Wheelchair walking mechanism

Abstract

The utility model discloses a wheelchair walking mechanism which comprises a driving mechanism, a walking frame assembly, a tappet balance mechanism and an operation controller. The driving mechanism is installed on the walking frame assembly. The utility model has the beneficial effects that a control signal is sent by the operation controller controlled by a person, the motor controller sends a signal to the three mechanisms after receiving the signal: the balance wheel mechanism, and the balance wheel mechanism controls the balance driving device to drive the balance wheel to start lifting or descending operation after receiving the signal; after the tappet balance mechanism receives the signal, the tappet balance mechanism controls a tappet driving device to drive a tappet to start lifting or descending operation; and the driving mechanism is used for controlling the two tires to start to rotate or stop after the driving motor receives the signal. Angles of the three mechanisms can be dynamically adjusted according to factors such as inclination of a stair or an obstacle, weight of a human body and gravity center of the human body, so that the stair or the obstacle can be climbed more stably and safely.

Description

TECHNICAL FIELD

[0001] The utility model relates to a wheelchair technical field, concretely relates to a wheelchair walking mechanism. BACKGROUND

[0002] The existing walking mechanism of climbing stairs mainly has two schemes, one is crawler type, increases the friction force to the ground through crawler to climb stairs, the other is variable wheel type, that is, through changing the shape of the wheel to climb stairs. These two types of wheelchairs have a common feature that the structure is complex, the crawler scheme needs crawler structure, crawler drive motor, drive structure and the like, the wheel design of variable wheel type needs a very complex structure, which greatly increases the overall cost of the wheelchair, in addition, the structure of this kind of mechanism is semi-open design, and is also easy to cause structure damage due to dust and the like, and frequent maintenance is needed; in addition, the two types of wheelchairs are rigidly contacted with the ground, and the comfort is also general. In summary, there is a lack of a walking mechanism with low cost, high reliability, high comfort, climbing stairs and certain obstacle crossing ability on the market. UTILITARIAN CONTENT

[0003] The utility model aims at solving the above-mentioned problems, and details are described below.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] The utility model provides a kind of wheelchair walking mechanism, including drive mechanism, walking frame component, tappet balance mechanism and operation controller;

[0006] The drive mechanism is installed on walking frame component;

[0007] The tappet balance mechanism is hingedly installed in the rear of walking frame component, and is used to support walking frame component;The operation controller is electrically connected with drive mechanism and the tappet balance mechanism.

[0008] As preferred, the tappet balance mechanism includes tappet drive device, tappet and second connecting piece;One end of the tappet drive device is connected on walking frame component;The other end of the tappet drive device is installed on tappet, and the tappet is hingedly connected on walking frame component by second connecting piece, drive tappet drive device, and the tappet drive device can drive the tappet to rotate along the walking frame component, so that the tappet contacts or far from contact object.

[0009] As preferred, the walking frame assembly comprises a pedal, a support, a support assembly, a support plate and a base plate; the support is detachably mounted on the driving mechanism through the support assembly; the pedal is mounted at the front end of the support, the base plate is detachably mounted on the support, the support plate has two, and the two support plates are detachably mounted on the support; the operation controller is detachably mounted on the support plate.

[0010] As preferred, the driving mechanism comprises a walking wheel, a driven wheel, a driving chain, a driving motor, a motor controller, a battery, a driving wheel and a driving connecting shaft; the walking wheel is mounted on the support through the driving connecting shaft; the battery, the motor controller and the driving motor are all detachably mounted on the base plate, the driving wheel is mounted on the output end of the driving motor, the driven wheel is mounted on one side of the walking wheel, and the driving wheel and the driven wheel are connected through the driving chain.

[0011] As preferred, the support assembly comprises a first support and a second support; the first support is detachably mounted on the second support, and the second support is mounted on the driving connecting shaft through the mounting hole.

[0012] As preferred, it further comprises a balancing wheel mechanism; the balancing wheel mechanism is detachably mounted on the walking frame assembly.

[0013] As preferred, the balancing wheel mechanism comprises a balancing wheel, a balancing driving device and a first connecting piece; one end of the balancing driving device is connected to the walking frame assembly; the other end of the balancing driving device is provided with the balancing wheel; one end of the balancing wheel is hinged to the walking frame assembly through the first connecting piece, the balancing driving device is driven, the balancing driving device drives the balancing wheel to move up and down, and the motor controller is electrically connected with the balancing driving device, the tappet driving device and the driving motor.

[0014] As preferred, the balancing wheel mechanism has two groups, and the two groups of balancing wheel mechanisms are respectively mounted on the two sides of the walking frame assembly.

[0015] As preferred, the tappet is an arc-shaped elastic piece.

[0016] The beneficial effect lies in that: the utility model discloses a control operation control ware sends control signal, and motor controller will send signal to three mechanisms after receiving the signal: balanced wheel mechanism: balanced wheel mechanism receives the signal, and will control the balance drive arrangement drive balance wheel to start lifting or lowering operation;Tappet balance mechanism: tappet balance mechanism receives the signal, and will control tappet drive arrangement drive tappet to start lifting or lowering operation;Driving mechanism: driving motor receives the signal, and will control two tires to start rotating or stopping.Three mechanisms can dynamically adjust the angle of the three mechanisms according to the slope of the obstacle, the weight of the load, the gravity center of the load and other factors, guarantee more stable and safe to climb stairs or cross the obstacle, simple and reasonable structure and high intelligent degree, strong adaptability and passability. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Figure 1 is the front view of the utility model;

[0019] Figure 2 is the three-dimensional structure schematic view of the utility model:

[0020] Figure 3 is the structure schematic view of the utility model without walking wheel;

[0021] Figure 4 is the installation structure schematic view of tappet balance mechanism and balanced wheel mechanism of the utility model;

[0022] Figure 5 is the structure schematic view of tappet balance mechanism of the utility model;

[0023] Figure 6 is the structure schematic view of balanced wheel mechanism of the utility model;

[0024] Figure 7 is the structure schematic view of support assembly of the utility model.

[0025] The following is the explanation of the reference signs:

[0026] 1, drive mechanism; 101, walking wheel; 102, driven wheel; 103, drive chain; 104, drive motor; 105, driving wheel; 106, drive connecting shaft; 2, balance wheel mechanism; 201, balance wheel; 202, balance drive device; 203, first connecting piece; 3, tappet balance mechanism; 301, tappet drive device; 302, tappet; 303, second connecting piece; 4, walking frame assembly; 401, pedal; 402, support; 403, support assembly; 4031, first support; 4032, second support; 404, support plate; 405, bottom plate. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme of the utility model will be described in detail below. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the range of protection of the utility model.

[0028] Referring to Figures 1-7 The utility model provides a kind of wheelchair walking mechanism, including drive mechanism 1, walking frame assembly 4, tappet balance mechanism 3 and operation controller as shown in the figure;

[0029] The drive mechanism 1 is installed on walking frame assembly 4;

[0030] The tappet balance mechanism 3 is hingedly installed at the rear of walking frame assembly 4, for supporting walking frame assembly 4;The operation controller is electrically connected with drive mechanism 1 and the tappet balance mechanism 3.

[0031] As preferred, the tappet balance mechanism 3 includes tappet drive device 301, tappet 302 and second connecting piece 303;One end of tappet drive device 301 is connected on walking frame assembly 4;The other end of tappet drive device 301 is installed on tappet 302, and tappet 302 is hingedly connected on walking frame assembly 4 by second connecting piece 303, drives tappet drive device 301, and tappet drive device 301 can drive tappet 302 to rotate along walking frame assembly 4, so that tappet 302 contacts or away from contact object.

[0032] As preferred, the walking frame assembly 4 comprises a pedal 401, a support 402, a support assembly 403, a support plate 404 and a bottom plate 405; the support 402 is detachably installed on the driving mechanism 1 through the support assembly 403; the pedal 401 is installed at the front end of the support 402, the bottom plate 405 is detachably installed on the support 402, and the support plate 404 has two, and the two support plates 404 are detachably installed on the support 402; the operation controller is detachably installed on the support plate 404.

[0033] As preferred, the driving mechanism 1 comprises a walking wheel 101, a driven wheel 102, a driving chain 103, a driving motor 104, a motor controller, a battery, a driving wheel 105 and a driving connection shaft 106; the walking wheel 101 is installed on the support 402 through the driving connection shaft 106; the battery, the motor controller and the driving motor 104 are all detachably installed on the bottom plate 405, the driving wheel 105 is installed at the output end of the driving motor 104, the driven wheel 102 is installed on one side of the walking wheel 101, and the driving wheel 105 and the driven wheel 102 are connected through the driving chain 103.

[0034] As preferred, the support assembly 403 comprises a first support 4031 and a second support 4032; the first support 4031 is detachably installed on the second support 4032, and the second support 4032 is installed on the driving connection shaft 106 through the mounting hole.

[0035] As preferred, it further comprises a balancing wheel 201 mechanism 2; the balancing wheel 201 mechanism 2 is detachably installed on the walking frame assembly 4.

[0036] As preferred, the balancing wheel 201 mechanism 2 comprises a balancing wheel 201, a balancing driving device 202 and a first connecting piece 203; one end of the balancing driving device 202 is connected to the walking frame assembly 4; the other end of the balancing driving device 202 is provided with the balancing wheel 201; one end of the balancing wheel 201 is hinged to the walking frame assembly 4 through the first connecting piece 203, drives the balancing driving device 202, the balancing driving device 202 drives the balancing wheel 201 to move up and down, and the motor controller is electrically connected with the balancing driving device 202, the tappet driving device 301 and the driving motor 104.

[0037] As preferred, the balancing wheel 201 mechanism 2 is two groups, and the two groups of balancing wheel 201 mechanisms 2 are respectively installed on the two sides of the walking frame assembly 4.

[0038] As preferred, the tappet 302 is an arc-shaped elastic piece.

[0039] The above structure is applied as follows:

[0040] The components are assembled in sequence, and after assembly, when operation is required, the operator can operate the controller to send a control signal, and the motor controller will send a signal to three mechanisms: the balancing wheel mechanism 2: after receiving the signal, the balancing wheel mechanism 2 controls the balancing drive device 202 to drive the balancing wheel 201 to start the lifting or lowering operation; the tappet balancing mechanism 3: after receiving the signal, the tappet balancing mechanism 3 controls the tappet drive device 301 to drive the tappet 302 to start the lifting or lowering operation; the drive mechanism 1: after receiving the signal, the drive motor 104 controls the two tires to start rotating or stopping. The three parts will dynamically adjust the angles of the three mechanisms according to the slope of the stairs or obstacles, the weight of the carried object, the center of gravity of the carried object, etc., to ensure more stable and safe climbing of stairs or obstacles; in addition, the operation controller can be installed on the walking mechanism, or it can be controlled through wireless control, and the wireless control belongs to the prior art, and the applicant will not repeat it here.

[0041] The beneficial effects are that: the utility model discloses a control operation controller sends a control signal, and the motor controller will send a signal to three mechanisms: the balancing wheel 201 mechanism 2: after receiving the signal, the balancing wheel 201 mechanism 2 controls the balancing drive device 202 to drive the balancing wheel 201 to start the lifting or lowering operation; the tappet balancing mechanism 3: after receiving the signal, the tappet balancing mechanism 3 controls the tappet drive device 301 to drive the tappet 302 to start the lifting or lowering operation; the drive mechanism 1: after receiving the signal, the drive motor 104 controls the two tires to start rotating or stopping. The three mechanisms can dynamically adjust the angles of the three mechanisms according to the slope of the obstacles, the weight of the carried object, the center of gravity of the carried object, etc., to ensure more stable and safe climbing of stairs or obstacles, and the structure is simple and reasonable, and the intelligent degree is high, and the adaptability and passability are strong.

[0042] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and any skilled person in the technical field can easily think of changes or replacements within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of the claims.

Claims

1. A wheelchair walking mechanism characterized by: The utility model relates to a driving mechanism, walking frame assembly, tappet balance mechanism and operation controller are included. The driving mechanism is installed on the walking frame assembly. The tappet balance mechanism is hingedly installed at the rear of the walking frame assembly and used for supporting the walking frame assembly; and the operation controller is electrically connected with the driving mechanism and the tappet balance mechanism. The tappet balance mechanism comprises a tappet driving device, a tappet and a second connecting piece; one end of the tappet driving device is connected to the walking frame assembly; the other end of the tappet driving device is installed on the tappet; the tappet is hingedly connected to the walking frame assembly through the second connecting piece; the tappet driving device is driven; the tappet driving device can drive the tappet to rotate along the walking frame assembly so that the tappet contacts or is away from the contact object.

2. The wheelchair walk- er mechanism of claim 1, wherein: The walking frame assembly comprises a pedal, a support, a supporting assembly, a supporting plate and a bottom plate; the support is detachably installed on the driving mechanism through the supporting assembly; the pedal is installed at the front end of the support; the bottom plate is detachably installed on the support; the supporting plate has two supporting plates which are detachably installed on the support; and the operation controller is detachably installed on the supporting plate.

3. The wheelchair walk- er mechanism of claim 2, wherein: The driving mechanism comprises walking wheels, driven wheels, a driving chain, a driving motor, a motor controller, a battery, a driving wheel and a driving connecting shaft; the walking wheels are installed on the support through the driving connecting shaft; the battery, the motor controller and the driving motor are detachably installed on the bottom plate; the driving wheel is installed at the output end of the driving motor; the driven wheels are installed on one side of the walking wheels; and the driving wheel and the driven wheels are connected through the driving chain.

4. The wheelchair walk- er mechanism of claim 3, wherein: The supporting assembly comprises a first supporting piece and a second supporting piece; the first supporting piece is detachably installed on the second supporting piece; and the second supporting piece is installed on the driving connecting shaft through the mounting hole.

5. The wheelchair walk- er mechanism according to claim 3 or 4, characterized in that: The utility model also comprises a balancing wheel mechanism; the balancing wheel mechanism is detachably installed on the walking frame assembly.

6. The wheelchair walk- er mechanism of claim 5, wherein: The balancing wheel mechanism comprises a balancing wheel, a balancing driving device and a first connecting piece; one end of the balancing driving device is connected to the walking frame assembly; the other end of the balancing driving device is installed with the balancing wheel; one end of the balancing wheel is hingedly connected to the walking frame assembly through the first connecting piece; the balancing driving device is driven; the balancing driving device drives the balancing wheel to move up and down; and the motor controller is electrically connected with the balancing driving device, the tappet driving device and the driving motor.

7. The wheelchair walk- er mechanism of claim 6, wherein: The balancing wheel mechanism has two groups; the two groups of balancing wheel mechanisms are respectively installed on the two sides of the walking frame assembly.

8. The wheelchair walk- er mechanism of claim 1, wherein: The tappet is an arc-shaped elastic piece.

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