Balancing device and ladder wheelchair
By coordinating the mounting plate, support frame, and drive components on the ladder-climbing wheelchair, and detecting and adjusting the tilt angle of the mounting plate, the safety issues caused by the tilt of the ladder-climbing wheelchair are resolved, achieving balance and safety during the ladder-climbing process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JATCO (GUANGZHOU) AUTOMATIC TRANSMISSION LTD
- Filing Date
- 2025-08-25
- Publication Date
- 2026-08-04
AI Technical Summary
Traditional ladder-climbing wheelchairs are prone to tilting when climbing stairs, which can cause users to lose their center of gravity and potentially fall, posing a safety hazard.
The system employs a balancing device, including a mounting plate, a support frame, a drive assembly, and an angle detection module. By detecting the tilt angle of the mounting plate and controlling the drive assembly to move it along the arc-shaped guide surface, the system keeps the mounting plate level and ensures the seat is balanced.
Keep the seat level during the climb to prevent users from losing their balance and falling, thus ensuring their safety.
Smart Images
Figure CN224590480U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of wheelchair technology, and in particular to a balancing device and a ladder-climbing wheelchair. Background Technology
[0002] Wheelchairs, as a means of transportation, can assist people with mobility impairments to walk flexibly. However, in daily life, many older buildings often lack accessibility facilities (such as elevators), and traditional wheelchairs cannot independently go up and down stairs, resulting in limited user mobility. To address the limitations of traditional wheelchairs in complex terrain (especially stairs), ladder-climbing wheelchairs have emerged, such as tracked ladder-climbing wheelchairs and wheeled ladder-climbing wheelchairs.
[0003] In the prior art, when a user uses a ladder-climbing wheelchair to climb stairs, the wheelchair will tilt as a whole due to the inclination angle of the stairs, causing the user's body to tilt backward or forward. This not only causes discomfort to the user, but if the inclination angle of the stairs is too large, the user may lose their center of gravity and fall down the stairs during the climbing process, thereby endangering the user's life safety. Utility Model Content
[0004] The purpose of this invention is to provide a balancing device and a ladder-climbing wheelchair, which can keep the ladder-climbing wheelchair balanced during the process of climbing a ladder, prevent the user from falling due to loss of balance, and ensure the user's life safety.
[0005] To achieve the above objectives, the present invention adopts the following technical solution:
[0006] In a first aspect, a balancing device is provided, configured to be mounted on a ladder-climbing wheelchair, comprising:
[0007] The mounting plate is configured for mounting seats;
[0008] A support frame is disposed below the mounting plate, the upper end of the support frame abuts against the mounting plate, the support frame is provided with an arc-shaped guide surface, and the support frame is configured to install a climbing ladder structure, the climbing ladder structure being connected to the mounting plate for climbing stairs;
[0009] A drive assembly is disposed on the support frame and is connected to the mounting plate in a transmission manner. The drive assembly is used to drive the mounting plate to move along the arc-shaped guide surface so that the mounting plate is parallel to the horizontal direction.
[0010] An angle detection module is disposed on the mounting plate, and the angle detection module is used to detect the tilt angle of the mounting plate relative to the horizontal direction;
[0011] The control module is connected in communication with both the drive component and the angle detection module.
[0012] Optionally, the support frame includes a connecting rod and two supporting uprights, which are respectively disposed on both sides of the mounting plate. The upper end of each supporting upright is provided with an arc-shaped guide surface. The two ends of the connecting rod are respectively connected to the two supporting uprights and abut against the mounting plate. The mounting plate and the two supporting uprights form an installation chamber. The ladder structure is rotatably disposed in the installation chamber and has a walking state that is housed in the installation chamber and a ladder state that is away from the installation chamber.
[0013] Optionally, the balancing device further includes a guide assembly, which includes an arc-shaped guide rail and a guide slider. The arc-shaped guide rail is disposed on the side wall of the supporting plate, and the guide slider is disposed on the mounting plate. The guide slider slides in cooperation with the arc-shaped guide rail.
[0014] Optionally, the central angle of the arc-shaped guide rail is greater than the tilt angle of the ladder wheelchair climbing the stairs, and the difference between the angle of the arc-shaped guide rail and the tilt angle of the stairs is greater than 10°.
[0015] Optionally, the balancing device further includes a limiting member disposed on the side wall of the supporting plate and located at the end of the arc-shaped guide rail away from the connecting rod. The guide slider has a limited state that abuts against the limiting member and a released state that moves away from the limiting member.
[0016] Optionally, the balancing device further includes a limiting slider, which is disposed on the mounting plate. The side wall of the supporting plate is provided with an arc-shaped limiting groove, and the limiting slider is slidably engaged in the arc-shaped limiting groove.
[0017] Optionally, the drive assembly includes a first connector, a second connector, and a drive mechanism. The first connector is disposed on the connecting rod, the second connector is disposed on the mounting plate, the housing of the drive mechanism is rotatably connected to the first connector, the output end of the drive mechanism is retractable relative to the housing of the drive mechanism, and the output end of the drive mechanism is rotatably connected to the second connector.
[0018] Optionally, the balancing device further includes a buffer pad layer disposed on the upper surface of the connecting rod, through which the connecting rod contacts the mounting plate.
[0019] Optionally, the cushioning layer includes a rubber pad layer.
[0020] Secondly, a ladder-climbing wheelchair is provided, including a seat, a ladder structure, multiple wheels, and a balancing device as described above. The seat is disposed on the mounting plate, the ladder structure is disposed on the support frame, and the ladder structure is pulsatorically connected to the mounting plate. The ladder structure is used for climbing stairs, and the multiple wheels are disposed on both sides of the support frame.
[0021] The beneficial effects of this utility model are:
[0022] This invention provides a balancing device and a ladder-climbing wheelchair. The balancing device includes a mounting plate, a support frame, a drive assembly, an angle detection module, and a control module. When using the ladder-climbing wheelchair to climb stairs, the ladder structure moves along the stairs. During this process, the mounting plate, on which the seat is mounted, tilts backward or forward relative to the horizontal. When the angle detection module detects that the mounting plate has tilted relative to the horizontal, it sends information to the control module. The control module then sends a start command to the drive assembly, causing the drive assembly to move the mounting plate clockwise or counterclockwise along the arc-shaped guide surface of the support frame until the mounting plate is parallel to the horizontal. Once the mounting plate is horizontal, the angle detection module detects that the tilt angle of the mounting plate relative to the horizontal is 0°. Information is then sent to the control module again, and the control module sends a stop command to the drive assembly, stopping its operation. By setting up drive components and angle detection modules, the mounting plate can be moved along the arc-shaped guide surface of the support frame according to the tilt angle of the mounting plate, so that the mounting plate is always in a horizontal state. This ensures that the seat remains horizontal throughout the entire climbing process of the ladder wheelchair, keeping the seat balanced and preventing the user from losing their center of gravity and falling due to seat tilt, thus ensuring the user's safety. Attached Figure Description
[0023] Figure 1 This is a first view of the balancing device provided in an embodiment of the present invention;
[0024] Figure 2 This is a second view of the balancing device provided in an embodiment of the present invention.
[0025] In the picture:
[0026] 1. Install the carrier plate;
[0027] 2. Support frame; 21. Connecting rod; 22. Supporting upright plate; 221. Arc-shaped guide surface; 23. Installation chamber;
[0028] 3. Drive component; 32. Second connector; 33. Drive mechanism;
[0029] 4. Guiding assembly; 41. Arc-shaped guide rail; 42. Guiding slider;
[0030] 5. Limiting components;
[0031] 6. Buffer pad layer. Detailed Implementation
[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.
[0033] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0035] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.
[0036] Example 1
[0037] This embodiment provides a balancing device configured for mounting on a ladder-climbing wheelchair. For example... Figure 1 and Figure 2 As shown, this balancing device can keep the ladder-climbing wheelchair balanced during the climbing process, preventing the user from falling due to loss of balance and ensuring the user's safety.
[0038] like Figure 1 and Figure 2 As shown, the balancing device includes a mounting plate 1, a support frame 2, a drive assembly 3, an angle detection module, and a control module. The mounting plate 1 is configured to mount a seat. The support frame 2 is located below the mounting plate 1, with its upper end abutting against the mounting plate 1. The support frame 2 has an arc-shaped guide surface 221. The support frame 2 is configured to mount a ladder structure, which is connected to the mounting plate 1 for climbing stairs. The drive assembly 3 is mounted on the support frame 2 and is connected to the mounting plate 1. The drive assembly 3 moves the mounting plate 1 along the arc-shaped guide surface 221 to make the mounting plate 1 parallel to the horizontal direction. The angle detection module is mounted on the mounting plate 1 and detects the tilt angle of the mounting plate 1 relative to the horizontal direction. Both the drive assembly 3 and the angle detection module are communicatively connected to the control module.
[0039] When using a ladder wheelchair to climb stairs, the ladder structure moves the wheelchair up or down the stairs. During this process, the mounting plate 1, which has a seat installed, will tilt backward or forward relative to the horizontal direction. When the angle detection module detects that the mounting plate 1 has a tilt angle relative to the horizontal direction, it sends information to the control module. The control module then sends a start command to the drive assembly 3, causing the drive assembly 3 to move the mounting plate 1 clockwise or counterclockwise along the arc-shaped guide surface 221 of the support frame 2 until the mounting plate 1 is parallel to the horizontal direction. Once the mounting plate 1 has moved to a horizontal state, the tilt angle of the mounting plate 1 relative to the horizontal direction detected by the angle detection module is 0°. Information is then sent to the control module again, and the control module will send a stop command to the drive assembly 3, causing the drive assembly 3 to stop operating. By setting up the drive component 3 and the angle detection module, the installation plate 1 can be moved along the arc-shaped guide surface 221 of the support frame 2 according to the tilt angle of the installation plate 1, so that the installation plate 1 is always in a horizontal state. This ensures that the seat remains in a horizontal state throughout the entire climbing process of the ladder wheelchair, keeping the seat balanced and preventing the user from losing their center of gravity and falling due to seat tilt, thus ensuring the user's safety.
[0040] For example, the angle detection module includes a gyroscope, and the control module includes a microcontroller.
[0041] In other embodiments, a PLC controller or other similar device may be selected as the control module, depending on actual needs; this is not a limitation.
[0042] Optionally, such as Figure 1 and Figure 2As shown, the support frame 2 includes a connecting rod 21 and two support plates 22. The two support plates 22 are respectively located on both sides of the mounting plate 1, and the upper end of the support plates 22 is provided with an arc-shaped guide surface 221. The two ends of the connecting rod 21 are respectively connected to the two support plates 22, and the connecting rod 21 abuts against the mounting plate 1. The mounting plate 1 and the two support plates 22 enclose a mounting chamber 23, and the climbing structure is rotatably installed in the mounting chamber 23. The climbing structure has a walking state housed in the mounting chamber 23 and a climbing state away from the mounting chamber 23. When the climbing is not needed, the climbing structure is housed in the mounting chamber 23, and the climbing wheelchair equipped with the balancing device can walk on the ground. When it is necessary to go up or down stairs, the climbing structure rotates and moves away from the mounting chamber 23, switching from the walking state to the climbing state for climbing stairs. By setting the connecting rod 21 and two supporting uprights 22, an installation position can be provided for the ladder structure. The connecting rod 21 can support the mounting plate 1, thereby providing support. The arc-shaped guide surface 221 of the supporting uprights 22 provides guidance for the mounting plate 1, allowing the mounting plate 1 to move along the arc-shaped guide surface 221 so that the mounting plate 1 can always be in a horizontal state.
[0043] Optionally, such as Figure 1 and Figure 2 As shown, the balancing device also includes a guide assembly 4, which includes an arc-shaped guide rail 41 and a guide slider 42. The arc-shaped guide rail 41 is disposed on the side wall of the supporting plate 22, and the guide slider 42 is disposed on the mounting plate 1, with the guide slider 42 slidingly engaged with the arc-shaped guide rail 41. When the driving assembly 3 drives the mounting plate 1 to move along the arc-shaped guide surface 221, the guide slider 42 slides along the arc-shaped guide rail 41. By setting the guide slider 42 and the arc-shaped guide rail 41, the movement trajectory of the mounting plate 1 can be constrained, providing guidance for the mounting plate 1, improving the accuracy of the movement of the mounting plate 1, preventing its deviation and swaying, and dispersing the lateral force when the mounting plate 1 moves, thus enhancing the overall stability of the structure.
[0044] In this embodiment, the central angle of the arc-shaped guide rail 41 is greater than the tilt angle of the ladder wheelchair climbing the stairs, and the difference between the angle of the arc-shaped guide rail 41 and the tilt angle of the stairs is greater than 10°. By controlling the central angle of the arc-shaped guide rail 41, it can be ensured that the mounting plate 1 can be moved to a horizontal state.
[0045] It should be noted that the central angle of the arc-shaped guide surface 221 is equal to the central angle of the arc-shaped guide rail 41.
[0046] In some embodiments, the balancing device further includes a limiting slider. The limiting slider is disposed on the mounting plate 1, and an arc-shaped limiting groove is formed on the side wall of the supporting plate 22. The limiting slider is slidably engaged in the arc-shaped limiting groove. When the driving component 3 drives the mounting plate 1 to move along the arc-shaped guide surface 221, the limiting slider will slide along the arc-shaped limiting groove. By setting the limiting slider and the arc-shaped limiting groove, the movement trajectory of the mounting plate 1 can be constrained, providing guidance for the mounting plate 1, improving the accuracy of the movement of the mounting plate 1, preventing its deviation and shaking, and dispersing the lateral force when the mounting plate 1 moves, thereby enhancing the overall stability of the structure.
[0047] Optionally, such as Figure 1 and Figure 2 As shown, the balancing device also includes a limiting member 5. The limiting member 5 is disposed on the side wall of the supporting plate 22 and located at the end of the arc-shaped guide rail 41 away from the connecting rod 21. The guide slider 42 has a limited state of abutting against the limiting member 5 and a released state of moving away from the limiting member 5. When the driving assembly 3 drives the mounting plate 1 to move clockwise along the arc-shaped guide surface 221, the guide slider 42 will slide along the arc-shaped guide rail 41 during this process. If the required movement path of the mounting plate 1 is long, the guide slider 42 will abut against the limiting member 5, thereby limiting the guide slider 42. When the driving assembly 3 drives the mounting plate 1 to move counterclockwise along the arc-shaped guide surface 221, the guide slider 42 will slide along the arc-shaped guide rail 41 and move away from the limiting member 5. By setting the limiting member 5, the guide slider 42 can be limited, preventing the guide slider 42 from disengaging from the arc-shaped guide rail 41 due to sliding inertia or a long sliding distance, thus ensuring the overall stability of the structure.
[0048] Optionally, such as Figure 1 and Figure 2 As shown, the drive assembly 3 includes a first connector, a second connector 32, and a drive mechanism 33. The first connector is mounted on the connecting rod 21, and the second connector 32 is mounted on the mounting plate 1. The housing of the drive mechanism 33 is rotatably connected to the first connector. The output end of the drive mechanism 33 is retractable relative to the housing, and the output end of the drive mechanism 33 is rotatably connected to the second connector 32. When the mounting plate 1 needs to be moved, the drive mechanism 33 is activated, controlling the output end of the drive mechanism 33 to retract relative to the housing, thereby pushing the mounting plate 1. The mounting plate 1 is only placed on the support frame 2. Under the weight of the mounting plate 1, the mounting plate 1 will move along the arc-shaped guide surface 221 of the support frame 2. During this process, the housing of the drive mechanism 33 will also rotate around the node where the housing of the drive mechanism 33 is rotatably connected to the first connector. The structure is simple and easy to operate.
[0049] For example, the drive mechanism 33 includes an electric actuator. In other embodiments, an electric cylinder or a pneumatic cylinder may be selected as the drive mechanism 33 as needed, and this is not limited here.
[0050] Optionally, such as Figure 1 and Figure 2 As shown, the balancing device also includes a buffer pad 6. The buffer pad 6 is disposed on the upper surface of the connecting rod 21, and the connecting rod 21 contacts the mounting plate 1 through the buffer pad 6. Therefore, the mounting plate 1 abuts against the connecting rod 21 through the buffer pad 6. During the ladder-climbing process, the ladder-climbing wheelchair may experience bumps. By setting the buffer pad 6, the mounting plate 1 can be prevented from directly colliding with the connecting rod 21, thereby reducing mutual wear between the mounting plate 1 and the connecting rod 21. Furthermore, when the ladder-climbing wheelchair is subjected to external impact, the buffer pad 6 can absorb the impact force, thereby buffering and reducing shock.
[0051] For example, the cushioning layer 6 includes a rubber pad layer.
[0052] Example 2
[0053] This embodiment provides a ladder-climbing wheelchair, including a seat, a ladder structure, multiple wheels, and a balancing device as described above. The seat is mounted on a mounting plate 1, and the ladder structure is mounted on a support frame 2. The ladder structure is connected to the mounting plate 1 and is used for climbing stairs. The multiple wheels are located on both sides of the support frame 2.
[0054] Optionally, the support frame 2 is provided with a mounting chamber 23, and the ladder structure is rotatably disposed within the mounting chamber 23. The ladder structure has a walking state housed within the mounting chamber 23 and a ladder state away from the mounting chamber 23. When climbing stairs is required, the ladder structure is rotated away from the mounting chamber 23, at which point the ladder structure is in contact with the ground and in the ladder state, which can be used for climbing stairs. When climbing stairs is not required, the ladder structure is rotated back into the mounting chamber 23, at which point the ladder structure is in the walking state, with multiple wheels in contact with the ground, enabling the ladder wheelchair to move on the ground. This ladder wheelchair can maintain balance throughout the climbing process, preventing the seat from tilting and causing the user to lose their center of gravity and fall, thus ensuring the user's safety.
[0055] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.
Claims
1. A balancing device configured to be provided on a climber wheelchair, characterized by, include: Mounting plate (1) is configured for mounting seats; A support frame (2) is disposed below the mounting plate (1). The upper end of the support frame (2) abuts against the mounting plate (1). The support frame (2) is provided with an arc-shaped guide surface (221). The support frame (2) is configured to install a climbing ladder structure. The climbing ladder structure is connected to the mounting plate (1) for climbing stairs. A drive assembly (3) is disposed on the support frame (2). The drive assembly (3) is connected to the mounting plate (1) in a transmission manner. The drive assembly (3) is used to drive the mounting plate (1) to move along the arc-shaped guide surface (221) so that the mounting plate (1) is parallel to the horizontal direction. An angle detection module is disposed on the mounting plate (1), and the angle detection module is used to detect the tilt angle of the mounting plate (1) relative to the horizontal direction; The control module, the drive component (3) and the angle detection module are both communicatively connected to the control module.
2. The balancing device of claim 1, wherein The support frame (2) includes a connecting rod (21) and two support plates (22). The two support plates (22) are respectively disposed on both sides of the mounting plate (1). The upper end of the support plate (22) is provided with the arc-shaped guide surface (221). The two ends of the connecting rod (21) are respectively connected to the two support plates (22). The connecting rod (21) abuts against the mounting plate (1). The mounting plate (1) and the two support plates (22) surround to form an installation chamber (23). The ladder structure is rotatably disposed in the installation chamber (23). The ladder structure has a walking state housed in the installation chamber (23) and a climbing state away from the installation chamber (23).
3. The balancing device of claim 2, wherein, The balancing device also includes a guide assembly (4), which includes an arc-shaped guide rail (41) and a guide slider (42). The arc-shaped guide rail (41) is disposed on the side wall of the support plate (22), and the guide slider (42) is disposed on the mounting plate (1). The guide slider (42) slides in cooperation with the arc-shaped guide rail (41).
4. The balancing device of claim 3, wherein The central angle of the arc-shaped guide rail (41) is greater than the tilt angle of the ladder wheelchair climbing the stairs, and the difference between the angle of the arc-shaped guide rail (41) and the tilt angle of the stairs is greater than 10°.
5. The balancing apparatus of claim 3, wherein The balancing device also includes a limiting member (5), which is disposed on the side wall of the supporting plate (22) and located at the end of the arc-shaped guide rail (41) away from the connecting rod (21). The guide slider (42) has a limiting state that abuts against the limiting member (5) and a releasing state that moves away from the limiting member (5).
6. The balancing apparatus of claim 2, wherein The balancing device also includes a limiting slider, which is disposed on the mounting plate (1). The side wall of the supporting plate (22) is provided with an arc-shaped limiting groove, and the limiting slider is slidably locked in the arc-shaped limiting groove.
7. The balancing apparatus of claim 2, wherein The drive assembly (3) includes a first connector, a second connector (32) and a drive mechanism (33). The first connector is disposed on the connecting rod (21), the second connector (32) is disposed on the mounting plate (1), the housing of the drive mechanism (33) is rotatably connected to the first connector, the output end of the drive mechanism (33) is retractable relative to the housing of the drive mechanism (33), and the output end of the drive mechanism (33) is rotatably connected to the second connector (32).
8. The counterbalance device of any one of claims 2-7, wherein, The balancing device also includes a buffer pad (6), which is disposed on the upper surface of the connecting rod (21), and the connecting rod (21) contacts the mounting plate (1) through the buffer pad (6).
9. The balancing device of claim 8, wherein, The buffer pad layer (6) includes a rubber pad layer.
10. A ramp wheelchair characterized by, The device includes a seat, a ladder structure, multiple wheels, and a balancing device as described in any one of claims 1-9. The seat is mounted on the mounting plate (1), the ladder structure is mounted on the support frame (2), and the ladder structure is connected to the mounting plate (1) in a transmission manner. The ladder structure is used for climbing stairs, and the multiple wheels are located on both sides of the support frame (2).