CN109700607A - Crawler type stair climb wheelchair - Google Patents
Crawler type stair climb wheelchair Download PDFInfo
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- CN109700607A CN109700607A CN201811569607.6A CN201811569607A CN109700607A CN 109700607 A CN109700607 A CN 109700607A CN 201811569607 A CN201811569607 A CN 201811569607A CN 109700607 A CN109700607 A CN 109700607A
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Abstract
A kind of crawler type stair climbing wheelchair, including seat portion, tire part, crawler sections, auxiliary wheel part, the seat portion, tire part, crawler sections, auxiliary wheel part is mounted on pedestal, the quantity of the crawler sections is two, two crawler sections are in left and right distribution, the pedestal is located between two crawler sections, the seat portion is installed on the top of the pedestal, the auxiliary wheel part is embedded in from bottom to top in the pedestal, the quantity of the tire part is two, two tire parts are located at the left and right sides of the crawler sections.The beneficial effect is that: pass through the folding of crawler belt front end, the opening and closing of auxiliary wheel, the opening and closing of universal wheel, wheelchair is set to can be adapted for a variety of landform, form is steady, suit landform traveling, reduce mechanical load, integral form process seat keeps horizontal, avoids taking and topple, and guarantees to operate normally by intelligent control and sensor detection.
Description
Technical Field
The invention relates to the field of wheelchair-only wheelchairs, in particular to a crawler-type stair climbing wheelchair.
Background
The climbing step of the crawler-type stair climbing wheelchair comprises the steps of opening and folding between a front crawler and a rear crawler; lifting the universal wheel; lifting the auxiliary wheel; the driving step of the main wheel, etc. The climbing device is mainly used for climbing stairs, climbing slopes, crossing doorsills and other functions. The traditional crawler-type wheelchair has a simple structure, and the wheelchair can climb up stairs or slopes and cross doorsills only by clicking the driving crawler and then by means of the strong ground-grasping force of the crawler. Not only does the vehicle bump and has the danger of landslide, but also brings great load to the crawler and the driving machine, and passengers also have the danger of turning down the wheelchair.
Disclosure of Invention
The invention aims to solve the problems and designs a crawler-type stair climbing wheelchair. The specific design scheme is as follows:
a crawler-type stair climbing wheelchair comprises seat portions, tire portions, crawler portions and auxiliary wheel portions, wherein the seat portions, the tire portions, the crawler portions and the auxiliary wheel portions are all mounted on a base frame, the number of the crawler portions is two, the two crawler portions are distributed on the left side and the right side, the base frame is located between the two crawler portions, the seat portions are mounted above the base frame, the auxiliary wheel portions are embedded into the base frame from bottom to top, the number of the tire portions is two, the two tire portions are located on the left side and the right side of the crawler portions respectively, the seat portions, the tire portions, the crawler portions and the auxiliary wheel portions are controlled through electric control portions, monitoring portions are further integrated on the electric control portions, and the seat portions, the tire portions, the crawler portions and the auxiliary wheel portions are further integrated with monitoring portions, The auxiliary wheel part is driven by a motor and realizes transmission through a push rod and a gear box, the push rod comprises a transmission assembly and an adjusting lead screw, and the gear box comprises a comprehensive gear box.
The crawler belt part comprises a main plate and an auxiliary plate, and is characterized in that the main plate and the auxiliary plate are connected in a rotating mode, a crawler belt driving motor is installed on the rear side of the main plate through an installation plate, the auxiliary plate is connected with the installation plate through a connecting plate and a push rod, the push rod used for connecting the connecting plate and the installation plate is a folding push rod, crawler belts are arranged at the side ends of the main plate and the auxiliary plate, a plurality of functional gears are arranged on the inner side and the outer side of each crawler belt, and the crawler belts are connected with the functional gears in a meshing mode.
The mainboard is the metal sheet of placing along the vertical direction, the rear end height of mainboard is greater than the front end height, the metal sheet that the subplate was placed along the vertical direction, the subplate is the long circle structure along the vertical cross-section who extends the rear direction, the rear end of subplate with the front end of mainboard rotates to be connected.
The transmission assembly of the folding push rod is connected with the folding driving motor, and the adjusting lead screw of the folding push rod is connected with the connecting plate
The crawler belt is of an annular structure, an inner ring of the crawler belt is in meshed connection with the lower front side of the steering wheel, the upper side of the tensioning wheel, the traction roller and the limiting wheel through inner teeth, outer teeth of the crawler belt are in meshed connection with the lower rear side of the rear guide wheel and the lower front side of the front guide wheel, and the tooth pitch of the inner teeth is smaller than that of the outer teeth.
The connecting plate is of an n-shaped structure along the vertical section in the left-right direction, the lower part of the rear side of the connecting plate is in sliding connection with the main plate through a shaft pin, the main plate is provided with an oblong through hole for inserting the shaft pin, the connecting plate can rotate by taking the axis of the shaft pin at the lower part of the rear side of the connecting plate as a center, the front end of the connecting plate is in rotating connection with the middle of the auxiliary plate through the shaft pin, and the upper part of the rear end of the connecting plate is in rotating connection with the cylinder shaft of the folding push rod through the.
The folding push rods of the two folding tracks are driven by the same folding driving motor, the folding driving motor and the track driving motor are both connected with the comprehensive gear box, the integrated gear box comprises a folding gear set and a crawler gear set, gear shafts of the folding gear set and the crawler gear set are rotationally connected with the integrated gear box, two folding push rods are respectively provided with an independent folding gear set, the motor shaft of the folding driving motor is connected with the output end of one folding gear set, the output end of the other folding gear set is connected with the middle driving wheel key of one folding gear set through a folding connecting rod, the output and the track driving motor key-type connection of crawler belt gear group, the mounting panel with synthesize the gear box and constitute the box structure, folding driving motor is located between mounting panel and the subplate.
Mainboard, subplate pass through the pivot and rotate the connection, be used for mainboard, subplate rotate the pivot of connecting do the shaft of directive wheel, the tensioning roller install in the front end of subplate, back leading wheel, preceding leading wheel are located respectively both sides around the mainboard, preceding leading wheel is from upwards embedding down in the connecting plate, track driving motor through synthesize the gear box with the carry over pinch rolls transmission is connected.
The limiting wheels are located at the bottom of the side end of the main board, the number of the limiting wheels is multiple, and the limiting wheels are distributed in a curve array mode along the bottom end outline of the main board.
The limiting wheels are located on the front side of the auxiliary plate, the number of the limiting wheels is multiple, and the limiting wheels are distributed in a linear array mode in the vertical direction.
The tensioning wheel is connected with the auxiliary plate through a tensioning assembly, the tensioning assembly is a buffering tensioning assembly and comprises a tensioning base, the tensioning base is rotatably connected with the auxiliary plate through a shaft pin, a tensioning spring is mounted on the tensioning base and is a columnar pressure spring, one end of the tensioning spring is fixedly connected with the top of the tensioning base, the other end of the tensioning spring is fixedly connected with a tensioning frame, the tensioning frame is of a U-shaped structure, the tensioning wheel is located between two ends of the tensioning frame and is connected through the shaft pin, a tensioning limiting sheet is arranged on one side of the tensioning frame, a long circular through hole for limiting the tensioning assembly is formed in the auxiliary plate, the auxiliary plate is located between the tensioning frame and the tensioning limiting sheet, tensioning shaft pins are arranged at the upper end and the lower end of the tensioning limiting sheet and penetrate through the long circular through hole in the auxiliary plate, the tensioning shaft pin at the upper end is a connecting pin for the tensioning wheel and the tensioning frame.
In the auxiliary wheel part, a lifting auxiliary wheel and a supporting auxiliary wheel are arranged on the base frame, the lifting auxiliary wheel is positioned in the base frame, the number of the supporting auxiliary wheels is two, the two supporting auxiliary wheels are respectively positioned at the left side and the right side of the base frame, the lifting auxiliary wheel and the supporting auxiliary wheel are driven by a push rod, wherein the push rod for driving the lifting auxiliary wheel is a lifting push rod, the push rod for driving the supporting auxiliary wheel is a supporting push rod,
the lifting push rod is driven by a lifting driving motor, a motor shaft of the lifting driving motor is connected with a corresponding output gear connecting shaft,
two the support auxiliary wheel corresponds independent support push rod respectively, two the support push rod realizes the drive through same support driving motor, one the output gear of support push rod with driving motor links the hub connection, and another the output gear of support push rod is through supporting transmission connecting rod, comprehensive gear box and one the input gear transmission of bracing piece is connected.
The middle part of bed frame includes rear side connecting plate, top connecting plate, front side connecting plate, the cylinder body of lift push rod with the top connecting plate rotates to be connected, the cylinder shaft downwardly extending of lift push rod imbeds in the drive assembly, the left and right sides of bed frame all is equipped with the mounting panel, it is located to support driving motor between mounting panel and the bed frame.
The supporting device is characterized in that the supporting is realized through a connecting rod between the base frames and the mounting plate, the connecting rod penetrates through the two base frames along the left-right direction, the transmission assembly for supporting the auxiliary wheel comprises a transmission rod, one end of the transmission rod is rotatably connected with the connecting rod, and the other end of the transmission rod is rotatably connected with the supporting auxiliary wheel.
The transmission assembly of the lifting auxiliary wheel comprises a connecting frame, the connecting frame is a rectangular metal strip, one end of the connecting frame is rotatably connected with the front side connecting plate, the other end of the connecting frame is in transmission connection with the lifting auxiliary wheel through a reset universal shaft assembly, and the reset universal shaft assembly is distributed along the vertical direction in the axial direction.
The cylinder body of the supporting push rod is rotatably connected with the base frame, and the tail end of the cylinder shaft of the supporting push rod is rotatably connected with the middle part of the transmission rod.
The radial section of the connecting frame is of a rectangular frame-shaped structure, a cylinder shaft of the lifting push rod penetrates through the connecting frame from top to bottom and is embedded into the rectangular frame-shaped structure of the connecting frame, and a rectangular through hole for the cylinder shaft of the lifting push rod to penetrate through is formed in the top surface of the connecting frame.
The seat part comprises a mounting frame, the mounting frame is fixed on the front side of the base frame, a seat is arranged above the base frame, the mounting frame is connected with the seat through a transmission frame, the base frame is connected with the transmission frame through a push rod, the push rod is driven by a balance motor, the push rod used for connecting the base frame and the transmission frame is a balance push rod, an adjusting lead screw of the balance push rod is connected with the transmission frame, and a transmission assembly of the balance push rod is connected with the balance motor.
In the balance push rod, one end of a cylinder body is rotatably connected with the base frame through a triangular seat, the other end of the cylinder body is rotatably connected with the front side of the bottom surface of the transmission frame, the number of the adjusting screw rods is two, the adjusting screw rods are distributed in a left-right balance manner, the adjusting screw rods are in transmission connection with the balance motor through a balance gear box, and an input wheel and an output wheel of the balance gear box are in transmission connection with the balance motor and the adjusting screw rods through transmission assemblies respectively.
The mounting bracket with the rear end of driving frame rotates to be connected, the top surface of driving frame with seat fixed connection.
An angle sensor is installed at the bottom of the seat.
The balance gear box is internally provided with a plurality of balance gears which are meshed with each other and connected, the balance gears are all connected with the balance gear box through bearings, the balance gear positioned at the rearmost end is an input wheel, and the balance gear positioned at the foremost end is an output wheel of the balance gear box.
The two adjusting screw rods are driven by the same balance motor and are in transmission connection with the two balance gear boxes respectively, the input wheel of each balance gear box is connected with the balance motor through a transmission assembly, the input wheel of each balance gear box is in transmission connection with the transmission gear in the middle of the corresponding balance gear box through a balance transmission rod, and the output wheels of the balance gear boxes are in transmission connection with the adjusting screw rods through the transmission assemblies.
The control part comprises a control board, a remote controller receiver, a battery pack, a drive board, a voice control board and a rocker controller, wherein the remote controller receiver, the battery pack, the drive board, the voice control board and the rocker controller are all electrically connected with the control board through a wiring terminal XT1 and a wiring terminal XT2, the battery pack comprises a plurality of batteries, the model of the control board is PLC YD3u-80MT-2AI2AO-F1-6, the model of the voice control board is BY-F610, the model of the rocker controller is DK-PMB31, 1-5 pins of the wiring terminal XT1 are electrically connected, and 1-8 pins of the wiring terminal XT2 are electrically connected.
In the connecting circuit of the control board and the remote controller receiver,
the 1 pin of the remote controller receiver is connected with the X00 pin of the control board;
the 2-pin of the remote controller receiver is connected with the X01 pin of the control board;
the 3-pin of the remote controller receiver is connected with the X02 pin of the control board;
the 4-pin of the remote controller receiver is connected with the X03 pin of the control board;
the 5-pin of the remote controller receiver is connected with the X04 pin of the control board;
the 6-pin of the remote controller receiver is connected with the X05 pin of the control board;
the 7-pin of the remote controller receiver is connected with the X06 pin of the control board;
the 8-pin of the remote controller receiver is connected with the X07 pin of the control board;
the 9-pin of the remote controller receiver is connected with the X15 pin of the control board;
the 10 pins of the remote controller receiver are connected with the X16 pin of the control board;
the 11 pins of the remote controller receiver are connected with the X17 pin of the control board;
the 12-pin of the remote controller receiver is connected with the X20 pin of the control board;
the 13 pins of the remote controller receiver are connected with the X21 pin of the control board;
the 14-pin of the remote controller receiver is connected with the X22 pin of the control board;
the X00 pin of the control panel is a door lock mode control pin;
the X01 foot of the control panel is an upstairs mode control foot;
the X02 foot of the control panel is a control foot of a downstairs mode;
the X03 foot of the control board is a front-back middle-ring switching control foot;
the X04 foot of the control panel is a universal and rear track opening control foot;
the X05 foot of the control plate is a universal and rear crawler retraction control foot;
the X06 foot of the control panel is a front crawler and a middle wheel opening control foot;
the X07 foot of the control panel is a front crawler and a middle wheel opening and retracting control foot;
the X15 foot of the control panel is a manual remote control pause control foot;
the X16 pin of the control panel is a manual mode switch control pin;
the X17 foot of the control panel is a manual adjustment-remote control left control foot;
the X20 foot of the control panel is a manual adjustment-remote control right control foot;
the X21 foot of the control panel is a manual adjustment-remote control forward control foot;
the X22 foot of the control panel is a manual adjustment-remote control backing control foot,
in the connection circuit of the remote control receiver and the battery pack,
the 24V pin of the remote controller receiver is connected with the other end of the 4 pins of the wiring terminal XT 1;
the COM pin of the remote controller receiver is connected with the other end of the 4 pins of the wiring terminal XT 2.
In the battery pack, a plurality of batteries are arranged in the battery pack,
the negative electrode of the battery pack G1 is connected with the positive electrode of the battery pack G2, and the positive electrode of the battery pack G1 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery pack G3 is connected with the positive electrode of the battery pack G4, and the positive electrode of the battery pack G3 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery G2 is connected with the 3 feet of the breaker QF1, and the negative electrode of the battery G4 is connected with the 3 feet of the breaker QF 1;
the 2-pin of the breaker QF1 is connected with one end of the 5-pin of the terminal XT1,
the 4-pin of the breaker QF1 is connected with one end of the 1-pin of the terminal XT 2.
In the connecting circuit of the driving board and the control board,
the PWM1 pin of the driving board is connected with the Y00 pin of the control board;
the PWM2 pin of the driving board is connected with the Y01 pin of the control board;
the PWM3 pin of the driving board is connected with the Y02 pin of the control board;
the PWM4 pin of the driving board is connected with the Y03 pin of the control board;
the PWM5 pin of the driving board is connected with the Y04 pin of the control board;
the PWM6 pin of the driving board is connected with the Y05 pin of the control board;
the A1 pin of the driving plate is connected with the Y06 pin of the control plate;
the A2 pin of the driving plate is connected with the Y07 pin of the control plate;
the pin B1 of the driving plate is connected with the pin Y10 of the control plate;
the pin B2 of the driving plate is connected with the pin Y11 of the control plate;
the C1 pin of the driving plate is connected with the Y12 pin of the control plate;
the C2 pin of the driving plate is connected with the Y13 pin of the control plate;
the pin D1 of the driving plate is connected with the pin Y14 of the control plate;
the pin D2 of the driving plate is connected with the pin 15 of the control plate;
the pin E1 of the driving plate is connected with the pin Y16 of the control plate;
the pin E2 of the driving plate is connected with the pin Y17 of the control plate;
the F1 pin of the driving plate is connected with the Y20 pin of the control plate;
the F2 pin of the driving plate is connected with the Y21 pin of the control plate;
the Y00 pin of the control board is a PWM1-A1A2 crawler control pin;
the Y01 pin of the control board is a PWM2-B1B2 crawler control pin;
the Y02 pin of the control board is a PWM 3-middle wheel control pin;
the Y03 pin of the control board is a PWM 4-front crawler control pin;
the Y04 pin of the control board is a PWM 5-universal wheel control pin;
the Y05 pin of the control board is a PWM 6-rear crawler control pin;
the Y06 foot of the control board is a track driving motor A-left-positive control foot;
the Y07 foot of the control board is a crawler belt driving motor A-left-reverse control foot;
the Y10 foot of the control board is a B-left-right control foot of a crawler belt driving motor;
the Y11 foot of the control board is a crawler belt driving motor B-left-reverse control foot;
the Y12 foot of the control plate is a front crawler forward rotation opening-left control foot;
the Y13 foot of the control plate is a forward rotation retraction-left control foot of the front crawler;
a Y14 pin of the control plate is a left control pin for opening the rear crawler belt in forward rotation;
the Y15 pin of the control plate is a left control pin for the forward rotation and retraction of the rear crawler;
the Y16 foot of the control panel is a right control foot for opening the middle wheel in forward rotation;
the Y17 foot of the control panel is a middle wheel reverse rotation retraction-right control foot;
the Y20 foot of the control panel is a right control foot for opening the universal wheel in forward rotation;
the Y21 foot of the control panel is a reverse wheel reverse retraction-right control foot;
in the connection circuit of the driving board and the battery pack,
the POWER pin of the driving board is connected with one pin of a fuse FU1, and the other pin 1 of the fuse FU1 is connected with the other pin of a terminal TX 1;
the GND pin of the driving board is connected to the other end of pin 1 of the terminal TX2,
in the circuit for connecting the driving board and the actuating mechanism,
the MA + pin of the driving plate is connected with the 1 pin of the left crawler driving motor MA;
the MA-pin of the driving plate is connected with 2 pins of a left crawler driving motor MA;
the PA + pin of the driving plate is connected with the 3 pins of the left crawler driving motor MA;
the PA-pin of the driving plate is connected with 4 pins of a left crawler belt driving motor MA;
the MB + pin of the driving plate is connected with 1 pin of a right crawler belt driving motor MB;
the MB-foot of the driving plate is connected with 2 feet of a right crawler belt driving motor MB;
the PB + pin of the driving plate is connected with the 3 pins of the right crawler driving motor MB;
the PB-foot of the driving plate is connected with the 4 feet of the right crawler driving motor MB;
the MC + pin of the driving plate is connected with one pin of a front crawler driving motor MC;
the MC-pin of the driving plate is connected with the other pin of the front crawler driving motor MC;
the MD + pin of the driving plate is connected with one pin of a rear crawler driving motor MD;
the MD-pin of the driving plate is connected with the other pin of the rear crawler driving motor MD;
the ME + pin of the driving plate is connected with one pin of a middle wheel driving motor ME;
the ME-pin of the driving plate is connected with the other pin of the middle wheel driving motor ME;
the MF + pin of the driving plate is connected with one pin of a universal wheel driving motor MF;
the MF-pin of the driving plate is connected with the other pin of the universal wheel driving motor MF.
In the connection circuit of the voice control panel and the control panel,
the K1 pin of the voice control panel is connected with the Y25 pin of the control panel;
the K2 pin of the voice control panel is connected with the Y26 pin of the control panel;
the K3 pin of the voice control panel is connected with the Y27 pin of the control panel;
the K4 pin of the voice control panel is connected with the Y30 pin of the control panel;
the K5 pin of the voice control panel is connected with the Y31 pin of the control panel;
the K6 pin of the voice control panel is connected with the Y32 pin of the control panel;
the K7 pin of the voice control panel is connected with the Y33 pin of the control panel;
the K8 pin of the voice control panel is connected with the Y34 pin of the control panel;
the Y25 foot of the control panel is a voice downstairs control foot;
the Y26 foot of the control panel is a voice upstairs control foot;
the Y27 pin of the control panel is a voice threshold control pin;
the Y30 pin of the control panel is a voice lower step control pin;
the Y31 pin of the control panel is a voice step-up control pin;
the Y32 foot of the control panel is a gradient voice control foot;
the Y33 foot of the control panel is a voice manual control foot;
the Y34 foot of the control panel is a voice alarm control foot,
in the connection circuit of the voice control board and the battery pack,
the + pin of the voice control board is connected with one end of the 3 pins of the terminal XT 1;
a pin of the voice control board is connected with one end of a3 pin of the terminal XT 2;
the GND pin of the voice control board is connected with the other end of the 6 pins of the terminal XT 2;
the pin A of the voice control panel is connected with a pin of the loudspeaker B;
the pin B of the voice control panel is connected with the other pin of the loudspeaker B.
The rocker controller is integrated with a control unit, the model of the control unit is DK-REMD31B,
in the connection circuit of the rocker controller and the actuating mechanism,
the M1+ foot of the rocker controller is connected with 1 foot of a left big wheel driving motor M1;
the M1-foot of the rocker controller is connected with the 2 feet of a left big wheel driving motor M1;
the P1+ foot of the rocker controller is connected with the 3 feet of the left big wheel driving motor M1;
the P1-foot of the rocker controller is connected with the 4 feet of the left big wheel driving motor M1;
the M2+ foot of the rocker controller is connected with 1 foot of a right big wheel driving motor M2;
the M2-foot of the rocker controller is connected with the 2 feet of a right big wheel driving motor M2;
the P2+ foot of the rocker controller is connected with the 3 feet of the right big wheel driving motor M2;
the P2-foot of the rocker controller is connected with the 4 feet of the right big wheel driving motor M2,
in the connection circuit of the rocker controller and the battery pack,
the POWER pin of the rocker controller is connected with the other end of the 2 pin of the terminal XT 1;
the GND pin of the rocker controller is connected with the other end of pin 2 of the terminal XT 2.
The function block is integrated on the rocker controller,
the 1 pin of the function block is connected with one pin of an indicator light EL1, one pin of an indicator light EL2, one pin of an indicator light EL4, one pin of an indicator light EL5, one pin of an indicator light EL7 and one pin of an indicator light EL9,
the other pin of the indicator light EL1 and the other pin of the indicator light EL2 are connected with one pin of the indicator light EL3,
the other pin of the indicator light EL4 and the other pin of the indicator light EL5 are connected with one pin of the indicator light EL6,
the other leg of the indicator light EL7 is connected to one leg of the indicator light EL8,
the other leg of the indicator light EL9 is connected to one leg of the indicator light EL10,
another leg of the indicator light EL3 is connected to leg 2 of the functional block,
another pin of the indicator light EL6 is connected to pin 3 of the functional block,
the other pin of the indicator light EL8 and the other pin of the indicator light EL10 are connected with the 4 pins of the functional block
The monitoring part comprises a plurality of sensors, the sensors are electrically connected with a control board, the sensors and the control board are powered by a battery pack, the sensors, the control board and the battery pack are electrically connected through a terminal XT1 and a terminal XT2, the control board is PLCYD3u-80MT-2AI2AO-F1-6, pins 1-5 of a terminal XT1 and pins 1-8 of a terminal XT2 are electrically connected.
In the connecting circuit of the sensor and the control panel,
the bu pin of the proximity sensor SQP1 is connected with the Y42 pin of the control board;
the bu pin of the proximity sensor SQP2 is connected with the Y42 pin of the control board;
the bu pin of the proximity sensor SQP4 is connected with the Y43 pin of the control board;
the bu pin of the proximity sensor SQP5 is connected with the Y43 pin of the control board;
the bu pin of the proximity sensor SQP6 is connected with the Y44 pin of the control board;
the bu pin of the proximity sensor SQP7 is connected with the Y44 pin of the control board;
the bu pin of the proximity sensor SQP3 is connected with the Y45 pin of the control board;
the bu pin of the proximity sensor SQP8 is connected with the Y45 pin of the control board;
the bu pin of the proximity sensor SQP9 is connected with the Y46 pin of the control board;
the bu pin of the proximity sensor SQP10 is connected with the Y46 pin of the control board;
the bu pin of the proximity sensor SQP11 is connected with the Y47 pin of the control board;
the bu pin of the proximity sensor SQP12 is connected with the Y47 pin of the control board;
the 3 pins of the angle sensor QJ1 are connected with the GND pin of the control board;
the 3 pins of the angle sensor QJ2 are connected with the GND pin of the control board;
the 4 feet of the angle sensor QJ1 are connected with an AI0 foot of the control board;
the 4-pin of the angle sensor QJ2 is connected with the AI1 pin of the control board.
Wherein,
the Y42 pin of the control panel is a switch 1/2 control pin;
the Y43 pin of the control panel is a switch 4/5 control pin;
the Y44 pin of the control panel is a switch 6/7 control pin;
the Y45 pin of the control panel is a switch 3/8 control pin;
the Y46 pin of the control panel is a switch 9/10 control pin;
the Y47 pin of the control panel is a switch 11/12 control pin;
the angle sensors QJ1 and QJ2 are both ZCT 1180J. In the connecting circuit of the sensor and the control panel,
the bk pin of the proximity sensor SQP1 is connected with the X35 pin of the control board;
the bk pin of the proximity sensor SQP2 is connected with the X36 pin of the control board;
the bk pin of the proximity sensor SQP4 is connected with the X37 pin of the control board;
the bk pin of the proximity sensor SQP5 is connected with the X40 pin of the control board;
the bk pin of the proximity sensor SQP6 is connected with the X41 pin of the control board;
the bk pin of the proximity sensor SQP7 is connected with the X42 pin of the control board;
the bk pin of the proximity sensor SQP3 is connected with the X43 pin of the control board;
the bk pin of the proximity sensor SQP8 is connected with the X43 pin of the control board;
the bk pin of the proximity sensor SQP9 is connected with the X44 pin of the control board;
the bk pin of the proximity sensor SQP10 is connected with the X45 pin of the control board;
the bk pin of the proximity sensor SQP11 is connected with the X46 pin of the control board;
the bu pin of the proximity sensor SQP12 is connected with the X47 pin of the control board.
Wherein,
the X35 foot of the sensor is a high stair detection-small control foot;
the X36 foot of the sensor is a low-rise detection-large control foot;
the X37 foot of the sensor is a physical high-middle wheel retraction & opening-small control foot; the X40 foot of the sensor is a stair detection-small control foot;
the X41 foot of the sensor is a small control foot for preventing the cliff from falling down-stairs, judging the direction and controlling; the X42 foot of the sensor is a small control foot for preventing the cliff from falling down-stairs, judging the direction and controlling; the X43 foot of the sensor is a physical low-middle wheel retraction & opening-small control foot; the X44 foot of the sensor is a small control foot for detecting stairs, judging direction and ascending stairs; the X45 foot of the sensor is a small control foot for detecting stairs, judging direction and ascending stairs; the X46 foot of the sensor is a detection threshold-small control foot;
the X47 foot of the sensor is a detection threshold-small control foot;
in the connection circuit of the sensor and the terminal,
a bn pin of the proximity sensor SQP1 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP2 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP4 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP5 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP6 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP7 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP3 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP8 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP9 is connected with one end of a5 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP10 is connected with one end of a5 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP11 is connected with one end of a5 pin of the terminal XT 1;
the bu pin of the proximity sensor SQP12 is connected to the 5-pin end of terminal XT 1.
In the connection circuit of the battery pack and the terminals,
the negative electrode of the battery pack G1 is connected with the positive electrode of the battery pack G2, and the positive electrode of the battery pack G1 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery pack G3 is connected with the positive electrode of the battery pack G4, and the positive electrode of the battery pack G3 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery G2 is connected with the 3 feet of the breaker QF1, and the negative electrode of the battery G4 is connected with the 3 feet of the breaker QF 1;
the 2-pin of the breaker QF1 is connected with one end of the 5-pin of the terminal XT1,
the 4-pin of the breaker QF1 is connected with one end of the 1-pin of the terminal XT 2.
In the connection circuit of the control board and the terminal,
the 24V pin of the control board is connected with the 2 pin of the breaker QF 2;
the COM pin of the control panel is connected with the 4 pins of the breaker QF 2;
the 1 pin of the breaker QF2 is connected with the other end of the 3 pin of the terminal XT 1;
the 3-pin of the breaker QF2 is connected with the other end of the 3-pin of the terminal XT 2.
In the connection circuit of the control board and the wiring terminal
The pin X23 of the control board is connected with the pin 1 of the switch XX 1;
the X24 pin of the control board is connected with the 3 pins of the XX 1;
the pin X25 of the control board is connected with the pin 1 of the switch XX 1;
the X26 pin of the control board is connected with the 3 pins of the XX 1;
the X27 pin of the control board is connected with the 5 pins of the XX 1;
the pin X30 of the control board is connected with the pin 1 of the switch XX 1;
the X31 pin of the control board is connected with the 3 pins of the XX 1;
the pin X32 of the control board is connected with the pin 1 of the switch XX 1;
the X33 pin of the control board is connected with the 3 pins of the XX 1;
the X34 pin of the control board is connected with the 5 pins of the XX 1;
the pin 2 and the pin 4 of the switch XX1 are connected with one end of the pin 3 of the terminal XT 2;
pins 2, 4 and 6 of the switch XX1 are connected with one end of pin 4 of the terminal XT 2;
the pin 2 and the pin 4 of the switch XX1 are connected with one end of the pin 5 of the terminal XT 2;
the 2 pin, the 4 pin and the 6 pin of the switch XX1 are connected with one end of the 6 pin of the terminal XT 2.
Wherein,
the X23 foot of the control plate is a rear crawler retraction in-place control foot;
the X24 foot of the control panel is a rear crawler opening in-place control foot;
the X25 foot of the control plate is a front crawler belt retraction in-place control foot;
the X26 foot of the control plate is a control foot at the middle position of the front crawler;
the X27 foot of the control panel is a front crawler opening in-place control foot;
the X30 foot of the control panel is a middle wheel retraction in-place control foot;
the X31 foot of the control panel is a middle wheel opening in-place control foot;
an X32 foot of the control plate is a control foot for retracting the universal wheel to the right position;
the X33 foot of the control plate is the control foot of the initial position of the universal wheel;
the X34 foot of control panel is the universal wheel control foot that opens to the position.
In the connection circuit of the sensor and the terminal
A pin 1 of the angle sensor QJ1 is connected with one end of a pin 2 of the terminal XT 1;
a pin 1 of the angle sensor QJ2 is connected with one end of a pin 2 of the terminal XT 1;
a pin 3 of the angle sensor QJ1 is connected with a GND pin of the control board and one end of a pin 2 of the terminal XT 2;
the 3-pin of the angle sensor QJ2 is connected with the GND pin of the control board and one end of the 2-pin of the terminal XT 2.
The universal wheel comprises a wheel body, the wheel body is connected with the base through a wheel shaft, and the universal wheel is characterized in that a reset universal shaft assembly is mounted on the base, a connecting block is mounted at the side end of the reset universal shaft assembly, and the reset universal shaft assembly is reset through a reset main block and a reset auxiliary block.
The base is of an n-shaped structure, the wheel body is embedded into the base from bottom to top, the wheel shaft is horizontally distributed along the left-right direction, two ends of the wheel shaft are respectively connected with bearings at two ends of the n-shaped structure of the base, and the middle of the wheel shaft is in key connection with the wheel body.
The reset universal shaft assembly comprises a shell, the shell is of a cylindrical structure vertically placed in the axial direction, the outer wall of the shell is fixedly connected with a connecting block, a substrate is arranged between the shell and a base, the substrate is fixed between the bases, a steering shaft is installed in the shell, the top of the steering shaft is connected with a top surface bearing of the shell, the bottom of the steering shaft is fixedly connected with the substrate, a reset main block is fixed on the bottom surface of the substrate, a reset auxiliary block is fixed on the top surface of the base, and the reset auxiliary block is located under the reset main block.
The number of the reset main blocks and the reset auxiliary blocks is four, the four reset main blocks and the four reset auxiliary blocks are in one-to-one correspondence in the vertical direction, the polarities of the two pairs of reset main blocks and the two pairs of reset auxiliary blocks in the left-right direction are the same, and the polarities of the two pairs of reset main blocks and the two pairs of reset auxiliary blocks in the front-back direction are opposite.
The connecting block is fixedly connected with the connecting frame.
The main wheel part includes main wheel installation piece, the tire is installed to one side of main wheel installation piece, main wheel driving motor is installed to the opposite side of main wheel installation piece, elevator motor pass through gearbox, drive wheel with the tire is connected, its characterized in that, still install functional assembly on the main wheel installation piece, install a plurality of drive gear in the gearbox, the separation and reunion cardan shaft is installed to the top of gearbox, separation and reunion spanner after the installation on the main wheel installation piece, separation and reunion spanner pass through the separation and reunion cardan shaft with the gearbox is connected.
The driving wheel is of a disc-shaped structure, a plurality of connecting pins are mounted on the driving wheel, the connecting pins are distributed in an annular array mode by taking a wheel shaft of the driving wheel as an axis, the connecting pins penetrate through the driving wheel and a flywheel of the tire and are fixedly connected through nuts, and the extension of the disc-shaped structure of the driving wheel is in meshed connection with the transmission gear through a gear.
The main wheel driving motor is meshed with an input main wheel in the gearbox through a turbine, the input main wheel is rotatably connected with a box body of the gearbox through an input main shaft, an input auxiliary wheel is installed on the input main shaft and meshed with a clutch wheel, the clutch wheel is connected with a clutch shaft key, a shaft rod at the tail end of the clutch universal shaft is embedded between the clutch wheel and a shell of the gearbox, the clutch shaft is in sliding connection with the gearbox, and a clutch reset spring is sleeved on the clutch shaft.
The functional component comprises a control handle, the control handle is fixed on a main wheel mounting piece through a handrail, an execution component is mounted above the main wheel mounting piece, the control handle is electrically connected with the execution component, and a circuit for electrically connecting the control handle and the execution component is embedded in the handrail.
The clutch shaft is connected with the main wheel key of the transmission gear, and the auxiliary wheel of the transmission gear is respectively connected with the main wheel and the driving wheel of the transmission gear in a meshing way.
The other output shaft of the gearbox is connected with the functional component connecting shaft through a clutch universal shaft, the input shafts of the functional components are distributed along the vertical direction, and the axial direction of the other output shaft of the gearbox inclines forwards along the vertical direction.
The base is located the top of mounting panel and with mounting panel fixed connection.
The crawler-type stair climbing wheelchair obtained by the technical scheme of the invention has the beneficial effects that:
through the folding of track front end, opening and close of auxiliary wheel, the opening and close of universal wheel, make the wheelchair can be applicable to multiple topography, the form is steady, and the terrain that fits traveles reduces mechanical load, and whole form process seat keeps the level, avoids taking and topples, guarantees normal operating through intelligent control and sensor detection.
Drawings
FIG. 1 is a schematic structural view of a crawler-type stair climbing wheelchair according to the invention;
FIG. 2 is a schematic illustration of the construction of the track section of the present invention;
FIG. 3 is a schematic side view of the integrated gear box of the present invention
FIG. 4 is a schematic structural view of the function wheel according to the present invention;
FIG. 5 is a side view of the functional wheel of the present invention;
FIG. 6 is a schematic view of the construction of the auxiliary wheel portion of the present invention;
FIG. 7 is a schematic view of the structure of the support auxiliary wheel of the present invention;
FIG. 8 is a schematic view of the construction of the universal auxiliary wheel of the present invention;
FIG. 9 is a side view schematic of the seat portion of the present invention;
FIG. 10 is a schematic view of the seat portion of the present invention;
fig. 11 is a schematic structural view of the base frame of the present invention;
FIG. 12 is a schematic circuit diagram of the control board and the driver board and the voice control board according to the present invention;
FIG. 13 is a circuit schematic of the rocker controller of the present invention;
FIG. 14 is a circuit schematic of the remote control receiver of the present invention;
FIG. 15 is a schematic circuit diagram of the control panel and remote control receiver of the present invention;
FIG. 16 is a schematic view of the structure of the battery pack and terminals according to the present invention;
FIG. 17 is a schematic view of the construction of the caster of the present invention;
FIG. 18 is a schematic view of the mounting structure of the reset master according to the present invention;
FIG. 19 is a schematic view of the mounting structure of the reset sub-block of the present invention;
FIG. 20 is a schematic structural view of the main wheel portion of the present invention;
FIG. 21 is a schematic structural view of the main wheel mounting plate of the present invention;
FIG. 22 is a side elevational view of the primary wheel mounting plate of the present invention;
FIG. 23 is a schematic view of the structure of the driving wheel according to the present invention;
FIG. 24 is a schematic structural view of the transmission of the present invention;
FIG. 25 is a schematic view of the adjusting screw of the present invention;
FIG. 26 is a schematic structural view of the transmission assembly of the present invention;
FIG. 27 is a schematic structural view of the crawler-type stair climbing wheelchair running on the flat ground;
FIGS. 28 and 29 are schematic structural views of the crawler-type stairs climbing the lower step of the wheelchair according to the invention;
FIG. 30 is a schematic structural view of the crawler-type stair climbing wheelchair descending slope;
FIG. 31 is a schematic structural view of the crawler-type stair climbing wheelchair climbing uphill;
FIGS. 32 and 33 are schematic structural views of the crawler-type stair climbing wheelchair passing through a threshold;
FIGS. 34-37 are schematic views of the crawler-type stairs climbing wheelchair going downstairs;
in the figure, 1, a base frame; 2. a transmission assembly; 2a, an input gear; 2b, an output gear; 2c, a shell; 3. mounting a plate; 4. a comprehensive gear box; 4a, a folding gear set; 4b, a crawler belt gear set; 4c, folding the connecting rod; 4d, a support gear set; 4e, supporting the transmission connecting rod; 5. adjusting a lead screw; 5a, a limiting beam; 5b, a cylinder shaft; 5c, a cylinder body; 5d, a screw shaft; 5e, limiting the sliding block; a1, a main board; a2, a subplate; a3, connecting plates; a4, a track driving motor; a5, folding driving motor; a6, folding push rod; a7, a crawler belt; a7a, internal teeth; a7b, external teeth; a8, function gear; a8a, steering wheel; a8b, tension roller; a8c, front guide wheel; a8d, rear guide wheel; a8e, a traction wheel; a8f, a limiting roller; a8g, a tensioning assembly; a8g1, tensioning base; a8g2, tension spring; a8g3, tensioning frame; a8g4, a tensioning limiting sheet; a8g5, tensioning axle pin; b1 top connecting plate; b2, a lifting auxiliary wheel; b3, supporting auxiliary wheels; b4, a lifting push rod; b5, a driving motor; b5a, a lifting driving motor; B5B, supporting a driving motor; b6, a rear connecting plate; b7, supporting the push rod; b8, connecting rod; b9, a transmission rod; b10, a connecting frame; b11, a front side connecting plate; c1, balance push rod; c2, mounting rack; c3, seat; c4, a transmission frame; c5, balance gear box; c5a, balance gear; c6, a triangular base; c7, a balancing motor; c8, angle sensor; d1, a wheel body; d2, an axle; d3, a base; d4, resetting the universal shaft assembly; d5, connecting blocks; d6, a shell; d7, a substrate; d8, a steering shaft; d9, resetting the main block; d10, resetting the auxiliary block; e1, a main wheel mounting piece; e2, tire; e3, a main wheel driving motor; e4, a gearbox; e4a, turbine; e4b, input main wheel; e4c, input spindle; e4d, input auxiliary wheel; E4E, clutch return spring; e4f, clutch pulley; e4g, clutch shaft; e5, a driving wheel; e6, functional components; e7, universal wheels; e8, clutch wrench; e9, transmission gear; e10, a control handle; e11, arm rests; e12, executing the component.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1
Stretching and folding of the crawler belt:
the extension and the folding of the crawler belt can be realized only by opening and closing the folding push rod A6, the transmission mechanism is as follows,
the folding push rod A6 pushes the connecting plate A3 forwards, the rear end of the connecting plate A3 is limited by a shaft pin and moves along the axial forward direction of the long circular through hole on the main plate 1, the front end of the connecting plate A3 pushes the auxiliary plate A2 to rotate, namely, the auxiliary plate A2 revolves around the wheel shaft of the steering wheel A8a as the center until the driving cylinder shaft 6 is completely extended, the standing of the auxiliary plate A2 is completed, and the standing of the crawler track is also completed because the crawler track A7 is wound on the steering wheel A8a and the tension wheel A8b on the auxiliary plate A2,
during standing, the front end of the integrated connecting plate A3 can be declined due to the rotation of the front end of the connecting plate A3, the steering wheel A8a can be embedded into the lower side of the connecting plate A3,
similarly, when the cylinder shaft of the folding push rod a6 is retracted, the rear end of the connecting plate A3 is limited by the shaft pin and moves backwards along the axial direction of the long circular through hole on the main plate a1, and the front end of the connecting plate A3 pushes the auxiliary plate a2 to rotate, i.e. revolve around the wheel shaft of the steering wheel A8a until the driving cylinder shaft a6 is completely reset, so that the folding of the auxiliary plate 2 is completed, and the folding of the crawler track is also completed because the crawler track AA7 is wound on the steering wheel A8a and the tensioning wheel A8b on the auxiliary plate 2,
when the sub-plate 2 is folded, the crawler belt is also inserted into the link plate 9 from the front to the rear.
Example 2
Driving of the crawler belt:
after the crawler driving motor A4 is started, the crawler is finally driven to rotate by the drive of the integrated gear box 4 and the transmission of the traction roller 8e, and for the functions of other functional wheels,
the front guide wheel A8c and the rear guide wheel A8d mainly have the function of linearly guiding the crawler, namely, the outgoing path and the return path of the crawler are pressed in the same direction, after the auxiliary plate A2 is unfolded, the outgoing path and the return path of the crawler are in a straight line shape, but when the auxiliary plate A2 is folded, if the front guide wheel A8c and the rear guide wheel A8d are not arranged, the whole crawler is triangular, namely, the outgoing path of the crawler is in an L shape, the return path is in a straight line shape with the rear end inclined downwards, and the front guide wheel A8c and the rear guide wheel A8d press the return path of the crawler downwards, so that when the auxiliary plate A2 is folded, the return path of the crawler is also in an L shape. The main effect of this design is firstly can the space of rule, avoids other part of track and wheelchair to influence each other, secondly can lengthen the track stroke, reduces tension assembly's load.
The main function of the steering wheel A8a is that the track can be folded at the same time when the sub-plate a2 is folded, and here the front steering wheel A8c plays the same role as the loop of the track, and the axle of the steering wheel A8a also realizes the rotary connection of the main plate 1 and the sub-plate 2.
The tensioning wheel A8b mainly plays a role in compacting the track, and the main action mechanism is based on the traditional spring tensioning mechanism, and on the premise of the traditional tensioning mechanism, the connection between the tensioning base A8g1 and the auxiliary plate 2 and the limit of the tensioning limit piece A8g4 and the auxiliary plate A2 along the linear direction are realized.
Although the tensioning wheel A8b has a certain tensioning effect, the stairs are zigzag, if the crawler climbing is realized, a large load is caused on the tensioning wheel A8b, the limiting wheel A8f mainly plays a role of supporting the crawler A7, when the stair climbing is carried out, the weight of the whole wheelchair is pressed on the stairs and then reacts on the crawler A7, the crawler conducts the load through the limiting wheel A8f, and finally the load is borne by the main board A1 for fixing the limiting wheel A8f, so that the tension of the crawler is reduced, and the crawler is prevented from loosening and breaking.
Track A7 is holistic annular structure to through the drive of track driving motor A4, the folding push rod A6 that adopts promotes connecting plate A3 and realizes, overall structure is simple, only needs single automatically controlled button can realize controlling, need not complicated electric control circuit, reduction in production cost, the application of multi-functional wheel reduces the load and the occupation space of track, increase of service life.
Two folding push rod A6 is through same motor drive, connects through folding connecting rod 4c between two motors, with the opposite side position that folding driving motor A12 corresponds can be used for installing the driving motor of auxiliary wheel, and the driving motor of auxiliary wheel also can be through the mode transmission of connecting rod, originally needs four motor drive's machinery promptly, only needs two motors now, saves energy and space.
Example 3
The driving of the lifting push rod B4 is a classical mechanical driving mode, namely, the driving of a driving part, a driving part and an executing part, the number of the supporting auxiliary wheels B3 is two, the driving of the two supporting auxiliary wheels B3 adopts a unified supporting driving motor B5B, one supporting push rod B7 is directly driven by a supporting motor B5B, the driving of a supporting gear set 4d, a transmission component 2, an adjusting screw rod 5, a connecting rod B8 and a transmission rod B9 is realized, the driving of the other supporting auxiliary wheel B3 is realized by the supporting gear set 4d, the transmission component 2, the adjusting screw rod 5, the connecting rod B8 and the transmission rod B9 on the other side of the supporting gear set 4d, the connecting rod 4e and the base frame 1, and the synchronization can be effectively ensured by the driving of the same motor, while saving space.
Example 4
After the lifting auxiliary wheel B2 and the supporting auxiliary wheel B3 are put down, the crawler belt and the ground can form a certain angle, the crawler belt of the wheelchair can be directly attached to the slope when climbing a slope and going upstairs and downstairs, the crawler belt is stressed uniformly, and the wheelchair moves stably.
Since the lifting auxiliary wheel B2 and the supporting auxiliary wheel B3 are both located at the rear side of the wheelchair, the wheelchair can be tilted forward only, and thus, when going upstairs, going upstairs is realized in a backward manner.
Example 5
When the wheelchair is inclined, the balance motor C7 is started, the balance motor C7 drives the transmission gear C5a in the balance gear box C5 to rotate through the transmission component 2 connected with the balance motor C7, finally the balance motor C props up the transmission component 2 connected with the output wheel to enable the screw shaft 5d to rotate, the balance motor C is rotatably connected with the inner part of the cylinder body 5C of the adjusting screw 5 to ascend or descend, the adjusting screw 5 extends or retracts, the front end of the mounting frame C2 is pushed to ascend or descend, namely the front end of the mounting frame C2 rotates along the connecting shaft rotatably connected between the mounting frame C2 and the base frame 1, and finally the adjustment of the seat balance is realized.
Two adjustment lead screws 5 are left right side distribution, can effectively guarantee the balanced of seat along left right direction, and two adjustment lead screws 5 are driven through same balanced motor C7 simultaneously, because still will install the mechanical component who realizes other functions of crawler-type wheelchair in the bed frame 1, the space is more nervous, saves a motor and not only can the energy saving, convenient control, can also save space, makes the mounting structure more reasonable, in addition through the drive rod transmission, can effectively guarantee two adjustment lead screw 5's synchronization avoids seat C3 along the slope of left right direction.
In the aspect of control of the balancing motor C7, control can be achieved through a driven electric switch, namely, a battery and a switch are directly connected and manually turned on and off, and a PLC control board can be installed to achieve automatic correction by combining the angle sensor, so that the battery with the function of the balancing motor C7 can be installed in the base frame 1.
Example 6
The rocker controller and the remote controller receiver are instruction input units, driving instructions are input to the control panel through the rocker controller and the remote controller receiver and are electrically connected, and the instructions are input to the control panel.
Example 7
The proximity sensors are installed at the bottom and the front end of the wheelchair and used for detecting that the positions between the wheelchair and the bottom stairs and between the wheelchair and the doorsill are in a passing range, real-time transmission and analysis are carried out on the acquired signals, and when the bottom of the wheelchair and the front side of the crawler are about to collide with obstacles, the situations of collision, landslide, bottom dragging and the like are avoided.
Meanwhile, the proximity sensors also have the function of detecting whether the machine is in place, such as the opening of a crawler, the lifting of universal wheels, the lifting of auxiliary wheels and the like, when the wheelchair is lifted by the direction wheels, the wheelchair can generate a certain height difference with the ground, and if the height difference is within a theoretical range, the lifting of the universal wheels is proved to be accurate.
The angle sensor has two, and its function also has two, and one is that whether the inclination of the inclination that detects the stair of climbing, slope and the inclination of wheelchair are too big, whether can satisfy the climbing requirement, and another angle sensor then detects whether the seat of wheelchair is in the horizontality, guarantees that the wheelchair is in the climbing in-process, and the people on the car can not lean forward or back up.
The sensors are controlled by the same control board, and the control board is also responsible for controlling the execution assembly, so that the unified monitoring is realized, the compatibility is strong, and the traveling safety is ensured.
The remote controller is a remote controller and can be wirelessly connected with the remote controller receiver through radio frequency and other wireless signals, and the language controller is more flexible, can adopt remote control, can also be installed on the wheelchair and is connected with the language control panel through a wire harness or wireless signals.
The rocker controller and the remote controller receiver transmit the instruction to the control panel after receiving the instruction, and finally the transmission of the instruction to the appointed driving machine is realized by the driving board, the main driving machine is a motor, and the advancing and retreating of the crawler belt and the main wheel, the lifting and descending of the auxiliary wheel and the universal wheel, the unfolding and withdrawing of the folding crawler belt and the like can be realized through the forward rotation and the overturning of the motor and a matched gear set.
The battery pack functions as each circuit part, and the connection between the circuit parts is realized through the wiring terminal.
The language control board is a signal sending component and can inform the user of the current wheelchair mode through a built-in loudspeaker on the vehicle.
Example 8
When the universal wheel B12 is normally used, the wheel body D1 deflects along with the movement and the steering of the wheelchair, but when the universal wheel B is retracted, the wheel needs to be reset, namely, the wheel shafts are horizontally distributed along the left-right direction.
When wheel body D1 and ground contact, because the frictional force on ground, overcome the magnetic force between main piece D9 that resets and the vice piece D10 that resets, at the in-process of packing up the universal wheel, wheel body D1 and ground separation lose frictional stress reset main piece D9 and the vice piece D10's that resets magnetic force is under the effect, realize resetting.
The wheel body D1 is retracted into the base frame 1 by the driving of the connecting frame B10, the connecting frame B10 is inserted into the base frame 1, and the wheel body D1 is inserted into the connecting frame B10.
Example 9
The main wheel driving motor E3 is a driving part, the gearbox E4 is a transmission part and the tire E2 is an actuating part by adopting a classical mechanical driving principle, namely a driving part-transmission part-actuating part connecting mode.
In the mechanical driving, a person riding the wheelchair can easily realize the switching between maneuvering and manual operation, after the clutch wrench E8 is pulled down, the clutch wrench E8 is driven by the universal shaft E7, a shifting lever at the tail end of the universal shaft E7 shifts the clutch gear E4f to be separated from the input auxiliary wheel E4d, and at the moment, when the tire E2 rotates again, the main wheel driving motor E3 cannot rotate, so that the damage to the motor caused by long-term idle rotation is avoided.
When the motor is recovered, the clutch wrench E8 is loosened, and the clutch return spring E4E enables the clutch gear E4f to be meshed with the input auxiliary wheel E4d again, so that normal use is guaranteed.
The wheel axle of the tire E2 is connected with the flywheel through a single key instead of a plurality of bolts distributed in an annular array, so that the stress is dispersed, and the service life is prolonged.
Example 10
Flat ground running of the wheelchair:
when the traditional wheelchair runs on the flat ground, besides the main wheels, the front side of the traditional wheelchair is also provided with a left universal wheel and a right universal wheel for guiding,
because the position of the crawler belt A7 occupies the position of the universal wheel of the traditional wheelchair, and the sensor is needed to sense when the wheelchair is in an obstacle, the front universal wheel can not be arranged, the rear universal wheel is arranged below the rear side of the base frame 1,
when the wheelchair runs on flat ground, two main wheels E1 are in contact with the ground, a lifting auxiliary wheel B2 behind the main wheels and the main wheels E1 form a support with three contacts of a triangle in the horizontal direction and the ground, the main wheels E1 are used for traveling and bearing, and the universal wheels play a role in balance support and guidance during turning.
Example 11
The steps of wheelchair downstep:
first driving to a step in the flat traveling mode shown in fig. 10,
the proximity sensors SQP6 and SQP7 detect the front floor sinking,
stopping the driving of the main wheel driving motor E3, entering the next step mode,
the crawler belt is put down based on the crawler belt driving principle of the technology in the embodiment 3 to be pasted with the ground, meanwhile, the universal wheels are continuously driven to put down through the lifting driving motor B5a, the rear side of the wheelchair is supported,
during the lowering process of the lifting auxiliary wheel B2, the wheelchair can tilt forward, so the balance motor C7 needs to be started to enable the seat C3 to tilt backward, finally the balance of the seat is achieved,
the main wheels E1 of the seat E3 are all connected with the armrests E11, so that when the seat C3 leans backwards, the main wheels E1 and the driving and transmission components thereof are lifted together through the transmission of the armrests E11 and are separated from the ground,
it should be noted that the rear side of the track a7 (the portion connected to the main plate a1) is also raised, and only the lift assist wheel B2 and the track a7 connected to the sub-plate a2 that actually contact the ground,
meanwhile, the lifting principle of the main wheel E1 is different from that of the track A7, the lifting of the track A7 is realized by the lifting push rod B4, the lifting of the main wheel E1 is realized by the balance push rod C1,
the track driving motor A4 is started, the track A7 is driven to rotate through the functional gear A8, at the moment, compared with the flat ground mode described in the embodiment 10, the driving mode, namely the track realizes the running and the bearing, the universal wheels play the balance support, the lifting state of the main wheels is kept,
when the track connected with the sub-board A2 completely goes over the stairs, the driving motor A4 is stopped, the main board A1 and the sub-board A2 are unfolded by the folding push rod A6, the front end of the sub-board A2 is ensured to be in contact with the ground under the stairs,
the wheelchair continues to be driven by the track driving motor A4, and the wheelchair continues to move forwards smoothly because the lifting auxiliary wheel B2 and the track A7 are respectively contacted with two sections of the high land of the ladder.
After traveling a distance, the lifting quay wheel B2 can be lowered to a certain height to restore the horizontal position of the sub-plate B2, and then the travel is continued.
When the lifting auxiliary wheel B2 moves to the upper edge of the ladder, the proximity sensor SQP5 senses that the lower step is finished, the track driving motor A4 is stopped, because if the inlaid type is continued, the rear wheel falls down the ladder, the seat C3 leans backward and bumps,
the design idea of the wheelchair is that the seat is firstly fixed, the lifting auxiliary wheel B2 is replaced by a pair of auxiliary wheels for supporting, and then the wheelchair continues to move,
specifically, the supporting auxiliary wheel B3 is lowered through the supporting driving air cylinder B5B, and then the crawler driving motor A4 drives the crawler to move forwards,
the lifting of the track a7 is now achieved by the support push bar B7, while the lifting of the main wheel E1 is achieved by the balance push bar C1.
The lifting auxiliary wheel B2, the supporting auxiliary wheel B3, the seat C3 and the crawler A7 are reset respectively through the lifting push rod B4, the supporting push rod B7, the balance push rod C1 and the folding push rod A6, and the next step is completed.
Example 12
Descending and ascending:
on the basis of the flat ground in the embodiment 10, the ascending and descending can be realized by adjusting the height of the lifting auxiliary wheel B2, and the principle is as follows:
the lifting auxiliary wheel B2 mainly has the functions of providing guidance during steering and ensuring the balance of the wheelchair in the front-back direction, when the lifting auxiliary wheel B2 is driven by the lifting push rod B4 and the lifting driving motor B5a, the lifting auxiliary wheel B3 can be forward or backward tilted along the front-back direction, and can also be forward or backward tilted when going up and down, so that when going up and down, the going up and down can be realized only by adjusting the height of the lifting auxiliary wheel B2, the inclination angle of the seat C3 does not need to be adjusted by the balance push rod C1,
the specific height of the lifting auxiliary wheel B2 is detected by the angle sensor C8 and is realized in circuit control through an angle sensor QJ2 and an angle sensor QJ 1.
Example 13
And a threshold crossing step:
first of all the vehicle is driven to the threshold in the flat traveling mode shown in fig. 10,
the proximity sensors SQP11 and SQP12 detect that there is an obstacle in front,
the main wheel drive motor E3 is stopped from continuing to drive, the threshold passing mode is entered,
based on the folding of the lifting auxiliary wheel B2 and the crawler E7 and the mechanisms before ascending and descending steps in the technologies of the embodiment 11 and the embodiment 12, the subplate firstly passes through the doorsill, and the specific principle is as follows:
the main wheel drives the dislocated track to drive, in the track driving mode, the mechanism of the threshold driving mode is the same as that of the main wheel driving mode for ascending, the threshold can be regarded as a slope to be directly rolled due to the strong ground holding force of the track, and the balance is adjusted through the lifting auxiliary wheel B2.
However, when the track sub-plate A2 completely crosses the threshold, since the inclination of the main plate A1 is no longer based on the folding push rod A6, the track crosses the threshold based on the mechanism of the track lower step in the embodiment 11, and in the process, the step and the threshold have no difference in the movement of the track, and the difference in the lifting auxiliary wheel B2 is the height of the lifting auxiliary wheel B2,
finally, based on the mechanism of the lifting auxiliary wheel B2 going down stairs in embodiment 11, the lifting auxiliary wheel B2 can pass the threshold.
Example 14
Descending stairs:
the steps of wheelchair downstep:
first driving to a step in the flat traveling mode shown in fig. 10,
the proximity sensors SQP6 and SQP7 detect the front floor sinking,
stopping the driving of the main wheel driving motor E3, entering a descending stair mode,
since the stairs are composed of multiple steps and are relatively steep, the wheelchair is lifted by the supporting auxiliary wheels B3, then the front side of the crawler is made to descend the stairs based on the steps of the crawler with the steps of the steps in the embodiment 11, but the crawler A7 is not retracted to the level of the auxiliary plate A2, and the main plate A1 is continuously ensured to be collinear,
at this time, the proximity sensors SQP1 and SQP2 detect the situation of stairs, based on the idea that the supporting auxiliary wheel B3 in the lower step 11 replaces the lifting auxiliary wheel B2, at this time, the supporting auxiliary wheel B3 needs to replace the lifting auxiliary wheel B2, so that the crawler on the main plate A1 is completely contacted with the stairs,
in the early stage of going downstairs, because the contact area of the crawler and the stairs is small, the crawler cannot be completely supported by the crawler, the lifting auxiliary wheel B2 needs to be replaced by the supporting auxiliary wheel B3, the lifting auxiliary wheel B2 and the crawler A7 alternately provide support for the wheelchair, and when the whole crawler on the main plate A1 and the auxiliary plate A2 is in contact with the stairs, the walking downstairs can be completely realized by the crawler based on the strong ground gripping force of the crawler A7.
When the wheelchair moves to the front end of the crawler belt to contact the bottom surface, the process of finally separating from the stairs can be realized through the step of descending the stairs in the embodiment 1, if the width of the stairs is small, the supporting auxiliary wheel B3 is still needed to replace the lifting auxiliary wheel B2 for mutual replacement, but if the stairs are handed over, the stairs can be regarded as higher steps, and the descending is directly realized through the step of descending the stairs in the embodiment 11.
Unlike the lower steps, if the stairs are narrow, after the main wheel C1 completely passes the stairs, the main wheel C1 can be lowered by the balance push rod C1 and then be driven by the main wheel C1 to be separated from the stairs by the supporting auxiliary wheel B3 or the lifting auxiliary wheel B2.
Example 15
Going upstairs:
when going upstairs, the wheelchair can go upstairs by going downstairs according to the method of embodiment 14, but the difference is that during the wheelchair track, the rear part of the wheelchair needs to be detected for the stair situation, so that the proximity sensors SQP9 and SQP10 need to be used for detection instead of the sensors used when going downstairs.
The travel mode described in embodiments 10 to 15 can be realized by manual control, or can be realized by the control board based on the circuit connection mechanism of the control section in an automatic mode.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions will all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (8)
1. The crawler-type stair climbing wheelchair comprises a seat part, tire parts, crawler belt parts and auxiliary wheel parts, and is characterized in that the seat part, the tire parts, the crawler belt parts and the auxiliary wheel parts are all mounted on a base frame (1), the number of the crawler belt parts is two, the two crawler belt parts are distributed on the left and right, the base frame (1) is located between the two crawler belt parts, the seat part is mounted above the base frame (1), the auxiliary wheel parts are embedded into the base frame (1) from bottom to top, the number of the tire parts is two, the two tire parts are respectively located on the left side and the right side of the crawler belt parts, the seat part, the tire parts, the crawler belt parts and the auxiliary wheel parts are controlled through an electric control part, a monitoring part is further integrated on the electric control part, and the seat part, the crawler belt part and the auxiliary wheel part are further integrated, The tire part, the crawler part and the auxiliary wheel part are all driven by a motor and realize transmission through a push rod and a gear box, the push rod comprises a transmission assembly (2) and an adjusting screw rod (5), the gear box comprises a comprehensive gear box (4) and a balance gear box (C5),
the transmission assembly (2) comprises an output gear (2b) and an input gear (2a), the input gear (2a) and the output gear (2b) are two conical gears which are meshed with each other, the input gear (2a) and the output gear (2b) are in bearing connection with a shell (2c) of the transmission assembly (2),
a screw shaft (5d) is arranged in a cylinder body (5c) of the adjusting screw (5), one end of the screw shaft (5d) penetrates through the cylinder body (5c) and is connected with the input gear (2a) of the transmission component (2) through a connecting shaft, one end of the screw shaft (5d) is in bearing connection with the cylinder body (5c), the other end of the screw shaft (5d) is in threaded connection with the cylinder shaft (5b) of the adjusting screw rod (5), the cylinder shaft (5b) is connected with the cylinder body (5c) in a sliding way, a limit beam (5a) is also arranged in the cylinder body (5c), the lower end of the limit beam (5a) is provided with a limit slide block (5e), the limit slide block (5e) is contacted with the cylinder shaft (5b), the top of the screw shaft (5) is connected with a top bearing of a cylinder body (5c) of the adjusting screw (5).
2. The crawler-type stair climbing wheelchair as claimed in claim 1, wherein the crawler belt portion comprises a main plate (A1) and a secondary plate (A2), the main plate (A1) and the secondary plate (A2) are rotatably connected, a crawler driving motor (A4) is mounted on the rear side of the main plate (A1) through a mounting plate (3), the secondary plate (A2) is connected with the mounting plate (3) through a connecting plate (A3) and a push rod, the push rod for connecting the connecting plate (A3) with the mounting plate (3) is a folding push rod (A6), the side ends of the main plate (A1) and the secondary plate (A2) are provided with a crawler belt (A7), a plurality of functional gears (A8) are arranged on the inner side and the outer side of the crawler belt (A7), and the crawler belt (A7) is in meshed connection with the functional gears (A8).
Mainboard (A1) is the metal sheet of placing along the vertical direction, the rear end height of mainboard (A1) is greater than the front end height, subplate (A2) is the metal sheet of placing along the vertical direction, subplate (A2) is long circular structure along the vertical section of postponing the direction, the rear end of subplate (A2) with the front end rotation of mainboard (A1) is connected.
The transmission assembly (2) of the folding push rod (A6) is connected with a folding driving motor (A5), and an adjusting screw rod (5) of the folding push rod (A6) is connected with the connecting plate (A3)
The crawler belt (A7) is of an annular structure, an inner ring of the crawler belt (A7) is meshed and connected with the lower front side of a steering wheel (A8a), the upper side of a tensioning wheel (A8b), a traction roller (A8e) and a spacing wheel (A8f) through inner teeth (A7a), outer teeth (A7b) of the crawler belt (A7) are meshed and connected with the lower rear side of a rear guide wheel (A8c) and the lower front side of a front guide wheel (A8d), and the pitch of the inner teeth (A7a) is smaller than that of the outer teeth (A7 b).
The connecting plate (A3) is of an n-shaped structure along the vertical section in the left-right direction, the lower part of the rear side of the connecting plate (A3) is in sliding connection with the main plate (A1) through a shaft pin, the main plate (A1) is provided with a long circular through hole for inserting and embedding the shaft pin, the connecting plate (A3) can rotate by taking the axis of the shaft pin at the lower part of the rear side as the center, the front end of the connecting plate (A3) is in rotating connection with the middle of the auxiliary plate (A2) through the shaft pin, and the upper part of the rear end of the connecting plate (A3) is in rotating connection with the cylinder shaft of the folding push rod (A6) through the shaft.
The folding push rods (A6) of the two folding type crawlers are driven by the same folding drive motor (A5), the folding drive motor (A5) and the crawler drive motor are both connected with the integrated gear box (4), the integrated gear box (4) comprises a folding gear set (4a) and a crawler gear set (4b), gear shafts of the folding gear set (4a) and the crawler gear set (4b) are both rotationally connected with the integrated gear box (4), the two folding push rods (A6) are both provided with an independent folding gear set (4a), a motor shaft of the folding drive motor (A5) is connected with an output end of one folding gear set (4a), an output end of the other folding gear set (4a) is connected with a middle driving wheel key of one folding gear set (4a) through a folding connecting rod (4c), and an output end of the crawler gear set (4b) is connected with the crawler drive motor (A4) through a folding connecting rod (4c), the mounting plate (3) with synthesize gear box (4) and constitute the box structure, folding driving motor (A5) is located between mounting plate and subplate (A2).
The main plate (A1) and the auxiliary plate (A2) are connected in a rotating mode through shaft pins, the shaft pins connected in the rotating mode of the main plate (A1) and the auxiliary plate (A2) are wheel shafts of the steering wheels (A8a), the tensioning roller (A8b) is installed at the front end of the auxiliary plate (A2), the rear guide wheel (A8c) and the front guide wheel (A8d) are respectively located on the front side and the rear side of the main plate (A1), the front guide wheel (A8d) is embedded into the connecting plate (A3) from bottom to top, and the crawler driving motor (A4) is in transmission connection with the traction roller (A8e) through an integrated gear box (4).
The limiting wheels (A8f) are located at the bottom of the side end of the main plate (A1), the number of the limiting wheels (A8f) is multiple, and the limiting wheels (A8f) are distributed in a curved array along the bottom end contour of the main plate (A1).
The limiting wheels (A8f) are positioned on the front side of the sub-plate (A2), the number of the limiting wheels (A8f) is multiple, and the limiting wheels (A8f) are distributed in a linear array along the vertical direction.
The tensioning wheel (A8b) is connected with an auxiliary plate (A2) through a tensioning assembly (A8g), the tensioning assembly is a buffering tensioning assembly and comprises a tensioning base (A8g1), the tensioning base (A8g1) is rotatably connected with the auxiliary plate (A2) through a shaft pin, a tensioning spring (A8g2) is installed on the tensioning base (A8g1), the tensioning spring (A8g2) is a columnar compression spring, one end of the tensioning spring (A8g2) is fixedly connected with the top of the tensioning base (A8g1), the other end of the tensioning spring is fixedly connected with a tensioning frame (A8g3), the tensioning frame (A8g3) is in a u-shaped structure, the tensioning wheel (A8b) is located between two ends of the tensioning frame (A8g3) and is connected through the shaft pin, a tensioning limiting sheet (A8g4) is arranged on one side of the tensioning frame (A8g3), and the auxiliary plate (A2) is used for limiting through hole (A6858 g 8g), the auxiliary plate (A2) is located between the tensioning frame (A8g3) and the tensioning limiting piece (A8g4), tensioning shaft pins (A8g5) are arranged at the upper end and the lower end of the tensioning limiting piece (A8g4) and penetrate through oblong through holes in the auxiliary plate (A2), and the tensioning shaft pin (A8g5) located at the upper end is a connecting pin for the tensioning wheel (A8g 8b) and the tensioning frame (A8g 3).
3. The tracked stair climbing wheelchair as claimed in claim 2, wherein in the auxiliary wheel part, lifting auxiliary wheels (B2) and supporting auxiliary wheels (B3) are mounted on the base frame (1), the lifting auxiliary wheels (B2) are located in the base frame (1), the number of the supporting auxiliary wheels (B3) is two, the two supporting auxiliary wheels (B3) are respectively located at the left side and the right side of the base frame (1), the lifting auxiliary wheels (B2) and the supporting auxiliary wheels (B3) are driven by push rods, wherein the push rods driving the lifting auxiliary wheels (B2) are lifting push rods (B4), the push rods driving the supporting auxiliary wheels (B3) are supporting push rods (B7),
the lifting push rod (B4) is driven by a lifting driving motor (B5a), the motor shaft of the lifting driving motor (B5a) is connected with the corresponding output gear (2B) through a connecting shaft,
two support auxiliary wheel (B3) and correspond independent support push rod (B7), two respectively support push rod (B7) and realize the drive through same support driving motor (B5B), one support output gear (2B) of push rod (B7) with driving motor (B5) links the hub connection, another support output gear (2B) of push rod (B7) through supporting drive connecting rod (4e), comprehensive gear case (4) and one input gear (2a) transmission connection of bracing piece (B7).
The middle part of bed frame (1) includes rear side connecting plate (B6), top connecting plate (B1), front side connecting plate (B11), cylinder body (5c) of lift push rod (B4) with top connecting plate (B1) rotate and are connected, cylinder shaft (5B) downwardly extending of lift push rod (B4) and embedding among the drive assembly, the left and right sides of bed frame (1) all is equipped with mounting panel (3), it is located to support driving motor (B5B) between mounting panel (3) and bed frame (1).
Realize supporting through connecting rod (B8) between bed frame (1) and mounting panel (3), connecting rod (B8) run through two along the left and right direction bed frame (1), the transmission assembly who supports auxiliary wheel (B3) includes transfer line (B9), the one end of transfer line (B9) with connecting rod (B8) rotate and are connected, the other end of transfer line (B9) with support the auxiliary wheel and rotate and be connected.
The transmission assembly of the lifting auxiliary wheel (B2) comprises a connecting frame (B10), the connecting frame (B10) is a rectangular metal strip, one end of the connecting frame (B10) is connected with the front side connecting plate (B11) in a rotating mode, the other end of the connecting frame is connected with the lifting auxiliary wheel (B2) in a transmission mode through a reset universal wheel assembly (D4), and the axial direction of the reset universal wheel assembly (D4) is distributed along the vertical direction.
The cylinder body (5c) of the supporting push rod (B7) is rotatably connected with the base frame (1), and the tail end of the cylinder shaft (5B) of the supporting push rod (B7) is rotatably connected with the middle part of the transmission rod (B9).
The radial cross section of link (B10) is rectangle frame column structure, run through from the top down cylinder shaft (5B) of lift push rod (B4) link (B10) and embedding in the rectangle frame column structure of link (B10), the top surface of link (B10) is equipped with and is used for the rectangle through-hole that cylinder shaft (5B) of lift push rod (B4) run through.
4. The tracked stair climbing wheelchair as claimed in claim 1, wherein the seat part comprises a mounting bracket (C2), the mounting bracket (C2) is fixed on the front side of the base frame (1), a seat (C3) is arranged above the base frame (1), the mounting bracket (C2) is connected with the seat (C3) through a transmission frame (C4), the base frame (1) is connected with the transmission frame (C4) through a push rod, the push rod is driven by a balancing motor (C7), the push rod for connecting the base frame (1) with the transmission frame (4C) is a balancing push rod (C1), an adjusting screw (5) of the balancing push rod (C1) is connected with the transmission frame (C4), and a transmission assembly (2) of the balancing push rod (C1) is connected with the balancing motor (C7).
In balanced push rod (C1), cylinder body (5C) one end pass through trigonid (C6) with bed frame (1) rotates and connects, cylinder body (5C) other end with the bottom surface front side of driving frame (C4) leads to the rotation and connects, the quantity of adjustment lead screw (5) is two, two balanced distribution about adjustment lead screw (5) is, be connected through balanced gear case (C5) transmission between adjustment lead screw (5) and balanced motor (C7), input wheel, the output wheel of balanced gear case (C5) pass through drive assembly (2) respectively with balanced motor (C7), adjustment lead screw (5) transmission are connected.
The mounting rack (C2) is rotatably connected with the rear end of the transmission frame (C4), and the top surface of the transmission frame (C4) is fixedly connected with the seat (C3).
An angle sensor (C8) is installed at the bottom of the seat (C3).
A plurality of balance gears (C5a) which are meshed with each other and connected are installed in the balance gear box (C5), the balance gears are all in bearing connection with the balance gear box (C5), the balance gear (C5a) positioned at the rearmost end is an input wheel, and the balance gear (C5a) positioned at the foremost end is an output wheel of the balance gear box (C5).
Two adjustment lead screw (5) all drive, two through same balanced motor (C7) adjustment lead screw (5) are connected with two balanced gear case (C5) transmissions respectively, wherein the right side the input wheel and balanced motor (C7) of balanced gear case (C5) are connected through drive assembly (2), the left side the input wheel of balanced gear case (C5) is through balanced transfer line (C12) and right side drive gear (C5a) transmission connection, two at the middle part of balanced gear case (C5) the output wheel of balanced gear case (C5) all with adjustment lead screw (5) are through drive assembly (2) transmission connection.
5. The tracked stair-climbing wheelchair of claim 1,
the control part comprises a control panel, a remote controller receiver, a battery pack, a drive panel, a voice control panel and a rocker controller, wherein the remote controller receiver, the battery pack, the drive panel, the voice control panel and the rocker controller are electrically connected with the control panel through a wiring terminal XT1 and a wiring terminal XT2, the battery pack comprises a plurality of batteries, the control panel is PLC YD3u-80MT-2AI2AO-F1-6, the voice control panel is BY-F610, the rocker controller is DK-PMB31, 1-5 pins of the wiring terminal XT1 are electrically connected, and 1-8 pins of the wiring terminal XT2 are electrically connected.
In the connecting circuit of the control board and the remote controller receiver,
the 1 pin of the remote controller receiver is connected with the X00 pin of the control board;
the 2-pin of the remote controller receiver is connected with the X01 pin of the control board;
the 3-pin of the remote controller receiver is connected with the X02 pin of the control board;
the 4-pin of the remote controller receiver is connected with the X03 pin of the control board;
the 5-pin of the remote controller receiver is connected with the X04 pin of the control board;
the 6-pin of the remote controller receiver is connected with the X05 pin of the control board;
the 7-pin of the remote controller receiver is connected with the X06 pin of the control board;
the 8-pin of the remote controller receiver is connected with the X07 pin of the control board;
the 9-pin of the remote controller receiver is connected with the X15 pin of the control board;
the 10 pins of the remote controller receiver are connected with the X16 pin of the control board;
the 11 pins of the remote controller receiver are connected with the X17 pin of the control board;
the 12-pin of the remote controller receiver is connected with the X20 pin of the control board;
the 13 pins of the remote controller receiver are connected with the X21 pin of the control board;
the 14-pin of the remote controller receiver is connected with the X22 pin of the control board;
in the connection circuit of the remote control receiver and the battery pack,
the 24V pin of the remote controller receiver is connected with the other end of the 4 pins of the wiring terminal XT 1;
the COM pin of the remote controller receiver is connected with the other end of the 4 pins of the wiring terminal XT 2.
In the battery pack, a plurality of batteries are arranged in the battery pack,
the negative electrode of the battery pack G1 is connected with the positive electrode of the battery pack G2, and the positive electrode of the battery pack G1 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery pack G3 is connected with the positive electrode of the battery pack G4, and the positive electrode of the battery pack G3 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery G2 is connected with the 3 pin of the breaker QF1, and the negative electrode of the battery G4 is connected with the 3 pin of the breaker QF 1;
the 2-pin of the breaker QF1 is connected with one end of the 5-pin of the terminal XT1,
the 4-pin of the breaker QF1 is connected with one end of the 1-pin of the terminal XT 2.
In the connecting circuit of the driving board and the control board,
the PWM1 pin of the driving board is connected with the Y00 pin of the control board;
the PWM2 pin of the driving board is connected with the Y01 pin of the control board;
the PWM3 pin of the driving board is connected with the Y02 pin of the control board;
the PWM4 pin of the driving board is connected with the Y03 pin of the control board;
the PWM5 pin of the driving board is connected with the Y04 pin of the control board;
the PWM6 pin of the driving board is connected with the Y05 pin of the control board;
the A1 pin of the driving plate is connected with the Y06 pin of the control plate;
the A2 pin of the driving plate is connected with the Y07 pin of the control plate;
the pin B1 of the driving plate is connected with the pin Y10 of the control plate;
the pin B2 of the driving plate is connected with the pin Y11 of the control plate;
the C1 pin of the driving plate is connected with the Y12 pin of the control plate;
the C2 pin of the driving plate is connected with the Y13 pin of the control plate;
the pin D1 of the driving plate is connected with the pin Y14 of the control plate;
the pin D2 of the driving plate is connected with the pin 15 of the control plate;
the pin E1 of the driving plate is connected with the pin Y16 of the control plate;
the pin E2 of the driving plate is connected with the pin Y17 of the control plate;
the F1 pin of the driving plate is connected with the Y20 pin of the control plate;
the F2 pin of the driving plate is connected with the Y21 pin of the control plate;
in the connection circuit of the driving board and the battery pack,
the POWER pin of the driving board is connected with one pin of a fuse FU1, and the other pin 1 of the fuse FU1 is connected with the other pin of a terminal TX 1;
the GND pin of the driving board is connected to the other end of pin 1 of the terminal TX2,
in the circuit for connecting the driving board and the actuating mechanism,
the MA + pin of the driving plate is connected with the 1 pin of the left crawler driving motor MA;
the MA-pin of the driving plate is connected with 2 pins of a left crawler driving motor MA;
the PA + pin of the driving plate is connected with the 3 pins of the left crawler driving motor MA;
the PA-pin of the driving plate is connected with 4 pins of a left crawler belt driving motor MA;
the MB + pin of the driving plate is connected with 1 pin of a right crawler belt driving motor MB;
the MB-foot of the driving plate is connected with 2 feet of a right crawler belt driving motor MB;
the PB + pin of the driving plate is connected with the 3 pins of the right crawler driving motor MB;
the PB-foot of the driving plate is connected with the 4 feet of the right crawler driving motor MB;
the MC + pin of the driving plate is connected with one pin of a front crawler driving motor MC;
the MC-pin of the driving plate is connected with the other pin of the front crawler driving motor MC;
the MD + pin of the driving plate is connected with one pin of a rear crawler driving motor MD;
the MD-pin of the driving plate is connected with the other pin of the rear crawler driving motor MD;
the ME + pin of the driving plate is connected with one pin of a middle wheel driving motor ME;
the ME-pin of the driving plate is connected with the other pin of the middle wheel driving motor ME;
the MF + pin of the driving plate is connected with one pin of a universal wheel driving motor MF;
the MF-pin of the driving plate is connected with the other pin of the universal wheel driving motor MF.
In the connection circuit of the voice control panel and the control panel,
the K1 pin of the voice control panel is connected with the Y25 pin of the control panel;
the K2 pin of the voice control panel is connected with the Y26 pin of the control panel;
the K3 pin of the voice control panel is connected with the Y27 pin of the control panel;
the K4 pin of the voice control panel is connected with the Y30 pin of the control panel;
the K5 pin of the voice control panel is connected with the Y31 pin of the control panel;
the K6 pin of the voice control panel is connected with the Y32 pin of the control panel;
the K7 pin of the voice control panel is connected with the Y33 pin of the control panel;
the K8 pin of the voice control panel is connected with the Y34 pin of the control panel;
the Y25 foot of the control panel is a voice downstairs control foot;
the Y26 foot of the control panel is a voice upstairs control foot;
the Y27 pin of the control panel is a voice threshold control pin;
the Y30 pin of the control panel is a voice lower step control pin;
the Y31 pin of the control panel is a voice step-up control pin;
the Y32 foot of the control panel is a gradient voice control foot;
the Y33 foot of the control panel is a voice manual control foot;
the Y34 foot of the control panel is a voice alarm control foot,
in the connection circuit of the voice control board and the battery pack,
the + pin of the voice control board is connected with one end of the 3 pins of the terminal XT 1;
a pin of the voice control board is connected with one end of a3 pin of the terminal XT 2;
the GND pin of the voice control board is connected with the other end of the 6 pins of the terminal XT 2;
the pin A of the voice control panel is connected with a pin of the loudspeaker B;
the pin B of the voice control panel is connected with the other pin of the loudspeaker B.
The rocker controller is integrated with a control unit, the model of the control unit is DK-REMD31B,
in the connection circuit of the rocker controller and the actuating mechanism,
the M1+ foot of the rocker controller is connected with 1 foot of a left big wheel driving motor M1;
the M1-foot of the rocker controller is connected with the 2 feet of a left big wheel driving motor M1;
the P1+ foot of the rocker controller is connected with the 3 feet of the left big wheel driving motor M1;
the P1-foot of the rocker controller is connected with the 4 feet of the left big wheel driving motor M1;
the M2+ foot of the rocker controller is connected with 1 foot of a right big wheel driving motor M2;
the M2-foot of the rocker controller is connected with the 2 feet of a right big wheel driving motor M2;
the P2+ foot of the rocker controller is connected with the 3 feet of the right big wheel driving motor M2;
the P2-foot of the rocker controller is connected with the 4 feet of the right big wheel driving motor M2,
in the connection circuit of the rocker controller and the battery pack,
the POWER pin of the rocker controller is connected with the other end of the 2 pin of the terminal XT 1;
the GND pin of the rocker controller is connected with the other end of pin 2 of the terminal XT 2.
The function block is integrated on the rocker controller,
the 1 pin of the function block is connected with one pin of an indicator light EL1, one pin of an indicator light EL2, one pin of an indicator light EL4, one pin of an indicator light EL5, one pin of an indicator light EL7 and one pin of an indicator light EL9,
the other pin of the indicator light EL1 and the other pin of the indicator light EL2 are connected with one pin of the indicator light EL3,
the other pin of the indicator light EL4 and the other pin of the indicator light EL5 are connected with one pin of the indicator light EL6,
the other leg of the indicator light EL7 is connected to one leg of the indicator light EL8,
the other leg of the indicator light EL9 is connected to one leg of the indicator light EL10,
another leg of the indicator light EL3 is connected to leg 2 of the functional block,
another pin of the indicator light EL6 is connected to pin 3 of the functional block,
the other pin of the indicator light EL8 and the other pin of the indicator light EL10 are connected with the 4 pins of the functional block.
6. The stair-climbing tracked wheelchair of claim 5 wherein the monitoring portion comprises a plurality of sensors, each of the plurality of sensors being electrically connected to a control board, each of the plurality of sensors and the control board being powered by a battery pack, each of the plurality of sensors, the plurality of control boards and the plurality of battery packs being electrically connected to one another via terminals XT1 and XT2, and each of the plurality of sensors, the plurality of control boards and the plurality of battery packs being electrically connected to one another via terminals XT1 and XT2, and each of the plurality of sensors, the plurality of control boards and.
In the connecting circuit of the sensor and the control panel,
the bu pin of the proximity sensor SQP1 is connected with the Y42 pin of the control board;
the bu pin of the proximity sensor SQP2 is connected with the Y42 pin of the control board;
the bu pin of the proximity sensor SQP4 is connected with the Y43 pin of the control board;
the bu pin of the proximity sensor SQP5 is connected with the Y43 pin of the control board;
the bu pin of the proximity sensor SQP6 is connected with the Y44 pin of the control board;
the bu pin of the proximity sensor SQP7 is connected with the Y44 pin of the control board;
the bu pin of the proximity sensor SQP3 is connected with the Y45 pin of the control board;
the bu pin of the proximity sensor SQP8 is connected with the Y45 pin of the control board;
the bu pin of the proximity sensor SQP9 is connected with the Y46 pin of the control board;
the bu pin of the proximity sensor SQP10 is connected with the Y46 pin of the control board;
the bu pin of the proximity sensor SQP11 is connected with the Y47 pin of the control board;
the bu pin of the proximity sensor SQP12 is connected with the Y47 pin of the control board;
the 3 pins of the angle sensor QJ1 are connected with the GND pin of the control board;
the 3 pins of the angle sensor QJ2 are connected with the GND pin of the control board;
the 4 feet of the angle sensor QJ1 are connected with an AI0 foot of the control board;
the 4-pin of the angle sensor QJ2 is connected with the AI1 pin of the control board.
In the connecting circuit of the sensor and the control panel,
the bk pin of the proximity sensor SQP1 is connected with the X35 pin of the control board;
the bk pin of the proximity sensor SQP2 is connected with the X36 pin of the control board;
the bk pin of the proximity sensor SQP4 is connected with the X37 pin of the control board;
the bk pin of the proximity sensor SQP5 is connected with the X40 pin of the control board;
the bk pin of the proximity sensor SQP6 is connected with the X41 pin of the control board;
the bk pin of the proximity sensor SQP7 is connected with the X42 pin of the control board;
the bk pin of the proximity sensor SQP3 is connected with the X43 pin of the control board;
the bk pin of the proximity sensor SQP8 is connected with the X43 pin of the control board;
the bk pin of the proximity sensor SQP9 is connected with the X44 pin of the control board;
the bk pin of the proximity sensor SQP10 is connected with the X45 pin of the control board;
the bk pin of the proximity sensor SQP11 is connected with the X46 pin of the control board;
the bu pin of the proximity sensor SQP12 is connected with the X47 pin of the control board.
In the connection circuit of the sensor and the terminal,
a bn pin of the proximity sensor SQP1 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP2 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP4 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP5 is connected with one end of a1 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP6 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP7 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP3 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP8 is connected with one end of a4 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP9 is connected with one end of a5 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP10 is connected with one end of a5 pin of the terminal XT 1;
a bn pin of the proximity sensor SQP11 is connected with one end of a5 pin of the terminal XT 1;
the bu pin of the proximity sensor SQP12 is connected to the 5-pin end of terminal XT 1.
In the connection circuit of the battery pack and the terminals,
the negative electrode of the battery pack G1 is connected with the positive electrode of the battery pack G2, and the positive electrode of the battery pack G1 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery pack G3 is connected with the positive electrode of the battery pack G4, and the positive electrode of the battery pack G3 is connected with the 1 pin of the breaker QF 1;
the negative electrode of the battery G2 is connected with the 3 pin of the breaker QF1, and the negative electrode of the battery G4 is connected with the 3 pin of the breaker QF 1;
the 2-pin of the breaker QF1 is connected with one end of the 5-pin of the terminal XT1,
the 4-pin of the breaker QF1 is connected with one end of the 1-pin of the terminal XT 2.
In the connection circuit of the control board and the terminal,
the 24V pin of the control board is connected with the 2 pin of the breaker QF 2;
the COM pin of the control panel is connected with the 4 pins of the breaker QF 2;
the 1 pin of the breaker QF2 is connected with the other end of the 3 pin of the terminal XT 1;
the 3-pin of the breaker QF2 is connected with the other end of the 3-pin of the terminal XT 2.
In the connection circuit of the control board and the wiring terminal
The pin X23 of the control board is connected with the pin 1 of the switch XX 1;
the X24 pin of the control board is connected with the 3 pins of the XX 1;
the pin X25 of the control board is connected with the pin 1 of the switch XX 1;
the X26 pin of the control board is connected with the 3 pins of the XX 1;
the X27 pin of the control board is connected with the 5 pins of the XX 1;
the pin X30 of the control board is connected with the pin 1 of the switch XX 1;
the X31 pin of the control board is connected with the 3 pins of the XX 1;
the pin X32 of the control board is connected with the pin 1 of the switch XX 1;
the X33 pin of the control board is connected with the 3 pins of the XX 1;
the X34 pin of the control board is connected with the 5 pins of the XX 1;
the pin 2 and the pin 4 of the switch XX1 are connected with one end of the pin 3 of the terminal XT 2;
pins 2, 4 and 6 of the switch XX1 are connected with one end of pin 4 of the terminal XT 2;
the pin 2 and the pin 4 of the switch XX1 are connected with one end of the pin 5 of the terminal XT 2;
the 2 pin, the 4 pin and the 6 pin of the switch XX1 are connected with one end of the 6 pin of the terminal XT 2.
In the connection circuit of the sensor and the terminal
A pin 1 of the angle sensor QJ1 is connected with one end of a pin 2 of the terminal XT 1;
a pin 1 of the angle sensor QJ2 is connected with one end of a pin 2 of the terminal XT 1;
a pin 3 of the angle sensor QJ1 is connected with one end of a GND pin of the control board and a pin 2 of the terminal XT 2;
the 3-pin of the angle sensor QJ2 is connected with the GND pin of the control board and one end of the 2-pin of the terminal XT 2.
7. The crawler-type stair climbing wheelchair as claimed in claim 3, wherein the universal wheel comprises a wheel body (D1), the wheel body (D1) is connected with a base (D3) through an axle (D2), the crawler-type stair climbing wheelchair is characterized in that a reset universal shaft assembly (D4) is mounted on the base (D3), a connecting block (D5) is mounted at the side end of the reset universal shaft assembly (D4), and the reset universal shaft assembly (D4) is reset through a reset main block (D9) and a reset auxiliary block (D10).
The base (D3) is of an n-shaped structure, the wheel body (D1) is embedded into the base (D3) from bottom to top, the wheel shaft (D2) is horizontally distributed along the left-right direction, two ends of the wheel shaft (D2) are respectively connected with two ends of the n-shaped structure of the base (D3) in a bearing mode, and the middle of the wheel shaft (D2) is connected with the wheel body (D1) in a key mode.
The reset universal shaft assembly (D4) comprises a housing (D6), the housing (D6) is a cylindrical structure vertically placed in the axial direction, the outer wall of the housing (D6) is fixedly connected with a connecting block (D5), a substrate (D7) is arranged between the housing (D6) and a base (D3), the substrate (D7) is fixed with the base (D3), a steering shaft (D8) is installed in the housing (D6), the top of the steering shaft (D8) is connected with a top surface bearing of the housing (D6), the bottom of the steering shaft (D8) is fixedly connected with the substrate (D7), a reset main block (D9) is fixed on the bottom surface of the substrate (D7), a reset auxiliary block (D10) is fixed on the top surface of the base (D3), and the reset auxiliary block (D10) is located right below the reset main block (D9).
Reset main piece (D9), vice piece (D10) that resets are the permanent magnet, the quantity that resets main piece (D9), the vice piece that resets (D10) is four, four the one-to-one about the position of main piece (D9), the vice piece that resets (D10) that resets is located two pairs of left and right direction main piece (D9), the vice piece that resets (D10) polarity is the same, is located two pairs of fore-and-aft direction main piece (D9), the vice piece that resets (D10) polarity is opposite.
The connecting block (D5) is fixedly connected with the connecting frame (B10).
8. The crawler-type stair climbing wheelchair as claimed in claim 2, wherein the main wheel part comprises a main wheel mounting plate (E1), a tire (E2) is mounted on one side of the main wheel mounting plate (E1), a main wheel driving motor (E3) is mounted on the other side of the main wheel mounting plate (E1), the lifting motor is connected with the tire (E2) through a gearbox (E4) and a driving wheel (E5), the crawler-type stair climbing wheelchair is characterized in that a functional component (E6) is further mounted on the main wheel mounting plate (E1), a plurality of transmission gears (E9) are mounted in the gearbox (E4), a clutch universal shaft (E7) is mounted above the gearbox (E4), a rear clutch wrench (E8) is mounted on the main wheel mounting plate, and the clutch wrench (E8) is connected with the gearbox (E4) through the clutch universal shaft (E7).
The driving wheel (E5) is of a disc-shaped structure, a plurality of connecting pins (E13) are mounted on the driving wheel (E5), the connecting pins (E13) are distributed in an annular array mode by taking the wheel shaft of the driving wheel (E5) as the axis, the connecting pins penetrate through the driving wheel (E5) and the flywheel (E14) of the tire (E2) and are fixedly connected through nuts, and the extension of the disc-shaped structure of the driving wheel (E5) is meshed and connected with the transmission gear (E9) through a gear.
The main wheel driving motor (E3) is in meshing connection with an input main wheel (E4b) in the gearbox (E4) through a turbine (E4a), the input main wheel (E4b) is in rotating connection with a box body of the gearbox (E4) through an input main shaft (E4c), an input auxiliary wheel (E4d) is installed on the input main shaft (E4c), the input auxiliary wheel (E4d) is in meshing connection with a clutch wheel (E4f), the clutch wheel (E4f) is in key connection with a clutch shaft (E4g), a shaft rod at the tail end of the clutch universal shaft (E7) is embedded between casings of the clutch wheel (E4f) and the gearbox (E4), the clutch shaft (E4g) is in sliding connection with the gearbox (E4), and a clutch return spring (E4E) is sleeved on the clutch shaft (E4 g).
The functional component comprises a control handle (E10), the control handle (E10) is fixed on a main wheel mounting piece (E1) through an armrest (E11), an execution component (E12) is mounted above the main wheel mounting piece (E1), the control handle (E10) is electrically connected with the execution component (E12), and a circuit for electrically connecting the control handle (E10) with the execution component (E12) is buried in the armrest (E11).
The clutch shaft (E4g) is in key connection with a main wheel of the transmission gear (E9), and a secondary wheel of the transmission gear (E9) is in meshing connection with the main wheel of the transmission gear (E9) and the driving wheel (E5) respectively.
The other output shaft of the gearbox (E4) is connected with the functional component through a clutch universal shaft (E7), the input shaft of the functional component is distributed along the vertical direction, and the axial direction of the other output shaft of the gearbox (E4) inclines forwards along the vertical direction.
The base (D3) is located above the mounting plate (3) and is fixedly connected with the mounting plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569607.6A CN109700607A (en) | 2018-12-21 | 2018-12-21 | Crawler type stair climb wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569607.6A CN109700607A (en) | 2018-12-21 | 2018-12-21 | Crawler type stair climb wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109700607A true CN109700607A (en) | 2019-05-03 |
Family
ID=66255965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811569607.6A Pending CN109700607A (en) | 2018-12-21 | 2018-12-21 | Crawler type stair climb wheelchair |
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| Country | Link |
|---|---|
| CN (1) | CN109700607A (en) |
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| CN110169880A (en) * | 2019-06-20 | 2019-08-27 | 浙江科技学院 | A kind of combined type self-balancing electric wheel chair and its application method |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
| WO2023066664A1 (en) * | 2021-10-19 | 2023-04-27 | Scewo Ag | Vehicle for driving on stairs or a ramp |
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Application publication date: 20190503 |