CN106176077A - A walking device for a six-wheel drive wheelchair - Google Patents

Abstract

The invention relates to a traveling device of a six-wheel-drive wheelchair, which comprises a support frame for supporting a seat and two traveling mechanisms respectively arranged on the left side and the right side of the support frame, wherein each traveling mechanism comprises a first traveling wheel, a second traveling wheel, a third traveling wheel, a driving shaft, a transmission mechanism and a driving mechanism, the driving mechanism is arranged on the support frame, the driving shaft is rotatably arranged on the driving mechanism or the support frame, the driving mechanism drives the driving shaft to rotate, and the driving shaft drives the first traveling wheel, the second traveling wheel and the third traveling wheel to synchronously rotate through the transmission mechanism. The two traveling mechanisms are respectively arranged on the left side and the right side of the support frame, each traveling mechanism comprises three traveling wheels, each traveling wheel is a driving wheel and has the traveling driving capacity, so that the wheelchair has strong cross-country and stair climbing capacity, the two traveling mechanisms are driven and controlled independently, the functions of advancing, retreating, left-right turning, in-situ steering and the like of the wheelchair are realized, the wheelchair is operated by a single person, and the traveling is convenient and flexible.

Description

A walking device for a six-wheel drive wheelchair

technical field

The invention relates to a walking mechanism of a wheelchair, which belongs to the technical field of wheelchairs, in particular to a walking device of a six-wheel drive wheelchair.

Background technique

A wheelchair is a tool that provides mobility assistance to people with walking disabilities. The current electric wheelchairs generally have the following types:

Electric star wheel wheelchair: There are active wheels composed of 3 star wheels, 4 star wheels, 5 star wheels, etc., or other auxiliary wheels. It is only suitable for going up and down stairs, and sometimes it needs help from others, and it is not convenient to walk on flat roads; because the position of the star wheel is fixed, there are certain requirements for the size of the steps, and the applicable surface is narrow.

Electric pure crawler wheelchair: It can go up and down stairs, and can also walk on flat ground. It has strong cross-country ability, but it has high cost and fragile crawlers, so it has not yet been popularized in large quantities.

Ordinary electric wheelchair: Generally, it is driven by 2 wheels or 4 wheels. It usually walks on flat ground, can pass through obstacles that are not too large, and is not easy to go up and down stairs.

Electric hybrid wheelchair: This wheelchair has two sets of walking mechanisms. When walking on flat ground, the wheels are used. When going up and down stairs, the wheels are raised, and the crawler walking mechanism is lowered to climb stairs; on the contrary, when walking on flat ground, the crawler walking mechanism is raised, and the wheel walking mechanism is lowered. walk. This kind wheelchair has complex structure, high cost, and is difficult to popularize and apply.

Mounted wheelchair: A commonly used manual wheelchair, a small electric crawler chassis is placed underneath and fixed, and another person needs to control the crawler movement to go up and down the stairs, which is extremely inconvenient.

Among the above-mentioned several kinds of wheelchairs, some still need to sit in a wheelchair when going up the stairs.

Contents of the invention

In order to solve the existing problems of the above-mentioned wheelchair, the present invention provides a walking device for a six-wheel drive wheelchair capable of going up and down stairs and cross-country walking on roads.

In order to achieve the above object, the present invention provides a walking device for a six-wheel drive wheelchair, which includes a support frame supporting the seat, and is characterized in that it also includes two walking mechanisms respectively arranged on the left and right sides of the support frame. The traveling mechanism includes a first traveling wheel, a second traveling wheel, a third traveling wheel, a driving shaft, a transmission mechanism and a driving mechanism. The mechanism drives the driving shaft to rotate, and the driving shaft drives the first traveling wheel, the second traveling wheel and the third traveling wheel to rotate synchronously through the transmission mechanism.

In the walking device of the six-wheel drive wheelchair provided by the present invention, two walking mechanisms are arranged on the left and right sides of the support frame respectively, and each walking mechanism includes three walking wheels, each of which is a driving wheel and has the ability to drive and walk, so that the wheelchair It has a strong ability to cross-country and go up and down stairs. The two walking mechanisms are driven and controlled independently to realize the functions of the wheelchair such as forward, backward, left and right turns, and in-situ steering. The wheelchair is operated by a single person, and the walking is convenient and flexible.

Further, the traveling mechanism also includes a double-wheel bracket, which can rotate around the axis of the driving shaft, and the first road wheel and the second road wheel are rotatably arranged on the double-wheel bracket. The third traveling wheel is arranged on the support frame, the transmission mechanism includes a first transmission mechanism and a second transmission mechanism, and the driving shaft drives the first traveling wheel and the second traveling wheel to rotate synchronously through the first transmission mechanism, so The driving shaft drives the third road wheel to rotate through the second transmission mechanism. When going up and down stairs or walking on uneven roads, the double-wheel bracket can rotate around the axis of the drive shaft to adjust the position, ensuring that the three running wheels of the walking mechanism are all in contact with the road surface, and the stair climbing ability is stronger and the walking is more stable.

Description of drawings

Fig. 1 is a schematic diagram of the main view direction structure of Embodiment 1;

Fig. 2 is the top view structural schematic diagram of embodiment one;

Fig. 3 is a state diagram when embodiment one goes up the stairs;

Fig. 4 is another state diagram when embodiment one goes up the stairs;

Fig. 5 is a state diagram when embodiment goes down stairs;

Fig. 6 is another state diagram when going down stairs in the embodiment.

Fig. 7 is a schematic structural diagram of the main view direction of the second embodiment;

FIG. 8 is a schematic view of the top view of the second embodiment.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

detailed description

Embodiment one

Referring to Fig. 1 and Fig. 2, the running device of the six-wheel drive wheelchair includes a support frame 1 supporting the seat and two running mechanisms, and the two running mechanisms are respectively arranged on the left and right sides of the support frame 1. Each traveling mechanism comprises a double-wheel support 3, a first traveling wheel 21, a second traveling wheel 22, a third traveling wheel 23, a driving shaft 4, a transmission mechanism and a driving mechanism. The driving mechanism is arranged on the support frame 1 and includes a motor 7 , a reducer 8 and a transmission 9 , and the motor 7 drives the driving shaft 4 to rotate through the reducer 8 and the transmission 9 in sequence. The motor 7 is preferably a DC motor, and the reducer 8 is preferably a worm gear reducer. The worm gear reducer has a large transmission ratio, a compact structure, and self-locking reverse rotation. safety and comfort. The drive shaft 4 is rotatably mounted on the case of the transmission 9, and may also be mounted on the support frame 1.

The outer side of driving shaft 4 is provided with axle sleeve, and double-wheel support 3 is connected with axle sleeve as a whole, and double-wheel support 3 can rotate around the axis of driving shaft 4. The first traveling wheel 21 and the second traveling wheel 22 are rotatably arranged on the dual-wheel support 3 . The transmission mechanism includes a first transmission mechanism and a second transmission mechanism, and the driving shaft 4 drives the first traveling wheel 21 and the second traveling wheel 22 to rotate synchronously through the first transmission mechanism. The diameters of the first road wheel 21 and the second road wheel 22 are equal, and the first road wheel 21 and the second road wheel 22 rotate synchronously and at the same speed. The first transmission mechanism includes a duplex driving wheel 53 , a first chain 54 , a first sprocket 51 and a second sprocket 52 . The duplex drive wheels 53 are coaxially arranged on the drive shaft 4 and rotate together with the drive shaft 4 . The first sprocket 51 is coaxially arranged on the rotating shaft of the first traveling wheel 21 to drive the first traveling wheel 21 to rotate together. The second sprocket 52 is coaxially arranged on the rotating shaft of the second traveling wheel 22 to drive the second traveling wheel 22 to rotate together. The first chain 54 meshes with the duplex driving wheel 53, the first sprocket 51 and the second sprocket 52, and the duplex driving wheel 53 drives the first walking by the first chain 54, the first sprocket 51 and the second sprocket 52. The wheel 21 and the second road wheel 22 rotate synchronously together. The two-wheel support 3 can rotate around the axis of the driving shaft 4. When going up and down stairs or walking on uneven roads, the two-wheel support can rotate according to the road conditions to adjust the positions of the first road wheels 21 and the second road wheels 22, ensuring that the first road wheels 21 and the second road wheels 22 Both the first road wheel 21 and the second road wheel 22 are in contact with the road surface, so the driving ability is strong, the stair climbing ability is stronger, and the walking is more stable.

Referring to Fig. 1, a tensioning wheel 55 is also provided on the double-wheel support 3, and the tensioning wheel 55 is engaged with the first chain 54, and presses the first chain 54 to the duplex drive wheel 53 and the first sprocket 51, and tensions Wheel 55 can not only improve the wrap angle of duplex driving wheel 53 and first sprocket 51, but also can tension first chain 54, so that the transmission of the first transmission mechanism is more reliable and stable.

Referring to FIG. 1 and FIG. 2 , the third traveling wheel 23 is arranged on the support frame 1 . The second transmission mechanism includes a driving wheel 63 , a third sprocket 61 and a second chain 62 . The driving wheel 63 is coaxially arranged on the driving shaft 4 and rotates together with the driving shaft 4 . The third sprocket 61 is coaxially arranged on the rotating shaft of the third traveling wheel 23 and drives the third traveling wheel 23 to rotate together. The second chain 62 meshes with the driving wheel 63 and the third sprocket 61 , and the driving wheel 63 drives the third traveling wheel 23 to rotate through the second chain 62 and the third sprocket 61 . Since the duplex driving wheel 53 and the driving wheel 63 are coaxially arranged with the driving shaft 4 and rotate synchronously with the driving shaft 4, the first road wheel 21, the second road wheel 22 and the third road wheel 23 also rotate synchronously. The diameter of the third traveling wheel 23 is equal to the diameter of the first traveling wheel 21 and the second traveling wheel 22, and the three traveling wheels rotate synchronously at the same speed, so that the wheelchair's cross-country and stair-climbing capabilities are stronger.

Referring to Fig. 2, the double driving wheel 53 and the driving wheel 63 are arranged on both sides of the double wheel bracket 3 respectively, the double driving wheel 53 is outside the double wheel bracket 3, and the driving wheel 63 is inside the double wheel bracket 3, which just The first transmission mechanism and the second transmission mechanism are respectively arranged on both sides of the double-wheel support 3, and the two transmission mechanisms drive independently without interfering with each other, and have a more compact structure.

Referring to Fig. 3, when the wheelchair is going up the stair step, three traveling wheels of the traveling mechanism rotate along the direction shown by the arrow in the figure, and the first traveling wheel 21 and the second traveling wheel 22 have been on the steps, and the third traveling wheel 23 has also On level ground, now two-wheel support 3 rotates with the axis of drive shaft 4 as the center, and three road wheels all fall on the ground and contact with the ground. Referring to Fig. 4, the stair steps have basically been walked, the first traveling wheel 21 and the second traveling wheel 22 have climbed up the floor, and the third traveling wheel 23 is still on the steps, at this moment the two-wheel support 3 is driven by the axis of the driving shaft 4 Adjusted position for pivoting.

Referring to Fig. 5, when the wheelchair is descending the stairs, the first traveling wheel 21 has descended to the first step, the second traveling wheel 22 and the third traveling wheel 23 are still on the floor. The axis is centered and rotated to adjust the position. Referring to Fig. 6, the first traveling wheel 21 and the second traveling wheel 22 first walked down the stairs and stepped on the floor, and the third traveling wheel 23 was still on the last step. Center rotation adjusts the position. Going forward again, promptly returns to the level road walking state (shown in Figure 1).

Embodiment two

In the second embodiment, the double-wheel bracket 3 of the first embodiment is removed, and the three walking wheels are all directly arranged on the support frame 1, which is called a fixed type in this specification, and the walking device of a fixed six-wheel drive wheelchair is also used. Can realize stair climbing and road surface walking, but stair climbing ability is not as good as embodiment one. Its transmission mechanism can be in other forms, and the second embodiment is only a simpler one of the various forms.

Referring to Fig. 7 and Fig. 8, the running device of the six-wheel drive wheelchair in this embodiment includes a support frame 1 supporting the seat and two running mechanisms, and the two running mechanisms are arranged on the left and right sides of the support frame 1 respectively. Each traveling mechanism includes a first traveling wheel 21, a second traveling wheel 22, a third traveling wheel 23, a driving shaft 4, a transmission mechanism and a driving mechanism. The driving mechanism is arranged on the support frame 1 and includes a motor 7 , a reducer 8 and a transmission 9 , and the motor 7 drives the driving shaft 4 to rotate through the reducer 8 and the transmission 9 in turn. The motor 7 is preferably a DC motor, and the reducer 8 is preferably a worm gear reducer. The worm gear reducer has a large transmission ratio, a compact structure, and self-locking reverse rotation. safety and comfort. Drive shaft 4 is installed on the casing of speed changer 9, also can be installed on support frame 1.

The first traveling wheel 21 , the second traveling wheel 22 and the third traveling wheel 23 are arranged on the supporting frame 1 , and the diameters of the three traveling wheels are equal, and they are arranged at the same height position of the supporting frame 1 . The transmission mechanism includes a first driving wheel 57 , a first chain 54 , a first sprocket 51 , a second sprocket 52 , a third sprocket 61 , a fourth sprocket 64 and a second chain 62 . The first driving wheel 57 is coaxially arranged on the driving shaft 4 and rotates together with the driving shaft 4 . The first sprocket 51 is coaxially arranged on the rotating shaft of the first traveling wheel 21 to drive the first traveling wheel 21 to rotate together. The second sprocket 52 and the fourth sprocket 64 are duplex sprockets, which are coaxially arranged on the rotating shaft of the second traveling wheel 22 to drive the second traveling wheel 22 to rotate together. The third sprocket 61 is coaxially arranged on the rotating shaft of the third traveling wheel 23 to drive the third traveling wheel 23 to rotate together. The first chain 54 meshes with the first driving wheel 57, the first sprocket 51 and the second sprocket 52, the second chain 62 meshes with the third sprocket 61 and the fourth sprocket 64, and the first driving wheel 57 passes through the first The chain 54, the first sprocket 51 and the second sprocket 52 drive the first traveling wheel 21 and the second traveling wheel 22 to rotate at the same speed synchronously, and pass through the second chain 62, the third sprocket 61 and the fourth sprocket 64 Drive the third traveling wheel 23 to rotate synchronously together, and three traveling wheels rotate synchronously and at the same speed together.

Referring to Fig. 7, a tensioning wheel 55 is also provided on the support frame 1, and the tensioning wheel 55 is engaged with the first chain 54, and the first chain 54 is pressed to the first driving wheel 57 and the first sprocket 51, and the tensioning wheel 55 can not only increase the wrap angle of the first driving wheel 57 and the first sprocket 51, but also can tension the first chain 54, so that the transmission of the transmission mechanism is more reliable and stable.

In the walking device of the six-wheel drive wheelchair provided by the present invention, two walking mechanisms are arranged on the left and right sides of the support frame respectively, and each walking mechanism includes three walking wheels, each of which is a driving wheel and has the ability to drive and walk, so that the wheelchair It has a strong ability to cross-country and go up and down stairs. The two walking mechanisms are driven and controlled independently to realize the functions of the wheelchair such as forward, backward, left and right turns, and in-situ steering. The wheelchair is operated by a single person, and the walking is convenient and flexible.

Claims (9)

1. a walking device of a six-wheel drive wheelchair, comprising a support frame (1) supporting a seat, characterized in that, it also includes two walking mechanisms respectively arranged on the left and right sides of the support frame (1), the walking The mechanism includes the first road wheel (21), the second road wheel (22), the third road wheel (23), the driving shaft (4), the transmission mechanism and the driving mechanism, and the driving mechanism is arranged on the support frame (1), and the driving mechanism The shaft (4) is installed on the driving mechanism or the support frame (1), the driving mechanism drives the driving shaft (4) to rotate, and the driving shaft (4) drives the first road wheel (21) and the second road wheel (22) through the transmission mechanism Rotate synchronously with the 3rd traveling wheel (23). 2. The walking device of the six-wheel drive wheelchair according to claim 1, characterized in that, the running mechanism also includes a double-wheel support (3), and the double-wheel support (3) can be around the driving shaft (4) The axis rotates, the first road wheel (21) and the second road wheel (22) are rotatably arranged on the double-wheel support (3), and the third road wheel (23) is arranged on the support frame (1 ), the transmission mechanism includes a first transmission mechanism and a second transmission mechanism, and the drive shaft (4) drives the first road wheel (21) and the second road wheel (22) to rotate synchronously through the first transmission mechanism, so The drive shaft (4) drives the third road wheel (23) to rotate through the second transmission mechanism. 3. The walking device of the six-wheel drive wheelchair according to claim 2, characterized in that, the first transmission mechanism comprises a double drive wheel (53), a first chain (54), a first sprocket (51) and Second sprocket (52), described second transmission mechanism comprises driving wheel (63), the 3rd sprocket (61) and second chain (62), duplex driving wheel (53) and driving wheel (63) are the same Axially arranged on the driving shaft (4), the first sprocket (51) is coaxially arranged on the rotating shaft of the first road wheel (21), and the second sprocket (52) is coaxially arranged with the second road wheel (22 ) on the rotating shaft, the first chain (54) meshes with the duplex driving wheel (53), the first sprocket (51) and the second sprocket (52), and the third sprocket (61) is coaxially arranged with the third On the rotating shaft of road wheel (23), second chain (62) is meshed with driving wheel (63) and the 3rd chain wheel (61). 4. The walking device of a six-wheel drive wheelchair according to claim 3, characterized in that, the dual driving wheels (53) and driving wheels (63) are respectively arranged on both sides of the double wheel bracket (4). 5. The walking device of the six-wheel drive wheelchair according to claim 1, characterized in that, the first traveling wheel (21), the second traveling wheel (22) and the third traveling wheel (23) are arranged on the support on the rack (1). 6. The walking device of the six-wheel drive wheelchair according to claim 5, characterized in that, the transmission mechanism comprises a first driving wheel (57), a first chain (54), a first sprocket (51), a second Sprocket (52), the 3rd sprocket (61), the 4th sprocket (64) and the second chain (62), the first drive wheel (57) is coaxially arranged on the drive shaft (4), the first The sprocket wheel (51) is coaxially arranged on the rotating shaft of the first road wheel (21), and the second sprocket wheel (52) and the fourth sprocket wheel (64) are coaxially arranged on the rotating shaft of the second road wheel (22), The third sprocket (61) is coaxially arranged on the rotating shaft of the third road wheel (23), the first chain (54) and the first driving wheel (57), the first sprocket (51) and the second sprocket ( 52) engagement, the second chain (62) is engaged with the third sprocket (61) and the fourth sprocket (64). 7. The walking device of the six-wheel drive wheelchair according to any one of claims 1 to 6, characterized in that, the drive mechanism comprises a motor (7), a speed reducer (8) and a speed changer (9), and the motor (7) The drive shaft (4) is driven to rotate through a reducer (8) and a transmission (9) in sequence, and the reducer (8) is a worm gear reducer. 8. The walking device of the six-wheel drive wheelchair according to claim 7, characterized in that, the diameters of the first traveling wheel (21), the second traveling wheel (22) and the third traveling wheel (23) are equal. 9. the walking device of six-wheel drive wheelchair according to claim 4, is characterized in that, said two-wheel support (3) is also provided with tension pulley (55), tension pulley (55) and first chain ( 54) engagement, the first chain (54) is pressed to the duplex driving wheel (53) and increases the wrap angle of the duplex driving wheel (53).