CN109512593B

CN109512593B - A self-balancing wheelchair adapted to climbing stairs

Info

Publication number: CN109512593B
Application number: CN201811372817.6A
Authority: CN
Inventors: 潘柏翰
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-11-19
Filing date: 2018-11-19
Publication date: 2020-05-08
Anticipated expiration: 2038-11-19
Also published as: CN109512593A

Abstract

The invention discloses a self-balancing wheelchair suitable for climbing stairs, which comprises a seat, a seat suspension beam, hubs and hub suspension beams, wherein the seat is clamped with the seat suspension beam through support columns; a rotary base and a motor are arranged on the side surface of the hub suspension beam, and a screw rod of the motor is sleeved in a fixed sleeve on the support column; the carbon brush holders are arranged at two ends of the wheel hub suspension beam, two carbon brushes with opposite electric properties are erected on the carbon brushes, a carbon brush ring corresponding to the carbon brushes is arranged on the inner side of the wheel hub, a wire connector lug, an air valve, an air pump and an air pump assembly are arranged on the outer side of the wheel hub, and the wheel hub is connected with a rubber tire in a wrapping mode. The wheelchair adopts the seat inclination adjusting system and the tire air pressure adjusting system to respectively adjust the horizontal state of the seat and the negative pressure state of the tire, realizes the self-balancing control function of the wheelchair, improves the comfort and the safety of the wheelchair, can adapt to various terrains such as going upstairs or downstairs, obstacle crossing and the like, and is suitable for large-scale popularization.

Description

Self-balancing wheelchair suitable for climbing stairs

Technical Field

The invention relates to the technical field of wheelchairs, in particular to a self-balancing wheelchair suitable for climbing stairs.

Background

The wheelchair is an indispensable travel tool for the old, the weak and the disabled with the disabled lower limbs, is also an important tool for the rehabilitation of the sick and wounded, and more importantly, enables the old, the weak and the disabled with the disabled lower limbs to perform physical exercises and participate in social activities by means of the wheelchair. Wheelchairs are generally divided into common wheelchairs and special wheelchairs, the common wheelchairs generally consist of four parts, namely a wheelchair frame, wheels, a brake device and a seat rest, and the common wheelchairs do not have the functions of climbing stairs and crossing obstacles, so that the application range of the wheelchairs is greatly limited.

Therefore, technicians at home and abroad propose a plurality of special wheelchairs for climbing stairs and crossing obstacles, the types of related devices and patents are various, the wheelchairs mainly comprise three categories, namely a crawler type wheelchair, a wheel set wheelchair, a multi-foot wheelchair and the like, and the functions and application characteristics of the wheelchairs are also beneficial and disadvantageous. When the crawler-type wheelchair turns, the steel ring and the crawler belt have great damage to the ground; when the multi-foot wheelchair walks, the pressure of each wheel (or supporting leg) to the ground is more uniform, but the chair seat fluctuates and bumps along with the wheels (or supporting legs), the gravity center of a rider is continuously changed, and the comfort level is poorer; the wheel set type wheelchair has good running performance in an obstacle-free environment on a flat road surface, but the change of the gravity center is large when going up and down stairs or crossing obstacles, so that passengers feel uncomfortable.

When the special wheelchair climbs a building or crosses obstacles, the mode needs to be switched, the structure of the wheelchair is complex, and the price is expensive. Meanwhile, the seat suspension and the wheel suspension are generally designed in an integrated manner, which means that when the wheels bump, the seat bumps along with the wheels, the center of gravity is easy to shift, so that the comfort level is poor, and the safety is poor when the seat turns, gets over obstacles or goes upstairs or downstairs.

Although some techniques incorporate gyroscopes into the wheelchair structure to increase the balance of the wheelchair. For example, patent CN 106943248A proposes "a multifunctional wheelchair", which uses a gyroscope to measure the inclination of the seat, and uses a transmission structure of chains, gears, worm wheels and worms to make the seat ascend or descend on a suspension frame, thereby ensuring the horizontal direction of the seat to a certain extent; however, because the wheels and the seat are on the same suspension structure, only two front wheels or rear wheels can cross obstacles simultaneously, when a single front wheel or rear wheel crosses an obstacle, the operation mode of the gyroscope can be disordered, so that the other front wheel is suspended, and the risk of overturning is caused.

In general, to ensure the adaptability of special wheel chairs for obstacle crossing to various terrains, the wheel suspension and the seat suspension are separated from each other, so that the inclination mode of the wheels and the inclination mode of the seat operate independently, i.e. when the wheels bump, the seat basically keeps horizontal, thereby ensuring the comfort and safety of the wheel chair, which is one of the important issues in the field of wheel chairs.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a self-balancing wheelchair suitable for climbing.

In order to achieve the purpose, the invention adopts the following technical scheme:

a self-balancing wheelchair suitable for climbing stairs comprises a seat, seat suspension beams, hubs and hub suspension beams, wherein two symmetrical support columns are fixedly arranged at the bottom of the seat, clamping grooves corresponding to the support columns are formed in the upper surfaces of the seat suspension beams, the support columns are clamped in the clamping grooves of the seat suspension beams and fastened through screws, suspension beam shafts are connected to the seat suspension beams in a penetrating mode along the length direction, bearing holes corresponding to the suspension beam shafts are formed in the hub suspension beams, two ends of each suspension beam shaft are respectively connected to the bearing holes of the two hub suspension beams in a penetrating mode, and two ends of each hub suspension beam are connected with the hubs through wheel shafts;

a rotating shaft penetrates through the side face of one end of the hub suspension beam, the rotating shaft is arranged in parallel with the wheel shaft, one end, far away from the direction of the hub, of the rotating shaft is fixedly connected with a rotating base, one side, far away from the rotating shaft, of the rotating base is fixedly connected with a motor, the output end of the motor is sleeved with a screw rod, the side wall of the support column is provided with a fixing sleeve, the fixing sleeve is sleeved with a screw hole corresponding to the screw rod, and one end;

the carbon brush frames are arranged at two ends of the hub suspension beam and provided with two carbon brushes with opposite electrical properties, each carbon brush consists of a spring section and a conductive hard block, springs of the carbon brushes are respectively connected with a conductive lead, one side of the hub, which is close to the direction of the hub suspension beam, is provided with a carbon brush ring corresponding to the carbon brush, the carbon brush rings are specifically in the shape of two annular clamping grooves, and the conductive hard blocks of the carbon brushes are movably clamped on the carbon brush rings;

one side of the wheel hub, which is far away from the direction of the wheel hub suspension beam, is provided with two wire connector lugs electrically connected with the carbon brush ring, one side of the wheel hub, which is far away from the direction of the wheel hub suspension beam, is also provided with an inflating valve, an air pump and an air pump assembly, the air pump assembly comprises an air pressure relay, a pressure gauge and an air pressure regulating valve, the outer side of the wheel hub is wrapped with a rubber tire, the inflating valve is communicated with the rubber tire, one end of the inflating valve, which extends out of the rubber tire, is;

the upper surface of seat support suspension roof beam is equipped with the fixed plate, is equipped with actuating system and balanced governing system on the fixed plate, and balanced governing system comprises solid-state accurate gyroscope, acceleration sensor and servo control system, and actuating system includes transfer line, motor and power.

The electric leads of the two carbon brushes are respectively and electrically connected with the positive pole and the negative pole of the power supply, and the positive pole and the negative pole of the air pump are respectively and electrically connected with the two wire connector lugs.

Preferably, the chair seat is provided with armrests, and the armrests are provided with rocker controllers.

Preferably, the driving system, the balance adjusting system and the motor are electrically connected with the rocker controller.

Preferably, the servo control system is electrically connected with the motor, the transmission rod is connected with the wheel shaft, and the air pump assembly are respectively electrically connected with the balance adjusting system.

Preferably, the rubber tyre is in particular an extra soft rubber tyre, having a shore hardness lower than 10.

Preferably, the conductive hard blocks and the carbon brush rings of the carbon brush are coated with the conductive wear-resistant graphite layer.

Preferably, the fixed sleeve and the screw are made of high-strength hard alloy steel.

Compared with the prior art, the invention has the beneficial effects that:

the invention adopts two sets of adjusting systems to realize the self-balancing control function of the wheelchair, namely a seat inclination adjusting system and a tire air pressure adjusting system; the seat inclination adjusting system comprises a seat suspension beam and a hub suspension beam which are mutually independent, the seat suspension beam is connected with the seat through a support column, the hub suspension beam is connected with the hub through a wheel shaft, the seat suspension beam and the hub are in threaded connection through a screw rod of a motor and a fixed sleeve of the support column, the seat and the hub are in independent operation in an inclination mode, and the seat is basically kept horizontal when wheels bump, so that all wheels can be safely landed, the stress of all the wheels is relatively balanced, and the suspension of the wheels and the overturning risk caused by the suspension of the wheels can be avoided; the tire air pressure adjusting system comprises an air pump, an air pump assembly and a super-soft rubber tire, when the wheel bumps, the air pump pumps air to the rubber tire, so that the rubber tire is in an easily-deformed negative pressure state, and the tire can be always attached to the ground, thereby adapting to various stepped bump fluctuation, greatly reducing bump feeling, improving riding comfort, and further improving riding safety because the deformed rubber tire has large friction force. The two sets of adjusting systems are used for respectively adjusting the horizontal state of the seat and the negative pressure state of the tire, so that the comfort level and the safety of the wheelchair are greatly improved, the wheelchair can adapt to various terrains such as going upstairs or downstairs, obstacle crossing and the like, and the wheelchair is suitable for large-scale popularization.

Drawings

Fig. 1 is a top view of a frame of a self-balancing wheelchair adapted to climb a building, according to the present invention;

fig. 2 is a partial enlarged view I of a top view of a frame of a self-balancing wheelchair adapted to climb a building according to the present invention;

FIG. 3 is a schematic view of the inner side of a hub of a self-balancing wheelchair adapted to climb a building according to the present invention;

FIG. 4 is a schematic view of the outer side of a hub of a self-balancing wheelchair adapted to climb a building according to the present invention;

FIG. 5 is a schematic diagram of the self-balancing wheelchair for climbing stairs according to the present invention;

in the figure: the device comprises a seat 1, a seat 2 suspension beam, a wheel hub 3, a wheel hub suspension beam 4, a support column 5, a suspension beam shaft 6, a wheel shaft 7, a rotating shaft 8, a rotating base 9, a motor 10, a screw rod 11, a fixing sleeve 12, a carbon brush holder 13, a carbon brush 14, a carbon brush ring 15, a lead connector 16, a valve cock 17, an air pump 18, an air pump assembly 19, a rubber tire 20, a fixing plate 21, a driving system 22, a balance adjusting system 23, a handrail 24 and a rocker controller 25.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a self-balancing wheelchair suitable for climbing stairs comprises a seat 1, a seat suspension beam 2, a hub 3 and hub suspension beams 4, wherein two symmetrical support columns 5 are fixedly arranged at the bottom of the seat 1, a clamping groove corresponding to the support column 5 is formed in the upper surface of the seat suspension beam 2, the support column 5 is clamped in the clamping groove of the seat suspension beam 2 and is fastened through a screw, a suspension beam shaft 6 penetrates through the seat suspension beam 2 along the length direction, a bearing hole corresponding to the suspension beam shaft 6 is formed in the hub suspension beam 4, two ends of the suspension beam shaft 6 are respectively penetrated into the bearing holes of the two hub suspension beams 4, and two ends of each hub suspension beam 4 are connected with the hub 3 through a wheel shaft 7; a rotating shaft 8 penetrates through the side face of the hub suspension beam 4, the rotating shaft 8 is arranged in parallel with a wheel shaft 7, one end, away from the hub 3, of the rotating shaft 8 is fixedly connected with a rotating base 9, one side, away from the rotating shaft 8, of the rotating base 9 is fixedly connected with a motor 10, the output end of the motor 10 is sleeved with a screw rod 11, the side wall of the support column 5 is provided with a fixing sleeve 12, the fixing sleeve 12 is provided with a screw hole corresponding to the screw rod 11, and one end, away from the motor 10, of the screw rod; the carbon brush holder 13 is arranged at each of two ends of the hub suspension beam 4, the carbon brush holder 13 is provided with two carbon brushes 14 with opposite electric properties, each carbon brush 14 consists of a spring section and a conductive hard block, the springs of the carbon brushes 14 are respectively connected with a conductive lead, one side of the hub 3, which is close to the hub suspension beam 4 direction, is provided with a carbon brush ring 15 corresponding to the carbon brush 14, the carbon brush ring 15 is specifically in the shape of two annular clamping grooves, and the conductive hard blocks of the carbon brushes 14 are movably clamped on the carbon brush ring 15; one side of the hub 3, which is far away from the direction of the hub suspension beam 4, is provided with two wire connectors 16 electrically connected with the carbon brush ring 15, one side of the hub 3, which is far away from the direction of the hub suspension beam 4, is also provided with an air valve 17, an air pump 18 and an air pump assembly 19, the air pump assembly 19 comprises an air pressure relay, a pressure gauge and an air pressure regulating valve, the outer side of the hub 3 is wrapped with a rubber tire 20, the air valve 17 is communicated with the rubber tire 20, one end of the air valve 17, which extends out of the rubber tire 20, is communicated with the air pump assembly 19, and the air pump; the upper surface of the chair seat suspension beam 2 is provided with a fixed plate 21, the fixed plate 21 is provided with a driving system 22 and a balance adjusting system 23, the balance adjusting system 23 consists of a solid-state precise gyroscope, an acceleration sensor and a servo control system, the driving system 22 comprises a transmission rod, a motor and a power supply, the balance adjusting system is a balance adjusting system used by the prior common FGHGF type balance vehicle, the driving system is a driving system used by the prior common BZ-6401 type electric wheelchair, and the connection structure is not repeated; the conductive leads of the two carbon brushes 14 are electrically connected to the positive and negative poles of the power supply, respectively, and the positive and negative poles of the air pump 18 are electrically connected to the two wire connectors 16, respectively.

Referring to fig. 1, the seat 1 is provided with an armrest 24, the armrest 24 is provided with a rocker controller 25, a driving system 22, a balance adjusting system 23 and a motor 10 which are electrically connected with the rocker controller 25, a servo control system is electrically connected with the motor 10, a transmission rod is connected with a wheel shaft 7, and the air pump 18 and the air pump assembly 19 are respectively electrically connected with the balance adjusting system 23; secondly, the air pump 18 is controlled to pump air or deflate the rubber tire 20, so as to control the air pressure in the rubber tire 20, thereby being suitable for various terrains such as going upstairs or downstairs, obstacle crossing and the like.

Referring to fig. 1, the rubber tire 20 is specifically an extra soft rubber tire, the shore hardness of which is lower than 10, and the soft rubber tire 20 is adopted to facilitate the deformation of the tire in a low pressure state, so as to easily roll over obstacles, and the amplitude of the bump is small, so that a large damping effect is achieved.

Referring to fig. 1, the conductive hard blocks and the carbon brush rings 15 of the carbon brush 14 are coated with the conductive wear-resistant graphite layer, so that the service life of the carbon brush 14 and the carbon brush rings 15 is prolonged.

Referring to fig. 1, the fixing sleeve 12 and the screw 11 are made of high-strength hard alloy steel, so that the stability of the balance of the seat 1 is ensured, and the service life of the wheelchair is prolonged.

The self-balancing control principle of the invention is as follows: the rocker controller 25 is used for controlling the balance adjusting system 23 and the switch of the motor 10, the rocker controller 25 is used for adjusting the operation mode of the driving system 22, the solid-state precise gyroscope of the balance adjusting system 23 is used for measuring the inclination angle and the inclination speed, and signals are respectively transmitted to the motor 10 and the air pump 18, so that the rotating speed and the steering direction of the screw rod 11 are controlled, and the balance of the seat is adjusted; secondly, the air pump 18 is controlled to pump air or deflate the rubber tire 20, so as to control the air pressure in the rubber tire 20, thereby being suitable for various terrains such as going upstairs or downstairs, obstacle crossing and the like.

The working process of the invention is as follows: when going upstairs: as shown in fig. 5, when the front wheel tire touches a step and goes up, the solid-state precision gyroscope and the acceleration sensor of the balance adjusting system 23 automatically measure the inclination angle and the inclination speed, the generated inclination signal is transmitted to the servo control system, the servo control system respectively sends the inclination signal to the motor 10 and the air pump 18, on one hand, the rotation direction and the rotation speed of the motor 10 and the screw 11 are adjusted according to the inclination signal, the screw 11 is rotated out of the fixed sleeve 12, so that the support column 5 which is inclined backwards is supported to be in a vertical state, the seat 1 is ensured to maintain the horizontal direction, the movement mode that the seat 1 inclines forwards is realized, the gravity center of a passenger also shifts forwards, and the safety of going upstairs is improved; on the other hand, the inclination signal can remind the air pump 18 and the air pump assembly 19, the air pump assembly 19 and the air pump 18 are controlled by the servo control system to pump air to the rubber tire 20, the rubber tire 20 is in a negative pressure state, the negative pressure rubber tire 20 is easy to deform, the tire can be always attached to a step, and therefore the wheelchair is adaptive to various stepped bumps and dips, the bump sense is greatly reduced, the riding comfort level is improved, meanwhile, the deformed rubber tire 20 is large in friction force and easy to attach to a stair, and the stair climbing comfort level of the wheelchair is further improved. When going downstairs, the principle is similar to that in the prior art, except that the screw rod 11 rotates inwards to the fixed sleeve 12, so that the forward inclined support column 5 is supported to be in a vertical state, a backward inclining motion mode of the seat 1 is realized, the gravity center of a passenger is also shifted backwards, and the safety of going downstairs is improved; when getting over obstacle, the chair is equivalent to the alternate combination of going upstairs and going downstairs, namely the alternate operation of the movement mode of forward tilting and backward tilting of the chair seat 1 is realized, the chair seat 1 is always ensured to be basically kept in the horizontal direction, and the riding comfort and the safety are improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A self-balancing wheelchair suitable for climbing stairs comprises a chair seat (1), a chair seat suspension beam (2), a wheel hub (3) and a wheel hub suspension beam (4), it is characterized in that two symmetrical supporting columns (5) are fixedly arranged at the bottom of the chair seat (1), the upper surface of the chair seat suspension beam (2) is provided with a clamping groove corresponding to the supporting column (5), the supporting column (5) is clamped in a clamping groove of the chair seat suspension beam (2) and is fastened through a screw, the chair seat suspension beam (2) is connected with a suspension beam shaft (6) along the length direction in a penetrating way, the hub suspension beam (4) is provided with a bearing hole corresponding to the suspension beam shaft (6), two ends of the suspension beam shaft (6) are respectively penetrated in bearing holes of the two hub suspension beams (4), both ends of each hub suspension beam (4) are connected with the hub (3) through a wheel shaft (7);

a rotating shaft (8) penetrates through the side face of one end of the hub suspension beam (4), the rotating shaft (8) is parallel to a wheel shaft (7), a rotating base (9) is fixedly connected to one end, far away from the direction of the hub (3), of the rotating shaft (8), a motor (10) is fixedly connected to one side, far away from the rotating shaft (8), of the rotating base (9), a screw rod (11) is sleeved at the output end of the motor (10), a fixing sleeve (12) is arranged on the side wall of the supporting column (5), a screw hole corresponding to the screw rod (11) is formed in the fixing sleeve (12), and one end, far away from the motor (10), of the screw rod (11) penetrates through the screw hole of the;

the carbon brush holder (13) is arranged at each of two ends of the hub suspension beam (4), the carbon brush holders (13) are provided with two carbon brushes (14) with opposite electrical properties, each carbon brush (14) is composed of a spring section and a conductive hard block, springs of the carbon brushes (14) are respectively connected with a conductive lead, one side, close to the hub suspension beam (4), of the hub (3) is provided with a carbon brush ring (15) corresponding to the carbon brush (14), the carbon brush ring (15) is specifically in the shape of two annular clamping grooves, and the conductive hard blocks of the carbon brushes (14) are movably clamped in the carbon brush ring (15);

one side, away from the direction of the hub suspension beam (4), of the hub (3) is provided with two wire connectors (16) electrically connected with the carbon brush ring (15), one side, away from the direction of the hub suspension beam (4), of the hub (3) is also provided with an air valve (17), an air pump (18) and an air pump assembly (19), the air pump assembly (19) comprises an air pressure relay, a pressure gauge and an air pressure regulating valve, the outer side of the hub (3) is wrapped with a rubber tire (20), the air valve (17) is communicated with the rubber tire (20), one end, extending out of the rubber tire (20), of the air valve (17) is communicated with the air pump assembly (19), and the air pump assembly (19) is communicated with the air pump (18);

the upper surface of the chair seat suspension beam (2) is provided with a fixing plate (21), the fixing plate (21) is provided with a driving system (22) and a balance adjusting system (23), the balance adjusting system (23) consists of a solid-state precision gyroscope, an acceleration sensor and a servo control system, the driving system (22) comprises a transmission rod, a motor and a power supply, and the air pump (18) and the air pump assembly (19) are respectively and electrically connected with the balance adjusting system (23);

the electric leads of the two carbon brushes (14) are respectively and electrically connected with the positive pole and the negative pole of a power supply, and the positive pole and the negative pole of the air pump (18) are respectively and electrically connected with the two wire connector lugs (16).

2. The self-balancing wheelchair adapted for climbing stairs of claim 1, wherein the seat (1) is provided with an armrest (24), and the armrest (24) is provided with a rocker controller (25).

3. The stair climbing self-balancing wheelchair according to claim 2, wherein the driving system (22), the balance adjusting system (23) and the motor (10) are electrically connected to the rocker controller (25).

4. The self-balancing wheelchair adapted for climbing stairs of claim 1, wherein the servo control system is electrically connected to a motor (10), and the transmission rod is connected to the wheel shaft (7).

5. Self-balancing wheelchair adapted for stair climbing according to claim 1, characterised in that the rubber tyre (20) is in particular a super soft rubber tyre having a shore hardness below 10.

6. The self-balancing wheelchair adapted to climb a building according to claim 1, wherein the conductive hard blocks and the carbon brush rings (15) of the carbon brushes (14) are coated with a conductive wear-resistant graphite layer.

7. The self-balancing wheelchair adapted for climbing stairs of claim 1, wherein said fixed sleeve (12) and said screw (11) are made of high-strength hard alloy steel.