Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the multifunctional wheelchair with the functions of walking on the flat ground, climbing stairs and off-road with a certain complex terrain, which has good comfort and safety, remarkably enhances the indoor and outdoor independent action ability of people with inconvenient actions, improves the life quality of the people and lightens the burden of service personnel.
In order to solve the technical problems, the invention adopts the following technical scheme:
The multifunctional wheelchair comprises a seat, a travelling mechanism and a driving unit and is characterized in that the seat comprises a deformable seat frame, an adjustable seat surface, a backrest and a front-back telescopic adjusting support rod, wherein the deformable seat frame comprises an upper beam, a bottom beam and front and back upright posts which are arranged in pairs left and right, and the left and right front and back upright posts are correspondingly hinged with the upper beam and the bottom beam through connecting shafts respectively;
The travelling mechanism comprises front and rear wheels, a front and rear crawler assembly and a flat ground travelling mode self-locking device, wherein the front wheels are hinged to a front upright post, the rear wheels are connected to a rear upright post in a rotating way, and the joint of the front and rear crawler assembly is connected to a connecting shaft between the rear upright post and a bottom beam in a rotating way;
a front telescopic adjusting support rod is connected between the front upright post and the bottom beam, a rear telescopic adjusting support rod is connected between the upper beam and the rear track assembly, a mode switching control rod is connected at the adjacent part of the front upright post and the front and rear track assembly, and a seat angle stabilizing regulator is connected between the mounting frame where the upper beam is positioned and the rear track assembly;
the drive unit comprises a power unit, a variable speed transmission mechanism, a variable speed clutch mechanism and a mode conversion clutch.
Preferably, in the multifunctional wheelchair, the rear end of the adjustable seat is hinged on the upper beam, and a seat angle regulator is arranged between the front end of the adjustable seat and the upper beam, and comprises a mounting frame, an adjusting screw rod, a screw nut and an adjusting hand wheel/motor;
The pedal comprises a base beam, a rear upright post, a front pedal plate, a movable shaft, a rubber block and a rubber roller, wherein the movable shaft, the rubber block and the rubber roller are arranged on the front pedal plate, a damping spring is arranged between the front pedal plate and the rubber roller, a flat ground running damping spring is also arranged between the base beam and the rear upright post, and the damping spring is contacted with the rear upright post in a flat ground running mode.
Preferably, in the multifunctional wheelchair, the axial distance between the front upright post and the center of the connecting shaft corresponding to the upper beam and the bottom beam is larger than the axial distance between the rear upright post and the center of the connecting shaft corresponding to the upper beam and the bottom beam, so that the front part and the rear part of the seat surface of the wheelchair are high and low in the stair mode, and have a certain gradient, and an occupant can be promoted to lie backwards to enable the center of gravity to be back, and forward-turning accidents are prevented;
the rear upright post is provided with a spring piece for damping, and the part of the rear upright post where the spring piece is positioned is contacted with the upper beam to provide support in a stair mode;
The mounting frame where the upper beam is arranged is provided with a stair mode horizontal measurement and control pipe, the adjustable seat surface is simultaneously provided with a stair mode safety detection horizontal pipe, and the stair mode horizontal measurement and control pipe and the stair mode safety detection horizontal pipe are of V-shaped structures.
Preferably, in the multifunctional wheelchair, the flat ground walking mode self-locking device comprises a front wheel walking mode locking mechanism, a rear wheel walking mode locking mechanism and a front crawler assembly resetting locking mechanism, wherein the front wheel walking mode locking mechanism comprises a flat ground walking locking reed and a limiting locking plate, wherein the fixed end of the flat ground walking locking reed is arranged on a mounting arm where a front wheel is positioned, and the free end of the flat ground walking locking reed is in plug-in fit with the limiting locking plate arranged on a bottom beam to realize locking and positioning;
The rear wheel walking mode locking mechanism and the front track assembly resetting locking mechanism comprise a steel cable, a rear wheel flat mode safety locking hook, a front track assembly resetting safety locking hook, a bottom beam, a front track locking hook, a locking unlocking block and a locking resetting spring, wherein one end of the steel cable is connected with a mode conversion control rod, the other end of the steel cable penetrates through a rear side connecting shaft of the bottom beam and is sequentially connected with the locking resetting spring, the rear wheel flat mode safety locking hook and the front track assembly resetting safety locking hook, meanwhile, the rear wheel flat mode safety locking hook and the front track assembly resetting safety locking hook are hinged to the bottom beam, the rear wheel flat mode safety locking hook is matched and locked with a boss on a rear upright post, a front end bent hook part of the front track assembly resetting safety locking hook is matched with a front wheel axle of the front track assembly, and a bulge is arranged at the rear end of the front track assembly and is matched with the locking unlocking block arranged on the front track assembly to realize locking or unlocking.
Preferably, in the multifunctional wheelchair, the power unit is a power motor;
The speed change transmission mechanism comprises a clutch gearbox positioned on the rear upright post, wherein a stair speed fixing convex strip, a cross-country speed fixing convex strip, a stair cross-country mode fixing boss, a flat mode fixing boss, a clutch plate and a driving gear which are respectively corresponding to the clutch gearbox are arranged in the clutch gearbox;
The speed change clutch mechanism comprises a switching rod, a speed change wheel connected with a front speed regulation disc and a rear speed regulation disc, a stair speed boss, an off-road speed regulation boss and a tension spring connected to a rear upright post for providing downward pressure for the speed change wheel;
The mode conversion clutch comprises a conversion pressing column, a flat mode clutch switching movable boss, a stair/cross-country mode clutch switching boss, a clutch plate mounting shaft and a tension spring which is fixed on the gearbox and used for providing tension for switching stair modes.
Preferably, in the multifunctional wheelchair, a push wheelchair/electric driving selection knob, a selection cam and a jack post are simultaneously arranged on the bottom beam, wherein the selection cam is rotationally connected to the bottom beam through a wheel shaft, the selection knob is embedded on the wheel shaft, the jack post is embedded on the bottom beam and is positioned right above the selection cam, and the surface of the selection cam is abutted against the lower end face of the jack post;
When the wheelchair is pushed in the flat mode, the cam bulge position of the selection knob in the horizontal state is horizontal, the conversion pressing column and the jacking column are all pressed down under the action of the tension spring to drive the flat mode clutch switching boss and the flat mode fixing convex strip to be separated, so that the corresponding clutch plate is driven to be separated from the driving gear, and the push function is realized;
When electric driving is needed, the hand push wheelchair and the electric driving selection knob are rotated to the vertical state, the conversion pressing and the jacking column are jacked up, so that the flat mode clutch switching boss and the flat mode fixing convex strip are overlapped, the corresponding clutch plate is pushed to be combined with the driving gear, and the electric driving function is realized.
Preferably, in the multifunctional wheelchair, the lower end of the rear upright post is provided with an anti-turning mechanism, the anti-turning mechanism comprises an anti-turning rod, one end of the anti-turning rod is provided with an anti-turning wheel, the other end of the anti-turning rod is provided with a turning driving mechanism, and the end of the anti-turning rod is provided with a folding locking knob;
the turnover driving mechanism comprises a driving gear, a speed changing gear and a speed increasing gear, wherein the speed changing gear and the driving gear are coaxially arranged, the speed increasing gear and the speed changing gear are in matched meshing transmission, and the driving gear and the bottom beam are in matched meshing transmission with each other.
Preferably, in the multifunctional wheelchair, the instantaneous adjuster comprises a cylinder with an opening at one end, an adjusting and damping spring and a triggering magnetic block are arranged in the cylinder, a magnetic control Hall switch is arranged on the surface of the cylinder, the closed end of the cylinder is hinged on the rear crawler assembly, the opening end of the cylinder is slidably sleeved with the end part of the chair surface angle stabilizing adjuster, and the triggering magnetic block is arranged between the damping spring and the end part of the rod-shaped chair surface angle stabilizing adjuster.
Preferably, in the multifunctional wheelchair, the front track assembly comprises a front track inner and outer guard plate, a front track transmission driving gear, a front track transmission pair wheel, a rubber wheel rotating along with the pair wheel, a front track transmission driven wheel and a front track speed regulation disc;
The rear crawler assembly comprises an inner and outer guard plate of a rear crawler, a rear crawler transmission driven wheel and a rear crawler speed regulation disc, wherein two pairs of clutch separation grooves of the front crawler speed regulation disc and the rear crawler speed regulation disc are correspondingly arranged on the guard plate of the crawler relative to the front crawler speed regulation disc and the rear crawler speed regulation disc respectively;
The front and rear caterpillar tracks rotate along with the front and rear caterpillar tracks, when the front caterpillar tracks are horizontal to the ground and the rear caterpillar tracks are retracted and vertical to the ground, the clutch separation grooves of one pair of the speed regulation discs coincide, the speed changing wheels of the speed changing clutch mechanism are clamped in the clutch separation grooves of the pair of speed regulation discs under the action of the tension springs, and the switching rod drives the stair boss and the cross-country boss to separate from the stair fixing convex strips and the cross-country fixing convex strips, so that the front and rear caterpillar tracks are separated from driving;
When the front crawler belt is horizontal to the ground and the rear crawler belt is also horizontal to the ground, the clutch separating grooves of the other pair of speed regulating discs are overlapped, so that the stair boss is separated from the stair fixing convex strips, and the off-road boss is combined with the off-road fixing convex strips to finish the switching of the off-road speed;
when the front crawler belt and the rear crawler belt do not form the conditions, the clutch separation grooves of the two pairs of speed regulation plates are not overlapped, and the speed change wheel is positioned on the periphery of one or both of the front crawler belt speed regulation plate and the rear crawler belt speed regulation plate, so that the stair boss is overlapped with the stair fixing convex strip, and the off-road boss is separated from the off-road fixing convex strip to finish speed switching in a stair mode;
The front end of the front crawler assembly is provided with a pair of deceleration sensors and deceleration triggering magnetic blocks, and the front crawler assembly is matched with electric control to provide settable fixed safety speed when the change of the terrain and the road surface is transited.
Preferably, in the multifunctional wheelchair, the front and rear crawler assemblies are respectively provided with a front auxiliary wheel and a rear auxiliary wheel correspondingly, wherein the extending end of the front auxiliary wheel is hinged with a front auxiliary wheel extension arm and an extension arm extension spring, and meanwhile, the front auxiliary wheel is provided with a damping spring driving block, a forced reset shaft, a front auxiliary wheel extension torsion spring, a front auxiliary wheel damping spring and a front auxiliary wheel corner damping limiting block during flat ground running;
The rear auxiliary wheel comprises a driving wheel, a touch supporting wheel and a driving belt, wherein the driving belt is also provided with an auxiliary supporting wheel, the rear auxiliary wheel is also provided with a rear auxiliary wheel rotating torsion spring, a rear auxiliary wheel adjustable damping spring, a rear auxiliary wheel independent supporting and positioning groove, a rear auxiliary wheel retracting and resetting groove, a rear auxiliary wheel independent supporting and positioning key, a damping spring starting point limiting block and a in-place limiting block, the touch supporting wheel is provided with a pair of magnetic control sensors and magnetic control sensor triggering magnetic blocks, and a matching circuit provides safety alarm prompt and safety protection control;
The transmission belts of the front and rear crawler assemblies are respectively provided with an angle-adjustable crawler auxiliary supporting wheel.
The technical scheme of the invention has the beneficial technical effects that:
The multifunctional wheelchair structurally adopts a variable chair frame structure which keeps the angle of a chair surface unchanged and enables the front and rear high and low positions of the wheelchair to be deformed according to different functions and running requirements, adopts front and rear coaxial driving tracks, front and rear auxiliary wheels, pneumatic telescopic adjusting support rods and an electric regulator which stabilizes the angle of the chair surface to achieve the spanning running of various complex road surface terrains, utilizes different functional characteristics of the wheelchair, adopts a mode conversion clutch and a speed change clutch mechanism to be matched with speed regulation clutch grooves on front and rear track guard plates, automatically controls and achieves the driving requirements of four speeds, namely flat running, stair step running, cross-country beach running and other running and step obstacle excessive speeds when running on different roads and stairs under different modes, and adopts a speed reduction sensor to realize the stable transition of automatic step descending without special operation, thereby improving the safety guarantee.
In addition, the invention structurally adopts a simple mechanical structure and a small number of electrical control components, reduces the production cost, realizes the use function, can meet the requirements of vast users, and is easy to popularize.
In conclusion, the invention greatly improves the action range and travel and independent self-care conditions of handicapped people, inconvenient people and old people, improves the life quality of the handicapped people, reduces the burden of families and society, and has remarkable social benefit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only illustrative of some specific implementations of the present invention and are not intended to limit the scope of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present invention should fall within the scope of the present invention.
Examples
Referring to fig. 1-7, fig. 2-1 and fig. 2-2, the multifunctional wheelchair is characterized in that a normal running seat keeps horizontal (or the front is high and the rear is low by 0-5 degrees and adjustable), a step running is automatically adjusted and kept to a set angle of the front is high and the rear is low (5-10 degrees and adjustable), a front seat surface is provided with a seat frame structure which is formed by a deformable frame with the height being changeable by 0-10cm and the front is moved by 0-40cm, a running mechanism in different modes is formed by a front small wheel, a rear large wheel, a front crawler and a rear crawler, the requirements of different driving functions are met by a power motor, a clutch and a variable speed transmission mechanism, mechanical control of different modes and various running states is achieved by devices such as an electric telescopic regulator, a pneumatic rod, a linkage guide rod, a damping spring, a torsion spring, a reset spring and a limit, an electric regulator for stabilizing the angle of a seat surface, a front and a rear auxiliary wheel, an instantaneous regulator and a level detection tube for completing seat step in different modes and different angles and a seat front and a rear balance regulation support system in different terraces are achieved, a front and rear balance support system in different grades is formed by a front and rear small wheel, a front and rear balance wheel, a front and a rear balance wheel protection system, a front and a rear reset device, a front and a rear balance wheel protection system, a self-locking control system and an auxiliary wheel, a magnetic control system and an automatic control system and a brake control system are formed by a front and a brake control system and a magnetic control system are controlled, and a control system and a magnetic control system are controlled.
Specifically, the distance between the front upright 2 and the lower shaft 205 is about 2cm longer than the distance between the rear upright 3 and the lower shaft 402 (integrated with the clutch gearbox), so that a gradient of 6-8 degrees is formed by the balance adjustment of 5-9 degrees between the front and rear of the seat in the stair mode. The chair has the function of ensuring that the chair surface can be adjusted to the horizontal position when the stair mode is driven, and the front-back unbalance of the gravity center of the chair surface on the steps can be caused by the abrupt change of the weight, the weight ratio of the upper body and the lower body and the sitting posture of a person when the stair mode is driven. Therefore, when switching to the stair mode, the high-back gradient of the front part of the chair surface can prompt the passengers to lie backwards so as to enable the gravity center to be back, and the accident is prevented.
The spring piece 301 of the rear upright 3 provides a vertical stress supporting point for the upper beam 1 of the chair frame when in a stair mode, and increases the stability and shock absorption of the chair frame.
The installation angle of the horizontal measurement and control tube 43 is horizontal around 22 degrees of rotation of the chair frame, so that the main shaft 402 is prevented from being lifted up by the front end of the bottom beam 4 of the chair frame due to the fact that the back end trigger point 432 is too low to enable the stable chair surface angle regulator 8 to extend continuously after entering an automatic balance adjustment program. Having the front trigger point 431 lower than the rear point 432 at around 20 degrees ensures that the rear track 30 will retract into position when transitioning from stair mode to flat mode. And the horizontal angle between the front end 431 and the midpoint of the horizontal tube 43 after the mode conversion is completed cannot be higher than 4 degrees.
The installation angle requirement of the front and rear points of the safety detection horizontal tube 42 in the stair mode is that the front point 421 is higher than the rear point and is not less than 4 degrees and not more than 5 degrees. The function is to first maintain an angle of greater than 1 degree when the angle of the adjustable seat 40 designed for the lie-down and cross-country functions is parallel to the upper beam of the frame. Secondly, when the adjustment is out of control or the sitting posture is changed, the front point 421 is lower than the rear point 422 to give an alarm. The alarm not only reminds the person to lie back quickly, but also interrupts the drive motor 10 and requires manual recovery from the problem.
The anti-turning mechanism 16 and the implementation process are that a driving gear 163 integrated with clutch speed change is taken as a movable tooth to be meshed with a gear 403 fixed on a bottom beam, and the movable tooth rotates around the fixed tooth. When the rotating gear 163 and the speed changing gear 162 which is coaxial with the rotating gear rotate downwards, the speed increasing gear 161 which is meshed with the speed changing gear rotates anticlockwise, and the anti-overturning rod 164 which is fixed on the coaxial is driven to rotate upwards.
The front and rear tracks, the front pneumatic support rod 9, under the control of the chair surface angle stable regulator 8, enables the front track to automatically press on steps or the ground at various angles in a fitting way, and plays a role in supporting the front end of the wheelchair. The rear crawler 30 is mainly supported by the seat angle stable regulator 8 to support the weight of the rear end of the wheelchair, and the rear air supporting rod 17 is supported in an auxiliary manner and plays a role in shock absorption with the spring 123 in the instantaneous regulator. The front and rear auxiliary supporting wheels 25, 35 have small angle adjusting capability, when the crawler belt is pressed on the step angle, the auxiliary wheel of the crawler belt close to the angle rotates to the upper side of the crawler belt due to different stress, and the other auxiliary wheel far away rotates to the lower side of the crawler belt, so that an S-shaped wrap angle is formed on the surface of the crawler belt on the top angle of the step, the wheelchair is prevented from sliding downwards, the running stability of the wheelchair on the step is improved, and the top angle of the step is protected.
Specifically, the front auxiliary wheel has the main function of ensuring that the wheelchair cannot automatically slide down from the steps under any condition. The front auxiliary wheel 23 is forced to be lifted up from the front crawler 20 when the flat ground travel reset shaft 234 is pressed down by the bottom beam 4 when the front crawler is horizontal to the ground, and does not affect its travel on flat ground, beach, grass, and other terrains. When the front crawler belt rotates downwards, the front auxiliary wheel is driven to extend downwards under the action of the front auxiliary wheel extension torsion spring 235, and when no obstacle exists, the damping spring driving block 233 touches the starting point of the damping block and then performs corresponding action according to the upper step or the lower step.
Specifically, the main function of the rear auxiliary wheel is that when the rear auxiliary wheel goes up to the last step, the rear section of the track 30 loses the supporting point, the wheelchair gradually loses balance and suddenly turns backward, and when the rear track shaft of the rear auxiliary wheel 32 is 15 cm to 18cm away from the ground, the rear auxiliary wheel independent supporting groove 326 is clamped in the rear auxiliary wheel independent supporting key 331 under the action of the rear auxiliary wheel stretching torsion spring 325, the contact supporting wheel 324 supports the smooth transition, and the wheelchair can adapt to the change of the step stably. Secondly, when the wheelchair descends the step, the rear auxiliary wheel and the ground contact supporting wheel 324 are hooked to the step under the action of the rear auxiliary wheel adjustable damping spring 333, so that the wheelchair does not slide downwards and plays a role in smooth transition.
Specifically, the speed regulating mechanism consists of a clutch gearbox 13, a speed change clutch mechanism 15 and front and rear crawler outer guard plates 21 and 31 which are connected with one end of a main shaft 402 and are respectively provided with speed regulating discs 27 and 37.
The speed regulation plates 27 and 37 rotate along with the front and rear tracks 20 and 30, when the front track is horizontal to the ground and the rear track is retracted and vertical to the ground, the speed regulation plate clutch separating grooves 271 and 371 are overlapped, the speed change wheel 152 of the speed change clutch mechanism 15 is clamped in the speed regulation plate clutch separating grooves 271 and 371 under the action of the tension spring 155, the switching rod 151 drives the stair boss 153 and the cross-country boss 154 to be separated from the stair fixing convex strip 131 and the cross-country fixing convex strip 132 to separate the clutch plates, so that the front and rear tracks are separated from driving.
When the front crawler 20 is horizontal to the ground and the rear crawler 30 is also horizontal to the ground, the clutch release grooves 272 and 372 of the speed regulation plates are overlapped, so that the stair boss 153 is separated from the stair fixing convex strips 131 to drive the clutch plates to be separated, and the off-road boss 154 is combined with the off-road fixing convex strips 132 to drive the clutch plates to be engaged, so that the off-road speed is switched.
When the front and rear tracks do not form the above condition, the speed plate clutch release grooves 271, 371 and 272, 372 do not coincide, the speed change wheel 152 is necessarily located on the outer periphery of one or both of the front and rear speed plates 27 and 37, so that the stair boss 153 overlaps with the stair fixing convex strip 131 to push the clutch plate to be engaged, and the off-road boss 154 is separated from the off-road fixing convex strip 132 to drive the clutch plate to be separated, thereby completing the speed switching in the stair mode.
Specifically, the mode switching clutch comprises a mode switching clutch 14 in the clutch gearbox 13, a switching pressure column 141, a jack column in the chair frame bottom beam 4, a hand push wheelchair, an electric drive selection knob 405, a selection cam 406 and the like.
In the flat ground running mode, when the wheelchair is pushed by the flat ground mode, the protruding part of the cam 406 in the horizontal state is selected to be horizontal, the push button 141 and the top post 407 are converted and pressed under the action of the tension spring 145, the flat ground mode clutch switching boss 142 and the flat ground mode fixing convex strip 134 are driven to be separated, and the clutch plate is driven to be separated from the driving gear, so that the push function is realized. In this state, although the stair off-road mode switching boss 143 overlaps the stair mode fixing protruding bar, the off-road boss 154, the stair boss 153 and the fixing protruding bars 131 and 132 in the speed change clutch and mechanism are in a separated state, so that even if the motor 10 is started by mistake, only the clutch gearbox internal gear idles, and no accident is caused.
When electric driving is needed, the hand push wheelchair and the electric driving selection knob 405 are rotated to the vertical state by selecting the cam 406, and the conversion pressing 141 and the jacking 407 are jacked up, so that the flat mode clutch switching boss 142 and the flat mode fixing convex strip 134 are overlapped, and the clutch plate is pushed to be combined with the driving gear, thereby realizing the electric driving function.
When the clutch gearbox 13 is horizontally separated from the bottom beam 4 in the stair or off-road mode, the conversion pressing 141 is pressed to the bottom under the action of the tension spring 145, the flat mode clutch conversion movable boss 142 and the flat mode fixing boss 134 are separated, and the stair, off-road mode clutch switching boss 143 and the stair off-road mode fixing boss 133 are overlapped, so that the mode conversion clutch is in the stair mode.
Specifically, when the last step is finished, the instantaneous regulator makes the front and rear balance points of the wheelchair uncertain and the ground clearance of the rear auxiliary wheel 32 uncertain due to different angles of the stair steps and the ground, and the larger the angle is, the larger the ground clearance of the rear auxiliary wheel 32 is. The wheelchair turns backwards after passing the balance point, and the adjustment length of the seat and the rear caterpillar is limited by the adjustment speed of the seat angle stable adjuster 8 and cannot be adjusted instantaneously, so that the wheelchair turns backwards at a large angle to cause unsafe feeling. The instantaneous regulator 12 is used for quickly prolonging about 1-3 cm under the action of the spring 123 in the regulator 12 and the rear pneumatic stay bar 10 when the rear track of the wheelchair loses the supporting point to reach the moment of overturning backwards, so that the rear auxiliary wheel can reach a smooth transition in time and realize soft landing.
Specifically, the speed reduction sensor is triggered to forcedly reduce the running speed of the wheelchair to 2-5cm per second, and is automatically delayed for 10 seconds to release after being triggered.
When the multifunctional wheelchair is particularly used, at least three modes of functions of A and flat ground modes, B and stair modes and C and off-road modes can be realized.
1. The floor type electric wheelchair has the functions of common hand pushing and electric wheelchair, and is suitable for running on indoor and outdoor floors and small-gradient slopes.
2. The stair mode is that the operation panel is provided with stair keys, and the mode is mainly that the front and rear tracks change along with the change of the gradient of the steps, so that the seat is always kept in a balanced state. The stair is suitable for independently operating the steps with the angle not more than 40 degrees, and can be used for coping with stair steps with various angles indoors and outdoors. This mode may also be in progress to get rid of and surmount road obstacles.
3. The off-road mode is that the operation panel is provided with an off-road key (the same stair mode is only needed to retract the rear auxiliary wheels manually), and the front and rear tracks and the ground are horizontal and automatically shifted to a high-speed gear in the off-road mode. Mainly runs on the beach, grasslands, ice and snow and muddy roads.
The mode switching process during specific running of the invention is as follows:
1. Conversion of flat ground to stairs mode (with the attached figures 1 and 2-1)
The device mainly comprises a mode switching rod 7, a balance chair surface angle stabilizing regulator 8 and a horizontal measurement and control tube 11. When the mode is switched, the rear auxiliary wheel retracting reset groove 327 is pulled out from the independent supporting and positioning key 331, otherwise (the magnetic control sensor triggers the magnetic block 329 and the magnetic control sensor 311 to coincide) alarm and stop switching.
And in the switching process, a stair mode operation key is pressed, and the mode switching rod 7 is started to retract and the seat angle stable regulator 8 is started to extend. The mode switching rod 7 retracts to pull the steel cable 191 of the self-locking device 19 to drive the rear large wheel safety lock 29 and the front crawler belt reset lock 28 to unlock, the chair frame rear upright post 3, the chair frame upper beam 1, the rear large wheel 6, the clutch transmission 13 and the rear crawler belt 30 rotate backwards by taking the main shaft 402 as the center, and simultaneously drive the chair frame front upright post 2 and the front small wheel 5 to rotate by taking the front upright post and the bottom beam connecting shaft 205 as the center until the mode switching rod 7 triggers the self-bring retraction limit switch to finish the switching process when 45-50 degrees are reached.
The state after the stair mode conversion is completed:
The conversion rod 7 is retracted in place, the self-locking shock absorber 19 is pulled out, the front crawler safety lock 28 and the rear wheel safety lock 29 are unlocked, the stress of the reed 301 in the rear upright 3 is dispersed and lightened, the supporting force of the conversion rod 7 is relieved, the self-locking mechanism of the conversion rod 7 is protected, and meanwhile, the shock absorption function in the mode is achieved.
The front crawler 20 is horizontal to the ground, the forced return shaft 234 is forced to return when the front auxiliary wheel 23 runs on the flat ground, the independent support positioning groove 326 of the rear auxiliary wheel 32 is positioned in the positioning key 311, and the rear crawler 30 has an included angle of about 20 degrees with the ground.
2. The stair mode is converted into a flat mode (with the attached figures 2 and 2-2)
The push-flat mode switching rod 7 extends out, the wheelchair frame and related components rotate forwards, the seat angle stable regulator 8 carries out automatic balance control along with the change of the push-flat mode switching rod until the center of gravity of the seat is positioned forward after passing through the front and rear balance points, when the midpoint of the front point of the horizontal measurement and control pipe 43 is positioned horizontally, the rear crawler belt 30 is taken away from the supporting point, the horizontal measurement and control pipe 43 is not controlled by the expansion and contraction of the seat angle stable regulator 8 any more, the mode is switched to about 20 degrees, and the front point 431 is always lower than the midpoint 433, so that the seat angle stable regulator 8 can only retract until the touch limit switch 11 stops. The mode switching rod 7 is pressed by the limit switch and the limit damping rubber block of the front upright post, and the front small wheel 5 and the locking reed 501 are locked, so that the mode switching is completed. At this time, the spring in the self-locking shock-absorbing protection 19 is pressed back and simultaneously releases the control steel cable 191 for the reset safety of the rear wheel and the front crawler, and the front crawler safety lock 28 and the rear wheel safety lock 29 are in a safety locking state under the action of the locking reset spring 17.
3. Off-road mode conversion (with reference to fig. 3):
When the off-road mode key is pressed, the stow reset groove 327 of the rear auxiliary wheel 32 should be manually locked in the positioning key 331, and the magnetic control sensor 311 and the magnetic control trigger magnetic block 329 are at the same position. Otherwise, alarming and stopping conversion.
4. Lying function (preventing front stay from lifting up main shaft and raising up)
The rear auxiliary wheel take-up groove 327 of the rear auxiliary wheel 32 is manually locked in the positioning key 331 so that the magnetic control sensor 311 overlaps the magnetic control trigger magnetic block 329. The off-road mode is selected, the adjustable temporary adjustable deck 38 is adjusted horizontally or at a selected angle, and the chair back 46 is adjusted to the appropriate angle. Whether in stair mode or off-road mode, the rider must first step on the flat upturned stop lever of the main shaft 402 to lock the bottom beam 4 with the front track when leaving the chair. (the weight is lightened when people leave, the rear end of the front crawler belt, namely the main shaft, is forced to arch upwards to lift the chair surface under the action of the front air supporting rod 9, and the inconvenience is caused to the reuse of the dwarf people.) the power supply is required to be turned off when the wheelchair is used, and the wheelchair is prevented from being moved when the wheelchair is touched by mistake.
Referring to fig. 1-7 and fig. 2-1, 2-2, the control process in the specific running process of the present invention is as follows:
1. The normal road running on the flat ground (see figure 1) is the same as that of a common electric wheelchair.
2. Stair step travel (see fig. 2, 2-1, 2-2):
a. The rear auxiliary wheel independent supporting groove 326 is clamped in the positioning key 331 when the platform is converted, the ground contact wheel 324 is driven by the driving belt 34 to rotate in the same direction as the wheelchair, the rear auxiliary wheel 326 is moved out of the wheelchair 331 when the auxiliary supporting wheel 323 touches the platform, the rear auxiliary wheel 32 rotates in the opposite direction when encountering resistance, and rotates in the same direction under the action of the rotating torsion spring 325 when not using resistance (the elasticity only enables the rear auxiliary wheel to freely extend out and slide to the rear auxiliary wheel independent supporting positioning key 331 when being free of obstacles and be clamped), so that the resistance is little affected when the platform is lifted. Each step rear auxiliary wheel can be gradually pressed to the front step and then gradually extended backwards after passing through the step, so that the safety guarantee is provided for the wheelchair. The stable regulator 8 of the chair surface angle adjusts the horizontal state of the chair surface along with the change of the step angle. The front auxiliary wheel 23 and the rear auxiliary wheel 32 are matched with each other on the step to play a role in safety guarantee.
When the stair mode is switched by leaning on the step, the wheelchair can go up the step only by pulling the operating lever backwards.
B. Up to the last step (see fig. 2-1) the rear track rises stepwise above the ground and the rear auxiliary wheels extend to be caught by the rear auxiliary wheel independent support positioning keys 331. The wheelchair is smoothly transited to the flat ground under the action of the pneumatic support rod 10 behind the rear auxiliary wheel 32 instantaneous regulator 12 after passing the balance point according to the weight and sitting posture of the person.
C. Continuously ascending steps, repeating a and b. The steering platform is large, the steering rod is utilized to change the direction when the stair is changed and the stair is driven on the same level ground, one side or two sides of the front small wheel can be folded to reduce the length of the wheelchair when the steering platform is small, and the mode can be firstly converted into the mode of adjusting the angle and then converted into the stair mode when the steering platform is too small.
D. When the step is completed, the corresponding mode is converted according to the use.
E. the lower step (the lower step is required to move the retracting reset groove 327 of the rear auxiliary wheel out of the independent supporting and positioning key 331 of the rear auxiliary wheel for unlocking in any way)
After the stair mode is converted, the control rod is pushed to drive forward to the step, and when the front crawler driven wheel 223 approaches the edge of the step, the front crawler stretches out downwards to form a front auxiliary wheel 23 together with the front auxiliary wheel under the action of the front pneumatic supporting rod 9. The current track triggering magnet 211 triggers the wheelchair driving motor to decelerate, and at this time, if the body weight is too light, the front track stretches downwards to drive the wheelchair to suddenly move forward to touch the rubber wheel 222 rotating along with the paired wheels, and the wheelchair is forced to buffer backwards (prevent excessive forward stroke) due to the opposite rotating direction of the wheel 222, so that the safety of passengers is ensured, and the wheelchair is slowly transited to the step under the cooperation of the track and the seat angle stability adjuster 8 along with the forward movement of the wheelchair.
F. The downward driving safety guarantee is that the structure of the front and rear caterpillar support auxiliary wheels forms a wrap angle for the top angle of the step, the damping action of the front and rear auxiliary wheels, the recess at the joint of the front and rear caterpillar and the lowering and backward movement of the gravity center of the wheelchair, and the safety horizontal monitoring pipe designed for the structure is added, so that the deceleration design of the transition section provides multiple safety guarantees for the wheelchair.
G. The final step is reached (see fig. 2-2) in which the angle between the front track and the ground gradually decreases, the extension arm 231 of the front auxiliary wheel gradually presses down forward by about 15 degrees, the forced return shaft 234 touches the bottom beam by about 10 degrees, and the front auxiliary wheel gradually returns to the position above the track as the angle decreases. When the rear track 30 passes over the edge of the rearmost step, the damping spring starting block of the rear auxiliary wheel 32 turns the torsion of the damping spring 325 to near the limit, so that the ground contact supporting wheel 324 of the rear auxiliary wheel can hang the step to make the rear track land slowly.
H. Continuously descending steps, repeating the items e and g.
J. And the rear auxiliary wheel is upwards arched upwards due to the design of the angle when the contact supporting wheel 324 contacts the step to be blocked, so that the wheelchair can be in a step-up state. If the person is too heavy, it will not be possible to do so, and it will be necessary to switch from the new mode.
3. Off-road mode driving instructions (see fig. 3):
The beach, grassland, ice and snow and muddy road are driven, the mode is the same as the stair mode, but the retracting reset groove 327 of the rear auxiliary wheel is pushed into the independent supporting and positioning key 331 to be locked, otherwise, the alarm is given to stop driving. When the front and rear crawler belts are horizontal to the ground, the speed regulation plates 272 and 372 overlap, the stair speed fixing convex strip 131 and the stair speed boss 153 are separated, and the off-road speed fixing convex strip 132 and the off-road speed boss 154 overlap, so that the clutch transmission 15 is adjusted to the speed of the off-road mode.
The seat angle is adjustable by a hand wheel 412 in the adjuster 41. In this mode the safety level monitor tube 42 is closed.
4. The crossing capability of the obstacle (see figure 4) is that the width is not less than 60cm (the obstacle can bear the rolling of left and right tracks), such as a threshold, a trunk, steps, curbs and the like, the height and the length of which are not more than 30cm, and the obstacle with the length less than 25cm and the ditch with the width not more than 35cm can cross and travel.
Obstacle surmounting operation, namely, the rear crawler is close to an obstacle, an off-road mode is selected (the wheelchair automatically moves forward when the mode is switched when the rear crawler is too close to the obstacle), the operation control rod slowly runs in sequence (the process is the same as the last step), and the wheelchair main shaft 402 is suspended and does not sink due to the combined action of the front air stay fixing part, the mode switching electric rod 7, the seat angle stability adjuster 8 and the rear telescopic adjusting rod 17. The rubber roller 454 or the rubber block 452 of the front pedal 45 plays a supporting role when the front crawler drives away from the obstacle, and the front crawler extends downwards at the moment and also passes through the sensor 18 and the speed reduction process of the magnetic block 211, so that the safety is ensured. After the front crawler ground contact foot pedal 45 leaves the obstacle, the seat angle stability adjuster 8 for sinking the front end of the chair adjusts the balance, and the front crawler and the rear crawler slowly and horizontally contact the ground to finish the crossing. When the front crawler passes through the ditch, the front crawler passes through the ditch first and the front crawler locking hooks 39 are used for locking the front ends of the crawlers 20 in a stepping mode, so that the front ends of the crawlers are prevented from extending downwards.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.