KR102731824B1 - Two-wheel wheelchair that can go up and down stairs with front legs and rear legs - Google Patents

Abstract

The present invention relates to a two-wheel wheelchair having a front-rear leg structure and capable of ascending and descending stairs, and a two-wheel wheelchair having a front-rear leg structure according to the present invention capable of ascending and descending stairs is characterized by including a main body frame having a seat arranged on the upper side, a pair of wheels coupled to the main body frame and rotatable, a front leg having a rotation axis formed on one side to receive power and rotate, the front leg having the rotation axis formed on the front side of the main body frame to rotate toward and support a front protruding structure, and a pair of back legs coupled to the rear side of the main body frame to receive power and rotate left and right in the rotation direction of the wheels, capable of expanding and contracting in length by receiving power and supporting the ground.

Description

{TWO-WHEEL WHEELCHAIR THAT CAN GO UP AND DOWN STAIRS WITH FRONT LEGS AND REAR LEGS}

The present invention relates to a two-wheel wheelchair having a front and rear leg structure and capable of ascending and descending stairs, and more specifically, to a two-wheel wheelchair having a front and rear leg structure and capable of ascending and descending stairs with two electric wheels.

In order to improve the quality of life of the disabled and patients, research is being conducted on wheelchairs that allow the disabled to move independently and freely like ordinary people.

In particular, patients (and people with disabilities) who use wheelchairs have difficulty climbing stairs, so they have to travel long distances by detour or use elevators, etc. Although freedom of movement on flat surfaces is secured by using electric motors, freedom of movement is limited by elements such as stairs or curbs.

To improve this, various devices that can climb stairs and wheelchairs equipped with them are being developed. However, most of the wheelchairs that have been implemented previously that can climb stairs are bulky and heavy due to structures such as caterpillars, making them difficult to use in actual daily life. In addition, most of the completed products require assistance from an assistant or require intervention from the rider.

Republic of Korea Publication Patent No. 10-2019-0143087 (December 30, 2019)

Accordingly, the purpose of the present invention is to solve such conventional problems, and to provide a two-wheel wheelchair capable of climbing stairs with a front and rear leg structure, which can climb up and down obstacles such as stairs or curbs without the intervention of an assistant while the front and rear are supported by the front and rear legs, and which can automatically change the center of gravity depending on the driving situation to secure a stable posture.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

The above object can be achieved by a two-wheel wheelchair capable of ascending and descending stairs, which has a front and rear leg structure, characterized by including: a main body frame having a seat arranged on the upper side; a pair of wheels coupled to the main body frame and rotatable; a front leg having a rotation axis formed on one side to receive power and rotate, the front leg having the rotation axis formed on the front side of the main body frame to rotate toward and support a front protruding structure; and a pair of back legs coupled to the rear side of the main body frame to receive power and rotate left and right in the rotation direction of the wheels, capable of expanding in length by receiving power and supporting the ground.

Here, the front leg can rotate 360 degrees forward.

Here, it is preferable that the front legs are formed as a left and right pair.

Here, it is preferable that the front leg is shaped like a long bar that is curved in an arc shape toward the front.

Here, the seat can move forward and backward with respect to the main body frame.

Here, the wheelchair may further include a sensor for detecting a change in the center of gravity of the wheelchair; and a control unit for controlling the forward/rearward position of the seat according to a signal received from the sensor.

Here, the back leg can be stretched in multiple stages.

According to a two-wheel wheelchair capable of climbing stairs and having the front and rear leg structures of the present invention as described above, there is an advantage in that the wheelchair can climb stairs or climb over curbs without the intervention of an assistant through efficient power distribution while the front and rear legs, which provide auxiliary power when climbing or climbing over steps or curbs, are supported.

Additionally, since the front legs have a forward-curved shape, they have the advantage of being able to support relatively high steps and climb them easily.

Additionally, since the back legs can be expanded in multiple stages, there is an advantage in that the volume can be reduced when driving on flat ground.

Additionally, it has the advantage of being able to secure a stable posture by moving the center of gravity of the wheelchair depending on the driving situation.

Additionally, by driving two wheels, there is the advantage of being able to move in narrow spaces with a narrow turning radius.

FIG. 1 is a front perspective view of a two-wheeled wheelchair capable of ascending and descending stairs and having a front-rear leg structure according to one embodiment of the present invention.
FIG. 2 is a rear perspective view of a two-wheeled wheelchair capable of ascending and descending stairs and having a front and rear leg structure according to one embodiment of the present invention.
FIG. 3 is a side view of a two-wheel wheelchair capable of ascending and descending stairs and having a front and rear leg structure according to one embodiment of the present invention.
FIG. 4 is a side view of a back leg according to one embodiment of the present invention.
Figure 5 is a front view of Figure 4.
Figure 6 is a drawing illustrating the rotational motion of the back leg of Figure 4.
Figure 7 is a drawing illustrating the stretching motion of the back leg of Figure 4.
FIG. 8 is a drawing explaining a motion of climbing stairs with a two-wheeled wheelchair capable of climbing stairs and having a front-rear leg structure according to one embodiment of the present invention.

Specific details of the embodiments are included in the detailed description and drawings.

The advantages and features of the present invention, and the methods for achieving them, will become clear with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, and these embodiments are provided only to make the disclosure of the present invention complete and to fully inform a person having ordinary skill in the art to which the present invention belongs of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, the present invention will be described with reference to drawings for explaining a two-wheeled wheelchair having a front and rear leg structure and capable of ascending and descending stairs according to embodiments of the present invention.

FIG. 1 is a front perspective view of a two-wheel wheelchair capable of ascending and descending stairs and having a front-and-rear leg structure according to one embodiment of the present invention, FIG. 2 is a rear perspective view of a two-wheel wheelchair capable of ascending and descending stairs and having a front-and-rear leg structure according to one embodiment of the present invention, and FIG. 3 is a side view of a two-wheel wheelchair capable of ascending and descending stairs and having a front-and-rear leg structure according to one embodiment of the present invention.

A two-wheel wheelchair capable of ascending and descending stairs and having a front and rear leg structure according to one embodiment of the present invention may be configured to include a main body frame (100), a wheel (110), a front leg (120), and a back leg (130). In addition, a control unit (not shown) may be further included.

The main body frame (100) is a skeletal structure, and as an example, the main body frame (100) can be formed as a structure in which a fixed bracket is combined with a pillar formed in the shape of a hexahedral frame.

A seat (105) may be arranged on the upper side of the main body frame (100). The seat (105) may be in the form of a chair having a seat (101), a backrest (102), and armrests (103) for a user to sit on, and the seat (105) may be coupled to the upper side of the main body frame (100). In addition, an assistant handle (104) may be additionally formed to extend upward on the backrest (102).

As illustrated in FIG. 3, the seat (105) can move forward and backward with respect to the main body frame (100), and its position can be automatically controlled by a control unit. For example, a linear guide extending forward and backward may be formed on the upper side of the main body frame (100), and a guide block moving along the guide may be formed on the lower side of the seat plate (101). At this time, the seat (105) can move forward and backward as the guide block receives power from a separate seat driving unit (not shown) such as a rotation motor and moves. Alternatively, a linear motor may be arranged between the upper side of the main body frame (100) and the lower side of the seat (105) so that the seat (105) moves forward and backward by the driving force of the linear motor. The configuration for automatically moving the seat (105) in the forward and backward direction with respect to the main body frame (100) can be modified in various known ways.

Although not shown, a sensor for detecting a change in the center of gravity of the wheelchair may be formed, and the control unit may detect a change in the center of gravity from the sensor and control the forward/rearward position of the seat (105) according to the center of gravity of the wheelchair. For example, when performing an ascending/descending motion on stairs, if the center of gravity is temporarily shifted forward, the seat (105) position may be moved rearward, and if the center of gravity is temporarily shifted rearward, the seat (105) position may be moved forward, thereby providing a sense of stability to a person sitting on the seat (105) and preventing the person from leaving the seat (105).

The wheel (110) is a circular wheel, and is composed of a pair of left and right wheels, and is formed rotatably on both sides of the main body frame (100) to support the ground and rotate. The wheelchair can be moved on flat ground by rotating the wheel (110). The present invention has a two-wheel (110) structure, so that the rotation radius is small, and rotation movement is possible even in narrow spaces.

In addition, in the present invention, the wheel (110) is rotated by receiving power from the wheel drive unit (115), so that it can travel on its own power without the power of an assistant. The wheel drive unit (115) is provided on each of the left and right sides inside the main body frame (100) and can be fixed by being coupled to the main body frame (100). The operation of the wheel drive unit (115) can be controlled by a control unit (not shown). That is, the wheel drive unit (115) can control the rotation speed of the wheel (110) according to a control signal from the control unit.

The front leg (120) has a rotation axis formed on one side to receive power and can rotate forward. The front leg (120) may be formed on the front side of the main body frame (100). For example, as illustrated, the rotation axis of the front leg (120) may be formed below the side front side of the main body frame (100). It is preferable that the front legs (120) are formed as a pair on both sides. The front leg drive unit (125) that transmits power to the front leg (120) may be placed and fixed inside the main body frame (100).

The front leg (120) can rotate so that the end portion can support the upper surface of a protruding structure such as a staircase or curb in front. Accordingly, it can provide assistance when climbing stairs, etc.

At this time, in order to easily support even relatively high steps, it is preferable that the front leg (120) be formed in a long bar shape that is curved forward in an arc shape as illustrated. If the front leg (120) is formed in a straight line, when the step height is high, the middle part of the front leg (120) cannot effectively support the front leg (120) even if it touches the edge of the step and the front leg (120) rotates. However, when the front leg (120) is curved in an arc shape as in the present invention, it can effectively support the upper side of the step even when the step height is high.

The front leg (120) can rotate 360 degrees forward. The front leg (120) rotates forward to support the stairs, and when the wheelchair goes up the stairs, the front leg (120) can continue to rotate forward. When the wheel (110) is stably mounted on the stairs supported by the front leg (120), the support for the upper side of the stairs supported by the rotation of the front leg (120) is released, and the next stairs can be supported by rotating 360 degrees. In addition, it is preferable that a pair of front legs (120) rotate simultaneously in the same phase to support both sides and transmit auxiliary power. In this case, it may be formed as a structure in which power is transmitted to both front legs (120) simultaneously by a single front leg drive unit (125).

The back leg (130) may be configured as a pair on the left and right sides at the rear side of the main body frame (100), and may be coupled to be rotatable left and right in the rotational direction of the wheel (110) by receiving power. The upper end of the back leg (130) may be rotatably coupled to the main body frame (100). In addition, the back leg (130) may be formed with a structure capable of elasticity in length. Since the operation of the back leg (130) is not necessary when moving on flat ground, the length of the back leg (130) may be shortened to reduce the volume, and when the operation of the back leg (130) is necessary, such as when going up and down stairs, the length of the back leg (130) may be elasticized depending on the going-up and going-down situation, and an auxiliary force may be provided to support the rear of the wheelchair. As described below, the back leg (130) may be formed with a structure capable of elasticity in multiple stages.

The back leg (130) and the detailed structure for operating it will be described with reference to FIGS. 4 to 7.

FIG. 4 is a side view of a back leg according to one embodiment of the present invention, FIG. 5 is a front view of FIG. 4, FIG. 6 is a drawing illustrating a rotational motion of the back leg of FIG. 4, and FIG. 7 is a drawing illustrating an extension motion of the back leg of FIG. 4.

The back leg rotation drive unit (135) is configured as a pair, and can be provided with one for each back leg (130). While the pair of front legs (120) have the same phase and rotate together, the rotation position and extension length of each of the pair of back legs (130) can be controlled differently.

The back leg rotation drive unit (135) can be configured to include a fixed frame (136) and a linear actuator (137).

The rotating drive fixed frame (136) is rotatably coupled to the main body frame (100). In addition, a linear actuator (137) may be fixed to one side of the rotating drive fixed frame (136). The linear actuator (137) may be configured to include a motor (1371) providing driving force, a linear guide (1372), and a guide block (1373) receiving power from the motor (1371) and moving linearly along the linear guide (1372). At this time, an extension bar (1374) extending in one direction toward the back leg (130) is formed on the guide block (1373), and an end of the extension bar (1374) may be rotatably coupled to a position spaced downwardly from the front side of the upper end of the back leg (130).

Accordingly, the back leg rotation drive unit (135) is rotatably coupled to the main body frame (100) on one side and rotatably coupled to the other side at a position spaced downwardly from the upper front side of the back leg (130), and as illustrated in FIG. 6, the length between the main body frame (100) and the back leg (130) can be adjusted as the guide block (1373) moves linearly along the linear guide (1372). At this time, as both ends of the back leg rotation drive unit (135) are rotatably coupled and the upper end of the back leg (130) is rotatably coupled to the main body frame, the back leg (130) can rotate left and right within a specific angular range as the length of the back leg rotation drive unit (135) is extended.

The back leg (130) may be configured to include a back leg upper fixing frame (131), a first linear actuator (132), a second linear actuator (133), and a lower support leg (134).

The upper portion of the back leg upper fixed frame (131) is rotatably coupled to the main body frame (100). A first linear actuator (132) may be fixed to the back leg upper fixed frame (131). The first linear actuator (132) may be configured to include a motor (1321) providing driving force, a linear guide (1322), and a guide block (1323) receiving power from the motor (1321) and moving linearly along the linear guide (1322). A second linear actuator (133) may be fixed to one side of the guide block (1323). The second linear actuator (133) may be configured to include a motor (1331), a linear guide (1332), and a guide block (1333) like the first linear actuator (132). Accordingly, as the guide block (1323) of the first linear actuator (132) moves along the linear guide (1322) according to the control operation of the first linear actuator (132), the second linear actuator (133) can be moved forward and backward. The lower support leg (134) can be fixed to the guide block (1333) of the second linear actuator (133). Therefore, as the guide block (1333) of the second linear actuator (133) moves along the linear guide (1332) according to the control operation of the second linear actuator (133), the lower support leg (134) can be moved forward and backward.

A support foot (1341) can be fixed to the end of the lower support leg (134) so as to be rotatable in the driving direction of the wheel (110). The support foot (1341) has a horizontal surface that contacts the ground and can be rotated to be horizontal to the ground to support the ground regardless of the angle of the back leg (130).

An anti-slip pad may be attached to the bottom surface of the support foot (1341) or a rough structure like the bottom of a shoe may be formed to prevent the back leg (130) from slipping.

Fig. 7 illustrates an extension motion of the back leg (130). When the first linear actuator (132) pulls the second linear actuator (133) fixed to the guide block (1323), the second linear actuator (133) moves backward, so that the first linear actuator (132) and the second linear actuator (133) overlap in parallel, thereby reducing the length. Furthermore, when the second linear actuator (133) pulls the lower support leg (134) fixed to the guide block (1333), the lower support leg (134) moves backward, so that the first linear actuator (132), the second linear actuator (133), and the lower support leg (134) overlap in parallel, thereby reducing the length to the shortest extent.

In the present invention, since the first linear actuator (132) and the second linear actuator (133) can be independently controlled, even in a situation where the overall length of the back leg (130) is the same, the positions of the guide block (1323) of the first linear actuator (132) and the guide block (1333) of the second linear actuator (133) can be controlled differently from each other. For example, when there is a high possibility of collision with a surrounding structure such as a staircase during the rotational movement of the back leg (130), the length of the lower support leg (134) can be controlled to protrude relatively long compared to the overall length of the back leg (130). This is because the lower support leg (134) is relatively thin and thus has a low possibility of collision. In addition, when a relatively large supporting force is required, the length of the lower support leg (134) can be controlled to protrude relatively short compared to the overall length of the back leg (130).

In this way, a pair of back legs (130) according to the present invention can support the ground as if a person were walking on both legs while having different rotation angles and extension lengths.

As described above, the control unit controls the operation of the wheel drive unit (115), the front leg drive unit (125), the first linear actuator (132) and the second linear actuator (133) of the back leg (130), the linear actuator (137) of the back leg rotation drive unit (135), and the drive unit (not shown) that moves the seat (105) in the forward and backward direction.

Hereinafter, with reference to FIG. 8, a process of climbing stairs using a two-wheel wheelchair capable of climbing stairs and having a front and rear leg structure according to the present invention will be described.

FIG. 8 is a drawing explaining a motion of climbing stairs with a two-wheeled wheelchair capable of climbing stairs and having a front-rear leg structure according to one embodiment of the present invention.

When a user sits on a two-wheel wheelchair capable of ascending and descending stairs and has a front and rear leg structure of the present invention and drives on a flat surface and approaches a position close to stairs, a sensor detects the stairs in front and rotates the front leg (120) forward so that the end of the front leg (120) supports the upper surface of the stairs in front.

Afterwards, when the back leg (130) is lengthened while supporting the back of the stairs and the front leg (120) is rotated forward at the same time, the wheelchair can be lifted by the supporting force of the front leg (120) and the back leg (130) so that the wheel (110) can be lifted off the ground. At this time, the rotation angle and length of the back leg (130) can be continuously changed.

When the wheel (110) climbs up the first step and settles, the length of one of the back legs (130b) on either side is contracted, rotated, and then extended again to support the surface of the step on which the wheel (110) is settled, and preparations are made to climb up the next step.

In this way, a pair of front legs (120) positioned at the front rotate 360 degrees each time one step is climbed, and a pair of back legs (130) positioned at the rear change their rotation angles and lengths differently, and support the rear of the wheelchair as if a person's legs were climbing stairs. Thus, it is possible to climb stairs using auxiliary power while being supported at least at three points by the front legs (120) and back legs (130) positioned at the front and rear.

As described above, when going up and down stairs, the center of gravity of the wheelchair may change depending on the movement of the front legs (120) and back legs (130). By detecting the change in the center of gravity from the sensor and moving the seat (105) forward and backward, the center of gravity of the wheelchair is stably controlled, thereby preventing the occupant from leaving the seat due to the change in the center of gravity, and safely allowing going up and down stairs.

The scope of the present invention is not limited to the above-described embodiments, but can be implemented in various forms of embodiments within the scope of the appended claims. Anyone with ordinary skill in the art to which the invention pertains can make various modifications without departing from the gist of the present invention claimed in the claims, and it is considered to be within the scope of the claims of the present invention.

100: Body Frame
101: Seat
102: Backrest
103: Armrest
104: Handle
105: Seat
110: Wheel
115: Wheel drive unit
120: Front leg
125: Front leg drive
130: Back leg
131: Back leg upper fixed frame
132: 1st linear actuator
1321: Motor
1322: Linear Guide
1323: Guide Block
133: 2nd linear actuator
1331: Motor
1332: Linear Guide
1333: Guide Block
134: Lower support leg
1341: Support Foot
135: Back leg rotation drive
136: Rotating drive fixed frame
137: Linear Actuator
1371: Motor
1372: Linear Guide
1373: Guide Block
1374: Extension bar

Claims (7)

A main body frame with seats placed on the upper side;
A pair of wheels that are connected to the above main body frame and rotate;
A front leg having a rotation axis formed on one side to receive power and rotate, and having the rotation axis formed on the front side of the main body frame to rotate and support the front protruding structure; and
A two-wheel wheelchair capable of ascending and descending stairs, having a front and rear leg structure characterized by including a pair of back legs that are coupled to the rear side of the main body frame so as to be rotatable left and right in the direction of rotation of the wheel, are capable of being extended in length by receiving power, and support the ground. In the first paragraph,
A two-wheel wheelchair capable of ascending and descending stairs, having a front-rear leg structure characterized by the front leg rotating 360 degrees forward. In the first paragraph,
A two-wheel wheelchair capable of ascending and descending stairs, having a front and rear leg structure characterized by the front legs being formed as a pair of left and right legs. In the first paragraph,
A two-wheel wheelchair capable of ascending and descending stairs, having a front and rear leg structure characterized by the front leg having a long bar shape that is curved in an arc shape toward the front. In the first paragraph,
A two-wheel wheelchair capable of ascending and descending stairs, having a front-and-rear leg structure characterized in that the above seat moves forward and backward with respect to the above main body frame. In clause 5,
A sensor that detects changes in the center of gravity of the wheelchair; and
A two-wheel wheelchair capable of ascending and descending stairs, having a front-rear leg structure, characterized in that it further includes a control unit that controls the front-rear position of the seat according to a signal received from the sensor. In the first paragraph,
A two-wheel wheelchair capable of ascending and descending stairs, having a front and rear leg structure characterized by the above back legs being multi-stage elastic.

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