一种轮椅状态检测机构及爬楼轮椅

Abstract

本实用新型涉及轮椅技术领域，提供了一种轮椅状态检测机构，包括椅架，椅架的背侧设有两个履带架，履带架上设有履带；椅架安装有平面检测传感器；履带架上安装有最上台阶立面检测传感器和最下台阶立面检测传感器；倾倒转轴固接感应板，椅架上固设对应的摆动检测传感器；感应板开设有摆动暂停位置孔；椅架上还设有控制单元，接收各检测传感器的反馈信号，使椅架执行姿态切换和 / 或启停。借此，本实用新型通过设置多个检测传感器，根据检测传感器的反馈信号，准确判断所处的状态，并做出相应的动作。在楼梯上层的平地面上，通过平面检测传感器的信号有无，准确判断前轮与台阶边缘的位置状态，避免出现跌落风险。本实用新型还提供了一种爬楼轮椅。

Claims

1. A wheelchair state detection mechanism, comprising a chair frame, two crawler frames are arranged on the back side of the chair frame, and crawlers are arranged on the crawler frames; two front wheels are arranged on the front end of the chair frame; a tipping shaft is arranged on the chair frame, and two swing arms are fixedly connected to the two ends of the tipping shaft respectively; rear wheels are arranged on the swing arms; a tipping cylinder for driving the tipping shaft to rotate is arranged on the chair frame; the front wheels or the rear wheels are drive wheels; a stair climbing motor for driving the two crawlers to synchronously rotate is arranged between the two crawler frames; the chair frame has a flat ground walking posture and a stair climbing posture; characterized in that, A planar detection sensor located at the front wheel position is installed at the lower front end of the chair frame; the track frame is equipped with an uppermost step elevation detection sensor and a lowermost step elevation detection sensor arranged along the length of the track frame; a sensor plate that can rotate with the tilting shaft is fixedly connected to the tilting shaft; a swing detection sensor corresponding to the sensor plate is fixedly installed on the chair frame; the sensor plate has a swing pause position hole. The chair frame is also equipped with a control unit for executing control strategies. The control unit is electrically connected to the tilting cylinder, the stair-climbing motor, the drive wheels, and all detection sensors. The control strategy includes: the control unit receives feedback signals from each detection sensor and issues corresponding control signals based on the feedback signals to enable the chair frame to switch postures and / or start and stop walking actions.

2. The wheelchair state detecting mechanism according to claim 1, wherein The control strategy includes control of the upstairs process and control of the downstairs process; The process of going upstairs includes: The chair frame is positioned on the flat ground below the stairs in a flat walking posture, and the plane detection sensor can generate a feedback signal; Afterwards, the chair frame switched to a step-crawling posture, and the detection signal from the plane detection sensor disappeared; The track-driven chair then moves upward along the stair steps, and the top step elevation detection sensor and the bottom step elevation detection sensor both generate feedback signals. When the detection signal from the top step facade detection sensor disappears, the control unit sends a signal to the tilting cylinder, the swing arm swings downward to lower the rear wheel, the swing detection sensor generates a feedback signal, and the track continues to rotate to drive the chair frame forward; When the swing pause position hole of the sensor plate is aligned with the swing detection sensor, the feedback signal disappears; the tilting electric cylinder pauses, and the track continues to drive the chair frame forward; When the plane detection sensor generates a feedback signal again, the tilting cylinder is activated again, and the chair frame switches to a flat-ground walking posture. The process of going downstairs includes: The chair frame is positioned on the flat ground of the upper staircase in a flat walking posture; the tilting electric cylinder switches the posture, and when the swing pause position hole of the sensing plate is aligned with the swing detection sensor, the feedback signal disappears; the tilting electric cylinder stops, and the track drives the chair frame to move forward; the plane detection sensor generates a feedback signal; When the feedback signal from the plane detection sensor disappears, the tilting cylinder actuates again, and the chair frame switches to the step-crawling posture. The track-driven chair then moves down the stairs, and the top and bottom steps' facade detection sensors both generate feedback signals. When it reaches the flat ground at the bottom of the stairs, the track-driven chair moves along the flat ground until the feedback signal from the bottom step facade detection sensor disappears. The control unit then sends a signal to the tilting cylinder, which activates, and the chair frame switches to a flat-ground walking posture.

3. The wheelchair state detecting mechanism according to claim 1, wherein The plane detection sensor, the uppermost step facade detection sensor, the lowermost step facade detection sensor, and the swing detection sensor are all infrared proximity photoelectric switches.

4. The wheelchair state detecting mechanism according to claim 1, wherein The detection range of the planar detection sensor is 85-90mm.

5. The wheelchair state detecting mechanism according to claim 1, wherein The detection range of both the uppermost step facade detection sensor and the lowermost step facade detection sensor is not less than 380mm.

6. The wheelchair state detecting mechanism according to claim 1, wherein The detection range of the swing detection sensor is 30-55mm.

7. The wheelchair state detecting mechanism according to claim 1, wherein The inductive plate is further provided with a swing limit position hole configured to make the swing detection sensor face the swing limit position hole when the pouring cylinder is operated to the limit position.

8. The wheelchair state detecting mechanism according to claim 1, wherein The planar detection sensor has an included angle with the vertical direction, and the included angle is inclined to the front side.

9. The wheelchair state detecting mechanism according to claim 1, wherein The chair frame is further provided with a controller, and the control unit is integrated in the controller.

10. A stair climbing wheelchair having the wheelchair state detecting mechanism according to any one of claims 1 to 9, characterized by The chair frame is provided with a seat plate and a backrest; the chair frame is provided with a fulcrum shaft, and the two track frames are rotatably connected to the fulcrum shaft; and the lower end of the track frame can swing back and forth around the fulcrum shaft.

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