CN103054677A - Electrically powered wheelchair capable of stably walking on staircase and flat ground - Google Patents

Abstract

A stable electric wheelchair for walking on stairs and on flat ground, which is composed of a seat, a controller, a frame, a front wheel, an Archimedes-like spiral impeller conversion mechanism, a variable rear wheel, a motor, and a small auxiliary track for the front wheel; The Archimedes spiral impeller conversion mechanism is composed of a planetary gear mechanism, a clutch and a telescopic support rod; the planetary gear mechanism is composed of four planetary gears, a sun gear and a planet carrier, and is connected with a variable rear wheel; the variable rear wheel It is composed of four arc rims and arc rod hubs that can be unscrewed to the outside of the rim respectively. The four arc rims form a complete circular rear wheel rim. Each arc rim and arc rod The hub forms a vane, and there are four vanes with the same structure; each segment of the arc-shaped rod hub is fixedly connected with the corresponding planetary wheel, and is connected with the planetary carrier by a hinge. The invention has the advantages of simple structure, high energy efficiency, stable movement and comfortable ride, and can be widely used in the daily family life of disabled people and old people.

Description

Electric wheelchair for stable stair and level ground walking

Technical field:

The invention relates to a stable staircase and an electric wheelchair for walking on level ground, belonging to the field of machinery for assisting the disabled and the elderly.

Background technique:

There are mainly two kinds of stair-climbing wheelchairs on the market now, namely crawler wheelchairs and planetary wheel wheelchairs. The crawler wheelchair moves smoothly, but has a complex structure, large volume, heavy weight, damage to the stairs, low energy efficiency, and difficulty in turning. The planetary wheel chair is small in size, but the movement is unstable, the center of gravity fluctuates greatly, and the ride is uncomfortable. The "iBOT" of the United States is currently the product with the highest performance index among the star wheel chairs, but the cost is high.

Invention content:

In order to solve the problems of complex structure, large volume, damage to the stairs, low energy efficiency and other problems of the crawler wheelchair in the existing technical solutions, as well as the problems of unstable movement, large center of gravity fluctuation and uncomfortable ride of the planetary wheel wheelchair, the technology adopted in the present invention The scheme is: a stable stair and level ground walking electric wheelchair, which consists of a seat, a controller, a frame, a front wheel, an Archimedes-like helical impeller conversion mechanism, a variable rear wheel, a motor and a small auxiliary track for the front wheel Composition; Archimedes-like helical impeller conversion structure is composed of planetary gear mechanism, clutch and telescopic support rod; planetary gear mechanism is composed of four planetary gears, sun gear and planet carrier, connected with variable rear wheel; The modified rear wheel is composed of four arc rims that can be unscrewed to the outside of the rim and the arc rod hub. The four arc rims form a complete circular rear wheel rim. Each arc rim is connected to the The arc-shaped rod hub forms a blade, and there are four blades with the same structure; each segment of the arc-shaped rod hub is fixedly connected with the corresponding planetary wheel, and connected with the planetary carrier by a hinge, which can rotate around the planetary carrier. The hinge fulcrum rotates, and its rotation angle is regulated by the controller, and the outer layer of the rim of the variable rear wheel is hollow rubber.

The invention utilizes the movement characteristics of the Archimedes spiral wheel when climbing stairs, and transforms the variable rear wheel from a circular wheel to a four-impeller through an Archimedes-like spiral impeller conversion mechanism, and uses the arc of the rim to approximate the The Archimedes spiral not only basically guarantees the stability of the wheelchair when climbing stairs, but also ensures the stability of the wheelchair when walking on flat ground. Compared with the existing technology, it has a simple structure, high energy efficiency, no damage to the stairs, and stable movement. , Comfortable ride, with greater advancement. It can be widely used in the daily family life of the disabled and the elderly, so as to improve the quality of life of the disabled and the elderly.

Description of drawings

Figure 1: Schematic diagram of the structure of electric wheelchairs with stable stairs and walking on flat ground

Figure 2: Schematic diagram of Archimedes-like helical impeller and conversion mechanism

Figure 3: Left view of Archimedes-like helical impeller conversion mechanism

Figure 4: Schematic diagram of the variable rear wheel structure

Detailed ways

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

The present invention utilizes the motion characteristics of the Archimedes helical wheel when climbing stairs, that is, the Archimedes helical wheel rotates around the axis of the wheel shaft at an equal angular velocity and realizes uniform movement in the horizontal direction with pure rolling. The center can move at a constant speed in the vertical direction according to the constant speed movement along the radial direction of the wheel. The variable rear wheel can be transformed from a round wheel to a four-impeller through an Archimedes-like helical impeller conversion mechanism. The four-segment wheel of the variable wheel The trajectory curve of the rim arc relative to the center point of the wheel axle after being expanded into four impellers is very similar to the Archimedes spiral, and the error of using the rim arc to approximate the Archimedes spiral is very small, which is called A-like The Kimedes spiral basically ensures the stability of the wheelchair when climbing stairs, and also ensures the stability of the wheelchair when walking on flat ground.

An electric wheelchair for walking on stable stairs and flat ground, comprising a seat (7), a controller (8), a vehicle frame (6), a front wheel (5), an Archimedes-like helical impeller conversion mechanism (2), The variable rear wheel (1), the motor (9) and the auxiliary small crawler of the front wheel are composed; the Archimedes-like helical impeller conversion mechanism (2) is composed of a planetary gear mechanism (12, 13, 14, 15), a clutch (16 ) and a telescopic support rod (3); the planetary gear mechanism is composed of four planetary gears (12, 13, 14, 15), a sun gear (11) and a planet carrier (10), and a variable rear wheel (1) connected; the variable rear wheel is made up of four sections of circular arc rims (17, 18, 19, 20) and arc rod hubs (21, 22, 23, 24) that can be unscrewed to the outside of the rim respectively. The circular arc rim constitutes a complete circular rear wheel rim, and each segment of the arc rim and the arc rod hub form a wheel blade, and there are four completely identical structural forms of the blade; each segment of the arc rod hub is connected to the corresponding The planetary wheel is fixedly connected, and is hingedly connected with the planetary carrier, and can rotate around the hinge fulcrum on the planetary carrier, and its rotation angle is regulated by the controller (16), and the variable rear wheel rim outer layer is a hollow rubber.

In the stair-climbing mode, when the variable rear wheel (1) walks to a certain distance from the stair step, the telescopic support rod (3) stretches out downwards to jack up the wheelchair, so that the wheelchair variable rear wheel ( 1) Leaving the ground, the Archimedes-like helical impeller conversion mechanism (2) controls the movement of the planetary gear train through the clutch (16), and drives the arc-shaped rod hub of the vane to rotate around the hinge fulcrum on the planet carrier to the outside of the wheel rim , drive the variable rear wheel (1) to turn outwards and convert it into a four-impeller. By controlling the angle of the outer turning of the wheel rim arc, different Archimedes-like spirals can be transformed, and the class can be adjusted within a certain range. The curvature of the Kimedesian spiral is adapted to the size of different stairs, so that the wheelchair can walk smoothly on the stairs; after the variable rear wheel (1) is converted from the round wheel to the impeller, the telescopic support rod (3) retracts upwards, The auxiliary small track (4) of the front wheel stretches out to contact with the stairs, and serves as an auxiliary fulcrum to guide the wheelchair upstairs. Each wheel blade has an arc-shaped rod. Rigidity and enhanced load capacity. When turning to walk on flat ground, the telescopic support rod (3) extends downward to lift the wheelchair, so that the variable rear wheel (1) of the wheelchair leaves the ground, and the Archimedes-like helix is controlled by the controller (8) The impeller conversion structure (2) makes the arc-shaped rod hub rotate towards the inner side of the wheel rim, and transforms the impeller into a round wheel to realize smooth walking on flat ground; (3) retract upwards, and the front wheel auxiliary small track (4) retracts. The wheel rim outer layer of the variable rear wheel (1) is hollow rubber, which can reduce the vibration caused by uneven road surface when the wheelchair is walking.

Claims (1)

1. An electric wheelchair for walking on stable stairs and level ground is characterized in that: it consists of a seat, a controller, a vehicle frame, a front wheel, an Archimedes-like spiral impeller conversion mechanism, a variable rear wheel, a motor and a front wheel The auxiliary small crawler is composed of; the Archimedes-like spiral impeller conversion structure is composed of a planetary gear mechanism, a clutch and a retractable support rod; the planetary gear mechanism is composed of four planetary gears, a sun gear and a planetary frame, and the variable rear wheel Connection; the variable rear wheel is composed of four arc rims that can be unscrewed to the outside of the rim and an arc rod hub. The four arc rims form a complete circular rear wheel rim, and each arc The rim and the arc rod hub form a blade, and there are four blades with the same structure; each segment of the arc rod hub is fixedly connected with the corresponding planet wheel, and connected with the planet carrier by a hinge, which can orbit the planet The hinge fulcrum on the frame rotates, and its rotation angle is regulated by the controller.

Images