Novel electric stair climbing wheelchair chassis and design method thereof

Abstract

The invention discloses a novel electric stair climbing wheelchair chassis and a design method thereof. The method comprises the steps that a star wheel mechanism is adopted as a driving walking base of an electric stair climbing wheelchair. According to the walking mode of the star wheel mechanism, a star wheel automatically rotates so that the electric stair climbing wheelchair can horizontally move on the horizontal ground, and the star wheel rotates around the rotation center line of the star wheel mechanism so that the electric stair climbing wheelchair can achieve the function of climbing stairs. According to the two walking modes, the rotation center line of the star wheel mechanism is provided with a driving center gear and a center shaft which is independent from the driving center gear, the driving center gear drives the star wheel to automatically rotate, the center shaft drives the star wheel mechanism so that the star wheel can rotate around the rotation center line of the star wheel mechanism, and the motor drives the center shaft and the center gear through an electromagnetic clutch. According to the novel electric stair climbing wheelchair chassis, the phenomenon of skid prevention of the star wheel mechanism in an existing stair climbing wheelchair chassis is avoided, the shaft and the star wheel mechanism are locked in an active mode when a user climbs stairs, and therefore the star wheel mechanism turns over to climb the stairs.

Description

technical field [0001] The invention relates to a novel electric stair-climbing wheelchair chassis and a design method thereof, belonging to the technical field of wheelchair design. Background technique [0002] There have been more than 100 years of research on stair-climbing wheelchairs and obstacle-crossing mechanisms in the world, and many schemes have been proposed. The common ones are crawler-type, planetary-wheel-type and leg-foot-type. Generally speaking, crawler-type wheelchairs are bulky And due to the flaws in the principle, it is easy to cause damage to the steps of the stairs; the leg-foot type is generally more complicated, and the control system is cumbersome, and the planetary wheel type has advantages in all aspects because of its simple principle and easy implementation. The wheel structure has two degrees of freedom. If the planetary gear has a definite motion, two definite inputs are required. However, in all kinds of planetary gears currently used, a mo...

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Problems solved by technology

[0002] There have been more than 100 years of research on stair-climbing wheelchairs and obstacle-crossing mechanisms in the world, and many schemes have been proposed. The common ones are crawler-type, planetary-wheel-type and leg-foot-type. Generally speaking, crawler-type wheelchairs are bulky And due to the flaws in the principle, it is easy to cause damage to the steps of the stairs; the leg-foot type is generally more complicated, and the control system is cumbersome, and the planetary wheel type has advantages in all aspects because of its simple principle and easy implementation. The wheel structure has two degrees of freedom. If the planetary gear has a definite motion, two definite inputs are required. However, in all kinds of planetary gears currently used, a motor is used to drive the sun gear of the planetary gear, that is, only one definite input is given. The other degree of freedom depends on the ground conditions. One degree of freedom of the driving wheel train is not controlled by humans, but is adjusted according to the road conditions. Theoretical analysis and force calculation show that the wheelchair tire and the ground When the adhesion coefficient is small, the planetary gear structure may slip, and the planetary gear mechanism cannot be smoothly flipped to climb stairs, so it is particularly important to design a new structure

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