CN113599097B

CN113599097B - Obstacle crossing device of electric wheelchair and electric wheelchair

Info

Publication number: CN113599097B
Application number: CN202110915079.0A
Authority: CN
Inventors: 陈卫东; 柳江林; 轩连; 张红丽
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2022-09-09
Anticipated expiration: 2041-08-10
Also published as: CN113599097A

Abstract

The invention provides an obstacle crossing device of an electric wheelchair and the electric wheelchair thereof in the technical field of wheelchairs, which comprises a guide rail frame, a connecting block, a steering rod and an inclined plate, wherein the guide rail frame is fixedly arranged on a chair body, and a front roller and a rear roller are arranged below the chair body in a rolling manner; the connecting block is arranged in the guide rail frame in a sliding mode, the connecting block is arranged corresponding to the guide rail frame in a rotating mode, and the steering rod penetrates through the connecting block; the lower end part of the steering rod is provided with an inclined plate, the inclined plate is connected with a baffle, a supporting part is arranged at the joint of the inclined plate and the baffle, and the supporting part extends in the direction far away from the steering rod; the baffle contacts with the obstacle along with the advance of the chair body, the supporting part contacts and is arranged on the upper plane of the obstacle, the front roller and the rear roller roll to the upper plane of the obstacle from the inclined plate in sequence, and the connecting block slides backwards in the guide rail frame along with the advance of the chair body. The invention combines the guide rail frame with the steering rod, improves the obstacle crossing capability of the wheelchair under the condition of not increasing a driving force device, and has simple structure and low manufacturing cost.

Description

Obstacle crossing device of electric wheelchair and electric wheelchair

Technical Field

The invention relates to the technical field of wheelchairs, in particular to an obstacle crossing device of an electric wheelchair and the electric wheelchair.

Background

The electric wheelchair is formed by modifying and upgrading parts such as a superposed high-performance power driving device, an intelligent control device and a battery on the basis of a transmission manual wheelchair, is provided with a manual control intelligent controller, can drive the wheelchair to complete a new generation of intelligent wheelchairs with multiple functions of advancing, retreating, steering, standing, lying, and the like, and is a high and new technology product combining the fields of modern precision machinery, intelligent numerical control, engineering mechanics and the like.

The electric wheelchair driven by two wheels is a main mode for the old and the disabled to go out, however, the disabled can go out by using the electric wheelchair, but the road condition is complex, the condition that the height difference between the road surfaces needs to be crossed (such as the road shoulder of the road, the steps of the building and the like) exists, the curbs can be arranged on the curbs in some standardized urban buildings so as to facilitate the wheelchair user to go out, however, along with the continuous development of the electric bicycle, the slopes arranged on a plurality of curbs are blocked by the sharing bicycle, the wheelchair user can go onto the curbs by going around the way or seeking help of people, some areas with incomplete urbanization buildings are not provided with the slopes used by the wheelchair user, and the slopes cause great inconvenience to the wheelchair user. According to the national standard 12J003 outdoor engineering, the control size of the road shoulder (vertical kerb) higher than the road surface is 80-150 mm, and the electric wheelchair has the obstacle crossing capability.

However, electric wheelchairs in China are generally only provided with power sources and control units on the basis of manual wheelchairs, and are single in function, so that the practical requirements of the old and the disabled cannot be fully met in safety, reliability and functionality. In addition, a general electric wheelchair is only suitable for use on flat ground, and rarely has the capability of crossing over roadblocks. The electric wheelchair with the obstacle-crossing capability can be classified into a wheel set type, a crawler type and a multi-legged type according to the type of the obstacle-crossing executing structure, most of the electric wheelchairs are complex in structure and expensive in manufacturing cost, and therefore old people and disabled people which originally lack economic sources are difficult to afford.

The invention discloses a wheelchair obstacle crossing sensing device, which comprises an obstacle crossing sensing device and an obstacle lifting device, wherein the obstacle crossing sensing device comprises a shock absorbing rod connected with a driving front wheel of a wheelchair, a connector connected with the shock absorbing rod, a reed connected with the connector and a strain sensor arranged on the reed, wherein the shock absorbing rod is connected with a driving front wheel of the wheelchair; the obstacle lifting device comprises a supporting wheel, a connecting rod connected with the supporting wheel and an electric pull rod connected with the connecting rod; and the strain sensor receives the obstruction signal and transmits the obstruction signal to a processor for processing and analyzing, and then the obstacle lifting device is started to work. The patented technology suffers from the problems associated with it as described above.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an obstacle crossing device of an electric wheelchair and the electric wheelchair.

The obstacle crossing device of the electric wheelchair comprises a guide rail frame, a connecting block, a steering rod and an inclined plate, wherein the guide rail frame is fixedly arranged on a chair body, and a front roller and a rear roller are arranged below the chair body in a rolling manner;

the connecting block is arranged in the guide rail frame in a sliding mode, the connecting block is arranged corresponding to the guide rail frame in a rotating mode, and the steering rod penetrates through the connecting block;

an inclined plate is arranged at the lower end part of the steering rod, a baffle is connected to the inclined plate, a supporting part is arranged at the joint of the inclined plate and the baffle, and the supporting part extends in the direction far away from the steering rod;

the baffle is contacted with an obstacle along with the advance of the chair body, the supporting part is contacted and arranged on the upper plane of the obstacle, the front roller and the rear roller sequentially roll to the upper plane of the obstacle from the inclined plate, and the connecting block slides backwards in the guide rail frame along with the advance of the chair body.

In some embodiments, the guide rail frame is provided with a sliding groove, the connecting block is connected with a sliding block through a swing spring, and the sliding block is slidably arranged in the sliding groove.

In some embodiments, a through groove is formed on the connecting block, and the steering rod is rotatably arranged in the through groove.

In some embodiments, a guide rail spring is arranged in the sliding groove, one end of the guide rail spring is fixedly arranged on the inner wall of the guide rail frame, and the other end of the guide rail spring is fixedly arranged on the sliding block.

In some embodiments, a fixing rod is fixedly arranged at the end of the steering rod, an expansion spring is sleeved on the steering rod, and the expansion spring is arranged between the fixing rod and the connecting block.

In some embodiments, a bottom plate is fixedly arranged at the lower end of the steering rod, and a torsion spring is fixedly arranged on the bottom plate.

In some embodiments, the inclined plate includes a connection portion fixedly connected to an end of the torsion spring.

In some embodiments, a front baffle and a rear baffle are fixedly arranged on the upper end surface of the guide rail frame, the front baffle and the rear baffle are respectively arranged at two ends of the guide rail frame, and the upper end of the front baffle is higher than the upper end of the fixing rod.

In some embodiments, when the chair body gets over an obstacle, the baffle contacts with the obstacle along with the advance of the chair body, the supporting part is arranged on the upper plane of the obstacle in a contact manner, the bottom plate contacts with the ground so that the inclined plate forms a slope, the front roller and the rear roller sequentially roll from the inclined plate to the upper plane of the obstacle, and the connecting block slides backwards in the guide rail frame along with the advance of the chair body;

after the chair body is over the obstacle, the fixed rod is rotated to drive the steering rod to rotate, so that the baffle rotates towards the direction far away from the chair body, the inclined plate is reset upwards through the telescopic spring, the lower end part of the bottom plate is higher than the upper plane of the obstacle, the guide rail spring drives the inclined plate to slide to the front of the chair body, and the steering rod finishes recovery and reset.

The invention also provides an electric wheelchair, and the obstacle crossing device of the electric wheelchair is adopted.

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

1. according to the wheelchair, the inclined plate is arranged on one side of the chair body, the baffle and the supporting part are arranged on the inclined plate, when an obstacle is encountered, the baffle is contacted with the obstacle, the supporting part is supported on the upper surface of the obstacle, and one end of the inclined plate, which is contacted with the bottom plate, is contacted with a road surface, so that the whole inclined plate is obliquely arranged on one side of the obstacle, and the wheelchair can easily pass over the obstacle;

2. according to the wheelchair, the guide rail frame is arranged on one side of the wheelchair body, the slide block is arranged in the guide rail frame in a sliding manner, the slide block drives the connecting block to slide, the steering rod is arranged on the connecting block, the slide block slides in the sliding groove, the steering rod moves relative to the wheelchair body, and when the wheelchair body moves to the position above an obstacle along the inclined plate, the inclined plate below the steering rod is still obliquely arranged on the obstacle, so that the condition that the front wheels reach the obstacle and the rear wheels do not reach the obstacle in the whole advancing process of the wheelchair is avoided;

3. according to the invention, the fixed rod is arranged on the steering rod, after the whole chair body is over the obstacle, the fixed rod is controlled to turn the direction of the inclined plate, and the fixed rod slides back to the front of the wheel again, so that a user can conveniently cross the obstacle next time;

4. the invention combines the guide rail frame with the steering rod, improves the obstacle crossing capability of the wheelchair under the condition of not increasing a driving force device, and has simple structure and low manufacturing cost.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural view of an obstacle crossing device of an electric wheelchair according to the present invention;

FIG. 2 is an exploded view of the obstacle crossing device of the electric wheelchair of the present invention;

FIG. 3 is a schematic view of an electric wheelchair according to the present invention;

FIG. 4 is a schematic view of an electric wheelchair according to the present invention;

FIG. 5 is an enlarged view of a portion of the inclined plate of the present invention in cooperation with a vertical barrier;

FIG. 6 is a first obstacle crossing state diagram of the electric wheelchair of the present invention;

FIG. 7 is a second obstacle crossing state diagram of the electric wheelchair of the present invention;

FIG. 8 is a third obstacle crossing state diagram of the electric wheelchair of the present invention;

FIG. 9 is a fourth obstacle crossing state diagram of the electric wheelchair of the present invention;

FIG. 10 is a fifth obstacle crossing state diagram of the electric wheelchair of the present invention;

FIG. 11 is a sixth obstacle crossing state diagram of the electric wheelchair of the present invention;

FIG. 12 is a seventh cross-obstacle state diagram of the electric wheelchair of the present invention;

fig. 13 is an obstacle crossing state diagram eight of the electric wheelchair of the invention.

Reference numerals: 1. a guide rail bracket; 11. a chute; 2. a slider; 3. a swing spring; 4. a tension spring; 5. connecting blocks; 6. a steering lever; 7. an inclined plate; 71. a baffle plate; 72. a support portion; 73. a connecting portion; 8. a guide rail spring; 9. a torsion spring; 10. a base plate; 12. fixing the rod; 13. a chair body; 131. a front roller; 132. a rear roller; 14. a front stop block; 15. a rear stop block; 16. an obstacle.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Fig. 1 is a schematic structural view of an obstacle crossing device of an electric wheelchair, and fig. 2 is a schematic exploded view of the obstacle crossing device of the electric wheelchair, and the obstacle crossing device comprises a guide rail frame 1, a connecting block 5, a steering rod 6 and an inclined plate 7. As shown in fig. 3, which is a schematic structural view of an electric wheelchair, a rail frame 1 is fixedly disposed on a chair body 13, and a front roller 131 and a rear roller 132 are rotatably disposed below the chair body 13.

An inclined plate 7 is arranged at the lower end part of the steering rod 6, a baffle 71 is connected to the inclined plate 7, a supporting part 72 is arranged at the joint of the inclined plate 7 and the baffle 71, and the supporting part 72 extends in the direction away from the steering rod 6. The lower end part of the steering rod 6 is fixedly provided with a bottom plate 10, and the bottom plate 10 is fixedly provided with a torsion spring 9. The inclined plate 7 comprises a connecting portion 73, and the connecting portion 73 is fixedly connected with the end of the torsion spring 9. As shown in fig. 5, which is a partial enlarged view of the inclined plate 7 matching with the vertical obstacle 16, the baffle 71 contacts with the obstacle 16 as the chair body 13 advances, the supporting portion 72 is arranged on the upper plane of the obstacle 16 in contact, the front roller 131 and the rear roller 132 sequentially roll from the inclined plate 7 to the upper plane of the obstacle 16, and the connecting block 5 slides backwards in the rail frame 1 as the chair body 13 advances.

Connecting block 5 slides and sets up in guide rail frame 1, and connecting block 5 corresponds guide rail frame 1 and rotates the setting, and connecting block 5 setting is worn to establish by steering column 6. The guide rail frame 1 is provided with a sliding groove 11, the connecting block 5 is connected with a sliding block 2 through a swing spring 3, and the sliding block 2 is arranged in the sliding groove 11 in a sliding mode. A through groove is formed in the connecting block 5, and the steering rod 6 can be rotatably arranged in the through groove.

The upper end surface of the guide rail frame 1 is fixedly provided with a front baffle 71 and a rear baffle 71, and the front baffle 71 and the rear baffle 71 are respectively arranged at two ends of the guide rail frame 1. In the present embodiment, the upper end of the front barrier 71 is disposed higher than the upper end of the fixing lever 12. A guide rail spring 8 is arranged in the sliding groove 11, one end of the guide rail spring 8 is fixedly arranged on the inner wall of the guide rail frame 1, and the other end of the guide rail spring 8 is fixedly arranged on the sliding block 2. The end fixing of steering column 6 sets up dead lever 12, and the cover is equipped with expanding spring 4 on steering column 6, and expanding spring 4 sets up between dead lever 12 and connecting block 5.

When in use: as shown in fig. 3, during the travel of the wheelchair, the inclined plate 7 of the auxiliary obstacle crossing device hits the obstacle 16, and the baffle 71 is blocked by the vertical wall surface of the obstacle 16. As shown in fig. 4, the obstacle crossing diagram of the electric wheelchair is shown, and the inclined plate 7 is still stopped by the obstacle, the slide block 2 slides backward in the guide rail frame 1 through the steering rod 6 and the connecting block 5, and the guide rail spring 8 is compressed, the front roller 131 of the wheelchair is pressed against the inclined plate 7 of the auxiliary obstacle crossing device, the support part 72 is contacted and arranged on the upper plane of the obstacle 16 by the block of the vertical wall surface and the vehicle weight, the inclined plate 7 forms a slope between the vertical obstacle 16 and the road surface, and the connecting block 5 is driven to rotate, the steering rod 6 descends, and the swing spring 3 and the expansion spring 4 are compressed.

As shown in fig. 6, which is a first obstacle crossing state diagram of the electric wheelchair, the front roller 131 of the wheelchair crosses the vertical obstacle 16 through the slope formed by the inclined plate 7. As shown in fig. 7, which is a second obstacle crossing state diagram of the electric wheelchair, after the front roller 131 of the wheelchair crosses an obstacle, the rear roller 132 does not press the obstacle crossing device, and the inclined plate 7 of the obstacle crossing device is retracted away from the road surface by the compressed extension spring 4, but is still blocked by the vertical wall surface of the obstacle 16.

As shown in fig. 8, which is a third obstacle crossing state diagram of the electric wheelchair, the wheelchair continues to travel, and the rear wheels 132 of the wheelchair press against the inclined plate 7, so that the inclined plate 7 is pressed down, and a slope is formed again between the vertical obstacle 16 and the road surface. As shown in fig. 9, which is a fourth obstacle crossing state diagram of the electric wheelchair, the rear roller 132 rolls from the inclined plate 7 to the upper plane of the obstacle 16, and continues to travel after crossing the obstacle 16, the inclined plate 7 is only blocked by the wall surface of the vertical obstacle 16, and the inclined plate 7 continues to slide the slider 2 backward in the rail frame 1 by the action of the steering rod 6 and the connecting block 5, and simultaneously drives the connecting block 5 to rotate.

As shown in fig. 10, in the obstacle crossing state diagram of the electric wheelchair, the fixed lever 12 on the steering lever 6 is stopped by the rear stopper on the rail frame 1 and then rotated, and the fixed lever 12 is rotated to rotate the steering lever 6, so that the stopper 71 is rotated in a direction away from the seat body 13. As shown in fig. 11, which is a sixth obstacle crossing state diagram of the electric wheelchair, the inclined plate 7 is returned upward by the extension spring 4 so that the lower end portion of the base plate 10 is higher than the upper plane of the obstacle 16, and the connecting block 5 is returned by the swing spring 3 after the inclined plate 7 is higher than the obstacle.

As shown in fig. 12, which is a seventh obstacle crossing state diagram of the electric wheelchair, the compressed rail spring 8 drives the inclined plate 7 to slide to the front of the chair body 13, and the steering rod 6 finishes the recovery and restoration. As shown in fig. 13, which is an obstacle crossing state diagram eight of the electric wheelchair, in the process of forward resetting of the slide block 2, the steering rod 6 is driven to move forward to reset, and simultaneously the fixed rod 12 on the steering rod 6 is blocked by the front stopper on the guide rail frame 1 to rotate, so as to drive the inclined plate 7 to rotate, and then the inclined plate returns to the front of the wheel again.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. The obstacle crossing device of the electric wheelchair is characterized by comprising a guide rail frame (1), a connecting block (5), a steering rod (6) and an inclined plate (7), wherein the guide rail frame (1) is fixedly arranged on a chair body (13), and a front roller (131) and a rear roller (132) are arranged below the chair body (13) in a rolling manner;

the connecting block (5) is arranged in the guide rail frame (1) in a sliding mode, the connecting block (5) is arranged corresponding to the guide rail frame (1) in a rotating mode, and the steering rod (6) penetrates through the connecting block (5);

an inclined plate (7) is arranged at the lower end part of the steering rod (6), a baffle (71) is connected to the inclined plate (7), a supporting part (72) is arranged at the joint of the inclined plate (7) and the baffle (71), and the supporting part (72) extends in the direction away from the steering rod (6);

the baffle (71) is in contact with an obstacle (16) along with the advance of the chair body (13), the supporting part (72) is arranged on the upper plane of the obstacle (16) in a contact manner, the front roller (131) and the rear roller (132) sequentially roll from the inclined plate (7) to the upper plane of the obstacle (16), and the connecting block (5) slides backwards in the guide rail frame (1) along with the advance of the chair body (13);

a sliding groove (11) is formed in the guide rail frame (1), the connecting block (5) is connected with a sliding block (2) through a swing spring (3), and the sliding block (2) is arranged in the sliding groove (11) in a sliding mode;

a fixed rod (12) is fixedly arranged at the end part of the steering rod (6), an expansion spring (4) is sleeved on the steering rod (6), and the expansion spring (4) is arranged between the fixed rod (12) and the connecting block (5);

baffle and backplate before the fixed setting of up end of guide rail frame (1), preceding baffle with the backplate sets up respectively guide rail frame (1) both ends, the upper end of preceding baffle is higher than the upper end setting of dead lever (12).

2. Obstacle crossing device for electric wheelchairs according to claim 1, characterised in that the connecting block (5) is provided with a through slot in which the steering rod (6) is rotatably arranged.

3. The obstacle crossing device of the electric wheelchair as claimed in claim 1, wherein a guide rail spring (8) is arranged in the sliding groove (11), one end of the guide rail spring (8) is fixedly arranged on the inner wall of the guide rail frame (1), and the other end of the guide rail spring (8) is fixedly arranged on the sliding block (2).

4. The obstacle crossing device of an electric wheelchair as claimed in claim 3, wherein a bottom plate (10) is fixedly arranged at the lower end part of the steering rod (6), and a torsion spring (9) is fixedly arranged on the bottom plate (10).

5. Obstacle crossing device of an electric wheelchair in accordance with claim 4, characterised in that the tilting plate (7) comprises a connection portion (73), which connection portion (73) is fixedly connected with the end of the torsion spring (9).

6. The obstacle crossing device of the electric wheelchair as claimed in claim 4, wherein when the seat body (13) crosses the obstacle, the baffle (71) contacts with the obstacle (16) along with the advance of the seat body (13), the support part (72) is arranged on the upper plane of the obstacle (16) in contact, the bottom plate (10) contacts with the ground to enable the inclined plate (7) to form a slope, the front roller (131) and the rear roller (132) sequentially roll from the inclined plate (7) to the upper plane of the obstacle (16), and the connecting block (5) slides backwards in the guide rail frame (1) along with the advance of the seat body (13);

after the chair body (13) is out of the way, the fixing rod (12) is rotated to drive the steering rod (6) to rotate, the baffle (71) is rotated towards the direction far away from the chair body (13), the inclined plate (7) is reset upwards through the telescopic spring (4), the lower end part of the bottom plate (10) is higher than the upper plane of the obstacle (16), the guide rail spring (8) drives the inclined plate (7) to slide to the front of the chair body (13), and the steering rod (6) is recovered and reset.

7. An electric wheelchair, characterized in that the obstacle crossing device of the electric wheelchair of any one of claims 1 to 6 is used.