CN110169880A - A kind of combined type self-balancing electric wheel chair and its application method - Google Patents

Abstract

The invention discloses a composite self-balancing electric wheelchair and a using method thereof. The crawler-type stair-climbing wheelchairs currently on the market have problems such as troublesome replacement of crawler tracks, inflexibility in turning in narrow corridors, and problems such as people sitting higher in the process of climbing stairs, which affects safety. The invention relates to a composite self-balancing electric wheelchair, which comprises a chair frame, a balanced traveling module, a crawler chassis module, a seat leveling module, a rear support wheel module and a control module. The balance travel module includes a balance wheel bracket and a balance wheel. The crawler chassis module includes a rotary shaft, a turning shaft, a motor mounting frame, a track adjustment electric lever and two single-side track assemblies. The seat leveling module includes a backrest main body, a cushion main body, a first gear, a rack and a leveling drive assembly. The present invention adopts the way of rear-end leveling in the process of climbing stairs, which can effectively reduce the center of gravity in the process of climbing stairs and improve safety. In the present invention, an auxiliary part for removing the belt is designed in the crawler chassis module, which can greatly simplify the replacement efficiency of the crawler belt.

Description

A compound self-balancing electric wheelchair and its use method

technical field

The invention belongs to the technical field of electric wheelchairs, and in particular relates to a composite self-balancing electric wheelchair.

Background technique

With the increasing aging of our country, the elderly with inconvenient legs and feet are gradually increasing, and the disabled population caused by traffic accidents, production accidents and natural disasters has increased year by year in recent years, and the two account for a certain proportion of the population structure.

In the residential buildings of daily life, most of the low-rise buildings are not equipped with elevators and other upstairs facilities, and the existing climbing tools on the market have various deficiencies, so it is necessary for the elderly and disabled people with inconvenient legs and feet to go upstairs every day. very difficult.

In order to solve this problem, stair-climbing wheelchairs of many different structures have appeared on the domestic and foreign markets, which can be divided into three categories: crawler type, planetary wheel type, and walking type according to structural classification.

There are many crawler-type applications. During the process of climbing stairs, the crawler continuously touches the convex corners of the steps, and each convex corner is approximately on a straight line. Therefore, it can be regarded as a crawler crawling on a plane slope, and because the crawler has anti-slip stripes, It can effectively prevent sliding, so that the track has the characteristics of reliable and stable operation. However, there are many defects in the crawler-type stair-climbing wheelchairs currently on the market, such as troublesome crawler replacement, inflexible turning in narrow corridors, and problems such as people sitting higher during the climbing process, which affects comfort.

The main feature of the planetary wheel stair-climbing wheelchair is that the wheels have two modes, the mode of walking on flat ground and the mode of climbing stairs.

Due to the different specifications of the stairs, the planetary wheel type is difficult to adapt to all kinds of stairs with different heights, and it climbs alternately during the climbing process, which inevitably produces fluctuations, which affects the stability and safety of the stairs.

At present, there are few walking styles in the market. Although they have stable climbing and flexible activities, due to the walking style, the mechanical mechanism and circuit control are relatively complicated and expensive so that they are difficult to promote. In summary, there is an urgent need in the market for an electric stair-climbing wheelchair that operates smoothly and safely, walks flexibly, feels good and is cheap.

Contents of the invention

The object of the present invention is to provide a composite self-balancing electric wheelchair and its usage method.

The invention relates to a composite self-balancing electric wheelchair, which comprises a chair frame (1), a balanced traveling module (2), a crawler chassis module (3), a seat leveling module (4) and a rear support wheel module (5). The balanced travel module (2) includes a balance wheel bracket (2-1) and a balance wheel (2-2). Two balance wheels (2-2) are respectively installed on the two ends of the balance wheel support (2-1). The crawler chassis module (3) includes a rotary shaft (3-1), a turning shaft (3-2), a motor mounting frame (3-3), a crawler adjustment electric lever (3-4) and two single-side crawler components. The one-sided crawler assembly includes crawler frame (3-5), traveling pulley (3-6), auxiliary pulley (3-7), tensioning pulley (3-8), tensioning rod frame (3-9) , a belt removal frame (3-10), a synchronous crawler belt (3-11), a belt removal adjustment assembly, a first distance measuring sensor (3-12) and a crawler belt drive assembly. Two traveling pulleys (3-6) are respectively supported on the two ends of the crawler frame (3-5). One of the track pulleys (3-6) is driven by the track drive assembly.

The inner end of the belt removal frame (3-10) and one end of the track frame (3-5) constitute a revolving pair. The unwinding frame (3-10) is driven to turn over by the unwinding adjustment assembly. The outer end support of the belt removal frame (3-10) is equipped with the belt removal auxiliary wheel (3-7). The synchronous track (3-11) walks around the auxiliary pulley (3-7) and two traveling pulleys (3-6). The inner end of the tension rod frame (3-9) and the middle part of the crawler frame (3-5) form a revolving pair through the tension shaft. A torsion spring is sheathed on the tensioning shaft. The two ends of the torsion spring are respectively fixed with the tension rod frame (3-9) and the crawler frame (3-5). The tensioning wheel (3-8) is supported on the outer end of the tensioning rod frame (3-9), and pushes against the outer surface of the synchronous crawler belt (3-11). The first ranging sensor (3-12) is fixed on the bottom of the crawler frame (3-5) near the end of the belt removal frame (3-10), and is arranged outwards. The rotary shaft (3-1), the turning shaft (3-2) and the motor mounting frame (3-3) are all arranged between the two unilateral track assemblies, and are connected with the crawler frames (3 -5) Fixed. The shell of crawler track adjustment electric lever (3-4) is hinged with the middle part of balance wheel support (2-1), and the ejection lever and turning shaft (3-2) constitute a revolving pair. The balance wheel support (2-1) and the rotary shaft (3-1) constitute a revolving pair.

The chair frame (1) is composed of a bottom frame (1-1) and a mounting frame (1-2) fixed together. The bottom frame (1-1) is fixed with the rotary shaft (3-1) and the turning shaft (3-2). Both side plates of the installation frame (1-2) are provided with pitch adjustment slide grooves (1-3). A gyroscope is installed on the chair frame (1).

The seat leveling module (4) comprises a backrest main body (4-1), a cushion main body (4-2), a first gear (4-3), a rack (4-4) and a leveling drive assembly. The cushion main body (4-2) comprises a cushion plate, a first leveling and sliding shaft (4-8), a second leveling and sliding shaft (4-9) and a cushion connecting rod (4-10). Four seat cushion connecting rods (4-10) are arranged at intervals in turn, and one end forms a rotating pair with the first leveling and sliding shaft (4-8), and the other end and the second leveling and sliding shaft (4-9) fixed. The bottom surface of the cushion board is fixed with each cushion connecting rod (4-10).

Wherein two cushion connecting rods (4-10) are all fixed with slide rails (4-12). A T-shaped chute is provided on the slide rail (4-12). The top support of the chair frame (1) has two coaxially arranged rollers. The two rollers are respectively arranged in the T-shaped chute of the two slide rails (4-12). The two ends of the first leveling and sliding shaft (4-8) respectively pass through the pitch adjustment slide grooves (1-3) on the two side plates of the installation frame (1-2). A rack (4-4) is fixed on the mounting frame (1-2). The first gear (4-3) is fixed on the first leveling and sliding shaft (4-8), and the first gear (4-3) meshes with the rack (4-4). The first leveling slide shaft (4-8) is driven by a leveling drive assembly.

The backrest main body (4-1) comprises a backrest board, a backrest rotating shaft (4-15), a backrest connecting rod (4-11) and a backrest overturning rod (4-7). The backrest rotating shaft (4-15) is supported on the top of the bottom frame (1-1). Backrest plate and backrest rotating shaft (4-15) are fixed. The fixing of the inner end of the backrest turning bar (4-7) and the backrest rotating shaft (4-15). One end of the backrest connecting rod (4-11) is hinged with the outer end of the backrest overturning lever (4-7), and the other end forms a revolving pair with the second leveling and sliding shaft (4-9).

The back support wheel module (5) includes a support wheel shaft (5-1), a support rod (5-2), a back support wheel (5-3), a second ranging sensor (5-4) and a back support electric Rods (5-5). The inner end of the support rod (5-2) and the bottom frame (1-1) form a revolving pair. Support rod (5-2) is driven by back support electric rod (5-5). The middle part of the support wheel shaft (5-1) is fixed with the outer end of the support rod (5-2). Back support wheel (5-3) is supported on the support wheel shaft (5-1). The second ranging sensor (5-4) is fixed on the support rod (5-2) and faces the rear support wheel (5-3).

Further, the tape removal adjustment assembly includes a tape removal push rod (3-13), a tape removal sliding shaft (3-14), a threaded cylinder (3-15), a threaded shaft (3-16), a first Bevel gear (3-17), second bevel gear (3-18), resistance spring (3-19) and take off belt rotating shaft (3-20). The crawler frame (3-5) is provided with a belt removal chute (3-21). The stripping sliding shaft (3-14) passes through the stripping chute (3-21). One end of two strip push rods (3-13) and the two ends of strip slip shaft (3-14) constitute revolving pairs respectively, and the other end and the both sides of strip frame (3-10) are respectively hinged. One end of the threaded cylinder (3-15) and the middle part of the strip sliding shaft (3-14) constitute a revolving pair. The external thread on the threaded shaft (3-16) and the internal thread on the threaded barrel (3-15) constitute a helical pair. Threaded shaft (3-16) is supported on the track frame (3-5). The first bevel gear (3-17) is fixed on the threaded shaft (3-16). Stripping rotating shaft (3-20) is supported on the crawler frame (3-5). The second bevel gear (3-18) is fixed on the stripping rotating shaft (3-20). The first bevel gear (3-17) meshes with the second bevel gear (3-18). The resistance spring (3-19) is sleeved on the strip-removing rotating shaft (3-20), and the two ends are against the second bevel gear (3-18) and the crawler frame (3-5) respectively. The outer end of the belt removal rotating shaft (3-20) is provided with an inner hexagonal hole.

Further, the rear supporting wheel (5-3), the belt removal frame (3-10) and the backrest board are located on the same side of the balance wheel bracket (2-1). Pedal (4-5) is positioned at the other side of balance wheel support (2-1).

Further, the track drive assembly includes a sprocket (3-23), a chain (3-24) and a track drive motor (3-22). Two sprocket wheels (3-23) and the output shaft of crawler belt drive motor (3-22), wherein a traveling pulley (3-6). The two sprockets (3-23) are connected by a chain (3-24). The crawler drive motor (3-22) is fixed on the motor mounting frame (3-3).

Further, the leveling drive assembly includes a second gear (4-13) and a leveling motor (4-14). Leveling motor (4-14) is fixed on the bottom of cushion main body (4-2). Two second gears (4-13) are respectively fixed with the output shaft of the leveling motor (4-14) and the first leveling and sliding shaft (4-8).

Further, a hub motor is fixed inside the balance wheel (2-2). The output shafts of the two hub motors are respectively fixed to the two ends of the balance wheel bracket (2-1).

Further, the seat leveling module (4) further includes a foot pedal (4-5) and a foot pedal connecting rod (4-6). The tops of the two pedal connecting rods (4-6) are respectively fixed with the two cushion connecting rods (4-10) positioned at the outside, and the bottom ends are respectively fixed with the two ends of the pedals (4-5). Pedal (4-5) is parallel with cushion board.

Further, the cushion body (4-2) also includes armrests. The two handrails are respectively arranged on both sides of the cushion board and fixed with the cushion board.

The use method of the composite self-balancing electric wheelchair includes a method of driving on flat ground and a method of climbing steps.

The method of driving on flat ground is as follows:

When driving on flat ground, the gyroscope detects its own spatial pose and transmits it to the controller. The controller controls the rotation of the hub motors in the two balance wheels (2-2), so that the cushion board is continuously close to the horizontal state. At this time, if the user's center of gravity leans forward or shakes the control handle forward, the two balance wheels (2-2) drive the balance wheel bracket (2-1) to move forward; handle, then two balance wheels (2-2) drive the balance wheel support (2-1) to move backward.

The steps to climb are as follows:

Step 1. When a step appears in the direction of travel, the user controls the movement of the balance wheel bracket (2-1) to a state where his back faces the step;

Step 2, the user controls the balance wheel bracket (2-1) to move backward. When the synchronous track (3-11) touches the step, the track adjustment electric lever (3-4) is pushed out, and the two track drive assemblies respectively drive the traveling pulleys (3-6) in the two single-side track assemblies to rotate synchronously , so that the two crawler frames (3-5) turn over around the rotary shaft (3-1), the crawler belts (3-11) move synchronously, the balance wheel (2-2) is suspended, and the chair frame (1) moves upward along the steps. Simultaneously, the leveling driving assembly drives the cushion board and the backrest board to turn over, so that the cushion board continuously maintains a horizontal state.

Step 3. When the distances detected by the two first distance measuring sensors (3-12) both reach the first threshold, the back support electric rod (5-5) is pushed out until the second distance measuring sensor (5-4) detects After the distance reaches the second threshold, the back support electric rod (5-5) stops moving.

The beneficial effects that the present invention has are:

1. The present invention adopts the rear-end leveling method in the process of climbing stairs, which can effectively reduce the center of gravity in the process of climbing stairs and improve safety.

2. In the present invention, an auxiliary part for removing the belt is designed in the crawler chassis module, which can greatly simplify the replacement efficiency of the crawler belt.

3. The present invention adopts two-wheel balance when driving on flat ground, and can run freely between corridors.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention when driving on flat ground;

Fig. 2 is a schematic diagram of the overall structure of the present invention when climbing steps;

Fig. 3 is a schematic diagram of the combination of the balanced traveling module, the crawler chassis module and the rear support wheel module in the present invention;

Fig. 4 is the schematic diagram of crawler chassis module in the present invention;

Fig. 5 is a partially enlarged view of part A in Fig. 4;

Fig. 6 is the schematic diagram of seat leveling module in the present invention;

Fig. 7 is a state diagram of driving on level ground of the present invention;

Fig. 8 is a state diagram when the present invention begins to climb steps;

Fig. 9 is a state diagram in the process of climbing steps of the present invention;

Fig. 10 is a state diagram of the present invention when it reaches the top of the step.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

As shown in Figures 1, 2 and 3, a compound self-balancing electric wheelchair includes a chair frame 1, a balanced travel module 2, a crawler chassis module 3, a seat leveling module 4, a back support wheel module 5 and a control module 6 . The balanced travel module 2 includes a balance wheel bracket 2-1 and a balance wheel 2-2. Two balance wheels 2-2 are installed on the two ends of the balance wheel support 2-1 respectively. A wheel hub motor is fixed in the balance wheel 2-2. The output shafts of the two hub motors are respectively fixed to the two ends of the balance wheel bracket 2-1.

As shown in Figures 3, 4 and 5, the crawler chassis module 3 includes a rotary shaft 3-1, an overturning shaft 3-2, a motor mounting frame 3-3, a crawler adjustment electric rod 3-4 and two single-side crawler assemblies. The single-side track assembly includes track frame 3-5, traveling pulley 3-6, belt removal auxiliary wheel 3-7, tensioner wheel 3-8, tension rod frame 3-9, belt removal frame 3-10, synchronous track 3-11, the belt removal adjustment assembly, the first distance measuring sensor 3-12 and the crawler belt drive assembly. Two traveling pulleys 3-6 are respectively supported on the two ends of the track frame 3-5. The inner end of strip frame 3-10 and an end of crawler frame 3-5 constitute revolving pair. The outer end support of strip holder 3-10 is equipped with strip auxiliary wheel 3-7. The circular synchronous crawler belt 3-11 walks around the auxiliary pulley 3-7 and two traveling pulleys 3-6. The first ranging sensor 3-12 is fixed on the bottom of the crawler frame 3-5 near the end of the belt removal frame 3-10, and is arranged outwards. The first ranging sensor 3-12 is used to detect whether the crawler chassis module 3 has climbed to the top of the step.

The belt removal adjustment assembly includes a belt removal push rod 3-13, a belt removal sliding shaft 3-14, a threaded cylinder 3-15, a threaded shaft 3-16, a first bevel gear 3-17, a second bevel gear 3-18, Resistance spring 3-19 and stripping rotating shaft 3-20. The both side plates of crawler frame 3-5 offer belt removal chute 3-21. Stripping slip shaft 3-14 passes stripping chute 3-21. One end of two stripping push rods 3-13 and the two ends of stripping slip shaft 3-14 constitute revolving pairs respectively, and the other end and the both sides of stripping frame 3-10 are respectively coaxially hinged. One end of the threaded cylinder 3-15 and the middle part of the strip sliding shaft 3-14 constitute a rotating pair. The external thread on the threaded shaft 3-16 and the internal thread on the threaded cylinder 3-15 form a spiral pair. Threaded shaft 3-16 is supported on the crawler frame 3-5. The first bevel gear 3-17 is fixed on the threaded shaft 3-16. Stripping rotating shaft 3-20 is supported on the crawler frame 3-5. The second bevel gear 3-18 is fixed on the stripping rotating shaft 3-20. The first bevel gear 3-17 meshes with the second bevel gear 3-18. The resistance spring 3-19 is sleeved on the strip-removing rotating shaft 3-20, and the two ends are against the second bevel gear 3-18 and the crawler frame 3-5 respectively. The frictional force of resistance spring 3-19 to second bevel gear 3-18 can increase the resistance when stripping rotating shaft 3-20 rotates, avoids that second bevel gear 3-18 rotates in vibration. The outer end of the strip rotating shaft 3-20 is provided with an inner hexagonal hole. The belt removal rotating shaft 3-20 can be rotated by an inner hexagonal wrench, and the threaded shaft 3-16 is driven to rotate; the threaded cylinder 3-15 drives the belt removal sliding shaft 3-14 to slide, thereby adjusting the belt removal frame 3-10 and the track frame 3- 5 relative angles. And the inward flipping of the belt-removing frame 3-10 can make the synchronous crawler belt 3-11 loosen, and realize the rapid replacement of the synchronous crawler belt 3-11.

The inner end of tension rod frame 3-9 and the middle part of crawler frame 3-5 constitute revolving pair by tension shaft. A torsion spring is sheathed on the tensioning shaft. The two ends of torsion spring are respectively fixed with tension rod frame 3-9, crawler frame 3-5. The tensioning wheel 3-8 is supported on the outer end of the tensioning rod frame 3-9, and under the elastic force of the torsion spring, it is pressed against the outer surface of the synchronous crawler belt 3-11 to realize the tensioning of the synchronous crawler belt 3-11. The track drive assembly includes a sprocket 3-23, a chain 3-24 and a track drive motor 3-22. The output shaft of two sprocket wheels 3-23 and crawler belt drive motor 3-22, wherein a traveling pulley 3-6. The two sprockets 3-23 are connected by a chain 3-24.

The rotary shaft 3-1, the overturning shaft 3-2 and the motor mounting frame 3-3 are all arranged between the two unilateral crawler assemblies, and are fixed with the crawler frame 3-5 in the two unilateral crawler assemblies. Two crawler belt drive motors 3-22 are all fixed on the motor mounting frame 3-3. The shell of crawler track adjustment electric rod 3-4 is hinged with the middle part of balance wheel support 2-1, and ejection rod and turnover shaft 3-2 constitute revolving pair. The balance wheel support 2-1 and the rotary shaft 3-1 constitute a revolving pair. When the balance wheel support 2-1 remains stationary, the release or retraction of the crawler belt adjustment electric lever 3-4 can drive the crawler track frame 3-5 to rotate around the balance wheel support 2-1.

As shown in Figures 3 and 6, the chair frame 1 is composed of a bottom frame 1-1 and a mounting frame 1-2. The mounting frame 1-2 is fixed to the bottom frame 1-1. The bottom frame 1-1 is fixed to the rotary shaft 3-1 and the turning shaft 3-2. Both side plates of the installation frame 1-2 are provided with pitch adjustment slide grooves 1-3. Pitch adjustment chute 1-3 tilt setting. A gyroscope is installed on the chair frame 1 .

The seat leveling module 4 includes a backrest main body 4-1, a cushion main body 4-2, a first gear 4-3, a rack 4-4, a pedal 4-5, a pedal connecting rod 4-6 and a leveling drive components. The cushion main body 4-2 includes a cushion board, an armrest, a first leveling and sliding shaft 4-8, a second leveling and sliding shaft 4-9 and a cushion connecting rod 4-10. Four cushion connecting rods 4-10 are arranged at intervals successively, and one end all forms a revolving pair with the first leveling and sliding shaft 4-8, and the other end is all fixed with the second leveling and sliding shaft 4-9. The bottom surface of the cushion board is fixed with each cushion connecting rod 4-10. The tops of two pedal connecting rods 4-6 are respectively fixed with two cushion connecting rods 4-10 positioned at the outside, and the bottom ends are respectively fixed with the two ends of pedals 4-5. Pedal 4-5 is parallel with cushion board. The two handrails are respectively arranged on both sides of the cushion board and fixed with the cushion board.

Slide rails 4-12 are fixed on the two cushion connecting rods 4-10 on the inner side. A T-shaped chute is provided on the slide rail 4-12. The top of the chair frame 1 is supported with two coaxially arranged rollers. Two rollers are respectively arranged in the T-shaped chute of two slide rails 4-12. Both ends of the first leveling and sliding shaft 4-8 respectively pass through the pitch adjustment slide grooves 1-3 on the two side plates of the installation frame 1-2. Two tooth bars 4-4 are fixed on the mounting frame 1-2. The length direction of the rack 4-4 is parallel to the length direction of the pitch adjustment chute 1-3. The two first gears 4-3 are fixed on the first leveling and sliding shaft 4-8, and the two first gears 4-3 mesh with the two racks 4-4 respectively. The leveling drive assembly includes a second gear 4-13 and a leveling motor 4-14. Leveling motor 4-14 is fixed on the bottom of cushion main body 4-2. Two second gears 4-13 are respectively fixed with the output shaft of the leveling motor 4-14 and the first leveling and sliding shaft 4-8.

The backrest main body 4-1 comprises a backboard, a backrest rotating shaft 4-15, a backrest connecting rod 4-11 and a backrest overturning rod 4-7. The backrest rotating shaft 4-15 is supported on the top of the bottom frame 1-1. Backrest board and backrest rotating shaft 4-15 are fixed. The inner ends of two backrest turning bars 4-7 are fixed respectively with the two ends of backrest rotating shaft 4-15. One end of two backrest connecting rods 4-11 is respectively hinged with the outer ends of two backrest overturning rods 4-7, and the other end and the two ends of the second leveling and sliding shaft 4-9 respectively form a revolving pair. When the first leveling and sliding shaft 4-8 slides in the pitch adjustment chute 1-3, it will drive the slide rail 4-12 to move relative to the bottom frame 1-1, thereby making the second leveling and sliding shaft 4-1 9 moves, and the movement of the second leveling and sliding shaft 4-9 will drive the backrest rotating shaft 4-15 to rotate through the backrest connecting rod 4-11, thereby realizing the synchronous motion of the cushion board and the backboard.

The back support wheel module 5 includes a support wheel shaft 5-1, a support rod 5-2, a back support wheel 5-3, a second ranging sensor 5-4 and a back support electric rod 5-5. The inner end of the support rod 5-2 forms a revolving pair with the bottom frame 1-1. The middle part of support wheel shaft 5-1 is fixed with the outer end of support bar 5-2. Both ends of the support wheel shaft 5-1 are supported with a rear support wheel 5-3. The shell of back support electric rod 5-5 and bottom frame 1-1 constitute revolving pair, and the middle part of pushing out rod and support rod 5-2 constitutes rotation. When the compound self-balancing electric wheelchair moves to the top of a step, the back support electric rod 5-5 is pushed out, and the support rod 5-2 is turned outward, so that the back support wheel 5-3 is in contact with the top plane of the step. Auxiliary support is realized. Rear support wheel 5-3, strip holder 3-10 and backboard are positioned at the same side of balance wheel support 2-1. Pedal 4-5 is positioned at the other side of balance wheel support 2-1. When the crawler chassis module 3 goes up the steps, the user turns his back to the top of the steps. The second ranging sensor 5-4 is fixed on the support rod 5-2, and faces the rear support wheel 5-3.

The control module 6 includes a controller, a motor driver and an operation box 6-1. The operation box 6-1 is fixed on one of the armrests. Control handle and switch button are installed on the operation box 6-1. Leveling motor 4-14, the motor in the track adjusting electric rod 3-4, the motor in the back support electric rod 5-5, the wheel hub motor in the two balance wheels 2-2, and the two crawler belt drive motors 3-22 are all The motor control interface with the controller is connected through the motor driver. The signal output interfaces of the gyroscope, the control handle, the switching button, the first ranging sensor 3-12 and the second ranging sensor 5-4 are all connected to the controller.

The use method of the composite self-balancing electric wheelchair includes a method of driving on flat ground and a method of climbing steps.

The method of driving on flat ground is as follows:

As shown in Figure 7, when driving on flat ground, the gyroscope detects its own spatial pose and transmits it to the controller. The controller controls the hub motors in the two balance wheels 2-2 to rotate, so that the cushion board continues to approach the horizontal state. At this time, if the user's center of gravity leans forward or shakes the control handle forward, the two balance wheels 2-2 drive the balance wheel bracket 2-1 to move forward; A balance wheel 2-2 drives the balance wheel support 2-1 to move backward. At the same time, the user can also control the differential rotation of the balance wheel 2-2 through the control handle to realize steering.

The steps to climb are as follows:

Step 1. When a step appears in the direction of travel, the user controls the movement of the balance wheel bracket 2-1 to a state where his back faces the step;

Step 2, as shown in Figures 8 and 9, the user controls the balance wheel bracket 2-1 to move backward. When the synchronous track 3-11 is in contact with the steps, the user presses the switch button, the track adjustment electric rod 3-4 is pushed out, and the two track drive motors 3-22 rotate synchronously, so that the two track frames 3-5 rotate around the axis of rotation 3-1 overturn, synchronous track 3-11 movement, balance wheel 2-2 suspended, chair frame 1 moves upward along the steps. At the same time, the gyroscope detects its own spatial posture and transmits it to the controller, and the leveling motor 4-14 rotates, so that the seat board and the back board are turned over, and the seat board continues to maintain a horizontal state.

Step 3, as shown in Figure 10, when the distance values detected by the two first distance measuring sensors 3-12 reach the first threshold, the back support electric rod 5-5 is pushed out until the second distance measuring sensor 5-4 detects The distance reaches the second threshold, and now the back support wheel 5-3 is in contact with the top plane of the step.

Step 4: The two crawler drive motors 3-22 rotate synchronously, the back support electric rod 5-5 and the crawler adjustment electric rod 3-4 retract synchronously, so that the chair frame 1 moves to the top of the step, and the two crawler frames 3- 5 Reset, the two balance wheels 2-2 are in contact with the adjusted top plane. Simultaneously, the leveling motor 4-14 rotates so that the cushion board and the backrest board are overturned, and the cushion board continues to maintain a horizontal state.

Claims (9)

1. a kind of combined type self-balancing electric wheel chair, including chair frame (1), balance traveling module (2), crawler body module (3), seat Chair levels module (4) and back brace wheel module (5)；It is characterized by: the balance traveling module (2) includes balance wheel support (2-1) and stabilizer (2-2)；Two stabilizers (2-2) are separately mounted to the both ends of balance wheel support (2-1)；The crawler belt Chassis module (3) include rotating shaft (3-1), torsion shaft (3-2), motor mounting rack (3-3), crawler belt adjust electric rod (3-4) and Two unilateral track assemblies；Unilateral track assembly includes track frame (3-5), traveling belt wheel (3-6), detachment auxiliary wheel (3-7), opens Bearing up pulley (3-8), tensioning bridge (3-9), detachment frame (3-10), synchronous crawler belt (3-11), detachment adjust component, the first ranging sensing Device (3-12) and track drive component；Two traveling belt wheels (3-6) are supported on the both ends of track frame (3-5) respectively；One of them Traveling belt wheel (3-6) is by track drive Component driver；

The inner end of the detachment frame (3-10) and the one end of track frame (3-5) constitute revolute pair；Detachment frame (3-10) passes through detachment Adjust Component driver overturning；The outer end of detachment frame (3-10) is supported with detachment auxiliary wheel (3-7)；Synchronous crawler belt (3-11) is bypassed and is torn open Band auxiliary wheel (3-7) and two traveling belt wheels (3-6)；The inner end of tensioning bridge (3-9) and the middle part of track frame (3-5) are logical It crosses tensioning shaft and constitutes revolute pair；Torsional spring is equipped on tensioning shaft；The both ends of torsional spring and tensioning bridge (3-9), track frame (3-5) point Gu Ding not；Tensioning wheel (3-8) is supported on the outer end of tensioning bridge (3-9), and resists the lateral surface of synchronous crawler belt (3-11)；First Distance measuring sensor (3-12) is fixed on the track frame bottom (3-5) close to that end of detachment frame (3-10), and is arranged outwardly；Rotating shaft (3-1), torsion shaft (3-2) and motor mounting rack (3-3) are arranged between two unilateral track assemblies, and are carried out with two unilateral side It is fixed with the track frame (3-5) in component；Crawler belt adjusts the shell of electric rod (3-4) and the middle part of balance wheel support (2-1) is cut with scissors It connects, push-off pin and torsion shaft (3-2) constitute revolute pair；It balances wheel support (2-1) and rotating shaft (3-1) and constitutes revolute pair；

The chair frame (1) is made of the under(-)chassis (1-1) and mounting rack (1-2) being fixed together；Under(-)chassis (1-1) with Rotating shaft (3-1), torsion shaft (3-2) are fixed；Pitch regulation sliding slot (1-3) is offered on two blocks of side plates of mounting rack (1-2)； Chair frame is equipped with gyroscope on (1)；

Seat leveling module (4) includes backrest main body (4-1), main seat body (4-2), first gear (4-3), rack gear (4-4) and leveling driving assembly；Main seat body (4-2) includes seating pad, the first leveling slip shaft (4-8), the second leveling sliding Axis (4-9) and cushion connecting rod (4-10)；Four cushion connecting rods (4-10) are sequentially arranged at intervals, and one end is leveled with first Slip shaft (4-8) constitutes revolute pair, and the other end is fixed with the second leveling slip shaft (4-9)；The bottom surface of seating pad and each cushion Connecting rod (4-10) is fixed；

Wherein sliding rail (4-12) is respectively and fixedly provided on two cushion connecting rods (4-10)；T-type sliding slot is offered on sliding rail (4-12)；Chair There are two the idler wheels being coaxially disposed for the top-supported of frame (1)；Two idler wheels are separately positioned on the T-type sliding slot of two sliding rails (4-12) It is interior；The both ends of first leveling slip shaft (4-8) are each passed through the pitch regulation sliding slot (1- on two blocks of side plates of mounting rack (1-2) 3)；Rack gear (4-4) is fixed on mounting rack (1-2)；First gear (4-3) is fixed on the first leveling slip shaft (4-8), and first Gear (4-3) is engaged with rack gear (4-4)；First leveling slip shaft (4-8) is driven by leveling driving assembly；

The backrest main body (4-1) includes backboard, backrest shaft (4-15), backrest connecting rod (4-11) and backrest turning rod (4-7)；Backrest shaft (4-15) is supported on the top of under(-)chassis (1-1)；Backboard and backrest shaft (4-15) are fixed；Backrest The inner end of turning rod (4-7) and the fixation of backrest shaft (4-15)；One end of backrest connecting rod (4-11) and backrest turning rod (4- 7) outer end is hinged, the composition revolute pair of the other end and the second leveling slip shaft (4-9)；

The back brace wheel module (5) includes support wheel shaft (5-1), support rod (5-2), back brace wheel (5-3), the second ranging sensing Device (5-4) and back brace electric rod (5-5)；The inner end of support rod (5-2) and under(-)chassis (1-1) constitute revolute pair；Support rod (5- 2) it is driven by back brace electric rod (5-5)；The outer end at the middle part and support rod (5-2) that support wheel shaft (5-1) is fixed；Support wheel shaft Back brace wheel (5-3) is supported on (5-1)；Second distance measuring sensor (5-4) is fixed on support rod (5-2), and towards back brace wheel (5-3)。

2. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the detachment adjusting group Part includes detachment push rod (3-13), detachment slip shaft (3-14), thread barrel (3-15), thread spindle (3-16), first bevel gear (3- 17), second bevel gear (3-18), resistance spring (3-19) and detachment shaft (3-20)；It is sliding that detachment is offered on track frame (3-5) Slot (3-21)；Detachment slip shaft (3-14) passes through detachment sliding slot (3-21)；One end of two detachment push rods (3-13) and detachment are sliding The both ends for moving axis (3-14) respectively constitute revolute pair, and the two sides of the other end and detachment frame (3-10) are respectively articulated with；Thread barrel (3- 15) middle part of one end and detachment slip shaft (3-14) constitutes revolute pair；External screw thread and thread barrel (3- on thread spindle (3-16) 15) internal screw thread on constitutes screw pair；Thread spindle (3-16) is supported on track frame (3-5)；First bevel gear (3-17) is fixed On thread spindle (3-16)；Detachment shaft (3-20) is supported on track frame (3-5)；Second bevel gear (3-18) is fixed on detachment In shaft (3-20)；First bevel gear (3-17) is engaged with second bevel gear (3-18)；Resistance spring (3-19) is nested in detachment In shaft (3-20), and both ends are respectively held against second bevel gear (3-18), track frame (3-5)；The outer end of detachment shaft (3-20) Offer Hexagon hole.

3. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the back brace wheel (5- 3), detachment frame (3-10) and backboard are located at the same side of balance wheel support (2-1)；Foot pedal (4-5) is located at balance wheel support The other side of (2-1).

4. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the track drive group Part includes sprocket wheel (3-23), chain (3-24) and track drive motor (3-22)；Two sprocket wheels (3-23) and track drive motor The output shaft of (3-22), one of traveling belt wheel (3-6)；Two sprocket wheels (3-23) are connected by chain (3-24)；Crawler belt drives Dynamic motor (3-22) is fixed on motor mounting rack (3-3).

5. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the leveling driving group Part includes second gear (4-13) and leveling motor (4-14)；Leveling motor (4-14) is fixed on the bottom of main seat body (4-2)； Two second gears (4-13) are fixed respectively with the output shaft of leveling motor (4-14), the first leveling slip shaft (4-8).

6. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the stabilizer (2- 2) hub motor is fixed in；The output shaft of two hub motors and the both ends of balance wheel support (2-1) are fixed respectively.

7. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the seat levels mould Block (4) further includes foot pedal (4-5) and foot-operated connecting rod (4-6)；The tops of two foot-operated connecting rods (4-6) be located at outside Two cushion connecting rods (4-10) are fixed respectively, and bottom end and the both ends of foot pedal (4-5) are fixed respectively；Foot pedal (4-5) and seat Backing plate is parallel.

8. a kind of combined type self-balancing electric wheel chair according to claim 1, it is characterised in that: the main seat body (4-2) further includes handrail；Two handrails are separately positioned on the two sides of seating pad, and fix with seating pad.

9. a kind of application method of combined type self-balancing electric wheel chair as described in claim 1, it is characterised in that: including level land Running method and climb step method；

Level land running method is specific as follows:

On level land when driving, gyroscope detects the spatial pose of itself and is transferred to controller；Controller controls two balances The hub motor rotation in (2-2) is taken turns, so that seating pad continues close to horizontality；At this point, if user's center of gravity forward against or Before shake control handle, then two stabilizers (2-2) driving balance wheel support (2-1) travels forward；If user's center of gravity is leaned on backward Control handle is shaken after or, then two stabilizer (2-2) driving balances wheel support (2-1) move backward；

It is specific as follows to climb step method:

Step 1: user controls balance wheel support (2-1) and moves to itself facing away from step when occurring step on direction of travel State；

It is moved backward Step 2: user controls balance wheel support (2-1)；When synchronous crawler belt (3-11) and step contact, carry out Band adjusts electric rod (3-4) and releases, and two track drive components respectively drive the traveling belt wheel in two unilateral track assemblies (3-6) is rotated synchronously, so that two track frames (3-5) overturn around rotating shaft (3-1), synchronous crawler belt (3-11) movement, stabilizer (2-2) vacantly, chair frame (1) is moved upwards along step；Meanwhile driving assembly driving seating pad and backboard overturning are leveled, make It obtains seating pad and persistently keeps horizontality；

Step 3: when the distance value that two the first distance measuring sensors (3-12) detect reaches first threshold, back brace electric rod (5-5) is released, and after the distance value of the second distance measuring sensor (5-4) detection reaches second threshold, back brace electric rod (5-5) stops Only move.