Self-balancing control structure of a stair climbing wheelchair

Abstract

The utility model relates to a self-balancing control structure of a stair-climbing wheelchair, belonging to the technical field of electric wheelchairs, comprising an inclined chassis and two groups of drive components, the two groups of drive components are respectively arranged at the two ends of the chassis; the drive components comprise a front wheel, a rear wheel, a connecting rod and a drive unit, the front wheel is arranged at the lower end of the chassis through a suspension system, one end of the connecting rod is rotatably arranged at the middle end of the chassis, and the other end of the connecting rod is hinged with the center of the rear wheel; the drive unit is arranged on the chassis, the output end of which is coaxially connected with one end of the connecting rod to control the rotation of the connecting rod, and the rear wheel is driven to rotate along the middle end of the chassis by controlling the rotation of the connecting rod, so as to adjust the distance between the ground and the middle end of the chassis, ensure that the middle ends of the two ends of the chassis are at the same height, so that a person sitting on the wheelchair always sits on the wheelchair horizontally.

Description

Technical Field

[0001] The utility model belongs to the technical field of electric wheelchairs, and in particular relates to a self-balancing control structure of a stair climbing wheelchair. Background Art

[0002] Electric wheelchairs are modified and upgraded based on traditional manual wheelchairs by adding high-performance power drive devices, control devices, batteries and other components. As an emergency rehabilitation device, electric wheelchairs are widely used by people with physical disabilities, and electric wheelchairs play a very important role in the lives of people with physical disabilities.

[0003] For example, the utility model patent with patent authorization announcement number: CN214231780U discloses an electric wheelchair, including an electric wheelchair frame, a sleeve is provided at the front end of the right side guardrail base of the electric wheelchair frame, a fan is provided on the right side guardrail base of the electric wheelchair frame along the length direction and on the left side of the sleeve, a standing plate assembly is provided at the bottom of the electric wheelchair frame, the standing plate assembly includes an outer load-bearing connecting plate and an inner standing plate, an installation groove is provided inside the outer load-bearing connecting plate, the inner standing plate is installed on the outer load-bearing connecting plate through the installation groove, storage grooves are symmetrically provided on the left and right sides of the bottom of the inner standing plate along the length direction, a load-bearing rod is provided inside the storage groove, and a limiting block is provided at one end of the inner standing plate located inside the installation groove along the left and right sides of the length. The fan, the sleeve and the standing plate assembly can effectively improve the comfort and convenience of using the electric wheelchair, and it has high practicality.

[0004] Based on the search of the above patent authorization announcement number and the shortcomings found therein:

[0005] The existing electric wheelchair cannot independently adjust the height of the wheels on the left and right sides, which causes the electric wheelchair to tilt and slide when sliding on the uneven road surface at the left and right ends, thereby causing the person sitting in the electric wheelchair to tilt along with the tilt of the electric wheelchair, causing great inconvenience to the person sitting in the wheelchair. Utility Model Content

[0006] In order to solve the problem that the existing electric wheelchairs cannot independently adjust the height of the wheels on the left and right sides, which makes the electric wheelchair tilt and slide when sliding on the inclined uneven road surface at the left and right ends, thereby causing the person sitting in the electric wheelchair to tilt along with the tilt of the electric wheelchair, causing great inconvenience to the person sitting in the wheelchair, the utility model provides a self-balancing control structure for a stair climbing wheelchair.

[0007] The purpose of the utility model can be achieved through the following technical solutions:

[0008] A self-balancing control structure for a stair-climbing wheelchair comprises an inclined chassis and two sets of drive assemblies, wherein the two sets of drive assemblies are respectively arranged at the two ends of the chassis; the drive assembly comprises a front wheel, a rear wheel, a connecting rod and a drive unit, wherein the front wheel is arranged at the lower end of the chassis through a suspension system, one end of the connecting rod is rotatably arranged at the middle end of the chassis, and the other end of the connecting rod is hinged to the center of the rear wheel; the drive unit is arranged on the chassis, and its output end is coaxially connected to one end of the connecting rod to control the rotation of the connecting rod.

[0009] As a preferred technical solution of the utility model, it also includes a wheelchair seat and an angle sensor, wherein the wheelchair seat is arranged on the chassis, the wheelchair seat forms a certain angle with the ground, the angle sensor is arranged inside the wheelchair seat, and is used to detect the inclination of the wheelchair seat, and the angle sensor is respectively communicated with the two drive units.

[0010] As a preferred technical solution of the utility model, the driving unit includes a hydraulic rod, a hinge and a transmission member, one end of the hydraulic rod is hinged to one end on the chassis, the output end of the hydraulic rod is hinged to one end of the hinge, a slot is provided at the middle end of the chassis, the transmission member is rotatably coaxially arranged on the slot, and the two ends of the transmission member are coaxially connected to the other end of the hinge and one end of the connecting rod respectively.

[0011] As a preferred technical solution of the present utility model, the hinged member and the connecting rod are arranged in parallel with each other and perpendicular to the central axis of the transmission member.

[0012] As a preferred technical solution of the utility model, the distance between the hinged end of the hydraulic rod and the chassis and the middle end of the chassis is smaller than the sum of the shortest length of the hydraulic rod and the length of the hinge.

[0013] As a preferred technical solution of the present utility model, the transmission member includes a first meshing cylinder and a second meshing cylinder, the first meshing cylinder is rotatably coaxially arranged in the slot hole, the edge of one end surface of the first meshing cylinder extending out of the slot hole is circumferentially provided with a first meshing tooth, and the edge of one end surface of the second meshing member is circumferentially provided with a second meshing tooth, after the first meshing cylinder is coaxially connected to the second meshing cylinder, the first meshing tooth and the second meshing tooth are meshed and connected with each other.

[0014] As a preferred technical solution of the present utility model, the transmission member also includes a column, which is coaxially arranged at one end of the first engaging cylinder away from the second engaging cylinder, and the cross-sectional area of ​​the column is square. One end of the hinge is provided with an engaging groove matching the column, and the hinge is rotatably connected to the column through the engaging groove. The end of the second engaging cylinder away from the first engaging cylinder is welded to one end of the connecting rod, and the engaging groove is locked or released from the locked state with the column by screws.

[0015] The beneficial effects of the utility model are:

[0016] The present invention is provided with a driving unit and a connecting rod, wherein two ends of the connecting rod are coaxially connected to the middle end of the chassis and the center of the rear wheel respectively; the driving unit is provided on the chassis, and the output end thereof is coaxially connected to one end of the connecting rod close to the chassis, so as to control the rotation of the connecting rod, and thereby drive the rear wheel to rotate along the middle end of the chassis, thereby adjusting the distance between the ground and the middle end of the chassis, ensuring that the middle ends of both ends of the chassis are at the same height, so that the person sitting in the wheelchair always sits in the wheelchair horizontally, and solves the problem that the existing electric wheelchair cannot independently adjust the height of the wheels on the left and right sides, which causes the electric wheelchair to tilt and slide when sliding on the uneven road surface at the left and right ends, thereby causing the person sitting in the electric wheelchair to tilt along with the tilt of the electric wheelchair, causing great inconvenience to the person sitting in the wheelchair. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0018] Figure 1 This is an overall diagram of a self-balancing control structure of a stair climbing wheelchair of the utility model;

[0019] Figure 2 It is a side view of a self-balancing control structure of a stair climbing wheelchair of the utility model;

[0020] Figure 3 For the utility model Figure 1 A magnified image of point A;

[0021] Figure 4 For the utility model Figure 1 The enlarged view of point B;

[0022] Figure 5 The utility model shows a tilt diagram of a wheelchair seat when the self-balancing control structure of a stair climbing wheelchair slides on a tilted road surface.

[0023] Description of main symbols

[0024] In the figure: 1, chassis; 2, drive assembly; 3, front wheel; 4, rear wheel; 5, connecting rod; 6, drive unit; 601, hydraulic rod; 602, hinge; 603, transmission member; 7, first meshing cylinder; 8, second meshing cylinder; 9, column; 10, wheelchair seat. DETAILED DESCRIPTION

[0025] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0026] See also Figure 1-5 The present embodiment provides a self-balancing control structure of a stair-climbing wheelchair, comprising an inclined chassis 1 and two sets of drive assemblies 2, the two sets of drive assemblies 2 are respectively arranged at the two ends of the chassis 1; the drive assembly 2 comprises a front wheel 3, a rear wheel 4, a connecting rod 5 and a drive unit 6, the front wheel 3 is arranged at the lower end of the chassis 1 through a suspension system, one end of the connecting rod 5 is rotatably arranged at the middle end of the chassis 1, and the other end of the connecting rod 5 is hinged to the center of the rear wheel 4; the drive unit 6 is arranged on the chassis 1, and its output end is coaxially connected to one end of the connecting rod 5 to control the rotation of the connecting rod 5. The present scheme is provided with a drive unit 6 and a connecting rod 5, the two ends of the connecting rod 5 are coaxially connected to the middle end of the chassis 1 and the center of the rear wheel 4, and the drive unit 6 is arranged at On the chassis 1, its output end is coaxially connected with the end of the connecting rod 5 close to the chassis 1, and the rotation of the connecting rod 5 is controlled. By controlling the rotation of the connecting rod 5, the rear wheel 4 is driven to rotate along the middle end of the chassis 1, and the distance between the ground and the middle end of the chassis 1 is adjusted to ensure that the middle ends of the two ends of the chassis 1 are at the same height, so that the person sitting in the wheelchair always sits in the wheelchair horizontally and will not be affected by the sliding of the wheelchair on the inclined road section, which solves the problem that the existing electric wheelchair cannot independently adjust the height of the wheels on the left and right sides, which makes the electric wheelchair tilt and slide when sliding on the inclined uneven road surface at the left and right ends, and then causes the person sitting in the electric wheelchair to tilt along with the tilt of the electric wheelchair, which brings great inconvenience to the person sitting in the wheelchair. It is worth noting that the role of the suspension system is to ensure that the front wheel 3 is always in contact with the ground.

[0027] Furthermore, the present solution also includes a wheelchair seat 10 and an angle sensor. The wheelchair seat 10 is arranged on the chassis 1, and the wheelchair seat 10 forms a certain angle with the ground. The angle sensor is arranged in the wheelchair seat 10 to detect the degree of inclination of the wheelchair. The angle sensor is respectively communicated with the two drive units 6. When the electric wheelchair slides on the uneven road surface at the left and right ends, the electric wheelchair tilts and slides, and the wheelchair seat 10 also tilts along with the inclination of the electric wheelchair. At this time, the angle sensor detects that the wheelchair seat 10 has tilted at an angle, and transmits the signal to the two drive units 6. The drive unit 6 starts to work and drives the connecting rod 5 connected thereto to rotate, thereby adjusting the angle between the wheelchair seat 10 and the ground, thereby adjusting the inclination angle of the wheelchair seat 10.

[0028] Specifically, when the angle sensor detects that the wheelchair seat 10 is tilted in the left and right directions, the present invention controls one side of the driving assembly 2 to extend or retract so that the wheelchair seat 10 maintains a fixed angle left and right; when the angle sensor detects that the wheelchair seat 10 is tilted in the front and back directions, the driving assemblies 2 on both sides are controlled to extend or retract at the same time so that the wheelchair seat 10 maintains a fixed angle in the front and back directions.

[0029] Furthermore, the driving unit 6 of the present scheme specifically includes a hydraulic rod 601, a hinge 602 and a transmission member 603. One end of the hydraulic rod 601 is hinged to one end on the chassis 1, and the output end of the hydraulic rod 601 is hinged to one end of the hinge 602. A slot is provided at the middle end of the chassis 1, and the transmission member 603 is rotatably coaxially arranged on the slot. The two ends of the transmission member 603 are coaxially connected to the other end of the hinge 602 and one end of the connecting rod 5, respectively. With such a configuration, the hydraulic rod 601 controls the extension and retraction of the output end thereof to control the rotation of the hinge 602 along the connection end thereof with the transmission member 603, and then the rotation of the hinge 602 drives the rotation of the transmission member 603. Since the transmission member 603 is coaxially connected to one end of the connecting rod 5, the connection rod 5 is finally rotated along the connection end thereof with the transmission member 603. Specifically, in combination with the above embodiments, it can be obtained that when the wheelchair of the present solution moves onto a slope, due to the terrain of the slope, the heights of the left and right ends of the chassis 1 are inconsistent, which causes the wheelchair seat 10 disposed thereon to tilt. At this time, the angle sensor disposed on the wheelchair seat 10 detects that the wheelchair seat 10 has tilted, and controls the two drive units 6 to adjust so that the heights of the left and right ends of the chassis 1 are consistent, thereby adjusting the angle of the wheelchair seat 10. In addition, when the wheelchair of the present solution moves onto flat ground, due to the uneven terrain of the flat ground, the heights of the left and right ends of the chassis 1 are inconsistent, which causes the wheelchair seat 10 disposed thereon to tilt. At this time, the angle sensor disposed on the wheelchair seat 10 detects that the wheelchair seat 10 has tilted, and controls the two drive units 6 to adjust so that the heights of the left and right ends of the chassis 1 are consistent, thereby adjusting the angle of the wheelchair seat 10.

[0030] It should be defined that the hinge 602 and the connecting rod 5 are arranged in parallel to each other and perpendicular to the central axis of the transmission member 603 .

[0031] In addition, it should be noted that in order to ensure the normal operation of the present solution, the distance between the hinged end of the hydraulic rod 601 and the chassis 1 and the middle end of the chassis 1 is smaller than the sum of the shortest length of the hydraulic rod 601 and the length of the hinge 602. Such a design can avoid the sum of the length of the hydraulic rod 601 and the length of the hinge 602 being equal to the distance between the hinged end of the hydraulic rod 601 and the chassis 1 and the middle end of the chassis 1, so that the central axis of the hydraulic rod 601 coincides with the central axis of the hinge 602, causing interference in movement.

[0032] Furthermore, the transmission member 603 of the present scheme includes a first meshing cylinder 7 and a second meshing cylinder 8. The first meshing cylinder 7 is rotatably coaxially arranged in the slot hole. The edge of one end surface of the first meshing cylinder 7 extending out of the slot hole is circumferentially provided with a first meshing tooth, and the edge of one end surface of the second meshing cylinder 8 is circumferentially provided with a second meshing tooth. After the first meshing cylinder 7 and the second meshing cylinder 8 are coaxially connected, the first meshing tooth and the second meshing tooth are meshed with each other. Through the mutual meshing connection between the first meshing tooth and the second meshing tooth, the transmission capacity between the first meshing cylinder 7 and the second meshing cylinder 8 is enhanced, and the structural strength of the transmission member 603 is improved.

[0033] In addition, it should be noted that the transmission member 603 also includes a column 9, which is coaxially arranged at the end of the first engaging cylinder 7 away from the second engaging cylinder 8, and the cross-sectional area of ​​the column 9 is square. One end of the hinge 602 is provided with an interlocking groove that matches the column 9, and the hinge 602 is rotatably connected to the column 9 through the interlocking groove. The end of the second engaging cylinder 8 away from the first engaging cylinder 7 is welded to one end of the connecting rod 5, and the interlocking groove is locked or released from the locked state with the column 9 by screws. Through such an arrangement, the connection between the transmission member 603 and the hinge 602 and the connecting rod 5 is strengthened respectively.

[0034] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A self-balancing control structure for a stair climbing wheelchair, characterized in that: It includes an inclined chassis and two groups of drive components, which are respectively arranged at the two ends of the chassis; the drive components include front wheels, rear wheels, connecting rods and drive units, the front wheels are arranged at the lower end of the chassis through a suspension system, one end of the connecting rod is rotatably arranged at the middle end of the chassis, and the other end of the connecting rod is hinged to the center of the rear wheel; the drive unit is arranged on the chassis, and its output end is coaxially connected to one end of the connecting rod to control the rotation of the connecting rod.

2. The self-balancing control structure of a stair climbing wheelchair according to claim 1, characterized in that: It also includes a wheelchair seat and an angle sensor, wherein the wheelchair seat is arranged on the chassis and forms a certain angle with the ground. The angle sensor is arranged inside the wheelchair seat and is used to detect the inclination of the wheelchair seat. The angle sensor is respectively connected to the two drive units for communication.

3. The self-balancing control structure of a stair climbing wheelchair according to claim 1, characterized in that: The driving unit includes a hydraulic rod, a hinge and a transmission member. One end of the hydraulic rod is hinged to one end on the chassis, the output end of the hydraulic rod is hinged to one end of the hinge, a slot is provided at the middle end of the chassis, the transmission member is rotatably coaxially arranged on the slot, and the two ends of the transmission member are coaxially connected to the other end of the hinge and one end of the connecting rod respectively.

4. The self-balancing control structure of a stair climbing wheelchair according to claim 3, characterized in that: The hinge and the connecting rod are arranged in parallel with each other and perpendicular to the central axis of the transmission member.

5. The self-balancing control structure of a stair climbing wheelchair according to claim 3, characterized in that: The distance between the hinged end of the hydraulic rod and the chassis and the middle end of the chassis is smaller than the sum of the shortest length of the hydraulic rod and the length of the hinge.

6. The self-balancing control structure of a stair climbing wheelchair according to claim 3, characterized in that: The transmission member includes a first meshing cylinder and a second meshing cylinder. The first meshing cylinder is rotatably coaxially arranged in the slot hole. The edge of one end surface of the first meshing cylinder extending out of the slot hole is circumferentially provided with a first meshing tooth, and the edge of one end surface of the second meshing cylinder is circumferentially provided with a second meshing tooth. After the first meshing cylinder is coaxially connected with the second meshing cylinder, the first meshing tooth and the second meshing tooth are meshed and connected with each other.

7. The self-balancing control structure of a stair climbing wheelchair according to claim 6, characterized in that: The transmission member also includes a column, which is coaxially arranged at one end of the first engaging cylinder away from the second engaging cylinder, and the cross-sectional area of ​​the column is square. One end of the hinge is provided with an engaging groove that matches the column, and the hinge is rotatably connected to the column through the engaging groove. One end of the second engaging cylinder away from the first engaging cylinder is welded to one end of the connecting rod, and the engaging groove is locked or released from the locked state with the column by screws.

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