CN102755229A - Six-legged stair climbing wheelchair - Google Patents
Six-legged stair climbing wheelchair Download PDFInfo
- Publication number
- CN102755229A CN102755229A CN2012102415170A CN201210241517A CN102755229A CN 102755229 A CN102755229 A CN 102755229A CN 2012102415170 A CN2012102415170 A CN 2012102415170A CN 201210241517 A CN201210241517 A CN 201210241517A CN 102755229 A CN102755229 A CN 102755229A
- Authority
- CN
- China
- Prior art keywords
- lower limb
- side lower
- chair
- front side
- back side
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
一种六足楼梯攀爬轮椅系统，属于助老助残服务机器人领域。其包括轮椅、3条椅前侧腿、3条椅背侧腿、电源控制器箱；所述电源控制器箱安装在轮椅的座位下面，内置电源和控制器；所述3条椅前侧腿分左中右均匀布置在电源控制器箱靠近轮椅的前侧，由髋关节、大腿、膝关节、小腿、踝关节和脚部组成，其大腿和小腿部分还包含由滚珠丝杠螺母机构实现的伸缩关节；所述3条椅背侧腿分左中右均匀布置在电源控制器箱靠近轮椅的背侧，由髋关节、大腿、膝关节、小腿、踝关节和脚部组成；本发明保证轮椅座位在整个楼梯攀爬过程中始终处于水平状态，保证乘员乘坐的舒适度和安全性，并且还可以方便地在坎坷不平的路面上行走。
A hexapod stair climbing wheelchair system belongs to the field of service robots for helping the elderly and the disabled. It includes a wheelchair, 3 front legs of the chair, 3 legs of the back of the chair, and a power controller box; the power controller box is installed under the seat of the wheelchair, and has a built-in power supply and controller; the 3 front legs of the chair They are evenly arranged on the left, middle and right sides of the power controller box close to the front side of the wheelchair, and consist of hip joints, thighs, knee joints, lower legs, ankle joints and feet. Telescopic joints; the three chair back side legs are evenly arranged on the back side of the power controller box close to the wheelchair, and are composed of hip joints, thighs, knee joints, calves, ankle joints and feet; the invention ensures that the wheelchair The seat is always in a horizontal state during the entire stair climbing process, ensuring the comfort and safety of the occupant, and can also walk on rough and uneven roads conveniently.
Description
Technical field:
The present invention relates to a kind of wheelchair of helping the elderly and helping the disabled, especially can speeling stairway and the wheelchair of leaping over obstacles, belonging to the helps the elderly service robot field of helping the disabled.
Background technology:
At present, known wheelchair device commonly used adopts wheeled forms of motion, can only on the level land, walk, and can not cross over entablement rank, the such obstacle of threshold, more can not speeling stairway, and the range of activity of therefore taking the wheelchair user receives very big restriction.The specifical wheelchair device that has stair climbing ability at present comprises wheels formula, crawler type, rail mounted and four kinds of lower limb formulas (legged) is arranged.Wheels formula wheelchair (such as the IBOT3000 of the U.S.) adopts star-like wheel mechanism, can speeling stairway with cross the road serratd edge, its shortcoming be the width of stair with highly must with the big or small fit of wheel, so certain restriction is arranged for the structure and the specification of stair; The crawler type wheelchair is walked on stair through crawler belt, and its shortcoming is that crawler belt damages stair easily and needs non-skid feature when stair climbing, and its application is restricted; Rail mounted need be installed special rail mechanism on stair, because rail mechanism can not arbitrarily move to different occasions with wheelchair, application also is restricted; The The hybrid all-terrain wheelchair of lower limb formula wheelchair such as Univ Pennsylvania USA's research arranged; On the basis of wheelchair, increased two legs; Can climb steps and crossing over blockage; But seat tilts seriously in the process of climbing step and crossing over blockage, causes very big sense of discomfort to the occupant.
Summary of the invention:
In order to overcome existing stair climbing wheelchair to the restriction of staircase structure with to the dependence of special facilities; The application provides a kind of new stair climbing wheelchair scheme; This scheme does not add restriction to the structure of stair; Do not rely on other special facilities yet, not only can guarantee occupant's in the stair climbing process safety, and can guarantee the comfortableness of occupant in stair climbing process.
The application solves the technical scheme that its technical problem adopts: below the seat of common wheelchair, be provided with 3 chair front side lower limbs and 3 chair back side lower limbs totally 6 pedipulators; Every pedipulator comprises hip joint, thigh, knee joint, shank, ankle joint and foot; Hip joint upwards is connected with wheelchair and is installed in the power-supply controller of electric case through thrust bearing; Hip joint is connected with thigh downwards, and thigh is connected through knee joint with shank, and shank is connected through ankle joint with foot; Hip joint and knee joint adopt driven by servomotor; Realize thigh around the rotation of hip joint and shank around knee joint rotation, the knee joint center of said chair front side lower limb and chair back side lower limb is all bent direction at the joint of thigh and shank to lower limb and is setovered, and makes chair front side lower limb and chair back side lower limb to fold at the knee joint place; One segment distance of chair back side lower limb hip joint Y-direction chair back side bending simultaneously, thus chair front side lower limb and chair back side lower limb can fold the below that is recovered to the power-supply controller of electric case and the rear of the chair back respectively.
Described six sufficient stair climbing wheelchairs have wheeled and two kinds of motor patterns of lower limb formula: in the environment of level land with 3 chair front side lower limbs and 3 chair back side lower limbs folding respectively be recovered to the power-supply controller of electric case below with the rear of the chair back, system adopts wheeled motor pattern; 6 pedipulators that in the environment that needs speeling stairway and leaping over obstacles, will fold stretch out, and adopt the walking movement pattern.
Lower limb branch left, center, right, said 3 chair front sides is evenly arranged in the front side of power-supply controller of electric case near wheelchair, and 3 chair back side lower limb branch left, center, rights are evenly arranged in the dorsal part of power-supply controller of electric case near wheelchair; It has at a slow speed creep gait and two kinds of gaits of creeping of triangle gait fast, and is specific as follows:
The said gait of creeping at a slow speed: only step one leg at every turn, step down one leg again after this lower limb lands, have 5 lower limb kiss the earths all the time at least; The order of taking a step of wherein going upstairs is: middle chair back side lower limb-right side chair back side lower limb-left side chair back side lower limb-chair front side, center of gravity reach-right side lower limb-chair front side, left side lower limb-middle chair front side lower limb;
The said gait of triangle fast: the left and right sides lower limb of chair back side and the middle leg of chair front side are one group; The left and right sides lower limb of the middle leg of chair back side and chair front side is one group; 3 lower limbs are on the same group taken a step simultaneously; Step next group lower limb after this group lower limb lands again, two groups of lower limbs are alternately taken a step, and have 3 lower limb kiss the earths all the time at least;
No matter be the gait of creeping that adopts at a slow speed; Still triangle gait fast, the distance from the position of centre of gravity of six sufficient stair climbing wheelchairs to the support polygon border of pedipulator is at least about equaling 1/4 of distance six sufficient stair climbing wheelchair leftmost side lower limbs and the rightmost side lower limb.
The thigh and the lower leg portion of 3 pedipulators in chair front side comprise telescopic joint, and telescopic joint is made up of movable part and standing part, and the telescopic joint standing part of thigh is connected with hip joint through stud nut; Movable part is connected with knee joint through stud nut; The telescopic joint standing part of shank is connected with knee joint through stud nut, and movable part is connected with ankle joint through stud nut, in stair climbing process; Wheelchair chair front side pro-is to advance to go downstairs as far as the occupant; Chair back side pro-; As far as the occupant is to fall back to go upstairs; At this moment wheelchair chair front side lower limb hangs down about 2-3 level step in present position on the stair than chair back side lower limb present position on stair; Wheelchair is regulated the collapsing length of chair front side lower limb telescopic joint according to the stairway step difference in height of chair front side lower limb and chair back side lower limb present position, makes chair front side lower limb longer than chair back side lower limb, and the lower limb length that has more than chair back side lower limb in chair front side equals the difference in height of chair front side lower limb and chair back side lower limb foothold on stair; Thereby the seat that in stair climbing process, remains wheelchair is in level, guarantees comfort level and safety that the occupant takes.
The thigh of 3 pedipulators in chair front side and the telescopic joint of lower leg portion are realized through ball-screw nut mechanism; Ball-screw adopts " fixing-freedom " type mounting means; Stiff end is connected with the driven by servomotor assembly through two-way characteristic analysis on passive self-locking bearing; The movable part of nut body and Retractive leg is connected, and the profile of Retractive leg movable part is a four-prism, is provided with 4 row rolling guide pieces at prismatical four sides; The standing part of Retractive leg is the four-prism of a hollow; On 4 planes on surface 1 row gathering sill is arranged respectively within it, movable part is enclosed within the standing part the inside and slides in the gathering sill of standing part through the rolling guide piece, and the telescopic section of pedipulator both can be freely flexible to regulate the length of pedipulator under the driving of servomotor like this; Can prevent that again ball-screw from producing de-rotation under stress, thereby when realizing the pedipulator Telescopic, guarantee the safety of system.
The hip joint of said chair front side lower limb and chair back side lower limb upwards is installed in the power-supply controller of electric case through thrust bearing; And pass through driven by servomotor; Chair front side lower limb and chair back side lower limb can be rotated around vertical axes, thereby realize the steering operation of six sufficient stair climbing wheelchair systems.
The ankle joint of said chair front side lower limb and chair back side lower limb is equipped with oscillating bearing; And adopt the no motor-driven drive scheme of owing; But because the axis deflection of oscillating bearing, the foot of 6 pedipulators can be around each 20 ° of the pitching up and down of left and right directions axle in ankle, also can be around each 15 ° of fore-and-aft direction axle left and right sides inclinations; Thereby make chair front side lower limb and chair back side lower limb can adapt to irregular ground, on the road surface of hollow, adopt the walking of walking movement pattern easily.
The application's beneficial effect is that system adopts wheeled motor pattern in the smooth-riding surface, keep the original motor function of wheelchair; In step and stair environment, adopt the walking movement mode; Not limited by staircase structure, do not rely on special special facilities, in stair climbing process, keep the level of seat all the time; Can guarantee safety and comfortableness that the occupant takes, and this system also has adaptability preferably on out-of-flatness ground.
Description of drawings:
Below in conjunction with accompanying drawing and embodiment the application is described further.
Fig. 1 is that six sufficient stair climbing wheelchairs adopt the walking movement state to begin speeling stairway.
Fig. 2 is that six sufficient stair climbing wheelchairs adopt wheeled kinestate at level walking.
Fig. 3 is the structure and the folding sketch map of pedipulator, and the thigh and the shank of chair back side lower limb do not have telescopic joint.
Fig. 4 is the concrete structure of chair front side lower limb thigh and shank telescopic joint.
Fig. 5 is the direction of motion of six sufficient stair climbing wheelchair chair front side lower limbs and rotation of chair back side lower limb and telescopic joint.
Fig. 6 is that six sufficient stair climbing wheelchairs keep the seat to be in level on stair through Retractive leg.
Fig. 7 direction of motion that to be six sufficient stair climbing wheelchairs go downstairs between the two-layer stair.
Fig. 8 is position of centre of gravity and the support polygons of six sufficient stair climbing wheelchairs when walking (triangle gait) fast.
Position of centre of gravity and support polygon when Fig. 9 is six sufficient stair climbing wheelchair low-speed runnings (gait of creeping).
1. chair back among the figure, 2. chair back side lower limb, 3. power-supply controller of electric case, 4. trailing wheel, 5. chair front side lower limb; 6. front-wheel, 7. footboard, 8. seat, 9. handrail, 10. the hip joint longitudinal axis; 11. hip joint, 12. ankle joint, 13. foots, 14. chair front side lower limb shank telescopic joints, 15. knee joints; 16. chair front side lower limb thigh telescopic joint, 19. gear-boxes, 20. gear trains, 21. servomotors, 22. two-way characteristic analysis on passive self-locking bearing; 23. ball-screw is axle head fixedly, 24. ball-screws, 25. ball-screw nuts, 26. Retractive leg standing part side plates, 27. rolling guide pieces row; 28. the Retractive leg movable part, 29. chair back side lower limb shanks, 30. chair back side lower limb thighs, 31. chair back side lower limb hip joint longitudinal axis, 32. thrust bearings.
The specific embodiment:
In Fig. 1,6 pedipulators are distributed on the under-seat of wheelchair in chair front side and chair back side branch left, center, right.As shown in Figure 3; The structure of pedipulator and people's lower limb are similar, are divided into the hip joint longitudinal axis 10, hip joint 11; Thigh 30, knee joint 15, shank 29, ankle joint 12 and foot 13; Hip joint 11 is connected with thigh 30 downwards, and thigh 30 is connected through knee joint 15 with shank 29, and shank 29 is connected through ankle joint 12 with foot 13.The hip joint longitudinal axis 10 upwards is installed in the power-supply controller of electric case 3 through thrust bearing 32, and through driven by servomotor, chair front side lower limb 5 and chair back side lower limb 2 can be rotated around vertical axes, thereby realizes the steering operation of six sufficient stair climbing wheelchair systems.Pedipulator towards with wheelchair towards on the contrary, so in the process of going upstairs, the chair back side pro-of wheelchair is to fall back to go upstairs as far as the occupant, in the process of going downstairs, wheelchair chair front side pro-is to advance to go downstairs as far as the occupant.Below seat 8, be provided with power-supply controller of electric case 3; The hip joint longitudinal axis 10 of pedipulator is fixed in the power-supply controller of electric case 3 through a pair of thrust ball bearing and passes through driven by servomotor; Thereby the whole piece pedipulator is rotated around z axle shown in Figure 5, change the direction of advance of wheelchair, realize turning motion.
In Fig. 3; The thigh and calf of chair front side lower limb 5 also has telescopic joint, and the structure of telescopic joint is as shown in Figure 4, and telescopic joint is made up of movable part and standing part; The telescopic joint standing part of thigh is connected with hip joint 11 through stud nut; Movable part is connected with knee joint 15 through stud nut, and the standing part of chair front side lower limb shank telescopic joint 14 is connected with knee joint 15 through stud nut, and movable part is connected with ankle joint 12 through stud nut.Telescopic joint realizes that through ball-screw nut mechanism ball-screw 24 adopts " fixing-freedom " type mounting means, and ball-screw fixedly axle head 23 is connected with driven units such as servomotor 21 and train of reduction gears 20 through two-way characteristic analysis on passive self-locking bearing 22.Ball-screw fixedly axle head 23 is installed together through bearing and gear-box 19 and Retractive leg standing part.The Retractive leg standing part is fixed into the four-prism of a hollow by 4 blocks of identical side plates 26 through screw, on 4 planes on surface 1 row gathering sill is arranged respectively within it.The movable part 28 of ball-screw nut 25 and Retractive leg is connected; The profile of Retractive leg movable part 28 is a four-prism; Be provided with 4 row rolling guide pieces 27 at prismatical four sides, the movable part 28 of Retractive leg is enclosed within the standing part the inside and slides in the gathering sill of standing part side plate 26 through rolling guide piece 27.The pedipulator telescopic joint upwards is connected with hip joint 11 through the telescopic joint of gear-box 19 and top mechanical part thigh, and chair front side lower limb shank telescopic joint 14 is connected with knee joint 15 and passes through the bolt and nut connection and fix.The movable part of the mechanical part thigh telescopic joint that the movable part 28 of pedipulator telescopic joint is downward with following is connected with knee joint 15, the movable part of chair front side lower limb shank telescopic joint 14 be connected with ankle joint 12 connect through bolt and nut fixing.The telescopic joint of pedipulator both can be freely flexible to regulate the length of pedipulator under the driving of servomotor 21 like this; Can prevent that again ball-screw 24 from producing de-rotation under stress, thereby when realizing the pedipulator Telescopic, guarantee the safety of system.
No matter be chair front side lower limb 5 or chair back side lower limb 2; Its ankle joint 12 has all been installed oscillating bearing; And the no motor-driven drive scheme of owing of employing; Because the axis of oscillating bearing can deflection within the certain angle scope, make that therefore foot 13 can be around each 20 ° of the pitching up and down of left and right directions axle at ankle joint 12 places, can also be around each 15 ° of fore-and-aft direction axle left and right sides inclinations; Therefore wheelchair can adapt to irregular ground, on potted road surface, also can adopt the walking of walking movement pattern easily.
As shown in Figure 3; The center of the knee joint 15 of chair front side lower limb 5 and chair back side lower limb 2 is all bent the direction segment distance of setovering in the part that crosses of thigh and shank to lower limb; Make chair front side lower limb 5 and chair back side lower limb 2 to fold at knee joint 15 places; The chair back side lower limb hip joint longitudinal axis 31 is to chair back side bending one segment distance simultaneously; Thereby chair front side lower limb 5 can fold the below and the rear of the chair back that is recovered to power-supply controller of electric case 3 respectively with chair back side lower limb 2, six sufficient stair climbing wheelchair systems so have wheeled and two kinds of motor patterns of lower limb formula.In embodiment illustrated in fig. 2, when wheelchair is in the environment of level land, as shown in Figure 5; The thigh and calf telescopic joint withdrawal of chair front side lower limb 5; Thigh rotates counterclockwise around hip joint 11, and the shank joint 15 of staying with one's parents in order to make them happy clockwise rotates, and chair front side lower limb 5 is folded in the below of power-supply controller of electric case 3; The thigh 30 of chair back side lower limb 2 rotates counterclockwise around hip joint 11, and shank 29 joint 15 of staying with one's parents in order to make them happy clockwise rotates, and chair back side lower limb 2 is folded in the rear of the chair back 1.Wheelchair lands through trailing wheel 4 and front-wheel 6, adopts wheeled kinestate.
In the embodiment shown in fig. 7; Consider spatial parallelogram sturcutre characteristics between the two-layer stair; And the structure of wheelchair and people's sitting posture all demonstrates low early and high after characteristics; Therefore wheelchair adopts to advance in stair climbing process and goes downstairs and retreat the mode of going upstairs, and promptly the occupant of wheelchair goes downstairs towards direction of advance, and the back of the body court direction of advancing is gone upstairs.As shown in Figure 1; When wheel chair sport was near stair, with the reverse movement of each cradle head of shank shown in Figure 5, the thigh of chair front side lower limb 5 clockwise rotated around hip joint 11; The shank joint 15 of staying with one's parents in order to make them happy rotates counterclockwise, and the chair front side lower limb 5 that is folded in power-supply controller of electric case 3 belows is stretched out; The thigh 30 of chair back side lower limb 2 clockwise rotates around hip joint 11, and shank 29 joint 15 of staying with one's parents in order to make them happy rotates counterclockwise, and the chair back side lower limb 2 that is folded in the chair back 1 rear is stretched out.Article 6, after pedipulator landed, trailing wheel 4 was liftoff with front-wheel 6, and wheelchair adopts 6 sufficient walking movement states, beginning stair climbing process as shown in Figure 1.As shown in Figure 1, when wheelchair was prepared speeling stairway, chair front side lower limb 5 was all stood at grade with chair back side lower limb 2, so the thigh and calf telescopic joint of chair front side lower limb 5 is in retracted mode.Along with the carrying out of stair climbing process, the foothold of chair front side lower limb 5 and chair back side lower limb 2 is in the plane of differing heights, and at this moment the thigh and calf telescopic joint of chair front side lower limb 5 stretches out.As shown in Figure 6; When wheelchair be in the stage casing of stair the time; Be that the foothold of chair front side lower limb 5 and chair back side lower limb 2 of wheelchair is all on stairway step the time; Stair difference in height between this foothold remains unchanged, so the collapsing length of the thigh and calf telescopic joint of chair front side lower limb 5 also remains unchanged basically, only when wheelchair moves forward and backward center of gravity along with pedipulator forward backward angle change and do corresponding fine setting.When wheelchair was climbed the stair terminal section, when promptly wheelchair left stair arrival level ground gradually, the difference in height between the foothold of chair front side lower limb 5 and chair back side lower limb 2 diminished gradually, and the telescopic joint of the thigh and calf of chair front side lower limb 5 is withdrawn gradually.Like this,, can guarantee that seats 8 is in level all the time, thereby guarantee occupant's comfortableness and safety through regulating the length that telescopic joint stretches out and withdraws.When wheelchair arrives the level ground, and for example embodiment illustrated in fig. 2 with the pedipulator withdrawal, get back to wheeled kinestate.
In the embodiment shown in fig. 8, wheelchair adopts the walking of triangle gait.This is a kind of quick walking manner; The left and right sides lower limb of chair back side and the middle leg of chair front side are one group; The left and right sides lower limb of the middle leg of chair back side and chair front side is one group, is denoted as A and B respectively, and 3 lower limbs are on the same group taken a step simultaneously; Step next group lower limb after this group lower limb lands again, have 3 lower limb kiss the earths all the time at least.Its operating process is following: A group lower limb is stood, and B group lower limb is taken a step; Two groups of lower limbs of AB land simultaneously, the reach of wheelchair center of gravity; B group lower limb is stood, and A group lower limb is taken a step; Two groups of lower limbs of AB land simultaneously, the reach of wheelchair center of gravity; A group lower limb is stood, and B group lower limb is taken a step ...So move in circles, make wheelchair walk with the fast speeds walking.
In the embodiment shown in fig. 9, wheelchair adopts the gait walking of creeping.This is a kind of low-speed running mode, is numbered 6 pedipulators of 1 ~ 6 and moves successively, only steps one leg at every turn, steps down one leg after one leg lands again, has 5 lower limb kiss the earths all the time at least.Its operating process is following: intermediary No. 2 lower limbs of chair back side at first step; Next coming in order are No. 1 and No. 3 lower limbs of chair back side, and 6 lower limbs land simultaneously then, the reach of wheelchair center of gravity; Then step No. 4 and No. 6 lower limbs of chair front side more successively, step intermediary No. 5 lower limbs in chair front side at last.So far accomplish one and take a step the cycle, then begin next circulation walking movement.
In the embodiment of Fig. 8 and Fig. 9; No matter be the gait of creeping of low-speed running; The triangle gait of still walking fast; The center of gravity (representing with G and ★) that can guarantee wheelchair is within the support polygon of pedipulator all the time and has bigger enough and to spare, and system has preferably stability margin and is unlikely to topple, thereby guarantees occupant's safety.
Claims (6)
1. sufficient stair are climbed wheelchair; It is characterized in that it is provided with 3 chair front side lower limbs and 3 chair back side lower limbs totally 6 pedipulators below the seat of common wheelchair, every pedipulator comprises hip joint, thigh, knee joint, shank, ankle joint and foot; Hip joint upwards is connected with wheelchair and is installed in the power-supply controller of electric case through thrust bearing; Hip joint is connected with thigh downwards, and thigh is connected through knee joint with shank, and shank is connected through ankle joint with foot; Hip joint and knee joint adopt driven by servomotor; Realize thigh around the rotation of hip joint and shank around knee joint rotation, the knee joint center of said chair front side lower limb and chair back side lower limb is all bent direction at the joint of thigh and shank to lower limb and is setovered, and makes chair front side lower limb and chair back side lower limb to fold at the knee joint place; One segment distance of chair back side lower limb hip joint Y-direction chair back side bending simultaneously, thus chair front side lower limb and chair back side lower limb can fold the below that is recovered to the power-supply controller of electric case and the rear of the chair back respectively;
Described six sufficient stair climbing wheelchairs have wheeled and two kinds of motor patterns of lower limb formula: in the environment of level land with 3 chair front side lower limbs and 3 chair back side lower limbs folding respectively be recovered to the power-supply controller of electric case below with the rear of the chair back, system adopts wheeled motor pattern; 6 pedipulators that in the environment that needs speeling stairway and leaping over obstacles, will fold stretch out, and adopt the walking movement pattern.
2. according to claim 1 six sufficient stair climbing wheelchairs; It is characterized in that: lower limb branch left, center, right, said 3 chair front sides is evenly arranged in the front side of power-supply controller of electric case near wheelchair, and 3 chair back side lower limb branch left, center, rights are evenly arranged in the dorsal part of power-supply controller of electric case near wheelchair; It has at a slow speed creep gait and two kinds of walking step states of triangle gait fast, and is specific as follows:
The said gait of creeping at a slow speed: only step one leg at every turn, step down one leg again after this lower limb lands, have 5 lower limb kiss the earths all the time at least; The order of taking a step of wherein going upstairs is: middle chair back side lower limb-right side chair back side lower limb-left side side chair back side lower limb-chair front side, center of gravity reach-right side lower limb-chair front side, left side lower limb-middle chair front side lower limb;
The said gait of triangle fast: the left and right sides lower limb of chair back side and the middle leg of chair front side are one group; The left and right sides lower limb of the middle leg of chair back side and chair front side is one group; 3 lower limbs are on the same group taken a step simultaneously; Step next group lower limb after this group lower limb lands again, two groups of lower limbs are alternately taken a step, and have 3 lower limb kiss the earths all the time at least;
No matter be the gait of creeping that adopts at a slow speed; Still triangle gait fast, the distance from the position of centre of gravity of six sufficient stair climbing wheelchairs to the support polygon border of pedipulator is at least about equaling 1/4 of distance six sufficient stair climbing wheelchair leftmost side lower limbs and the rightmost side lower limb.
3. according to claim 1 six sufficient stair climbing wheelchairs; It is characterized in that: the thigh and the lower leg portion of 3 pedipulators in chair front side comprise telescopic joint, and telescopic joint is made up of movable part and standing part, and the telescopic joint standing part of thigh is connected with hip joint through stud nut; Movable part is connected with knee joint through stud nut; The telescopic joint standing part of shank is connected with knee joint through stud nut, and movable part is connected with ankle joint through stud nut, in stair climbing process; Wheelchair chair front side pro-is to advance to go downstairs as far as the occupant; Chair back side pro-; As far as the occupant is to fall back to go upstairs; At this moment wheelchair chair front side lower limb hangs down about 2-3 level step in present position on the stair than chair back side lower limb present position on stair; Wheelchair is regulated the collapsing length of chair front side lower limb telescopic joint according to the stairway step difference in height of chair front side lower limb and chair back side lower limb present position, makes chair front side lower limb longer than chair back side lower limb, and the lower limb length that has more than chair back side lower limb in chair front side equals the difference in height of chair front side lower limb and chair back side lower limb foothold on stair; Thereby the seat that in stair climbing process, remains wheelchair is in level, guarantees comfort level and safety that the occupant takes.
4. according to claim 1 six sufficient stair climbing wheelchairs; It is characterized in that: the thigh of 3 pedipulators in chair front side and the telescopic joint of lower leg portion are realized through ball-screw nut mechanism; Ball-screw adopts " fixing-freedom " type mounting means, and stiff end is connected with the driven by servomotor assembly through two-way characteristic analysis on passive self-locking bearing, and the movable part of nut body and Retractive leg is connected; The profile of Retractive leg movable part is a four-prism; Be provided with 4 row rolling guide pieces at prismatical four sides, the standing part of Retractive leg is the four-prism of a hollow, on 4 planes on surface 1 row gathering sill is arranged respectively within it; Movable part is enclosed within the standing part the inside and slides in the gathering sill of standing part through the rolling guide piece; The telescopic section of pedipulator both can freely flexiblely under the driving of servomotor prevent again to regulate the length of pedipulator that ball-screw from producing de-rotation under stress, when realizing the pedipulator Telescopic, guaranteed the safety of system.
5. according to claim 1 six sufficient stair climbing wheelchairs; It is characterized in that: the hip joint of said chair front side lower limb and chair back side lower limb upwards is installed in the power-supply controller of electric case through thrust bearing; And pass through driven by servomotor; Chair front side lower limb and chair back side lower limb can be rotated around vertical axes, thereby realize the steering operation of six sufficient stair climbing wheelchair systems.
6. according to claim 1 six sufficient stair climbing wheelchairs; It is characterized in that: the ankle joint of said chair front side lower limb and chair back side lower limb is equipped with oscillating bearing; And adopt the no motor-driven drive scheme of owing; But because the axis deflection of oscillating bearing, the foot of 6 pedipulators can be around each 20 ° of the pitching up and down of left and right directions axle in ankle, also can be around each 15 ° of fore-and-aft direction axle left and right sides inclinations; Thereby make chair front side lower limb and chair back side lower limb can adapt to irregular ground, on the road surface of hollow, adopt the walking of walking movement pattern easily.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210241517.0A CN102755229B (en) | 2012-07-12 | 2012-07-12 | Six-legged stair climbing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210241517.0A CN102755229B (en) | 2012-07-12 | 2012-07-12 | Six-legged stair climbing wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102755229A true CN102755229A (en) | 2012-10-31 |
| CN102755229B CN102755229B (en) | 2014-12-31 |
Family
ID=47050050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210241517.0A Expired - Fee Related CN102755229B (en) | 2012-07-12 | 2012-07-12 | Six-legged stair climbing wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102755229B (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103300981A (en) * | 2013-06-19 | 2013-09-18 | 河北工业大学 | Wheelchair capable of climbing up stair |
| CN105581877A (en) * | 2016-02-19 | 2016-05-18 | 浙江大学昆山创新中心 | Wheelchair robot beneficial to obstacle surmounting |
| CN105919737A (en) * | 2016-05-26 | 2016-09-07 | 南京工程学院 | Wheelchair walking device for walking up and down stairs |
| CN106137582A (en) * | 2016-07-15 | 2016-11-23 | 嘉兴川页奇精密自动化机电有限公司 | Obstacle detouring wheelchair |
| CN106428167A (en) * | 2016-11-25 | 2017-02-22 | 苏玉涛 | Mobile vehicle and vehicle moving device |
| CN106741286A (en) * | 2017-01-12 | 2017-05-31 | 南京理工大学 | Five sufficient bionic machine robot mechanisms |
| CN106806074A (en) * | 2015-12-01 | 2017-06-09 | 吴土泉 | Intelligent multifunction Wheel-chair type bed |
| CN106974806A (en) * | 2017-03-24 | 2017-07-25 | 浙江工业大学 | The bending joint of polypody power-assisted healing robot |
| CN107054588A (en) * | 2017-01-22 | 2017-08-18 | 浙江大学 | A kind of crawl stroke formula robot and its method of work under water |
| CN107307948A (en) * | 2017-08-11 | 2017-11-03 | 赵程宇 | A kind of blind person's multifunction nursing accessible vehicles |
| CN107307951A (en) * | 2017-07-28 | 2017-11-03 | 嘉兴川页奇精密自动化机电有限公司 | A kind of cat ladder barrier-surpassing robot |
| CN107720489A (en) * | 2017-11-06 | 2018-02-23 | 杨公民 | A kind of the elderly conveys elevator |
| CN107874934A (en) * | 2017-12-18 | 2018-04-06 | 西安工业大学 | A kind of multi-functional seat of walking |
| CN108639179A (en) * | 2018-06-21 | 2018-10-12 | 天津师范大学 | A kind of upper device downstairs and method of going downstairs thereon based on electric telescopic rod |
| CN109823988A (en) * | 2019-03-25 | 2019-05-31 | 中国石油大学(北京) | Pillar-type climbing robot |
| WO2019127263A1 (en) * | 2017-12-28 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| CN110101514A (en) * | 2019-06-15 | 2019-08-09 | 大连亿斯德环境科技有限公司 | A kind of intelligent multi-function auxiliary wheelchair |
| CN110386534A (en) * | 2018-04-22 | 2019-10-29 | 李福贵 | Electric expansion walking vehicle |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | A multifunctional obstacle-climbing wheelchair and an obstacle-climbing method |
| CN110916918A (en) * | 2019-12-09 | 2020-03-27 | 河海大学常州校区 | A multifunctional step-type barrier-free wheelchair |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and its walking control method |
| CN111904730A (en) * | 2020-08-14 | 2020-11-10 | 东南大学 | A stepped stair-climbing wheelchair and a method of using the same |
| CN112137810A (en) * | 2020-10-20 | 2020-12-29 | 杭州存览科技有限公司 | An intelligent follow-up seat |
| CN112572624A (en) * | 2020-12-22 | 2021-03-30 | 武汉尹珞蝌蚪教育科技有限公司 | But remote control's robot that can climb height |
| CN112843590A (en) * | 2021-01-13 | 2021-05-28 | 广州华立科技职业学院 | Hand-operated and electric dual-purpose three-rail sliding self-locking stair climbing machine |
| CN113352288A (en) * | 2021-06-03 | 2021-09-07 | 扎赉诺尔煤业有限责任公司 | Test data remote-controlled robot for monitoring operation environment in severe environment |
| CN114136319A (en) * | 2021-11-10 | 2022-03-04 | 浙江天铂云科光电股份有限公司 | Navigation method and device for infrared chart shooting of substation equipment |
| CN114176924A (en) * | 2021-12-31 | 2022-03-15 | 宸瑞机器人(重庆)有限公司 | Barrier-free intelligent telescopic wheelchair |
| CN116035814A (en) * | 2023-03-06 | 2023-05-02 | 山西大学 | Leg foot type stair climbing wheelchair based on Lai Luo triangle and stair climbing and steering method |
| WO2024221845A1 (en) * | 2023-04-25 | 2024-10-31 | 腾讯科技（深圳）有限公司 | Mobile robot and control method therefor |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104161631A (en) * | 2014-08-02 | 2014-11-26 | 吴翰威 | Wheel chair allowing the disabled to go upstairs conveniently |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN106691724B (en) * | 2016-11-30 | 2018-06-15 | 广西大学 | A kind of apery foot formula stair climbing wheelchair |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3592282A (en) * | 1969-09-12 | 1971-07-13 | Robert L Soileau | Stair-traversing wheelchair apparatus |
| JPH07237154A (en) * | 1994-03-01 | 1995-09-12 | Yasusato Honda | Leg walking robot |
| CN2451090Y (en) * | 2000-07-25 | 2001-10-03 | 侯乐平 | Wheel chair capable of up-down stairs |
| CN1385284A (en) * | 2002-06-27 | 2002-12-18 | 上海交通大学 | Shape memory alloy driven miniature three-leg walking robot |
| WO2008090508A1 (en) * | 2007-01-23 | 2008-07-31 | Andrea Dogliotti | Equipment for enabling a motorized wheelchair to move safely even on steps or flights of stairs |
-
2012
- 2012-07-12 CN CN201210241517.0A patent/CN102755229B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3592282A (en) * | 1969-09-12 | 1971-07-13 | Robert L Soileau | Stair-traversing wheelchair apparatus |
| JPH07237154A (en) * | 1994-03-01 | 1995-09-12 | Yasusato Honda | Leg walking robot |
| CN2451090Y (en) * | 2000-07-25 | 2001-10-03 | 侯乐平 | Wheel chair capable of up-down stairs |
| CN1385284A (en) * | 2002-06-27 | 2002-12-18 | 上海交通大学 | Shape memory alloy driven miniature three-leg walking robot |
| WO2008090508A1 (en) * | 2007-01-23 | 2008-07-31 | Andrea Dogliotti | Equipment for enabling a motorized wheelchair to move safely even on steps or flights of stairs |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103300981B (en) * | 2013-06-19 | 2015-08-19 | 河北工业大学 | A kind of wheelchair of climbing step |
| CN103300981A (en) * | 2013-06-19 | 2013-09-18 | 河北工业大学 | Wheelchair capable of climbing up stair |
| CN106806074A (en) * | 2015-12-01 | 2017-06-09 | 吴土泉 | Intelligent multifunction Wheel-chair type bed |
| CN105581877A (en) * | 2016-02-19 | 2016-05-18 | 浙江大学昆山创新中心 | Wheelchair robot beneficial to obstacle surmounting |
| CN105581877B (en) * | 2016-02-19 | 2017-09-12 | 浙江大学昆山创新中心 | A kind of wheel chair robot for being easy to obstacle detouring |
| CN105919737A (en) * | 2016-05-26 | 2016-09-07 | 南京工程学院 | Wheelchair walking device for walking up and down stairs |
| CN106137582A (en) * | 2016-07-15 | 2016-11-23 | 嘉兴川页奇精密自动化机电有限公司 | Obstacle detouring wheelchair |
| CN106428167A (en) * | 2016-11-25 | 2017-02-22 | 苏玉涛 | Mobile vehicle and vehicle moving device |
| CN106428167B (en) * | 2016-11-25 | 2018-09-25 | 苏玉涛 | Mobile Carts and Cart Moving Devices |
| CN106741286A (en) * | 2017-01-12 | 2017-05-31 | 南京理工大学 | Five sufficient bionic machine robot mechanisms |
| CN106741286B (en) * | 2017-01-12 | 2024-04-05 | 南京理工大学 | Five-foot bionic robot mechanism |
| CN107054588A (en) * | 2017-01-22 | 2017-08-18 | 浙江大学 | A kind of crawl stroke formula robot and its method of work under water |
| CN107054588B (en) * | 2017-01-22 | 2019-02-12 | 浙江大学 | An underwater crawling-swimming robot and its working method |
| CN106974806A (en) * | 2017-03-24 | 2017-07-25 | 浙江工业大学 | The bending joint of polypody power-assisted healing robot |
| CN107307951A (en) * | 2017-07-28 | 2017-11-03 | 嘉兴川页奇精密自动化机电有限公司 | A kind of cat ladder barrier-surpassing robot |
| CN107307948A (en) * | 2017-08-11 | 2017-11-03 | 赵程宇 | A kind of blind person's multifunction nursing accessible vehicles |
| CN107720489A (en) * | 2017-11-06 | 2018-02-23 | 杨公民 | A kind of the elderly conveys elevator |
| CN107874934A (en) * | 2017-12-18 | 2018-04-06 | 西安工业大学 | A kind of multi-functional seat of walking |
| CN111511335A (en) * | 2017-12-28 | 2020-08-07 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| WO2019127263A1 (en) * | 2017-12-28 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| CN110386534A (en) * | 2018-04-22 | 2019-10-29 | 李福贵 | Electric expansion walking vehicle |
| CN108639179A (en) * | 2018-06-21 | 2018-10-12 | 天津师范大学 | A kind of upper device downstairs and method of going downstairs thereon based on electric telescopic rod |
| CN109823988A (en) * | 2019-03-25 | 2019-05-31 | 中国石油大学(北京) | Pillar-type climbing robot |
| CN110101514A (en) * | 2019-06-15 | 2019-08-09 | 大连亿斯德环境科技有限公司 | A kind of intelligent multi-function auxiliary wheelchair |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | A multifunctional obstacle-climbing wheelchair and an obstacle-climbing method |
| CN110916918B (en) * | 2019-12-09 | 2022-03-01 | 河海大学常州校区 | Multifunctional stepping barrier-free wheelchair |
| CN110916918A (en) * | 2019-12-09 | 2020-03-27 | 河海大学常州校区 | A multifunctional step-type barrier-free wheelchair |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and its walking control method |
| CN111904730A (en) * | 2020-08-14 | 2020-11-10 | 东南大学 | A stepped stair-climbing wheelchair and a method of using the same |
| CN112137810A (en) * | 2020-10-20 | 2020-12-29 | 杭州存览科技有限公司 | An intelligent follow-up seat |
| CN112572624A (en) * | 2020-12-22 | 2021-03-30 | 武汉尹珞蝌蚪教育科技有限公司 | But remote control's robot that can climb height |
| CN112843590A (en) * | 2021-01-13 | 2021-05-28 | 广州华立科技职业学院 | Hand-operated and electric dual-purpose three-rail sliding self-locking stair climbing machine |
| CN113352288A (en) * | 2021-06-03 | 2021-09-07 | 扎赉诺尔煤业有限责任公司 | Test data remote-controlled robot for monitoring operation environment in severe environment |
| CN114136319A (en) * | 2021-11-10 | 2022-03-04 | 浙江天铂云科光电股份有限公司 | Navigation method and device for infrared chart shooting of substation equipment |
| CN114176924A (en) * | 2021-12-31 | 2022-03-15 | 宸瑞机器人(重庆)有限公司 | Barrier-free intelligent telescopic wheelchair |
| CN114176924B (en) * | 2021-12-31 | 2024-02-27 | 宸瑞机器人(重庆)有限公司 | Accessible intelligent telescopic wheelchair |
| CN116035814A (en) * | 2023-03-06 | 2023-05-02 | 山西大学 | Leg foot type stair climbing wheelchair based on Lai Luo triangle and stair climbing and steering method |
| CN116035814B (en) * | 2023-03-06 | 2024-06-21 | 山西大学 | A leg-foot stair climbing wheelchair based on Lello triangle and a stair climbing and turning method |
| WO2024221845A1 (en) * | 2023-04-25 | 2024-10-31 | 腾讯科技（深圳）有限公司 | Mobile robot and control method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102755229B (en) | 2014-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102755229A (en) | Six-legged stair climbing wheelchair | |
| CN104622650B (en) | A kind of wheel-track combined electric wheelchair | |
| CA3013164C (en) | Supporting structure | |
| CN104027207B (en) | Multi-functional accessible life electric wheelchair | |
| CN101797202B (en) | Crawler-type land-stair dual-purpose scooter | |
| CN212400777U (en) | Stilt type deformation wheel | |
| CN106691724B (en) | A kind of apery foot formula stair climbing wheelchair | |
| CN104382705A (en) | Off-road stair-climbing wheelchair capable of realizing wheel and track switching | |
| CN111714302B (en) | A multi-plane stair-climbing wheelchair | |
| CN103027805A (en) | Road-staircase dual-purpose wheelchair | |
| CN105798875A (en) | Continuous jumping type step climbing robot and step adaptive climbing method | |
| CN103010330A (en) | Biped walking robot | |
| CN108294870B (en) | Barrier free accessibility balance car | |
| CN101712340B (en) | Foot rail type walking vehicle | |
| CN112773621A (en) | Support structure, chassis structure, intelligent stair climbing wheelchair and method for climbing stairs | |
| CN105434121A (en) | Electric stair climbing wheelchair | |
| CN203315197U (en) | Reconfigurable wheel-leg combined type wheelchair | |
| CN103230322B (en) | Front leg mechanism of composite wheel leg type wheelchair | |
| CN103767841A (en) | Wheel and crawler type dual-purpose wheelchair for both roads and stairs | |
| CN101803980B (en) | Barrier free wheelchair | |
| CN204394831U (en) | Wheel carries out suitching type cross-country type stair climbing wheel chair | |
| CN104760630A (en) | People gait simulation stair-climbing robot | |
| CN205866978U (en) | Can cross wheelchair of step automatically | |
| CN205698285U (en) | A kind of full intelligent balance wheel-chair | |
| CN108095869A (en) | A kind of medical multifunctional artificial limb |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230704 Address after: 065000 South side of Guzhu Road, Gu'an County, Langfang, Hebei Province (No. 2 office in the yard of Gu'an County Zhengtong Petroleum Liquefied Gas Co., Ltd.) Patentee after: Langfang jiayangming Technology Co.,Ltd. Address before: 100124 No. 100 Chaoyang District Ping Tian Park, Beijing Patentee before: Beijing University of Technology |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 |