CN113397847B - Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair - Google Patents

Abstract

The invention relates to an auxiliary wheelchair obstacle crossing device and an obstacle crossing wheelchair, wherein the auxiliary wheelchair obstacle crossing device is arranged on a rear wheel of the wheelchair and comprises a ratchet wheel, a push rod assembly and a ratchet wheel driving assembly, wherein: the ratchet wheel and the rear wheel are coaxial and rotatable, and the outer edge of the ratchet wheel is provided with a plurality of ratchets; the push rod assembly is provided with a plurality of push rod mechanisms matched with the ratchet teeth of the ratchet wheel in number, the push rod mechanisms are distributed at the outer edge of the rear wheel along the circumferential direction, each push rod mechanism is provided with a push rod capable of moving along the radial direction of the rear wheel, and one end of the outer side of the push rod is provided with a driving block capable of extending out of the outer edge of the rear wheel; the ratchet wheel driving assembly is used for driving the ratchet wheel to rotate, and when the ratchet of the ratchet wheel rotates to one end of the inner side of the push rod, the push rod is pushed to move outwards, so that the driving block extends out. Compared with the prior art, the invention can realize the obstacle crossing function only by additionally arranging the obstacle crossing device on the original wheel without changing the structure and the transmission mode of the original wheelchair, and can also be integrated with the driving wheel. Simple structure, convenient operation, the security is high.

Description

An auxiliary wheelchair obstacle-surmounting device and an obstacle-surmounting wheelchair

technical field

The invention relates to the field of wheelchairs, in particular to an obstacle surmounting device and an obstacle surmounting wheelchair.

Background technique

With the serious aging of the population and the improvement of people's quality of life, wheelchairs have become the preferred travel tool for the disabled and the elderly, effectively improving the quality of life of groups in need. The most common wheelchair has a simple structure, but needs to be accompanied, especially when encountering steps such as steps, so there is an urgent need for a wheelchair that can be used on flat ground and can overcome obstacles.

Common existing obstacle-crossing wheelchairs are crawler type (patents such as Li Xingjun, application number: 201810074878.8, application date in June 2018 "Auxiliary Support Type Foldable Road Ladder Dual-purpose Vehicle"), leg-foot type (Wang Feng, etc. Patent, application number: 201810609448.1, application date: June 2018 in "A Manned Stair Climbing Method for a Manned Stair Climbing Device") and planetary wheel type (Ban Shuhao and other patents, application number: 201910338208.7, application date: 2019 April "A Robot to Assist the Elderly in Automatic Climbing Stairs"), but they are all in the experimental research stage, and there is still a certain distance from market promotion.

Existing technology 1 (Wu Qiang and other patents, application number: 201911235684.2, application date December 2019 in "Intelligent Engagement Stair Climbing Wheelchair"), the motor drives the link mechanism to push the umbrella ring to drive the spring telescopic wheel to expand and contract. Movement up and down stairs. The obstacle-crossing telescopic wheel of this patent application is distributed with a plurality of square channel telescopic wheels on the main shell, mainly composed of square contact rods, damping springs, dowel rods, and connecting rods. The umbrella ring is composed of connecting rods. promote. This invention completes the stair climbing function, but cannot pass through obstacles of different heights, and the mechanical structure is relatively complicated.

Existing technology 2 (patents such as Zhong Zhaohong, application number: 201711200279.8, application date in November 2017 "barrier-free traffic balance vehicle"), using composite wheels including walking wheels, tracks and mecanum wheels, used for walking on ordinary roads The combination of walking wheels and tracks for uneven roads, and the combination of Mecanum wheels and tracks for stairs; the track layer is an isosceles triangle, with track driving gears installed at the top corners and track driven wheels at the two bottom corners; the wheel set layer is provided by Mike The mecanum wheel is composed of the track wheel and the walking wheel. The mecanum wheel is installed on the top of the compound wheel, and is connected with the track driving gear through a two-axis gear connection. The top protrudes from the track, and the two sides are tangent to the track base belt. The bottom of the walking wheel protrudes from the track, and the two sides are tangent to the base belt of the track. The front wheel is a non-powered omnidirectional wheel, and the rear wheel is an ordinary wheel, which is used as a walking power wheel. Each compound wheel is driven by an independent power. , the walking rear wheel and the mecanum wheel share power with the track. The half shaft of the differential gear passes between the road wheel and the mecanum, and is fixedly installed with the compound wheel.

The above-mentioned obstacle-crossing wheelchair obstacle-crossing mechanism has greatly changed the driving of the wheelchair. It is necessary to redesign the wheelchair walking drive device. The structure is relatively complicated. The utility model has strong performance and is suitable for the obstacle-climbing device used on wheelchairs of various driving modes.

Contents of the invention

The object of the present invention is to provide an auxiliary wheelchair obstacle surmounting device and an obstacle surmounting wheelchair in order to overcome the above-mentioned defects in the prior art. Without changing the structure and transmission mode of the original wheelchair, it is only necessary to install an obstacle-surmounting device on the original wheels to realize the obstacle-overriding function, and it can also be integrated with the driving wheel. Simple structure, convenient operation and high safety.

The purpose of the present invention can be achieved through the following technical solutions:

The first aspect of the present invention provides an auxiliary wheelchair obstacle surmounting device, which is arranged on the rear wheel of the wheelchair, including:

Ratchet, coaxial with the rear wheel and rotatable, with multiple ratchet teeth on the outer edge,

The push rod assembly has a plurality of push rod mechanisms that match the number of ratchet teeth of the ratchet wheel, and the plurality of push rod mechanisms are distributed at the outer edge of the rear wheel along the circumference, and each push rod mechanism has a function that can move along the radial direction of the rear wheel A moving push rod, the outer end of the push rod is provided with a driving block that can extend out of the outer edge of the rear wheel,

The ratchet drive assembly is used to drive the ratchet to rotate. When the ratchet of the ratchet rotates to the inner end of the push rod, the push rod is pushed outward to extend the drive block.

Preferably, the ratchet is ring-shaped, and an inner ring gear is provided at the inner edge, and the ratchet driving assembly includes a driving gear and at least two driven gears meshed with the inner ring gear, and the driving gear is connected There is a driving motor for driving the ratchet to rotate, and the driven gear is connected with a support shaft for supporting the ratchet and rotating with the rotation of the ratchet.

Preferably, one driving gear and two driven gears are evenly distributed along the inner edge of the ratchet.

Preferably, the drive motor is a motor with an electromagnetic brake, and the drive gear is connected to the output shaft of the drive motor through a key.

Preferably, the ratchets are evenly distributed on the outer edge of the ratchet along the circumference, and the transition of the ratchets is smooth, and the push rod mechanism is arranged correspondingly to the ratchets.

Preferably, the push rod mechanism also includes a sleeve and a compression spring, the sleeve is fixed on the rear wheel, the push rod is passed through the sleeve, and the push rod is provided with a boss, and the compression spring It is arranged in the sleeve, one end is supported by the sleeve, and the other end abuts on the boss, which is used to keep the inner end of the push rod in contact with the outer edge of the ratchet.

Preferably, the outer end of the push rod is inserted into the drive block, and is fixed in position with the drive block by a positioning pin.

The second aspect of the present invention provides an obstacle surmounting wheelchair, including the above-mentioned auxiliary wheelchair obstacle surmounting device.

Preferably, it also includes a wheelchair bracket and an auxiliary small wheel arranged at the front of the wheelchair bracket and a rear wheel arranged at the rear of the wheelchair bracket. The rear wheel is an obstacle-crossing wheel and has a drive wheel bracket. The barrier device is arranged in the driving wheel bracket, and the auxiliary small wheel can be raised and lowered with the stretching and retracting of the driving block.

Preferably, the auxiliary small wheel is connected to the wheelchair bracket through a pneumatic cylinder, and the lifting of the auxiliary small wheel is controlled by the expansion and contraction of the piston of the pneumatic cylinder.

The working principle of the present invention is as follows:

The present invention completes the deformation of the obstacle-crossing wheel through the expansion and contraction of the push rod, thereby realizing the obstacle-crossing function. The auxiliary obstacle surmounting device rotates together with the original wheels of the wheelchair. When there is no obstacle, the original wheels drive the wheelchair. When an obstacle is encountered, the auxiliary obstacle surmounting device stretches out the driving block to drive the wheelchair.

The control switch can be installed on the armrest of the wheelchair. When the wheelchair encounters an obstacle, the control signal is given to the wheelchair through the switch on the control armrest, and the switch signal is sent to the controller through wired/wireless signal transmission. The controller controls the drive motor to work and drives the drive gear. Rotate, the drive gear drives the ratchet to rotate through the internal ring gear of the ratchet, the ratchet on the ratchet and the ratchet rotate integrally, thereby pushing the push rod in contact with it to push outward, and the drive block on the push rod extends outward at the same time. After the push rod moves to the expected position, the position switch sends a signal to the controller, and the controller outputs a signal to control the driving motor brake, the push rod stops moving along the radial direction, and the driving blocks distributed along the circumference contact the ground, and rotate as the obstacle is overcome. Drive the wheelchair to work. At the same time, the auxiliary small wheel in front of the wheelchair lifts the front end of the wheelchair under the action of the pneumatic cylinder to ensure the balance of the wheelchair. When the obstacle disappears, the controller controls the driving motor to continue to rotate. When the push rod returns to the initial position, the driving motor locks the brake and the driving block retracts. The original wheels on the wheelchair are in contact with the ground to drive the wheelchair. At the same time, the pneumatic cylinder take back. The shape of ratchet on the ratchet is distributed along the circumference, and the push rod completes the above-mentioned repetitive work when the ratchet rotates.

Compared with the prior art, the present invention has the following beneficial effects:

(1) The present invention does not need to change the original wheelchair structure and transmission mode, and only needs to install the obstacle-surmounting device on the original wheels to realize the obstacle-overriding function, and also can be integrated with the driving wheel.

(2) The present invention is simple in structure and easy to operate, and can complete the deformation of the obstacle-surpassing auxiliary device only by controlling the start and stop of the motor.

(3) The deformation mechanism of the obstacle-surmounting assisting device of the present invention adopts a motor-driven pinion gear and a ratchet ring gear meshing, which realizes the functions of increasing the torque and reducing the rotational speed, and is safer.

Description of drawings

Fig. 1 is a schematic diagram of the front structure of the driving block extended state of the auxiliary wheelchair obstacle surmounting device of the present invention.

Fig. 2 is a front structural schematic view of the retracted state of the driving block of the obstacle-surmounting auxiliary wheelchair device of the present invention.

Fig. 3 is a schematic diagram of the front view of the obstacle-crossing wheelchair of the present invention when crossing obstacles.

Fig. 4 is a schematic diagram of installation of the auxiliary wheelchair obstacle-surmounting device of the present invention.

In the figure, 1 is the driving gear, 2 is the ratchet, 3 is the push rod, 4 is the compression spring, 5 is the positioning pin, 6 is the driving block, 7 is the sleeve, 8 is the driven wheel gear A, 9 is the driven Gear B, 10 is the driving motor, 11 is the supporting shaft of driven gear A, 12 is the supporting shaft of driven gear B, 13 is the ground, 14 is the obstacle-crossing wheel, 15 is the wheelchair support, 16 is the pneumatic cylinder, and 17 is the pneumatic cylinder For the auxiliary steamer during work, 18 is the auxiliary steamer when the pneumatic cylinder stretches out, and the 19th is the driving wheel support, and the 20th is the push rod mechanism.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

An auxiliary wheelchair obstacle surmounting device, as shown in Figure 1, Figure 2 and Figure 4, is arranged on the rear wheel of the wheelchair, including a ratchet 2, a push rod assembly and a ratchet drive assembly, wherein: the ratchet 2 is coaxial with the rear wheel and Rotatable, the outer edge has a plurality of ratchets; the push rod assembly has a plurality of push rod mechanisms 20 matching the number of ratchet teeth of the ratchet wheel 2, and the plurality of push rod mechanisms 20 are distributed at the outer edge of the rear wheel along the circumferential direction, Each push rod mechanism 20 has a push rod 3 that can move in the radial direction of the rear wheel, and the outer end of the push rod 3 is provided with a drive block 6 that can stretch out from the outer edge of the rear wheel; the ratchet drive assembly is used to drive the ratchet 2 to rotate, When the ratchet of the ratchet wheel 2 rotates to the inner end of the push rod 3, it pushes the push rod 3 to move outward, so that the driving block 6 is stretched out and connected with the ground 13, thereby increasing the driving force of the wheelchair to climb over obstacles.

More specifically:

As shown in Figure 1, the preferred ratchet 2 is ring-shaped, and an inner ring gear is provided at the inner edge, and the ratchet drive assembly includes a driving gear 1 and at least two driven gears (there are provided in this embodiment) meshed with the inner ring gear. Two driven gears are respectively driven gear A8 and driven gear B9), the driving gear 1 is connected with a drive motor 10 for driving the ratchet 2 to rotate, and the driven gear is connected with a supporting shaft (the driven gear A8 is connected with a slave The driven gear A supporting shaft 11, the driven gear B9 is connected with the driven gear A supporting shaft 12), which is used to support the ratchet 2 and rotate with the ratchet 2. In this embodiment, preferably one driving gear 1 and two driven gears are evenly distributed along the inner circumference of the ratchet 2, so that the force distribution is more uniform and the operation is more stable. In this embodiment, preferably, the driving motor 10 is a motor with an electromagnetic brake, and the driving gear 1 is connected to the output shaft of the driving motor 10 through a key.

In this embodiment, the ratchets are preferably evenly distributed on the outer edge of the ratchet 2 along the circumference, and the transition of the ratchets is smooth (wavy), and the push rod mechanism 20 is arranged correspondingly to the ratchet teeth, and the inner end of the push rod 3 is also designed to be hemispherical. In this way, the interaction between the push rod 3 and the ratchet is designed more smoothly, and the device works more stably. As shown in Figures 1-2, the push rod mechanism 20 preferably also includes a sleeve 7 and a compression spring 4, the sleeve 7 is fixed on the rear wheel, the push rod 3 is penetrated in the sleeve 7, and the push rod 3 is provided with There is a boss, the compression spring 4 is arranged in the sleeve 7, one end is supported by the sleeve 7, and the other end is abutted on the boss, so as to keep one end inside the push rod 3 in contact with the outer edge of the ratchet 2. One end of the outer side of the push rod 3 is inserted into the driving block 6 , and the position is fixed with the driving block 6 through the positioning pin shaft 5 .

Example 2

An obstacle-surmounting wheelchair includes the auxiliary wheelchair obstacle-surmounting device of Embodiment 1. Also comprise wheelchair support 15 and the auxiliary small wheel that is arranged on wheelchair support 15 front parts and the rear wheel that is arranged on wheelchair support 15 rear parts, rear wheel is obstacle-crossing wheel 14, has driving wheel support 19, and auxiliary wheelchair obstacle-surmounting device is arranged on In the driving wheel support 19, the auxiliary small wheel is for lifting with the extension and retraction of the driving block 6. Preferably, the auxiliary small wheel is connected with the wheelchair support 15 through the pneumatic cylinder 16, and the lifting of the auxiliary small wheel is controlled by the expansion and contraction of the piston of the pneumatic cylinder 16. The dotted line and the solid line in Fig. 3 have respectively shown the auxiliary small wheel 17 when the pneumatic cylinder is working and the auxiliary small wheel 18 when the pneumatic cylinder is stretched out.

Specific working process: the control switch can be installed on the armrest of the wheelchair. When the wheelchair encounters an obstacle, the control signal is given to the wheelchair through the control switch. Through wired/wireless transmission, the controller gives the drive motor signal, and the drive motor 10 starts to work, and the drive motor 10 The drive gear 1 is driven to rotate through the output shaft, and the drive gear 1 drives the ratchet 2 to rotate through the internal ring gear of the ratchet 2. The ratchet of the ratchet 2 is in contact with the inner end (the spherical surface) of the push rod 3. When the ratchet 2 rotates, the ratchet pushes the push rod. Rod 3 moves outward, and after the push rod 3 moves to the expected position, the position switch sends a signal to the controller, and the controller outputs the signal to control the drive motor 10 to hold the brake. When the push rod 3 is stretched out, it drives the drive block connected to the outer end of the push rod 6 stretches out, the driving block 6 contacts with the ground 3, and the stretching device starts to drive the wheelchair to work. At the same time, the piston of the pneumatic cylinder 16 that controls the auxiliary small wheel of the wheelchair stretches out, raising the height of the auxiliary small wheel of the wheelchair, assisting The wheelchair has completed the obstacle course. When the obstacle disappears, the controller drives the motor to continue to rotate, and when the push rod returns to the initial position, the motor locks the brake, and the push rod 3 retracts with the drive block 6, and the wheelchair is driven by the original wheel, and the piston of the pneumatic cylinder 16 retracts at the same time . Since the ratchet and the push rod 3 are evenly distributed along the circumference and have the same structure, the periodic work can be completed with the rotation of the ratchet 2 .

The above descriptions of the embodiments are for those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative efforts. Therefore, the present invention is not limited to the above-mentioned embodiments. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (7)

1. The utility model provides an auxiliary wheelchair hinders device more, sets up on the rear wheel of wheelchair, its characterized in that includes:

a ratchet wheel (2) which is coaxial with the rear wheel and can rotate, the outer edge of which is provided with a plurality of ratchets,

the push rod assembly is provided with a plurality of push rod mechanisms (20) matched with the ratchet teeth of the ratchet wheel (2) in number, the push rod mechanisms (20) are distributed at the outer edge of the rear wheel along the circumferential direction, each push rod mechanism (20) is provided with a push rod (3) capable of moving along the radial direction of the rear wheel, one end of the outer side of each push rod (3) is provided with a driving block (6) capable of extending out of the outer edge of the rear wheel,

the ratchet wheel driving assembly is used for driving the ratchet wheel (2) to rotate, and when the ratchet of the ratchet wheel (2) rotates to one end of the inner side of the push rod (3), the push rod (3) is pushed to move outwards, so that the driving block (6) extends out;

the ratchet wheel (2) is annular, an inner gear ring is arranged at the inner edge of the ratchet wheel, the ratchet wheel driving assembly comprises a driving gear (1) and at least two driven gears, the driving gear (1) is connected with a driving motor (10) and used for driving the ratchet wheel (2) to rotate, and the driven gears are connected with a supporting shaft and used for supporting the ratchet wheel (2) and rotating along with the rotation of the ratchet wheel (2); the ratchets are uniformly distributed on the outer edge of the ratchet wheel (2) along the circumference, the transition of the ratchets is smooth, and the push rod mechanism (20) is arranged corresponding to the ratchets;

the push rod mechanism (20) further comprises a sleeve (7) and a compression spring (4), the sleeve (7) is fixed on the rear wheel, the push rod (3) penetrates through the sleeve (7), a boss is arranged on the push rod (3), the compression spring (4) is arranged in the sleeve (7), one end of the compression spring is supported by the sleeve (7), the other end of the compression spring is abutted to the boss, and one end of the inner side of the push rod (3) is in contact with the outer edge of the ratchet wheel (2).

2. An auxiliary wheelchair obstacle crossing device according to claim 1, wherein one driving gear (1) and two driven gears are evenly distributed along the circumferential direction of the inner edge of the ratchet wheel (2).

3. An auxiliary wheelchair obstacle crossing device according to claim 1, wherein the driving motor (10) is a motor with an electromagnetic band-type brake, and the driving gear (1) is in key connection with an output shaft of the driving motor (10).

4. The auxiliary wheelchair obstacle crossing device as claimed in claim 1, wherein one end of the outer side of the push rod (3) is inserted into the driving block (6) and fixed in position with the driving block (6) through a positioning pin (5).

5. An obstacle crossing wheelchair including an auxiliary wheelchair obstacle crossing device as claimed in any one of claims 1~4.

6. The obstacle crossing wheelchair as claimed in claim 5, further comprising a wheelchair frame (15), and auxiliary small wheels arranged at the front part of the wheelchair frame (15) and rear wheels arranged at the rear part of the wheelchair frame (15), wherein the rear wheels are obstacle crossing wheels (14) and are provided with driving wheel frames (19), the auxiliary wheelchair obstacle crossing device is arranged in the driving wheel frames (19), and the auxiliary small wheels can be lifted and lowered along with the extension and retraction of the driving block (6).

7. The obstacle crossing wheelchair as claimed in claim 6, wherein the auxiliary small wheel is connected with the wheelchair support (15) through a pneumatic cylinder (16), and the lifting of the auxiliary small wheel is controlled through the expansion and contraction of a piston of the pneumatic cylinder (16).

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