Disclosure of Invention
The invention aims to provide an intelligent control obstacle crossing wheelchair and an obstacle crossing method, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
An intelligent control obstacle crossing wheelchair comprises a wheelchair body, wherein a plurality of groups of driving wheels are arranged on the wheelchair body;
the balancing weight is arranged at the bottom of the wheelchair body and can change the gravity center position of the wheelchair body through movement;
The guide assembly is connected with the balancing weight and can drive the balancing weight to move along the advancing or retreating direction of the wheelchair body;
The switching pieces are symmetrically provided with two groups and are arranged on the guide assembly, and the two groups of switching pieces are matched with the jogged wheels arranged on the guide assembly to guide the movement direction of the balancing weight;
The detection mechanism is arranged on the wheelchair body and comprises a detection component and a differential component, the differential component is connected with the switching piece, and the detection component can drive the differential component to drive the switching piece to act when the wheelchair body leans forwards or leans backwards.
As a further scheme of the invention: four groups of downward supporting legs are formed on the wheelchair body, the inside of each supporting leg is of a hollow structure, a telescopic arm is slidably arranged in each supporting leg, one end of each telescopic arm is connected with the driving wheel, and the other end of each telescopic arm is connected with a cylindrical spring arranged in each supporting leg;
the telescopic arm is connected with the balancing weight through the triggering component, and the triggering component can drive the telescopic arm in the movement direction of the balancing weight to move towards the inside of the supporting leg when the balancing weight moves to the end of the stroke.
As still further aspects of the invention: two groups of side plates are symmetrically arranged on the wheelchair body, and a second cross rod is arranged between the two groups of side plates;
The trigger assembly comprises a sliding sleeve which is arranged on the second cross rod in a sliding manner and connected with the balancing weight and a trigger piece connected with the telescopic arm, the sliding sleeve is provided with a trigger wheel in a rotating manner, the trigger wheel is matched with the third inclined surface formed on the trigger piece, and the telescopic arm can be driven to move towards the cylindrical spring.
As still further aspects of the invention: the guide assembly comprises a sliding groove arranged on the side plate, a sliding block is arranged in the sliding groove in a sliding mode, one end of the sliding block is connected with a first horizontal rod which is horizontally arranged, and a sheave detachably arranged on the side portion of the balancing weight is in rolling fit with the first horizontal rod;
The other end of the sliding block is connected with an electric telescopic rod arranged on the side plate;
the guide assembly further includes a guide plate disposed between the two sets of side plates.
As still further aspects of the invention: two groups of inclined grooves are symmetrically arranged on the guide plate, and turning parts are formed at the connecting positions of the two groups of inclined grooves;
The jogging wheel penetrates through the first cross rod and is in rolling fit with the inclined groove.
As still further aspects of the invention: the upper end part of the switching piece is provided with a first inclined surface and a second inclined surface, and the first inclined surface can guide the embedded wheel to move into one group of inclined grooves;
The switching piece is provided with a connecting part which is in sliding connection with the guide piece arranged on the guide plate.
As still further aspects of the invention: the detection assembly comprises a vertical rod rotatably arranged on the wheelchair body, a counterweight ball is arranged at the end part of the vertical rod, an angle sensor is arranged on the vertical rod, and the output end of the angle sensor is connected with a connecting rod;
the detection assembly further comprises a vertical plate arranged on the wheelchair body, the vertical plate is provided with a storage groove along the length direction of the vertical plate, and a protruding shaft arranged on the connecting rod can slide in the storage groove.
As still further aspects of the invention: the differential assembly comprises a rotary rod rotatably mounted on the guide plate, two ends of the rotary rod are respectively rotatably provided with a connecting rod, and one end of the connecting rod, which is far away from the rotary rod, is rotatably connected with the switching piece;
the rotating shaft of the rotating rod is connected with the rotating shaft of the vertical rod through a belt.
An obstacle surmounting method of the intelligent control obstacle surmounting wheelchair comprises the following steps:
When the wheelchair body is in a backward leaning state, the detection assembly can detect the state of the wheelchair body and drive the switching piece to ascend through the differential assembly, and when the detection assembly detects that the wheelchair body is backward leaning to the limit value, the detection assembly controls the guide assembly to act, so that the balancing weight can move towards the advancing direction of the wheelchair body, the balancing weight at one side of the advancing direction of the wheelchair body is increased, and when the balancing weight moves to the stroke end, the triggering assembly drives the telescopic arm to move towards the inside of the supporting leg, so that the backward leaning degree of the wheelchair body is reduced;
When the wheelchair body is in a forward tilting state, the detection assembly can detect the state of the wheelchair body and drive the other switching piece to ascend through the differential assembly, and when the detection assembly detects that the wheelchair body is forward tilted to the limit value, the guide assembly is controlled to act, so that the balancing weight can move towards the backward direction of the wheelchair body, the balancing weight on one side of the backward direction of the wheelchair body is increased, and when the balancing weight moves to the stroke end, the trigger assembly drives the telescopic arm to move towards the supporting leg, so that the forward tilting of the wheelchair body is reduced.
Compared with the prior art, the invention has the beneficial effects that:
Through the guide assembly, when the wheelchair body leans forwards or leans backwards due to road surface obstacles, the position of the balancing weight can be switched, and the balancing weight is added to one side of the wheelchair body with a tilting trend, so that the gravity center of the wheelchair body is changed, the wheelchair body is prevented from being overturned, and the running safety of the wheelchair body on a non-paved road surface is improved;
Through the detection mechanism and the switching piece, when the wheelchair body inclines, the vertical rod can deflect relative to the wheelchair body, so that the corresponding switching piece is driven to act, when the inclination detected by the angle sensor reaches a preset value, the electric telescopic rod can be actively triggered to act, when the balancing weight and the embedding wheel move downwards, the embedding wheel can be guided into the corresponding inclined groove, so that the balancing weight of the wheelchair body is changed, the position of the balancing weight is adjusted through linkage, the inclination of the wheelchair body can be quickly corrected, and the stability of the wheelchair body in the moving process is improved;
Through the trigger assembly that sets up, can make when the wheelchair body slope, the drive wheel is lifted, and makes the wheelchair body change towards horizontal trend, avoids leading the inclination increase to lead to the toppling because the wheelchair body is in the tilt state when improving the comfort level of taking.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, an element in the present disclosure may be referred to as being "fixed" or "disposed" on another element or being directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1 to 9, in the embodiment of the invention, an intelligent control obstacle crossing wheelchair comprises a wheelchair body 1, a balancing weight 8, a guiding assembly, a switching piece 12 and a detection mechanism, so that when the wheelchair body 1 is inclined, a vertical rod 17 can deflect relative to the wheelchair body 1 so as to drive the corresponding switching piece 12 to act, when the inclination detected by an angle sensor 19 reaches a preset value, an electric telescopic rod 7 can be actively triggered to act, when the balancing weight 8 and an embedded wheel 10 move downwards, the embedded wheel 10 can be guided into a corresponding inclined groove 1101, thereby changing the balance weight of the wheelchair body 1, and the two can quickly rectify the inclination of the wheelchair body 1 by adjusting the position of the balancing weight 8 in a linkage manner, thereby improving the stability of the wheelchair body 1 in the movement process.
The method comprises the following steps: the wheelchair comprises a wheelchair body 1, wherein a plurality of groups of driving wheels are arranged on the wheelchair body 1, in particular, four groups of downward opening supporting legs 101 are formed on the wheelchair body 1, the inside of each supporting leg 101 is of a hollow structure, a telescopic arm 2 is slidably arranged in each supporting leg 101, one end of each telescopic arm 2 is connected with each driving wheel, and the other end of each telescopic arm is connected with a cylindrical spring 3 arranged in each supporting leg 101, so that when a user takes the wheelchair, when the user encounters slight ground bulges or recesses to cause vibration, the vibration can be effectively buffered and filtered, and the riding comfort is improved;
The balancing weight 8 is arranged at the bottom of the wheelchair body 1, and the gravity center position of the wheelchair body 1 can be changed by moving the balancing weight 8;
The guide component is connected with the balancing weight 8, and can drive the balancing weight 8 to move along the advancing or retreating direction of the wheelchair body 1;
the guide assembly comprises a chute 401 arranged on the side plate 4, a sliding block 5 is slidably arranged in the chute 401, one end of the sliding block 5 is connected with a horizontal cross rod 6, grooved wheels 9 detachably arranged on the side part of the balancing weight 8 are in rolling fit with the horizontal cross rod 6, further, the grooved wheels 9 are in a group, the upper surface and the lower surface of the horizontal cross rod 6 can be clamped, so that when the horizontal cross rod 6 is lifted, the balancing weight 8 can be driven to lift, and meanwhile, the grooved wheels 9 are at least provided with two groups, so that the balancing weight 8 can be lifted or lowered horizontally;
the other end of the sliding block 5 is connected with an electric telescopic rod 7 arranged on the side plate 4;
The guide assembly further comprises a guide plate 11 arranged between the two groups of side plates 4, two groups of inclined grooves 1101 are symmetrically arranged on the guide plate 11, and turning parts are formed at the connecting positions of the two groups of inclined grooves 1101, and the width of the turning parts is larger than that of the inclined grooves 1101;
the jogging wheel 10 penetrates the first cross bar 6 and is in rolling fit with the inclined groove 1101.
In the initial state, the action end of the electric telescopic rod 7 is in an extended state, and drives the first cross rod 6 to be positioned at the upper end part of the sliding groove 401, meanwhile, the embedded wheel 10 is positioned at the turning part position of the two groups of inclined grooves 1101, the balancing weight 8 is positioned in the middle of the stroke of the embedded wheel, the gravity center of the wheelchair body 1 is centered, and the balancing weight 8 has the correction capability on the forward tilting and backward tilting of the wheelchair body 1.
When the wheelchair leans forward or leans backward, the action end of the electric telescopic rod 7 is recovered and drives the sliding block 5 to move downward along the length direction of the sliding groove 401, the first cross rod 6, the balancing weight 8 and the embedded wheel 10 also move downward, and enter one of the inclined grooves 1101 under the action of one of the switching pieces 12, so that the balancing weight 8 can move along the length direction of the inclined groove 1101 when moving downward, and then the balancing weight 8 is driven to move along the length direction of the first cross rod 6, so that the gravity center position of the wheelchair body 1 in the state is changed, the forward or leaned backward of the wheelchair body 1 is corrected, and the wheelchair body 1 is prevented from being overturned.
It is worth noting that when the wheelchair body 1 leans forward, the balancing weight 8 moves towards the backward direction of the wheelchair body 1, and the balancing weight at the rear part of the wheelchair body 1 is added, so that the gravity center of the wheelchair body 1 moves backward to prevent the wheelchair body 1 from tilting forward due to the forward tilting, and when the wheelchair body 1 leans backward, the balancing weight 8 can move in the direction to prevent the wheelchair body 1 from tilting backward, so that the safety of the wheelchair body 1 when the wheelchair body passes over an enlarged roadblock to cause the forward tilting or the backward tilting is greatly improved.
Through the arrangement, when the wheelchair body 1 leans forward or leans backward due to road surface barriers, the position of the balancing weight 8 can be switched, and the balancing weight is added to one side of the wheelchair body 1 with a tilting trend, so that the gravity center of the wheelchair body 1 is changed, the wheelchair body 1 is prevented from overturning, and the running safety of the wheelchair body 1 on a non-paved road surface is improved.
Referring to fig. 3, 5, 6 and 8, the switching pieces 12 are symmetrically provided with two groups and are mounted on the guiding assembly, and the two groups of switching pieces 12 cooperate with the engaging wheels 10 provided on the guiding assembly to guide the movement direction of the balancing weight 8;
A first inclined surface 1201 and a second inclined surface 1202 are formed at the upper end of the switching member 12, and the first inclined surface 1201 can guide the movement of the engaging wheel 10 into one of the inclined grooves 1101;
The switching piece 12 is provided with a connecting part which is in sliding connection with a guide piece 13 arranged on the guide plate 11;
The detection mechanism is arranged on the wheelchair body 1 and comprises a detection component and a differential component, the differential component is connected with the switching piece 12, and the detection component can drive the differential component to drive the switching piece 12 to act when the wheelchair body 1 tilts forwards or tilts backwards
The detection assembly comprises a vertical rod 17 rotatably mounted on the wheelchair body 1, a counterweight ball 18 is arranged at the end part of the vertical rod 17, an angle sensor 19 is mounted on the vertical rod 17, and a connecting rod 20 is connected to the output end of the angle sensor 19;
the detection assembly further comprises a vertical plate 22 mounted on the wheelchair body 1, the vertical plate 22 is provided with a retaining groove 2201 along the length direction, and a protruding shaft 21 arranged on the connecting rod 20 can slide in the retaining groove 2201;
The differential assembly comprises a rotary rod 15 rotatably mounted on the guide plate 11, two ends of the rotary rod 15 are rotatably provided with a connecting rod 14 respectively, and one end of the connecting rod 14 away from the rotary rod 15 is rotatably connected with the switching piece 12;
The rotating shaft of the rotating rod 15 is connected with the rotating shaft of the vertical rod 17 through a belt 16.
In the initial state, the heights of the two switching pieces 12 are lower than the height of the first inclined groove 1101, at this time, the wheelchair body 1 is in an initial horizontal state, the vertical rod 17 is in a state perpendicular to the riding surface of the wheelchair body 1 under the action of the counterweight balls 18, when the wheelchair body 1 is reclined, the wheelchair body 1 is inclined, at this time, the vertical rod 17 is still in a vertical state, the vertical rod 17 is deflected relative to the wheelchair body 1, at this time, the rotating shaft of the vertical rod 17 drives the rotating rod 15 to rotate through the belt 16, one end of the rotating rod 15 moves upwards, the other end moves downwards, and the corresponding switching piece 12 is pulled to move through the two connecting rods 14, specifically, the switching piece 12 in the retreating direction of the wheelchair body 1 moves downwards, and at the same time, when the vertical rod 17 rotates relative to the wheelchair body 1, the protruding shaft 21 slides in the accommodating groove 2201, so that the connecting rod 20 drives the input end of the angle sensor 19 to rotate to generate a numerical value, and as the wheelchair body 1 continues to incline, when the inclination detected by the angle sensor 19 reaches a preset value, the first inclined surface 1201 on the switching piece 12 in the backward direction of the wheelchair body 1 is just coplanar with the lower side wall of the inclined groove 1101 in the forward direction of the wheelchair body 1, at the same time, the angle sensor 19 controls the electric telescopic rod 7 to act so as to drive the first cross rod 6 to move downwards, during the process, the embedded wheel 10 also moves downwards, and when the embedded wheel is abutted with the first inclined surface 1201, the embedded wheel 10 is guided into the inclined groove 1101 in the forward direction of the wheelchair body 1, and then the first cross rod 6 continues to descend, so that the balancing weight 8 can move continuously towards the forward direction of the wheelchair body 1, and the weight of the wheelchair body 1 in the advancing direction is increased, the gravity center position of the wheelchair body 1 is changed, and the overturning is prevented.
Conversely, when the wheelchair body 1 is tilted forward, the switching piece 12 in the forward direction of the wheelchair body 1 moves upward, and when the first rail 6 moves downward, the fitting wheel 10 is guided to move along the inclined groove 1101 in the backward direction of the wheelchair body 1, thereby increasing the weight in the backward direction of the wheelchair body 1.
It should be noted that, the driving device may be installed on the wheelchair body 1 to drive the rear wheel, so as to realize external power driving of the wheelchair body 1, and improve riding comfort, at this time, if the wheelchair body 1 suddenly stops at a relatively high speed, the weight ball 18 will move forward under the action of inertia, so that the vertical rod 17 deflects relative to the wheelchair body 1, and the movement trend is the same as that of the wheelchair body 1 in the forward tilting state, i.e. under the sudden braking condition, the wheelchair also has the effects of stabilizing the center of gravity and preventing the overturning.
Through the arrangement, when the wheelchair body 1 inclines, the vertical rod 17 can deflect relative to the wheelchair body 1, so that the corresponding switching piece 12 is driven to act, and when the inclination detected by the angle sensor 19 reaches a preset value, the electric telescopic rod 7 can be actively triggered to act, when the counterweight 8 and the jogged wheel 10 move downwards, the jogged wheel 10 can be guided into the corresponding inclined groove 1101, so that the counterweight of the wheelchair body 1 is changed, the position of the counterweight 8 is regulated by linkage, the inclination of the wheelchair body 1 can be quickly corrected, and the stability of the wheelchair body 1 in the movement process is improved.
Referring to fig. 4,6 and 9, the telescopic arm 2 is connected to the balancing weight 8 through a trigger assembly, and the trigger assembly can drive the telescopic arm 2 in the moving direction of the balancing weight 8 to move towards the inside of the supporting leg 101 when the balancing weight 8 moves to the end of the stroke.
Two groups of side plates 4 are symmetrically arranged on the wheelchair body 1, and a second cross bar 25 is arranged between the two groups of side plates 4;
the trigger assembly comprises a sliding sleeve 26 which is arranged on the second cross rod 25 and connected with the balancing weight 8, and a trigger piece 28 which is connected with the telescopic boom 2, wherein a trigger wheel 27 is rotatably arranged on the sliding sleeve 26, the trigger wheel 27 is matched with a third inclined plane 2801 formed on the trigger piece 28, the telescopic boom 2 can be driven to move towards the cylindrical spring 3, in detail, a sliding connecting frame 24 is arranged on the sliding sleeve 26, and the sliding connecting frame 24 is in sliding connection with a connecting sleeve 23 arranged on the balancing weight 8.
When balancing weight 8 will move to the stroke end, it will drive trigger wheel 27 and No. three inclined plane 2801 butt, and at balancing weight 8 continuous motion's in-process, trigger wheel 27 can with No. three inclined plane 2801 cooperation and drive telescopic arm 2 towards the inside motion of landing leg 101, and make wheelchair body 1 have the drive wheel of wandering trend one side to be lifted (balancing weight 8 also has wandering trend one side to be moved towards wheelchair body 1 this moment), this side drive wheel can hug closely ground under balancing weight 8's gravity effect this moment, thereby make wheelchair body 1 can move towards the horizontality, avoid because wheelchair body 1 is in the incline state when user's limb removal guide inclination increases, lead to the toppling.
After the front or rear driving wheel of the wheelchair body 1 passes over the obstacle, the wheelchair body 1 will tilt reversely, the vertical rod 17 will deflect reversely with respect to the wheelchair body 1 at this time, the switching piece 12 in the forward direction of the wheelchair body 1 will be at a high point of travel, the angle sensor 19 will control the electric telescopic rod 7 to move reversely, the engaging wheel 10 will move reversely, and the telescopic arm 2 will be reset, at this time the horizontal vertical rod 17 of the wheelchair body 1 will be re-perpendicular to the seating surface of the wheelchair body 1 to be able to correct the deviation again when the wheelchair body 1 tilts next time.
In this embodiment, the traversing of the weight 8, the shrinking of the telescopic arm 2 will be performed in sequence, in the sense that: the driving wheel can be lifted after the gravity center is shifted, so that the driving wheel always keeps touching the ground, if the transverse movement of the balancing weight 8 and the contraction of the telescopic arm 2 are synchronously carried out, the gravity center is possibly not shifted in place, the driving wheel lifts the wheel and is suspended, then after the gravity center is shifted in place, the driving wheel is smashed to the ground, so that a user is thrown out, namely, the driving wheel and the telescopic arm are carried out step by step, and the safety during use is improved.
Through the arrangement, when the wheelchair body 1 is inclined, the driving wheel is lifted, the wheelchair body 1 is changed towards the horizontal trend, and when the wheelchair body 1 is in an inclined state, the user limb movement guiding inclination degree is increased to avoid overturning while the riding comfort is improved.
An obstacle surmounting method of the intelligent control obstacle surmounting wheelchair comprises the following steps:
When the wheelchair body 1 is in a backward leaning state, the detection component can detect the state of the wheelchair body 1 and drive the switching piece 12 to ascend through the differential component, and when the detection component detects that the wheelchair body 1 is backward leaning to a limit value, the detection component controls the guide component to act so that the balancing weight 8 can move towards the advancing direction of the wheelchair body 1, the balancing weight on one side of the advancing direction of the wheelchair body 1 is increased, and when the balancing weight 8 moves to the stroke end, the trigger component drives the telescopic arm 2 to move inwards towards the supporting leg 101 so as to reduce the backward leaning degree of the wheelchair body 1;
When the wheelchair body 1 is in a forward tilting state, the detection component can detect the state of the wheelchair body 1 and drive the other switching piece 12 to ascend through the differential component, and when the detection component detects that the wheelchair body 1 is forward tilted to the limit value, the detection component controls the guide component to act, so that the balancing weight 8 can move towards the backward direction of the wheelchair body 1, the balancing weight on one side of the backward direction of the wheelchair body 1 is increased, and when the balancing weight 8 moves to the stroke end, the trigger component drives the telescopic arm 2 to move towards the supporting leg 101, so that the forward tilting of the wheelchair body 1 is reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.