 lower ends before two groups, and symmetry is connected on the front boom 501 of wheelchair frame 5, and preceding leg mechanism 1 is connected with foreleg power transmission mechanism 3 by the chain transmission; Foreleg power transmission mechanism 3 is arranged in the wheelchair frame 5 anterior; Seat regulator 6 on the external slideway 503 of wheelchair frame 5, fixedly has seat 15 and other adnexaes by four rod hinge connections on it; Handle controller 14 is installed on the handrail of seat, is connected with the electric controller element of wheelchair by lead, realizes the control function; Stairs climbing device 7 is installed in middle bottom and the afterbody of wheelchair frame 5, can realize the pose regulatory function, simultaneously the power of row's wheel 717 Wheelchairs Available speeling stairways; Two drivewheel 17 leucorrhea motors are installed in the both sides of wheelchair frame 5 respectively; Two universal wheels 18 are fixed on respectively on the back boom 504 of wheelchair frame 5 symmetrically.Constitute eight sufficient wheel-leg combined type wheel Wheel-chairs by preceding leg mechanism 1, drivewheel 17, stairs climbing device 7 and universal wheel 18, the combination of its any two groups, three groups or four groups wheel lower limbs can be configured to four-footed, six foot or eight sufficient mode of operations.The wheel leg mechanism is originally as prior art.
2). the specific embodiment of preceding leg mechanism 1: preceding leg mechanism 1 comprises that pose is regulated and two functional modules of power output; The attitude adjustment module mainly is made up of left slider nut 101, final drive shaft 102, left gear connecting rod 104, left back connecting plate 108, right back connecting plate 111, right gear connecting rod 112, preceding connecting plate 113, right slider nut 115, right leading screw 116, left leading screw 117, foreleg casing 118, guide runner 121 and guide post 120 thereof etc.; The top of foreleg casing 118 is equipped with a plurality of parallel guide rails 119, with be socketed in right leading screw 117 on have a tooth bar left slider nut 101 cooperate installation, the top that is installed in the left gear connecting rod 104 on the final drive shaft 102 has the bar shaped tooth, cooperate installation with left slider nut 101, position by turning handle adjusting slider nut, thereby drive the swing of left gear connecting rod 104, preceding connecting plate 113, realize the regulatory function of the first joint pose; Right slider nut 115 lower ends that cooperate with another guide rail 119 and be socketed on the right leading screw 116 also have the bar shaped tooth, be connected with a joggle with the right gear connecting rod 112 that is contained on the final drive shaft 102, the hinged guide runner 121 of the other end of right gear connecting rod 112, after can being installed in, slide block slides on the guide rod 120 of connecting plate 111, when regulating right leading screw 116, right slider nut 115 drives 112 swings of right gear connecting rod, right gear connecting rod 112 drives guide runner 121 and slides at guide rod 120, can realize the adjusting of second joint pose.Power take-off module is made up of parts such as foreleg casing 118, final drive shaft 102, stem gear 106, hind axle 107, front axle 1 () 9, directive wheel 110, sprocket wheel 114, little idle wheel 105, travelling gears 103; The final drive shaft 102 of one terminal link chain link wheel 114 utilizes bearing block to be installed on the foreleg casing 118, be connected to travelling gear 103 and little idle wheel 105 engagements on the final drive shaft 102, little idle wheel 105 meshes with the stem gear 106 that is installed in hind axle 107 again, hind axle 107 is installed between preceding connecting plate 113 and the left gear connecting rod 104 by bearing block, and directive wheel 110 is installed, stem gear 106 and another little idle wheel 105 engagements, little idle wheel 105 meshes with the stem gear 106 that is installed on the front axle 109 again, front axle 109 is installed in left back connecting plate 108, between the right back connecting plate 111, directive wheel 110 is installed on it.
Preceding leg mechanism 1 comprises that pose is regulated and two functional modules of power output; The work process of attitude adjustment module is: rotate left leading screw 117 and drive sockets left slider nut 101 thereon and move along the direction of foreleg guided way 119, left slider nut 101 drives and the left gear connecting rod 104 of its engagement rotates around final drive shaft 102, rotate the pose adjusting in leg mechanism first order joint before just can realizing by the direction that changes the left leading screw 117 of rotation thereby drive the hind axle that is installed in preceding connecting plate 113 and left gear connecting rod 104 1 ends; Rotating right leading screw 116 drives sockets right slider nut 115 thereon and moves along the direction of foreleg guided way 119, right slider nut 115 drives and the right gear connecting rod 112 of its engagement rotates around driving shaft 102, and the hinged guide runner 121 of the drive other end moves along the guide post that is installed on the right back connecting plate 111, this moment is because the restriction of geometrical relationship, guide post 120 will drive left and right back connecting plate 108,11 1 and rotate around hind axle 107, and the pose in joint, the leg mechanism second level is regulated before just can realizing by the direction of rotation that changes right leading screw 116; Leg mechanism pose regulatory function before coordinating the left and right leading screw 117 of control, 116 rotation and can realizing.
The work process of power take-off module is: controller 14 control foreleg power transmission mechanisms 3 are leg mechanism 4 transmitting powers forward, drive sprocket wheel 114 by chain and pass motion to final drive shaft 102, travelling gear 103 passes motion to hind axle 107 by little idle wheel 105 and stem gear 106, the gear train that moves through of hind axle 107 passes to front axle 109, be installed in hind axle 107, the directive wheel 110 on the front axle 109 obtains power output.
3). the specific embodiment of foreleg elevating mechanism 2: foreleg elevating mechanism 2 by upper junction plate 211, heighten handle 210, bearing sleeve 209, middle connecting plate 208, pinion 207, lower connecting plate 206, foreleg leading screw 205, nut 202, lead 201, etc. member form; Heighten handle 210 and be connected on the middle connecting plate 208 by bearing block, the lower end is connected to pinion 207, and gear wheel 203 usefulness pins are connected feed screw nut 202 lower ends, and cooperate with pinion 207; Feed screw nut 202 is socketed on the foreleg leading screw 205, and with bearing be connected with the affixed bearing sleeve 209 of middle connecting plate 208 in, leading screw is fixed between the lower connecting plate; Two pilot hole seats 204 are fixed in the hole of middle connecting plate 208, and two leads 201 cooperate with it respectively, and two ends are separately fixed on upper junction plate 211 and the lower connecting plate 206.Handle 210 is heightened in rotation, drive gear wheel 203 rotations with pinion 207 engagements, gear wheel 203 drives nut 202 and rotates in bearing sleeve 209, foreleg leading screw 205 will produce motion at this moment, with respect to moving or move down on the middle connecting plate 208, because the two ends of foreleg leading screw 205 are connected on lower connecting plate 206 and the upper junction plate 211, upper and lower connecting plate 211,206 will be followed 205 motions of foreleg leading screw; Leg mechanism 1 is connected on the lower connecting plate 206 before described, just can realize position adjustment function.
The work process of foreleg governor motion 2 is: rotate and heighten handle 210, drive gear wheel 203 rotations with pinion 207 engagements, gear wheel 203 drives nut 202 and rotates in bearing sleeve 209, foreleg leading screw 205 will produce motion at this moment, with respect to moving or move down on the middle connecting plate 208, because the two ends of foreleg leading screw 205 are connected on lower connecting plate 206 and the upper junction plate 211, upper and lower connecting plate 211,206 will be followed 205 motions of foreleg leading screw; Leg mechanism 1 is connected on the lower connecting plate 206 before described, just can realize position adjustment function.
4). the specific embodiment of foreleg power transmission mechanism 3: foreleg power transmission mechanism 3 is by foreleg motor 312, driving bevel gear 304, middle bearing bracket 305, driving shaft 303, and parts such as cantilever power transmission shaft 306, axle 302, sprocket wheel 301 are formed; Foreleg motor 312 is connected the inside of wheelchair frame 5 by foreleg ring flange 311, the driving bevel gear 304 that foreleg motor 312 axle heads are installed cooperates with the drive bevel gear 310 on being connected driving shaft 303, driving shaft 303 is fixed on the front end cantilever 501 of wheelchair frame 5 by a pair of middle bearing bracket 305, the two ends of driving shaft 303 are linked with secondary bevel gear 308 respectively, the cantilever power transmission shaft 306 that a pair of axle head is linked with secondary bevel gear 308 is fixed in front boom 501 bottoms of wheelchair frame 5 by two pairs of cantilevered axle bearings 307, axle cogs respectively and output shaft 302, secondary bevel gear 308 on the driving shaft 303 cooperates, the other end of two output shafts 302 is separately installed with sprocket wheel 301, and is connected with wheelchair frame 5 by sprocket shaft bearing 309; Controller 14 output pulse signals, the kinestate of control foreleg motor 312, and by foreleg motor 312 drive perpendicular bevel gear 304, the horizontal bevel gear 310 of transmission passes motion to driving shaft 303, driving shaft 303 passes to cantilever power transmission shaft 306 for 308 groups by the secondary bevel gear, cantilever power transmission shaft 306 passes motion to output shaft 302, output shaft 302 drives sprocket wheel 301 motions, and sprocket wheel 301 passes through chain transmission leg mechanism 1 transmitting power forward.
The work process of foreleg power drive mechanism 3 is: controller 14 output pulse signals, the kinestate of control foreleg motor 312, and by foreleg motor 312 drive perpendicular bevel gear 304, the horizontal bevel gear 310 of transmission passes motion to driving shaft 303, driving shaft 303 passes to cantilever power transmission shaft 306 for 308 groups by the secondary bevel gear, cantilever power transmission shaft 306 passes motion to output shaft 302, output shaft 302 drives sprocket wheel 301 motions, and sprocket wheel 301 passes through chain transmission leg mechanism 1 transmitting power forward.
5). the specific embodiment of adjustable foot pedal 4: adjustable foot pedal 4 is made up of members such as pedal handle 401, pedal leading screw 403, pedal slider nut 404, pedal 405, gathering sills 407; Pedal handle 401 is affixed with pedal leading screw 403, and be installed in the middle front part of wheelchair frame 5 by top chock 402 and step 406, pedal slider nut 404 is socketed on the pedal leading screw 403, and cooperate with the gathering sill 407 that is fixed on wheelchair frame 5 front portions, pedal 405 is connected with pedal slider nut 404 by two pins; Rotate pedal handle 401, drive pedal leading screw 403 and rotate, socket pedal slider nut 404 thereon will be done rectilinear motion along pedal guide rail 407, and the pedal 405 that is connected on the slider nut 404 will increase or reduce.
The work process of adjustable foot pedal 4 is: rotate pedal handle 401, driving pedal leading screw 403 rotates, socket pedal slider nut 404 thereon will be done rectilinear motion along pedal guide rail 407, and the pedal 405 that is connected on the slider nut 404 will increase or reduce.
6). the specific embodiment of seat regulator 6: seat regulator 6 comprises angular adjustment and two modules of altitude mixture control, and wherein the angular adjustment module is made up of parts such as seat motor 616, planetary gear 614, central gear 613, front rod 617, follow-up connecting rod 601, rear slider 602, front-slider 612, seat guide post 604 and seat frames 619; Seat motor 616 is installed on the seat frame 619 by seat ring flange 615, the seat motor shout planetary gears that 6 output axle heads install shout 4 with central gear 613 engagements that are connected on the horizontal connecting shaft 611, form planet circular system, horizontal connecting shaft 611 passes the bottom of front-slider 612, and two ends are connected with front rod 617 with pin respectively, the other end of front rod 617 is hinged on the wheelchair frame 5, one end of two follow-up connecting rods 601 is hinged on respectively on the wheelchair frame 5, the other end then is hinged on respectively on the rear slider 602, and four connecting rods constitute two groups of four-bar mechanisms; Controller 14 is by detecting the state of wheelchair, send pulse signal to seat motor 616, seat motor 616 output shafts drive planetary gear 614 around sun gear 613 motions, the seat frame 619 that is connected with seat motor 616 and the angle of front rod 617 are changed, thereby regulate the pose state of the quadric chain of being formed by front rod 617, follow-up connecting rod 601, seat frame 619 and wheelchair frame 5; Parts such as altitude mixture control module height adjustment knob 608, bevel pinion 605, bevel gear wheel 606, preceding leading screw 603, feed screw nut 610, rear slider 602, front-slider 612, follow-up connecting rod 601, front rod 617 are formed; Feed screw nut 610 is nested in the interstitial hole of rear slider 602, and be socketed on the preceding leading screw 603, rear slider 602 and two guide rods 604 are connected, one end of guide rod 604 is connected on the seat frame 619, one end is connected on the middle housing 607, casing 607 is installed on the seat frame 619, one end of preceding leading screw 603 is installed on the seat frame 619, the other end is equipped with the bevel pinion 605 with height adjustment knob 608 terminal bevel gear 609 engagements, and height adjustment knob 608 is installed on the middle housing 607 by bearing block; Front-slider 612 cooperates installation with guide rod 604, and is socketed on the leading screw 609 of back by feed screw nut 610, and an end of back leading screw 609 is connected on the seat frame 619, and the other end is equipped with the bevel pinion 605 with height adjustment knob 608 terminal bevel gear 609 engagements; Driving bevel gear wheel 606 by rotation height adjustment knob 608 rotates, be engaged with the preceding leading screw 603 of 605 drives of gear, 609 rotations of back leading screw, the back feed screw nut 610 and the rear slider 602 that are socketed on the leading screw 609 of back move, back preceding feed screw nut 610 and front-slider 612 before being socketed on the leading screw 603 are also mobile, thereby change two distances between the slide block; ' connecting rod ' variable quadric chain of being made up of guide rod between front rod 617, follow-up connecting rod 601, wheelchair frame 5 and the slide block is by changing the length of ' connecting rod ', the purpose that can realize regulating height of seat.
The work process of seat regulator 6 is: seat regulator comprises angular adjustment and two modules of altitude mixture control; Wherein, the work process of angular adjustment module is: controller 14 is by detecting the state of wheelchair, send pulse signal to seat motor 616, seat motor 616 output shafts drive planetary gear 614 around sun gear 613 motions, the seat frame 619 that is connected with seat motor 616 and the angle of front rod 617 are changed, thereby regulate the pose state of being formed quadric chain by front rod 617, follow-up connecting rod 601, seat frame 619 and wheelchair frame 5; The work process of altitude mixture control module is: drive bevel gear wheel 606 by rotation height adjustment knob 608 and rotate, be engaged with gear and then drive preceding leading screw 603,609 rotations of back leading screw, the preceding feed screw nut 610 and the front-slider 612 that are socketed in back feed screw nut 610 and the rear slider 602 on the leading screw 609 of back and are socketed on the preceding leading screw 603 move, thereby change two distances between the slide block; By ' connecting rod ' variable quadric chain that guide rod between front rod 617, follow-up connecting rod 601, wheelchair frame 5, rear slider 602 and the front-slider 612 is formed, by changing the length of ' connecting rod ', can realize regulating the height of seat;
7). stairs climbing device 7 specific embodiment: stairs climbing device 7 has pose adjusting and two modules of power output, and is coordinated the work of two modules by controller 14 controls.Power take-off module is by following motor 731, chassis main frame 719, idle wheel 710, cross moving axis 724, output bevel gear 723, and members such as back drive bevel gear 722, cross moving axis 724, front end gear 725, float wheel shaft 729, row's wheel 717 are formed; Following motor 731 is connected chassis main frame 719 inside by forward flange dish 730, the output bevel gear 723 that following motor 731 output shaft terminal link connect cooperates with the back drive bevel gear 722 that is installed in cross moving axis 724, and cross moving axis 724 two ends are keyed jointing shaft end gear 726 and be installed on the chassis main frame 719 by rear bearing block 721 respectively; Shaft end gear 719 cooperates with the shaft end gear 726 of the row of being installed in wheel shaft 727, row's wheel shaft 727 is installed on the chassis main frame 721 by bearing block, and terminal gear 728 is installed and row's wheel 717 reaches chassis main frame 719 outsides, terminal gear 728 cooperates with idle wheel 710, idle wheel 710 cooperates with toothrow wheel 711 again, toothrow wheel 711 is connected on the float wheel shaft 729, the other end of axle is equipped with row's wheel 717, toothrow wheel 711 cooperates with another idle wheel 710 again, idle wheel cooperates with the toothrow wheel 711 that another is installed on short row's wheel shaft 718, float wheel shaft 729 is connected on the chassis main frame 719 by bearing, and axle head is equipped with row's wheel 717, so realizes the continuous transmission of moment; The both sides of chassis main frame 719 are equipped with one group of such mechanism respectively, and every group comprises 710, five toothrow wheels 711 of 717, four idle wheels of five row's wheels and other auxiliary parts, and two groups of mechanisms are symmetrically distributed; Controller 14 downward motors 731 send pulse signal, control is the kinestate of motor 731 down, and by output bevel gear 723, the back drive bevel gear 722 pass motion to cross moving axis 724, by shaft end gear 726, front end gear 725 row's of passing motion to wheel shafts 727, another terminal gear 728 of row's wheel shaft 727 passes motion to float wheel shaft 729 by idle wheel 710, transmit successively by described, gear train will move and pass to each toothrow wheel one by one; The pose adjustment module is by rear motor 703, front motor 714, back leading screw 706, and parts such as preceding leading screw 715, rear slider nut 705, front-slider nut 733 and back stay 707, back rocking bar 708, back link 709, preceding rocking bar 712, front tension bar 713 are formed; Front motor 714 is fixed on centre position, wheelchair frame 5 bottom by rear stub 732, front motor 714 output axle heads are affixed by leucorrhea clutch and preceding leading screw 715, the other end of preceding leading screw 715 is connected with wheelchair frame 5 by front-end bearing pedestal 702, front-slider nut 733 is socketed on the preceding leading screw 715, and cooperate installation with gathering sill 701 on being fixed in wheelchair frame 5, the two ends of passing the preceding tranverse connecting rod 716 of front-slider nut 733 bottoms are hinged with front tension bar 709 respectively, the middle part of the other end of front tension bar 709 and preceding rocking bar 712 is hinged, preceding rocking bar 712 1 ends and wheelchair frame 5 are hinged, and an end and chassis main frame 719 are hinged; Rear motor 703 is installed in the afterbody centre position of wheelchair frame 5 by upper flange plate 704, rear motor 703 output shafts are connected with back leading screw 706 by carrying clutch, the other end of leading screw is installed on the wheelchair frame 5, rear slider nut 705 is socketed on the leading screw 706 of back, back stay 707 is hinged with rear slider nut 705, the other end of back stay 707 is hinged on the tranverse connecting rod 720 of back, the two ends of back tranverse connecting rod 720 are connected with the middle part of back rocking bar 708, one end of back rocking bar 708 is hinged on the afterbody of wheelchair frame 5, the other end and back stay 707 are hinged, the other end of back stay 707 and chassis main frame 7 19 are hinged, thereby form a pair of symmetrical distribution five-rod; When module was not worked, clutch disconnected, rear motor 703, front motor 714 idle running; During work, the clutch closure, leading screw 715 rotated before front motor 714 drove, preceding nut slider 733 before being socketed on the leading screw 715 moves along the preceding tranverse connecting rod 716 of direction drive of gathering sill 701, rocking bar 712 swings before the front tension bar 709 at tranverse connecting rod 716 two ends drives before being installed in, 712 end motions that drive chassis main frame 719 of preceding rocking bar; Rear motor 703 drives 706 motions of back leading screw, the back nut slide block 705 that is socketed on the leading screw 706 of back is realized movement up and down, and drive back stay 707 motions, back stay 707 drives 720 motions of the hinged back tranverse connecting rod of the other end, rocking bar 708 motions after 720 drives of back tranverse connecting rod, back rocking bar 708 drives front rod 617 motions, and front rod 617 drives the other end motion of chassis main frame 719; By the cooperation of front motor 714, rear motor 703, realize the adjusting to the position and attitude of five-rod.
The work process of described stairs climbing device 7 is: stairs climbing device has pose adjusting and two modules of power output, and is coordinated the work of two modules by controller control; Wherein, the work process of power take-off module is: controller 14 downward motors 731 send pulse signal, control is the kinestate of motor 731 down, and by output 722 pairs of bevel gears pass motion to cross moving axis 724, cross moving axis 724 is by shaft end gear 726, front end gear 725 row's of passing motion to wheel shafts 727, another terminal gear 728 of row's wheel shaft 727 passes motion to float wheel shaft 729 by idle wheel 710, transmit successively by described, gear train will move and pass to each row's wheel 717 one by one; The work process of pose adjustment module is: when module was not worked, clutch disconnected, rear motor 703, front motor 714 idle running; During work, the clutch closure, leading screw 715 rotated before front motor 714 drove, preceding nut slider 733 before being socketed on the leading screw 715 moves along the preceding tranverse connecting rod 716 of direction drive of gathering sill, rocking bar 712 swings before the front tension bar 713 at tranverse connecting rod 716 two ends drives before being installed in, 712 end motions that drive chassis main frame 719 of preceding rocking bar; Rear motor 703 drives 706 motions of back leading screw, the rear slider nut 705 that is socketed on the leading screw 706 of back is realized movement up and down, and drive back stay 707 motions, back stay 707 drives 720 motions of the hinged back tranverse connecting rod of the other end, rocking bar 708 motions after 720 drives of back tranverse connecting rod, back rocking bar 708 drives back link 709 motions, and back link 709 drives the other end motion of chassis main frame 719; Cooperate by front motor 714, rear motor 703, realize the adjusting to the position and attitude of five-rod.
Now introduce operation principle and the process of wheelchair of the present invention by reference to the accompanying drawings:
When wheelchair level land or when walking climbing, have only controller 14, drivewheel 17 and universal wheel 18 or preceding leg mechanism 1 and stairs climbing device 7 work, the two groups of drivewheels 17 and the universal wheel 18 that participate in work are equal to the common electric wheelchair, and its motion is two to drive form.If leg mechanism 1 and stairs climbing device 7 work before only depending on two groups, its motion is the 4 wheel driven form.These two kinds of forms all are referred to as the four-footed pattern; User sends instruction by rocking bar and keyboard to controller 14, and the motor on the drivewheel 17 realizes that two drive the straight line moving of form wheelchair under the control of controller 14, turn, and retreat and wait operation, and the advancing at a slow speed and operation such as climbing of realization 4 wheel driven form wheelchair.Wherein the preceding leg mechanism 1 of 4 wheel driven form can be realized the reconstruct of wheelchair configuration with stairs climbing device 7.
Wheelchair is when stair activity or obstacle detouring are striden ditch, and leg mechanism 1, stairs climbing devices 7 form four-footed pattern, six sufficient patterns and eight sufficient patterns respectively with drivewheel 17 and universal wheel 18 before two groups.Its three kinds of patterns are 4 wheel driven, and whole process is three kinds of compound alternately participation work of pattern.When wheelchair ran on a kind of pattern or different mode, preceding leg mechanism 1, stairs climbing device 7 etc. will be regulated the pose form of its member according to the architectural characteristic in stair or obstacle gully, thereby realized the restructural characteristic of wheelchair.Wheelchair needs to regulate the position of pedal 405 before stair activity or obstacle detouring are striden ditch, prevent from bumping with step or ground, rotation pedal handle 401, driving pedal leading screw 403 rotates, socket pedal slider nut 404 is thereon done the motion of vertical direction, the position of the pedal that can raise together with pedal 405.Height according to stairway step, the position of leg mechanism 1 before suitably regulating, handle 210 is heightened in rotation, driving nut 202 by gear drive rotates, the foreleg leading screw 205 of Pei Heing will move up and down along the direction of lead 201 with it, and the preceding leg mechanism 1 affixed with lower connecting plate 206 also will move up and down.Before first order step up and down, needing to reduce stairs climbing device 7 contacts with ground, make universal wheel 18 break away from ground to change into the 4 wheel driven pattern, drive preceding leading screw 715 respectively by controller 14 control front motors 714 and rear motor 703, back leading screw 706 rotates, socket front-slider nut 733 thereon, rear slider nut 705 will drive back stay 707, back rocking bar 708, back link 709, preceding rocking bar 712, front tension bar 713 and chassis main frame 719 are done the five-rod motion of two-freedom, make the pose of stairs climbing device 7 change, in the stair activity process, controller 14 is adjusted stairs climbing device 7 pose states by detecting the contact situation of wheelchair; Rotate left leading screw 117 simultaneously, the left slider nut 101 of Pei Heing will drive left gear connecting rod 104 around final drive shaft 102 swing certain angles with it; Rotate right leading screw 116, the right slider nut 115 of Pei Heing will drive left gear connecting rod 104 always changes certain angle around final drive shaft 102, the hinged guide runner 121 of the other end of right gear connecting rod 112 will slide at guide post 120, thereby adjust the pose of foreleg second joint.Regulate the pose of realizing between each parts of wheelchair by preceding leg mechanism 1 and stairs climbing device 7 and change, obtain the reconstruct of wheelchair configuration.
When wheelchair when carrying out upstairs task, the state of preceding leg mechanism 1 and stairs climbing device 7 is referring to Figure 13 (a); When carrying out the task of going downstairs, the state of preceding leg mechanism 1 and stairs climbing device 7 is referring to Figure 13 (d).When wheelchair is started working,, make the row who contacts with ground take turns 717 and cooperate drivewheels 17 to coordinate to move by a series of gear transmission by motor 731 under controller 14 controls.When current leg mechanism 1 and stair action by contact, the work of controller 14 control foreleg motors 312, power is transferred to the sprocket wheel 114 of preceding leg mechanism 1 by driving shaft 303, cantilever power transmission shaft 306 and sprocket wheel 301, thereby the travelling gear 103 that drives final drive shaft 102 rotates, by a series of gear drive, power is transferred to directive wheel 110, realize directive wheel 110, row's wheel 717 and drivewheel 17 co-ordinations, wheelchair at the state in the interstage of stair activity process respectively referring to Figure 13 (b) and Figure 13 (e).The pose that needs constantly to adjust seat simultaneously is with the safety that guarantees user and comfortable, controller 14 is by detecting the inclination angle of wheelchair, send the rotation of control wave control motor to seat motor 616, seat motor 616 drives planetary gear 614 and rotates around sun gear 613, thereby change the angle between seat frame 619 and the front rod 617, make the change inclination angle of adaptation stair of the angle of wheelchair and wheelchair frame.In the wheelchair stair activity process, drivewheel 17 keeps and the contacting of stair, and controller 14 is controlled the output of moving of motor on it.In the process of stair activity, preceding leg mechanism 1, row's wheel 717 can change with the contact conditions of drivewheel 17 with stair, the pose of leg mechanism 1 and stairs climbing device 7 is to realize the reconstruct of wheelchair configuration before needing to adjust constantly, controller 14 is by detecting the residing different conditions of wheelchair, to stairs climbing device 7, before leg mechanism 1 and drivewheel 17 the pose state, wheelchair climbed the building requirement when kinestate was regulated to satisfy different contact conditions in real time, finish stair climbing work up to wheelchair, the state of wheelchair is respectively referring to Figure 13 (c) and Figure 13 (f) at this moment.
When wheelchair when the ditch task is striden in execution, the row of drivewheel 17 and stairs climbing device takes turns 717 co-ordinations under the control of controller 14, advance to the edge in gully when drivewheel 17, drive right gear connecting rod 112, left gear connecting rod 104 respectively by rotating left leading screw 117 and right leading screw 116, the relative position in two joints of leg mechanism before adjusting, the pose of leg mechanism 1 adapts to the needs (referring to Figure 14 (a)) when striding ditch before making.When directive wheel 110 with after ground contacts, drivewheel 17 built on stilts, the rotation of controller 14 control this moment foreleg motors 312 and following motor 731 takes turns 717 and directive wheel 110 co-ordinations with the row of assurance, again contact with ground up to drivewheel 17, its state is respectively referring to Figure 14 (b, c).Drivewheel 17 is with after ground contacts, controller 14 controls motor 731 and driver motor co-ordination down, simultaneously, controller 14 is by detecting the contact situation of wheelchair, the pose of leg mechanism 1 and stairs climbing device 7 before adjusting in real time, realize the reconstruct of wheelchair configuration, stride across the gully fully up to wheelchair, state is referring to Figure 14 (d).
When wheelchair when carrying out the obstacle detouring task, detect position and the height of barrier by controller 14, control drivewheel 17 runs to suitable position, drive right gear connecting rod 112, left gear connecting rod 104 respectively by rotating left leading screw 117 and right leading screw 116, the relative position in two joints of leg mechanism before adjusting, its configuration of reconstruct, the front jockey wheel 110 of leg mechanism 1 contacts with barrier before making; The rotation of controller 14 control foreleg motors 312, by foreleg power transmission mechanism 3 leg mechanism 1 transmission power forward, the pose of leg mechanism 1 makes drivewheel 17 built on stilts before adjusting simultaneously, the wheelchair state is referring to Figure 15 (a).Controller 14 control row wheel 717 and directive wheel 110 co-ordinations, the pose of leg mechanism 1 contacts with obstacle up to drivewheel before adjusting simultaneously, and the wheelchair state is referring to Figure 15 (b).At this moment, controller control drivewheel 17 and 717 co-ordinations of row's wheel are climbed up barrier up to wheelchair integral body, and the wheelchair state is referring to Figure 15 (c).When drivewheel 17 is in the barrier edge, rotate left leading screw 117 and right leading screw 116 and drive right gear connecting rod 112, left gear connecting rod 104 respectively, leg mechanism 1 stretches downwards as far as possible before making, and control drivewheel 17 slow rotations up to preceding leg mechanism 1 kiss the earth, and the wheelchair state is referring to Figure 15 (d, e).Controller 14 control foreleg motors 312, following motor 731 make toothrow wheel and directive wheel co-ordination operation, realize the obstacle detouring requirement of wheelchair configuration reconstruct wheelchair when satisfying different contact conditions, up to drivewheel 17 kiss the earths, support that wheelchair returns ground, the wheelchair state is referring to Figure 15 (f).Detect the operation of the pose situation control seat motor 616 of wheelchair constantly at the running middle controller, change the state of seat regulator 6, thereby make seat 15 be in horizontal level.
When wheelchair finish climb the building or stride ditch work after, the rotation of controller 14 control rear motors 703, rear slider nut 705 is raise, drive with hinged chassis main frame 719 1 ends of back link 709 and rise to the home position, the rotation of control front motor 714, make front-slider nut 733 get back to the home position, thus the pose state when regulating stairs climbing device and returning to level land work, and wheelchair switches to the four-footed pattern from eight sufficient patterns.
The specific embodiment of described controller 14 is: the control system of described wheelchair comprises main frame X, slave W, input module M, display module N, power module O, sensor detection module 1P, fault diagnosis module Q, driver module 1R, communication module S, driver module 2T, timer module U and sensor detection module 2V (referring to Figure 16); The whole control system is carried out electric weight detection and voltage output by the storage battery power supply of power module O; The logical Man Machine Interface of the main frame of system receives and handles the input signal of input module M, liquid crystal and charactron are for the information that shows the setting of wheelchair parameter and wheelchair running status, reception and processing sensing detection module 1P input, by fault detection module Q detection system fault among the control display module N, and carry out fault and get rid of, control driver module 1R, motor, clutch and the alarm of realization on the drivewheel sends and drives and control signal, and realizes and the communicating by letter of slave W by communication module S; Information and order control driver module 2T that slave W sends according to upper X machine, the operation of the seat motor 616 of the foreleg motor 312 of driving foreleg drive mechanism and the front motor 714 of stairs climbing device, rear motor 703, following motor 731 and seat regulator, receive the also information of processes sensor detection module 2V input, the make-and-break time of control timer module U solenoidoperated cluthes is realized the pose adjustment of preceding leg mechanism and stairs climbing device to obtain effective attitude of mechanism; Input module M comprises keyboard input and joystick, realizes the adjusting to the wheelchair running status; Display module N comprises liquid crystal display and digital the demonstration, shows the status information of wheelchair in real time; Sensor detection module 1P comprises position sensor and A/D conversion, realizes the position monitoring in real time of wheelchair and transmits data to main frame; Sensing detection module 2V realizes Angular Displacement Detecting, acceleration detection and the stressed detection of drivewheel, directive wheel, and to the slave transmitting data in real time; Timer module U realizes the pose of the preceding leg mechanism of solenoidoperated cluthes adjustment and stairs climbing device.
Control sequence (referring to Figure 17) of taking turns under the operational mode of Wheel-chair level land of the present invention adopts the signal processing mode towards numeral, and is achieved by control software.Its concrete steps are as follows:
Step 1: system's operation enters the level land operational mode;
Step 2: system initialization and execution in step 3;
Step 3: various parameter initialization settings, and execution in step 4;
Whether step 4: it is normal to detect button and handle, if normally then execution in step 5, otherwise execution in step 6:
Step 5: show current electric quantity and gear, and execution in step 7;
Step 6: system halt is also reported to the police, and carries out fault and gets rid of;
Step 7: whether leg mechanism and Climbing building device are regained before detecting, if execution in step 8 then, otherwise execution in step 4;
Step 8: detect height of seat and regulate not, if execution in step 9 then, otherwise execution in step 10;
Step 9: carry out height of seat and regulate, and execution in step 10;
Step 10: detect gear and whether arrange down, if execution in step 11 then, otherwise execution in step 10;
Step 11: detect the handle action, if having then execution in step 12, otherwise execution in step 13;
Step 12: analyze the handle signal, if advance then execution in step 14, otherwise execution in step 15;
Step 13: wait for;
Step 14: judge whether to advance, if execution in step 15 then, otherwise execution in step 16;
Whether step 15: detecting wheelchair is manual mode, if execution in step 17 then, otherwise execution in step 18:
Step 16: control wheelchair action, retreat or turn, and execution in step 12;
Step 17: continue operation, and execution in step 12;
Step 18: with the fixed speed operation, and execution in step 19;
Step 19: detect the handle signal, if having then enter step 20, otherwise execution in step 18;
Step 20: remove cruise mode and enter step 21;
Step 21: it is 1 grade that wheelchair slows down, and enters step 22;
Whether step 22: detecting has stop signal, if having then out of service, otherwise enters step 12.
The Wheel-chair of taking turns of the present invention is climbed building pattern control sequence (referring to Figure 18), adopts the signal processing mode towards numeral, and is achieved by software control.Its concrete steps are as follows:
Step 1: enter and climb the building operational mode, system initialization and execution in step 2;
Step 2: initialization stair parameter arranges, and execution in step 3;
Whether step 3: it is normal to detect button and handle, if execution in step 4 then, otherwise execution in step 5;
Step 4: liquid crystal display screen shows electric weight and parameter, and execution in step 6;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: judgement is manual mode or automatic mode, if manual mode execution in step 7 then, otherwise execution in step 15;
Step 7: leg mechanism 1 attitude before detecting need to judge whether to regulate execution in step 8 then if desired, otherwise execution in step 9;
Step 8: leg mechanism 1 pose reaches suitable pose before the manual adjustments, and execution in step 9;
Step 9: detect stairs climbing device 7 angles, need to judge whether to regulate, if improper then execution in step 10, otherwise execution in step 11;
Step 10: the inclination angle on manual adjustments chassis reaches suitable angle, and execution in step 11;
Step 11: detect seat inclination angle, need to judge whether manual adjustments, execution in step 12 then if desired, otherwise execution in step 13;
Step 12: the attitude of manual adjustments seat, and execution in step 13;
Step 13: leg mechanism, drivewheel stairs climbing device are gone up action downstairs before driving, and execution in step 14:
Whether step 14: detecting is the afterbody step, if then finish operation, otherwise execution in step 7;
Step 15: detect the location parameter of riser, tread and the step of stair and execution in step 16 by position sensor;
Step 16: judge whether it is first step, if execution in step 17 then, otherwise execution in step 18:
Step 17: detect by position, angle and angular-rate sensor corner and the angular velocity to directive wheel and drivewheel, and execution in step 19;
Step 18: continue to move ahead, and execution in step 15;
Step 19: adjust the seat attitude, and leg mechanism before driving, toothrow wheel and the drivewheel co-ordination of stairs climbing device, and execution in step 20;
Step 20: detect whether to advance to the next stage step, if execution in step 21 then, otherwise execution in step 17;
Step 21: position, position, angle and angular-rate sensor detect, and adjust the seat attitude, and go downstairs on the preceding leg mechanism of driving and the drivewheel, and execution in step 22;
Whether step 22: detecting is the afterbody step, if then finish operation, otherwise execution in step 21.
Of the present inventionly take turns the Wheel-chair obstacle detouring and stride ditch pattern control sequence (referring to Figure 19), adopt the signal processing mode towards numeral, and be achieved by software control.Its concrete steps are as follows:
Step 1: enter obstacle detouring and stride the ditch operational mode, system initialization and execution in step 2;
Step 2: obstacle and ditch parameter initialization setting excessively, and execution in step 3;
Whether step 3: it is normal to detect button and handle, if normally then execution in step 4, otherwise execution in step 5:
Step 4: show current electric quantity and gear, and execution in step 6;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: judge the obstacle detouring pattern or stride the ditch pattern, if obstacle detouring pattern execution in step 7 then, otherwise execution in step 14;
Step 7: the pose state of leg mechanism 1 and stairs climbing device 7 before adjusting, and execution in step 8;
Step 8: detect drivewheel and whether contact, if contact then execution in step 9, otherwise execution in step 7;
Step 9: adjust the seat attitude by seat regulator 6, drive motors makes the wheelchair operation, and execution in step 10;
Step 10: detect and whether to climb up obstacle fully, if execution in step 11 then, otherwise execution in step 9;
Step 11: the pose state of leg mechanism 1 and stairs climbing device 7 before adjusting, drive the wheelchair operation, and execution in step 12;
Step 12: detect whether kiss the earth of drivewheel, if execution in step 13 then, otherwise execution in step 11:
Step 13: pack up stairs climbing device, finish the obstacle detouring pattern;
Step 14: the pose state of leg mechanism 1 and stairs climbing device 7 before adjusting, drive the wheelchair operation, and execution in step 15;
Step 15: detect drivewheel and whether break away from ground, if execution in step 16 then, otherwise execution in step 14;
Step 16: the pose state of leg mechanism 1 and stairs climbing device 7 before adjusting, drive the wheelchair operation, and execution in step 17;
Step 17: detect trailing wheel and whether break away from ground, if execution in step 18 then, otherwise execution in step 16:
Step 18: the pose state of leg mechanism 1 and stairs climbing device 7 before adjusting, drive the wheelchair operation, and execution in step 19;
Step 19: detect the toothrow wheel and whether leave the gully, if execution in step 20 then, otherwise execution in step 18:
Step 20: regain stair climbing machine 7 structures, finish to stride the ditch pattern.
According to described program step design and job requirement, those skilled in the art are not difficult to provide concrete software content.
The present invention does not address part and is applicable to prior art.
The above only takes turns a kind of specific embodiment of Wheel-chair for the present invention.The protection domain of the present patent application is not limited thereto, and any people who is familiar with this technology can understand conversion or the replacement expected in the disclosed technical scope of the present invention, all should be encompassed within the protection domain of the application's claim.
Claims (5)
1. a reconfigurable wheel-leg combined type is taken turns Wheel-chair, adopt modularized design, it is characterized in that this wheelchair mainly is made up of preceding leg mechanism, foreleg governor motion, foreleg power transmission mechanism, adjustable foot pedal, wheelchair frame, seat regulator, stairs climbing device, seat, seat belt, drivewheel, universal wheel and controller;
Described wheelchair frame shape exactly likes trunk and the extremity of animal, is the central component of each mechanism's contact of wheelchair, mainly comprises front boom, sprocket wheel baffle plate, external slideway, back boom and set of cells; Preceding leg mechanism has two groups, is installed in by foreleg governor motion symmetry on the front end cantilever of wheelchair frame, is connected with the foreleg power transmission mechanism by the chain transmission; The foreleg power transmission mechanism is arranged in the wheelchair frame anterior; Seat regulator on the external slideway of wheelchair upper rack, fixedly has seat by four rod hinge connections on it; Handle controller is installed on the handrail of seat, is connected with the controller of wheelchair by lead; Stairs climbing device is installed in the bottom, rear end of wheelchair frame, can realize the pose regulatory function, simultaneously the power of toothrow wheel Wheelchairs Available speeling stairway; Two drivewheels are installed in the both sides of wheelchair central rack respectively from translator; Two universal wheels are fixed on the back boom of wheelchair frame respectively symmetrically;
Leg mechanism comprises that pose is regulated and two functional modules of power output before described: the power transport module mainly is made up of casing, directive wheel, sprocket wheel, little idle wheel and travelling gear; The final drive shaft of one terminal link chain link wheel utilizes bearing block to be installed on the casing, be connected to travelling gear and the engagement of little idle wheel on the final drive shaft, little idle wheel meshes with the stem gear that is installed in hind axle again, hind axle is installed between preceding connecting plate and the left gear connecting rod by bearing block, and directive wheel is installed, stem gear and another little idle wheel engagement, another little idle wheel meshes with the stem gear that is installed on the front axle again, front axle is installed in left back connecting plate, between the right back connecting plate, directive wheel is installed on it, on sprocket wheel transmission power to two directive wheel, realize the power transmission; The attitude adjustment module is mainly by preceding connecting plate, left back connecting plate, right back connecting plate, right gear connecting rod, left gear connecting rod, left leading screw, right leading screw, and left slider nut, right slider nut, guide runner and guide post thereof are formed; The top of casing is equipped with a plurality of parallel guide rails, with be socketed in right leading screw on have a tooth bar the left slider nut cooperate installation, the top that is installed in the left gear connecting rod on the transmission final drive shaft has the bar shaped tooth, cooperate installation with the left slider nut, position by turning handle adjusting slider nut, thereby drive the swing of left gear connecting rod, preceding connecting plate, realize the regulatory function of the first joint pose; The right slider nut lower end that cooperates with another guide rail and be socketed on the left leading screw also has the bar shaped tooth, be connected with a joggle with the right gear connecting rod that is contained on the transmission final drive shaft, the hinged guide runner of the other end of right gear connecting rod, after can being installed in, slide block slides on the guide rod of connecting plate, when regulating left leading screw, right slider nut drives the right gear connecting rod swing, and the right gear connecting rod drives guide runner and slides at guide rod, can realize the adjusting of second joint pose;
Described foreleg elevating mechanism is mainly formed by heightening handle, middle connecting plate, foreleg leading screw, nut, lead, upper junction plate and lower connecting plate; Heighten handle and be connected on the middle connecting plate by bearing block, the lower end is connected to pinion, and gear wheel is connected the feed screw nut lower end with pin, and cooperates with pinion; Feed screw nut is socketed on the foreleg leading screw, and with bearing be connected with the affixed bearing sleeve of middle connecting plate in, the foreleg leading screw is fixed between the lower connecting plate; Two pilot hole seats are fixed in the hole of middle connecting plate, and two leads cooperate with it respectively, and two ends are separately fixed on upper junction plate and the lower connecting plate; Handle is heightened in rotation, can drive the nut rotation, thereby make lower connecting plate move up and down with the foreleg leading screw, the height of leg mechanism before changing;
Described foreleg power transmission mechanism mainly by foreleg motor, driving bevel gear, middle bearing bracket, driving shaft, form by cantilever power transmission shaft and sprocket wheel; The foreleg motor is connected the inside of wheelchair frame by the foreleg ring flange, the driving bevel gear that the axle head of foreleg motor is installed cooperates with the drive bevel gear transmission on being connected driving shaft, driving shaft is fixed on the front end cantilever of wheelchair frame by a pair of middle bearing bracket, the two ends of driving shaft are linked with the secondary bevel gear respectively, the cantilever power transmission shaft that a pair of axle head is linked with the secondary bevel gear is fixed in the front end jib foot of wheelchair frame by two pairs of cantilevered axle bearings, axle cogs respectively and output shaft, secondary Bevel Gear Transmission on the driving shaft cooperates, the other end of two output shafts is separately installed with sprocket wheel, and is connected with the wheelchair frame by the sprocket shaft bearing; By the rotation of controller control foreleg motor, realize the power of preceding leg mechanism is carried;
Described adjustable foot pedal gear mainly is made up of pedal handle, pedal leading screw, pedal slider nut and gathering sill; Pedal handle and pedal leading screw are affixed, and be installed in the middle front part of wheelchair frame by top chock and step, the pedal slider nut is socketed on the pedal leading screw, its chute cooperates with the gathering sill that is fixed on the wheelchair frame front, slide block can be moved at vertical direction, pedal is connected with the pedal slider nut by two pins, rotates the height that the pedal handle can be adjusted pedal; Described chair mounted is on the seat frame of seat regulator, and seat belt is installed in the bottom of seat back positions;
Described seat regulator is divided into angular adjustment module and altitude mixture control module; The angular adjustment module mainly is made up of seat motor, planetary gear, central gear, front rod, follow-up connecting rod, rear slider, front-slider, seat guide post and seat frame; The seat motor is installed on the seat frame by the seat ring flange, the planetary gear that the output axle head is installed and the central gear engagement that is connected on the horizontal connecting shaft, form planet circular system, horizontal connecting shaft passes the bottom of front-slider, and two ends are connected with front rod with pin respectively, the other end of front rod is hinged on the wheelchair frame, one end of two follow-up connecting rods is hinged on respectively on the wheelchair frame, the other end then is hinged on the rear slider respectively, four connecting rods constitute two groups of four-bar mechanisms, the pose form of the rotation governor motion by planetary gear; The altitude mixture control module mainly is made up of height adjustment knob, bevel pinion, bevel gear wheel, preceding leading screw, feed screw nut, rear slider, front-slider, follow-up connecting rod and front rod; Feed screw nut is nested in the interstitial hole of rear slider, and be socketed on the preceding leading screw, rear slider and two guide rods are connected, one end of guide rod is connected on the seat frame, one end is connected on the middle housing, and casing is installed on the seat frame, and an end of preceding leading screw is installed on the seat frame, the other end is equipped with the bevel pinion with the terminal bevel gear engagement of height adjustment knob, and height adjustment knob is installed on the middle housing by bearing block; Front-slider cooperates installation with guide rod, and by feed screw nut be socketed in the back leading screw on, one end of back leading screw is connected on the seat frame, the other end is equipped with the bevel pinion with the terminal bevel gear engagement of height adjustment knob, two groups of screw mechanisms have been formed the elevating mechanism of seat, can adjust the height of seat by turning handle, whole seat regulator is connected with external slideway on the wheelchair frame by inner slide;
Described stairs climbing device is divided into power transmission mechanism and two modules of pose governor motion; The power transmission mechanism module is mainly by motor, chassis main frame, idle wheel, cross moving axis, output bevel gear, back drive bevel gear and toothrow wheel, toothrow wheel shaft are formed down; Following motor is connected chassis main frame inside by the forward flange dish, and the output bevel gear of following motor shaft end keyed jointing cooperates with the back drive bevel gear that is installed in the cross moving axis, and the cross end shaft is the keyed jointing shaft end gear respectively, and is installed on the chassis main frame by rear bearing block; Shaft end gear cooperates with the front end gear of the row's of being installed in wheel shaft, row's wheel shaft is installed on the chassis main frame by bearing block, and terminal gear and toothrow wheel is installed, reach the chassis main frame outside, terminal gear cooperates with idle wheel, idle wheel cooperates with the toothrow wheel again, the toothrow wheel is connected on the float gear shaft, the other end of axle is equipped with the toothrow wheel, the toothrow wheel cooperates with another idle wheel again, and idle wheel cooperates with the toothrow wheel that another is installed on the wheel shaft, and the float gear shaft is connected on the chassis main frame by bearing, axle head is equipped with the toothrow wheel, realizes the continuous transmission of moment; Power transmission mechanism has two groups, is installed in the both sides of chassis main frame respectively, and every group mainly comprises five toothrow wheels, four idle wheels and five toothrow wheels, two groups of power transmission mechanisms are symmetrically distributed, and by the controller control rotation of motor down, realize climbing the required power in building to the transmission of toothrow wheel; The pose adjustment module is mainly by rear motor, front motor, back leading screw, and parts such as preceding leading screw, rear slider nut, front-slider nut and back stay, back rocking bar, back link, preceding rocking bar and front tension bar are formed; Front motor is fixed on centre position, wheelchair frame bottom by rear stub, the output axle head is by carrying clutch and preceding leading screw is affixed, the other end of preceding leading screw is connected with the wheelchair frame by front-end bearing pedestal, the front-slider nut sleeve is connected on the preceding leading screw, and cooperate installation with gathering sill on being fixed in the wheelchair frame, the two ends of passing the preceding transverse axis of front-slider nut bottom are hinged with front tension bar respectively, the other end of front tension bar and the middle part of preceding rocking bar are hinged, preceding rocking bar one end and wheelchair frame are hinged, and an end and chassis main frame are hinged; Rear motor is installed in the afterbody centre position of wheelchair frame by upper flange plate, output shaft is connected with the back leading screw by the leucorrhea clutch, the other end of leading screw is installed on the wheelchair frame, the rear slider nut sleeve is connected on the leading screw of back, back stay and rear slider nut are hinged, the other end of back stay is hinged on the tranverse connecting rod of back, the two ends of back tranverse connecting rod are connected with the middle part of back rocking bar, one end of back rocking bar is hinged on the afterbody of wheelchair frame, the other end and back stay are hinged, the other end and the chassis main frame of back stay are hinged, thereby form a pair of symmetrical distribution five-rod, regulate the position of front-slider nut and rear slider nut respectively by front motor and rear motor, the change in location of drivening rod realizes the adjustment of chassis pose;
Described controller is the controlling organization of reconfigurable wheel-leg combined type wheel Wheel-chair, and it mainly comprises main frame, slave, input module, display module, power module, sensor detection module, fault diagnosis module, driver module, communication module, driver module, timer module and sensor detection module; Input module comprises keyboard input and two submodules of handle input, is used for the operational order input; Display module comprises liquid crystal display and two submodules of digital demonstration, is used for showing the wheelchair running status; Power module comprises that accumulator, electric weight detect and the voltage output module, for whole wheelchair provides the energy; The sensor detection module comprises position probing and A/D signal conversion module, monitors the wheelchair run location in real time also and main-machine communication; Fault diagnosis module comprises that fault diagnosis and fault get rid of module, the fault that may occur for detection of system when getting rid of the wheelchair operational mode and switch; Driver module is mainly used in driving main motor, clutch and alarm; Driver module is mainly used in the driven management of driving motor, base plate electric machine and seat motor; Time block comprises intervalometer and actuator time block, is used to operator settings running time; The sensor detection module comprises angular displacement sensor, angular-rate sensor and force transducer module, is used for monitoring in real time the kinestate of each driving wheel of wheelchair and other auxiliary device.
2. reconfigurable wheel-leg combined type according to claim 1 is taken turns Wheel-chair, it is characterized in that described preceding leg mechanism, drivewheel, stairs climbing device and universal wheel constitute eight sufficient wheel-leg combined types wheel Wheel-chairs, the combinations of its any two groups, three groups or four groups wheel lower limbs can be configured to four-footed, six foot or eight sufficient mode of operations.
3. reconfigurable wheel-leg combined type wheel Wheel-chair according to claim 1 is characterized in that described control sequence of taking turns under the operational mode of Wheel-chair level land, adopts the signal processing mode towards numeral, and concrete steps are as follows:
Step 1: system's operation enters the level land operational mode;
Step 2: system initialization and execution in step 3;
Step 3: various parameter initialization settings, and execution in step 4;
Whether step 4: it is normal to detect button and handle, if normally then execution in step 5, otherwise execution in step 6;
Step 5: show current electric quantity and gear, and execution in step 7;
Step 6: system halt is also reported to the police, and carries out fault and gets rid of;
Step 7: whether leg mechanism and Climbing building device are regained before detecting, if execution in step 8 then, otherwise execution in step 4;
Step 8: detect height of seat and regulate not, if execution in step 9 then, otherwise execution in step 10;
Step 9: carry out height of seat and regulate, and execution in step 10;
Step 10: detect gear and whether arrange down, if execution in step 11 then, otherwise execution in step 10;
Step 11: detect the handle action, if having then execution in step 12, otherwise execution in step 13;
Step 12: analyze the handle signal, if advance then execution in step 14, otherwise execution in step 15;
Step 13: wait for;
Step 14: judge whether to advance, if execution in step 15 then, otherwise execution in step 16;
Whether step 15: detecting wheelchair is manual mode, if execution in step 17 then, otherwise execution in step 18;
Step 16: control wheelchair action, retreat or turn, and execution in step 12;
Step 17: continue operation, and execution in step 12;
Step 18: with the fixed speed operation, and execution in step 19;
Step 19: detect the handle signal, if having then enter step 20, otherwise execution in step 18;
Step 20: remove cruise mode and enter step 21;
Step 21: it is 1 grade that wheelchair slows down, and enters step 22;
Whether step 22: detecting has stop signal, if having then out of service, otherwise enters step 12.
4. reconfigurable wheel-leg combined type wheel Wheel-chair according to claim 1 is characterized in that the described Wheel-chair of taking turns climbs building pattern control sequence, adopts the signal processing mode towards numeral, and concrete steps are as follows:
Step 1: enter and climb the building operational mode, system initialization and execution in step 2;
Step 2: initialization stair parameter arranges, and execution in step 3;
Whether step 3: it is normal to detect button and handle, if execution in step 4 then, otherwise execution in step 5:
Step 4: liquid crystal display screen shows electric weight and parameter, and execution in step 6;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: judgement is manual mode or automatic mode, if manual mode execution in step 7 then, otherwise execution in step 15;
Step 7: leg mechanism attitude before detecting need to judge whether to regulate execution in step 8 then if desired, otherwise execution in step 9;
Step 8: leg mechanism 1 pose reaches suitable pose before the manual adjustments, and execution in step 9;
Step 9: detect the stairs climbing device angle, need to judge whether to regulate, if improper then execution in step 10, otherwise execution in step 11;
Step 10: the inclination angle on manual adjustments chassis reaches suitable angle, and execution in step 11;
Step 11: detect seat inclination angle, need to judge whether manual adjustments, execution in step 12 then if desired, otherwise execution in step 13;
Step 12: the attitude of manual adjustments seat, and execution in step 13;
Step 13: leg mechanism, drivewheel stairs climbing device are gone up action downstairs before driving, and execution in step 14:
Whether step 14: detecting is the afterbody step, if then finish operation, otherwise execution in step 7;
Step 15: detect the location parameter of riser, tread and the step of stair and execution in step 16 by position sensor;
Step 16: judge whether it is first step, if execution in step 17 then, otherwise execution in step 18:
Step 17: detect by position, angle and angular-rate sensor corner and the angular velocity to directive wheel and drivewheel, and execution in step 19;
Step 18: continue to move ahead, and execution in step 15;
Step 19: adjust the seat attitude, and leg mechanism before driving, toothrow wheel and the drivewheel co-ordination of stairs climbing device, and execution in step 20;
Step 20: detect whether to advance to the next stage step, if execution in step 21 then, otherwise execution in step 17;
Step 21: position, position, angle and angular-rate sensor detect, and adjust the seat attitude, and go downstairs on the preceding leg mechanism of driving and the drivewheel, and execution in step 22;
Whether step 22: detecting is the afterbody step, if then finish operation, otherwise execution in step 21.
5. reconfigurable wheel-leg combined type wheel Wheel-chair according to claim 1 is characterized in that describedly taking turns the Wheel-chair obstacle detouring and striding ditch pattern control sequence, adopts the signal processing mode towards numeral, and its concrete steps are as follows:
Step 1: enter obstacle detouring and stride the ditch operational mode, system initialization and execution in step 2;
Step 2: obstacle and ditch parameter initialization setting excessively, and execution in step 3;
Whether step 3: it is normal to detect button and handle, if normally then execution in step 4, otherwise execution in step 5;
Step 4: show current electric quantity and gear, and execution in step 6;
Step 5: system halt is also reported to the police, and carries out fault and gets rid of;
Step 6: judge the obstacle detouring pattern or stride the ditch pattern, if obstacle detouring pattern execution in step 7 then, otherwise execution in step 14;
Step 7: the pose state of leg mechanism and stairs climbing device before adjusting, and execution in step 8;
Step 8: detect drivewheel and whether contact, if contact then execution in step 9, otherwise execution in step 7;
Step 9: adjust the seat attitude by seat regulator, drive motors makes the wheelchair operation, and execution in step 10;
Step 10: detect and whether to climb up obstacle fully, if execution in step 11 then, otherwise execution in step 9:
Step 11: the pose state of leg mechanism and stairs climbing device before adjusting, drive the wheelchair operation, and execution in step 12;
Step 12: detect whether kiss the earth of drivewheel, if execution in step 13 then, otherwise execution in step 11;
Step 13: pack up stairs climbing device, finish the obstacle detouring pattern;
Step 14: the pose state of leg mechanism and stairs climbing device before adjusting, drive the wheelchair operation, and execution in step 15;
Step 15: detect drivewheel and whether break away from ground, if execution in step 16 then, otherwise execution in step 14;
Step 16: the pose state of leg mechanism and stairs climbing device before adjusting, drive the wheelchair operation, and execution in step 17;
Step 17: detect trailing wheel and whether break away from ground, if execution in step 18 then, otherwise execution in step 16:
Step 18: the pose state of leg mechanism and stairs climbing device before adjusting, drive the wheelchair operation, and execution in step 19;
Step 19: detect the toothrow wheel and whether leave the gully, if execution in step 20 then, otherwise execution in step 18;
Step 20: regain stairs climbing device, finish to stride the ditch pattern.
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