CN104224465B - A kind of can the wheelchair of speeling stairway - Google Patents

Abstract

The invention discloses a kind of can the wheelchair of speeling stairway, including wheelchair frame and running gear, described running gear includes telescopic supporting leg assembly and for supporting leg assembly provides the motor of driving force, supporting leg assembly is at least provided with four, supporting leg assembly includes the rotary setting the first gear on described wheelchair frame, the first support being located on wheelchair frame, the pin being located on the first gear and is connected with the first bracket slide and is driven support bar for linear motion by pin, and support bar is provided with the first chute allowing pin insert.The present invention can the wheelchair of speeling stairway, arrange and the supporting leg assembly supported be provided, by the flexible of supporting leg assembly and reach, realize speeling stairway, and wheelchair climbing operates steadily, good stability, climbing work efficiency is high, also has simple in construction, easy to operate advantage.

Description

A wheelchair that can climb stairs

technical field

The invention belongs to the technical field of wheelchairs, in particular, the invention relates to a wheelchair capable of climbing stairs.

Background technique

The biggest obstacle for the elderly and people with lower limb disabilities is the weakening or even loss of incapacity. They not only lose mobility, but also need people with working ability to take care of them. At present, most of the elderly, weak and physically disabled will choose wheelchairs as their walking tool, and they need family members or nursing staff to accompany and assist the use of wheelchairs. However, most traditional wheelchairs can only travel on flat ground, and cannot cross obstacles such as steps and thresholds, let alone climb stairs, so the range of activities of wheelchair personnel is greatly limited. In order to alleviate the huge pressure brought by the above-mentioned vulnerable groups to the social economy and medical care, to better care for the lives of the elderly and the disabled, and to improve their quality of life, in addition to increasing the barrier-free design of houses and various public buildings, In addition to expanding the scope of use of wheelchairs, it is also necessary to improve the existing ordinary wheelchairs so that they have the functions of driving on flat ground and climbing stairs.

Contents of the invention

The technical problem to be solved by the invention is to provide a wheelchair capable of climbing stairs.

In order to achieve the above object, the technical solution adopted by the present invention is: a wheelchair that can climb stairs, including a wheelchair frame and a walking device, the walking device includes a telescopic support leg assembly and is used to provide a driving force for the support leg assembly. motor, the supporting leg assembly is provided with at least four, and the supporting leg assembly includes a first gear that is rotatably arranged on the wheelchair frame, a first bracket that is arranged on the wheelchair frame, a pin that is arranged on the first gear, and The first bracket is slidably connected to a support rod driven by the pin to move linearly, and the support rod is provided with a first chute for the pin to be inserted into.

The column pin protrudes toward one side of the first gear, and the axis of the column pin is parallel to the axis of the first gear, the moving direction of the support rod is perpendicular to the axis of the column pin, and the first slide The length direction of the groove is perpendicular to the moving direction of the support rod.

The support rod includes a sliding block that is slidably connected with the first bracket and a connecting rod that is slidably connected with the sliding block and extends toward the bottom of the sliding block. The driver is used to drive the connecting rod to move linearly along the direction parallel to the length direction of the first chute.

The motor drives the first gear to rotate through the rack provided on the wheelchair frame, and the rack meshes with the first gear below it.

The driver is an electric push rod, an air cylinder or a hydraulic cylinder connected with the connecting rod.

The supporting leg assembly also includes a foot pedal which is rotatably arranged on the lower end of the connecting rod and a caster which is rotatably arranged on the foot pedal. The line is parallel to the axis of the pin.

The pedals are provided with brakes for providing braking force to the casters.

The supporting leg assembly further includes a locking mechanism arranged on the first bracket and used for locking the first gear.

There are four supporting leg assemblies in total, two motors and two racks respectively, and each motor drives the racks to mesh with the first gears of the two supporting leg assemblies on the same side in turn, and they are aligned on the same side. The two supporting leg assemblies on the side provide the driving force.

The wheelchair capable of climbing stairs also includes an auxiliary support device arranged on the side of the wheelchair frame and used for providing auxiliary support.

The stair-climbing wheelchair of the present invention is provided with a supporting leg assembly providing support, and the stair climbing is realized by stretching and moving the supporting leg assembly, and the climbing operation of the wheelchair is stable, the stability is good, and the climbing work efficiency is high. The utility model has the advantages of simple structure and convenient operation.

Description of drawings

This manual includes the following drawings, the contents shown are:

Fig. 1 is the structural representation of wheelchair of the present invention;

Fig. 2 is a structural schematic diagram of a support leg assembly;

Fig. 3 is the structural representation of brake;

Fig. 4 is the connection schematic diagram of pedal and support bar;

Fig. 5 is a structural schematic diagram of the supporting leg assembly after the pedal is folded;

Fig. 6 is a schematic diagram of the connection between the first gear and the locking mechanism;

Figure 7 is a sectional view of the locking mechanism;

Fig. 8 is a schematic diagram of the connection between the motor and the gear and the wheelchair frame;

Fig. 9 is a schematic structural view of a wheelchair equipped with an auxiliary support device;

Fig. 10 is a schematic diagram of the connection between the rocker arm, the second bracket and the auxiliary leg;

Labeled in the figure:

1. Rack; 2. The first motor; 3. The second motor;

4. Wheelchair frame; 41. Bottom plate; 42. Front longitudinal bar; 43. Rear longitudinal bar; 44. Side plate;

5. Support leg assembly; 51. First gear; 52. First shaft; 53. First bracket; 54. Column pin;

55, support rod; 551, sliding block; 552, connecting rod; 553, first chute; 554, second chute;

56, pedals; 57, casters;

58, locking mechanism; 581, locking gear; 582, locking pin; 583, guide rod; 584, first spring; 585, first coil; 586, first iron core; 587, first armature;

59. Brake; 591. Support; 592. Clamping arm; 593. Friction plate; 594. Second iron core; 595. Second armature; 596. Second coil;

510, connector; 511, connection sleeve; 512, third coil; 513, third armature;

6, auxiliary support device; 61, pull rod; 62, support plate; 63, second bracket; 631, column; 632, support arm; 64, auxiliary leg; 65, rocker arm; 66, second spring; 67, support piece;

7. The second gear; 8. The third gear; 9. The fourth gear; 10. The fifth gear; 11. The sixth gear; 12. The seventh gear; 13. The second shaft; 14. The third shaft.

detailed description

The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

As shown in Figure 1, a kind of wheelchair that can climb stairs of the present invention comprises wheelchair frame 4 and walking device, and walking device is to provide power for the movement of wheelchair. The walking device includes a telescopic support leg assembly 5 and a motor for providing driving force to the support leg assembly 5, the support leg assembly 5 is provided with at least four, and the support leg assembly 5 includes the first Gear 51, the first support 53 that is located on the wheelchair frame 4, the column pin 54 that is located on the first gear 51 and the support rod 55 that is slidingly connected with the first support 53 and is driven by the column pin 54 to move linearly, the support rod 55 is provided with a first chute 553 for inserting the pin 54 . Through the rotation of the first gear 51 , the support rod 55 can be driven by the column pin 54 to reciprocate and linearly move in the vertical direction, so that the support leg assembly 5 can be expanded and contracted.

Specifically, the wheelchair frame 4 is used as the basis for the user to ride and other parts are installed, and is roughly the same in structure as the wheelchair frame 4 of a general wheelchair in the prior art, with high strength, and has parts such as a seat and a push frame. The bottom of the wheelchair frame 4 also has a base plate 41 arranged in the horizontal direction, and the base plate 41 is located below the seat. Both sides of the wheelchair frame 4 are provided with a front longitudinal bar 42 and a rear longitudinal bar 43 extending vertically, the front longitudinal bar 42 is also located at the front end of the wheelchair frame 4, and the rear longitudinal bar 43 is also located at the rear end of the wheelchair frame 4 . Both sides of the wheelchair frame 4 are also provided with a side plate 44 positioned in the vertical plane. between.

As shown in Figure 2, the first gear 51 is a cylindrical gear, the pin 54 is cylindrical, the end of the pin 54 is fixedly connected to the side of the first gear 51, and the pin 54 faces the first gear 51 along the horizontal direction side protrudes. The axis of the pin 54 is parallel to the axis of the first gear 51, and the two are not coaxial, so that the pin 54 is set in an eccentric state. When the first gear 51 rotates, the pin 54 can be driven to rotate synchronously. As shown in FIG. 6 , the first gear 51 is mounted on a horizontal first shaft 52 , and the first shaft 52 is rotatably mounted on the front longitudinal bar 42 or the rear longitudinal bar 43 . The column pin 54 drives the support bar 55 to move linearly through the first chute 553 provided on the support bar 55. The first support 53 provides a guiding function for the support bar 55. The movement direction of the support bar 55 is perpendicular to the axis of the column pin 54. The length direction of the first chute 553 is perpendicular to the movement direction of the support rod 55 .

Preferably, as shown in FIG. 2 , the first bracket 53 includes a horizontal part that is fixedly connected with the front longitudinal bar 42 or the rear longitudinal bar 43 and extends above the first gear 51 in the horizontal direction, and is fixedly connected with the horizontal part and along the The vertical portion extending in the vertical direction is located on one side of the first gear 51, and the vertical portion provides a guiding function for the movement of the support rod 55, and the vertical portion is a rectangular frame structure. As shown in the figure, the support rod 55 includes a sliding block 551 slidably connected with the vertical part and a connecting rod 552 slidably connected with the sliding block 551 and extending toward the bottom of the sliding block 551. The guide groove extending in the vertical direction, the two ends of the sliding block 551 are embedded in the guiding groove, and the sliding block 551 can move linearly along the guiding groove. The first chute 553 is located on the sliding block 551, and the first chute 553 is a long groove extending in the horizontal direction, and its length direction is perpendicular to the axis of the column pin 54 in space. The column pin 54 is inserted into the first chute 553 , and forms a crank moving guide rod mechanism together with the sliding block 551 .

As shown in FIG. 2 , a second chute 554 parallel to the first chute 553 and below the first chute 553 is provided on the sliding block 551 , and the upper end of the connecting rod 552 is inserted into the second chute 554 Realize the sliding connection with the sliding block 551 inside, the connecting rod 552 can only do linear reciprocating motion along the second chute 554 relative to the sliding block 551, and in the vertical direction, the position of the connecting rod 552 remains motionless relative to the sliding block 551, sliding Block 551 is correspondingly provided with a position-limiting structure, such as a baffle and the like. In order to realize the movement of the connecting rod 552 , a driver for driving the connecting rod 552 to perform linear reciprocating motion is provided on the sliding block 551 . The driver can be a component that can generate horizontal driving force such as an electric push rod, an air cylinder or a hydraulic cylinder.

As preferably, as shown in Figure 2, the supporting leg assembly 5 also includes a pedal 56 that is rotatably disposed on the lower end of the connecting rod 552 and a caster 57 that is rotatably disposed on the pedal 56, and the rotation centerline of the pedal 56 is located at In the vertical plane, it is parallel to the length direction of the connecting rod 552 , and the rotation centerline of the caster 57 is in the horizontal plane, parallel to the axis of the pin 54 . Caster 57 is used as the part that is used to contact with ground or floor, and caster 57 can roll, and is convenient to the running of wheelchair. Foot pedal 56 is arranged to be rotatable, so that control caster 57 swings, realizes the steering of wheelchair in running process.

In this embodiment, as shown in FIG. 1 , there are four supporting leg assemblies 5 , wherein two supporting leg assemblies 5 are arranged side by side at the front end of the wheelchair frame 4 , and the first shafts 52 of the two supporting leg assemblies 5 and the first bracket 53 are respectively connected with the left and right front longitudinal rods 42; the other two supporting leg assemblies 5 are arranged side by side at the rear end of the wheelchair frame 4, and the first shaft 52 and the first bracket 53 of the two supporting leg assemblies 5 They are respectively connected with the left and right rear longitudinal rods 43. Moreover, the two supporting leg assemblies 5 on the left side of the wheelchair frame 4 are symmetrical to the two supporting leg assemblies 5 on the right side of the wheelchair frame 4 .

As shown in Figure 8, the electric motor that is used to provide driving force for each supporting leg assembly 5 comprises the first electric motor 2 and the second electric motor 3 that are arranged on the bottom plate 41 of wheelchair frame 4, and first electric motor 2 is used for being positioned at wheelchair The two supporting leg assemblies 5 on the right side of the frame 4 provide driving force, the second motor 3 is used to provide driving force to the two supporting leg assemblies 5 on the left side of the wheelchair frame 4, the first motor 2 and the second motor 3 are Set horizontally and symmetrically. The first motor 2 and the second motor 3 transmit power to each support leg assembly 5 through a gear transmission mechanism respectively. Specifically, a second gear 7 is arranged on the motor shaft of the first motor 2, and the second gear 7 is connected to the third gear. The gear 8 meshes, the third gear 8 and the fourth gear 9 are jointly arranged on a horizontal second shaft 13, and the second shaft 13 is installed on the bottom plate 41 of the wheelchair frame 4 through a bracket, and the second shaft 13 and the first shaft 52 is parallel to the motor shaft of the first motor 2, and the third gear 8 and the fourth gear 9 are coaxial and rotate synchronously. The second gear 7, the third gear 8 and the fourth gear 9 are all cylindrical gears. The power generated by the first motor 2 is transmitted to the third gear 8 through the second gear 7, and the third gear 8 drives the fourth gear through the second shaft 13. The gears 9 rotate synchronously. The motor shaft of the second motor 3 is provided with a fifth gear 10, the fifth gear 10 meshes with the sixth gear 11, the sixth gear 11 and the seventh gear 12 are jointly arranged on a horizontal third shaft 14, and the fifth gear 10 meshes with the sixth gear 11. The three shafts 14 are installed on the bottom plate 41 of the wheelchair frame 4 through brackets, the third shaft 14 is coaxial with the second shaft 13 , the sixth gear 11 and the seventh gear 12 are coaxial and rotate synchronously. The fifth gear 10, the sixth gear 11 and the seventh gear 12 are all cylindrical gears, the power generated by the second motor 3 is transmitted to the sixth gear 11 through the fifth gear 10, and the sixth gear 11 drives the seventh gear through the third shaft 14. The gears 12 rotate synchronously.

As shown in Figure 1, the fourth gear 9 is engaged with a rack 1 arranged on the right side of the wheelchair frame 4, and the rack 1 is arranged on the bottom plate 41 of the wheelchair frame 4 along the horizontal direction, and a bracket can be arranged on the bottom plate 41. The guide rail (not shown) that holds the rack 1 and provides guidance to it, the fourth gear 9 keeps constant mesh with the rack 1, and the rotating fourth gear 9 can drive the rack 1 on the right side of the wheelchair frame 4. The bottom of the first gear 51 of the front and rear two supporting leg assemblies 5 on the side moves linearly back and forth, and meshes with the first gear 51 to drive its rotation, but the rack 1 cannot mesh with the two first gears 51 on the same side at the same time. When the fourth gear 9 drives the rack 1 to move towards the first gear 51 on the front right side, the rack 1 drives the first gear 51 to rotate after meshing with the first gear 51, and the first gear 51 drives the support rod 55 through the column pin 54 Ascending, thereby making the supporting leg assembly 5 in front shrink. When the fourth gear 9 drives the rack 1 to move backward, the rack 1 drives the first gear 51 to rotate in reverse, and the first gear 51 drives the support rod 55 to descend through the pin 54, so that the front support leg assembly 5 is extended . When the fourth gear 9 continues to drive the rack 1 to move towards the rear, after the rack 1 meshes with the first gear 51 of the supporting leg assembly 5 at the rear, the rack 1 drives the first gear 51 to rotate, and the first gear 51 passes through the column. The pin 54 drives the support rod 55 to rise, so that the support leg assembly 5 at the rear shrinks. When the fourth gear 9 drives the rack 1 to move forward, the rack 1 drives the rear first gear 51 to rotate in reverse, and the first gear 51 drives the support rod 55 to descend through the pin 54, so that the rear support leg assembly 5 elongation.

As shown in Figure 1, for the driving of the two supporting leg assemblies 5 on the left side of the wheelchair frame 4, the same driving method as the two supporting leg assemblies 5 on the right side can be adopted, and the corresponding seventh gear 12 is arranged on the wheelchair frame. 4 is engaged with a rack 1 on the left side, the rack 1 is arranged on the bottom plate 41 of the wheelchair frame 4 along the horizontal direction, the bottom plate 41 can also be provided with a guide rail to support the rack 1 and provide guidance to it (Fig. not shown in ), the rack 1 on the left is parallel to and at the same height as the rack 1 on the right, the seventh gear 12 is in constant mesh with the rack 1, and the rotating seventh gear 12 can drive the rack 1 The two front and rear support leg assemblies 5 on the left side of the wheelchair frame 4 move linearly under the first gear 51 and mesh with the first gear 51 to drive it to rotate, but the rack 1 cannot be connected to the two gears on the same side at the same time The first gear 51 meshes. When the seventh gear 12 drives the rack 1 to move towards the first gear 51 on the left front, the rack 1 meshes with the first gear 51 and drives the first gear 51 to rotate, and the first gear 51 drives the support rod 55 through the column pin 54 Ascending, thereby making the supporting leg assembly 5 in front shrink. When the seventh gear 12 drives the rack 1 to move backward, the rack 1 drives the first gear 51 to rotate in reverse, and the first gear 51 drives the support rod 55 to descend through the pin 54, so that the front support leg assembly 5 is extended . When the seventh gear 12 continues to drive the rack 1 to move backward, after the rack 1 meshes with the first gear 51 of the supporting leg assembly 5 at the rear, the rack 1 drives the first gear 51 to rotate, and the first gear 51 passes through the column. The pin 54 drives the support rod 55 to rise, so that the support leg assembly 5 at the rear shrinks. When the seventh gear 12 drives the rack 1 to move forward, the rack 1 drives the rear first gear 51 to rotate in reverse, and the first gear 51 drives the support rod 55 to descend through the pin 54, so that the rear support leg assembly 5 elongation.

Therefore, when the wheelchair climbs the stairs, for the two front and rear support leg assemblies 5 on the right side of the wheelchair frame 4, the two front and rear support leg assemblies 5 on the right side can be stretched sequentially by controlling the running direction of the first motor 2. For the two front and rear support leg assemblies 5 on the left side of the wheelchair frame 4, the two front and rear support leg assemblies 5 on the left side can be stretched sequentially by controlling the running direction of the second motor 3. After the supporting rod 55 of the supporting leg assembly 5 rises, the driver drives the rising connecting rod 552 to move forward, so that the connecting rod 552 drives the pedal 56 and the caster 57 to translate to the upper step. Moreover, the two supporting leg assemblies 5 at the front end are respectively driven by the first motor 2 and the second motor 3 to climb up the upper step successively, and then the two support leg assemblies at the rear end are respectively driven by the first motor 2 and the second motor 3 in reverse. Each supporting leg assembly 5 successively climbs up the upper level of steps, so as to realize stable stair climbing work.

As preferably, as shown in Figure 2, the pedal 56 of the supporting leg assembly 5 is connected to the upper connecting rod 552 through a connecting sleeve 511, the connecting sleeve 511 is sleeved on the connecting rod 552, and the connecting sleeve 511 is connected The rod 552 can only be rotated, and the two are coaxial, and the rotation centerline of the connecting sleeve 511 is located in the vertical plane. The pedal 56 is connected to the lower end of the connecting sleeve 511 through a joint 510 , the upper end of the joint 510 is connected to the connecting sleeve 511 , and the lower end is fixedly connected to the pedal 56 .

Caster 57 is to be connected with pedal 56 by the shaft that is arranged horizontally, because caster 57 will contact with step, in order to avoid that caster 57 rolls and affects the stability of wheelchair when climbing stairs, caster 57 will be able to be controlled to make it fixed, Therefore, a brake 59 for providing a braking force to the caster 57 can be provided on the pedal 56 . As shown in Fig. 3, as a preference, the brake 59 includes a support 591 fixedly connected with the pedal 56, two clamping arms 592 arranged on the support 591 and oppositely arranged, and a clamping arm 592 located on the clamping arm 592. and an electromagnet for clamping the two clamping arms 592. The same end of the two clamping arms 592 is connected with the support 591, the two clamping arms 592 can be opened and closed, the axle of the caster 57 passes between the two clamping arms 592, when the two clamping arms 592 are closed , the shaft in the middle can be clamped to lock the shaft, so that the effect of braking can be played to prevent the caster 57 from rolling. Since the axle of the caster 57 is a cylindrical member, the end connected to the support 591 on each clamping arm 592 has an arc portion. Shaped friction plate 593, the friction plate 593 is made of rubber material, used to contact with the shaft. After the two clamping arms 592 are closed, the two friction plates 593 are in contact with the surface of the shaft, and the static friction force is large, which ensures more reliable clamping of the shaft, thereby improving the braking effect.

The two clamping arms 592 are opened and closed by electromagnet control. The second iron core 594 of the electromagnet is arranged on the end of one of the clamping arms 592 away from the support 591. The second coil 596 is wound on the second iron core. On the core 594, the second armature 595 of the electromagnet is arranged on the end of the other clamping arm 592 away from the support 591. When the second coil 596 is energized, the second iron core 594 exerts a magnetic force on the second armature 595, The second armature 595 can drive the clamping arm 592 to swing towards the clamping arm 592 at the second iron core 594 , so that the two clamping arms 592 can be closed to clamp the axle of the caster 57 . When the second coil 596 is not powered, the two clamping arms 592 can be released.

Since the two clamping arms 592 can be opened and closed, the two clamping arms 592 can be rotatably arranged on the support 591 , or only one of the clamping arms 592 can be rotatably arranged. The two clamping arms 592 and the support 591 can also adopt the connection structure shown in Figure 3, and the connecting ends of the two clamping arms 592 and the support 591 have a certain amount of deformation, so that the two clamping arms 592 can be relatively The support 591 swings in a small angle.

For adopting the brake 59 of the above-mentioned structure to prevent the caster 57 from rolling, to improve the stability of the wheelchair when climbing stairs, the joint 510 on the pedal 56 can be set to be fixedly connected to the lower end of the connecting sleeve 511, which can improve the support. Stability when the rod 55 is supported by the connecting sleeve 511, the pedal 56 and the rollers.

As a modified implementation, the structures shown in Figure 4 and Figure 5 can also be used to improve the stability of the wheelchair when climbing stairs. As shown in the figure, the pedal 56 is arranged to be rotatable relative to the connecting sleeve 511, that is, the joint 510 on the pedal 56 is arranged to be rotationally connected with the lower end of the connecting sleeve 511, so that the pedal 56 can be turned up and down. Because the pedal 56 is an L-shaped member, the caster 57 is avoided from contacting the steps by turning the pedal 56, and the pedal 56 is directly in contact with the steps at all levels. Because the contact area of the pedal 56 is large, the Stability is better. Specifically, this structure uses electromagnet adsorption to control the flipping of the pedal 56, the third coil 512 is wound on the connecting sleeve 511, the third armature 513 is arranged on the pedal 56, and the electrified third coil 512 generates The magnetic field generates a magnetic force on the third armature 513, so that the third armature 513 has a tendency to move towards the connecting sleeve 511, so that the third armature drives the pedal 56 to turn into a vertical state, so that the flat surface of the pedal 56 faces downward Forms stable legs. The above-mentioned work of controlling the overturning of the pedals 56 can be completed during the ascent of the support rod 55, or can be completed before starting to climb the stairs.

Preferably, the supporting leg assembly 5 further includes a locking mechanism 58 arranged on the first bracket 53 and used to lock the first gear 51. The locking mechanism 58 enables the first gear 51 to be fixed when it does not rotate. , so that the support leg assembly 5 can be kept in a stable vertical support state, providing support for the wheelchair when driving on the road and climbing stairs. As shown in Figures 6 and 7, the locking mechanism 58 is located between the front longitudinal bar 42 or the rear longitudinal bar 43 of the wheelchair frame 4 and the first gear 51. The locking gear 581, the guide rod 583 vertically arranged on the horizontal part of the first bracket 53 and the locking pin 582 sleeved on the guide rod 583, the locking pin 582 is located between the locking gear 581 and the first bracket 53 The locking pin 582 can slide up and down on the guide rod 583 between the horizontal parts of the guide rod 583 . The lower end of the locking pin 582 is a flat tip that can be embedded in the tooth groove of the locking gear 581. After the locking pin 582 is embedded in a tooth groove of the locking gear 581, the locking gear 581 can be fixed, and at the same time it can be The first shaft 52 fixedly connected to the locking gear 581 is fixed and the position of the first gear 51 fixedly arranged on the first shaft 52 is fixed.

In order to realize the unlocking and locking of the locking mechanism 58 , the locking pin 582 can be controlled to move up and down by setting an electromagnet. As shown in Figure 7, the inner center of the locking pin 582 is provided with a cavity to accommodate the electromagnet and the guide rod 583, and the lower end of the guide rod 583 is inserted into the cavity of the locking pin 582 from the upper opening of the locking pin 582 and locked The pin 582 is slidingly connected. The electromagnet is composed of a first coil 585, a first iron core 586 and a first armature 587. The first armature 587 is fixed on the bottom of the cavity of the locking pin 582, and the first iron core 586 is fixed on the guide rod. The lower end of 583 is opposite to the first armature 587 , and the first coil 585 is wound on the first iron core 586 . Since the guide rod 583 is fixedly mounted on the first bracket 53, when the first coil 585 is energized, the first iron core 586 exerts a magnetic force on the first armature 587, and the first armature 587 can drive the locking pin 582 to move upwards, thereby enabling The lower end of the locking pin 582 is disengaged from the tooth groove of the locking gear 581 to realize unlocking. At this time, the first gear 51 can rotate freely under the drive of the rack 1 . When the first coil 585 is not energized, the locking pin 582 can fall back down driven by the first spring 584 until the lower end is inserted into the tooth slot of the locking gear 581 to realize locking. As shown in the figure, the first spring 584 is sleeved on the guide rod 583, the upper end of the first spring 584 is against the horizontal portion of the first bracket 53, and the lower end is against the upper end surface of the locking pin 582. The first spring 584 584 is used to apply a downward thrust to the locking pin 582, so that the locking mechanism 58 can be automatically locked to improve reliability.

As a modified embodiment, for the locking of the first shaft 52 and the first gear 51 of each support leg assembly 5, a brake with a structure as shown in Figure 3 can also be used, which is arranged on the first bracket 53, and the electromagnet Controlling the two clamping arms to clamp the first shaft 52 can also realize the locking of the first shaft 52 and the first gear 51 .

As a modified embodiment, as shown in Figure 9, the wheelchair that can climb stairs also includes auxiliary support devices 6 that are located on the left and right sides of the wheelchair frame 4 and are used to provide auxiliary support to further improve the wheelchair's ability to move or climb. Stability on stairs. Specifically, the auxiliary support device 6 includes a pull rod 61, a support plate 62, two second brackets 63, two auxiliary legs 64, two rocker arms 65, a second spring 66 and a bracket 67, the pull rod 61 is vertically arranged on the side plate 44 of the wheelchair frame 4, the horizontally arranged support plate 62 is fixedly connected with a side bar on the side of the wheelchair frame 4, and extends towards the outside of the wheelchair frame 4, the second spring 66 is arranged on the support On the top surface of the plate 62 , the supporting block 67 is arranged at the lower end of the pull rod 61 and above the second spring 66 , and the upper end of the second spring 66 is connected with the supporting block 67 . The second spring 66 is used to provide a downward pulling force to the supporting block 67 so that it can move downward and reset. Two second brackets 63, two auxiliary legs 64 and two rocking arms 65 are respectively provided with one at the front and back, the second bracket 63 in the front is connected with the front longitudinal bar 42 of the wheelchair frame 4, and the second bracket 63 in the rear is connected with the front longitudinal rod 42 of the wheelchair frame 4. The rear longitudinal bar 43 of wheelchair frame 4 is connected. As shown in Figure 10, the second bracket 63 includes a vertical column 631 and a support arm 632, the support arm 632 is arranged on one side of the column 631 and extends toward the support plate 62, the support arm 632 is located on the rocker arm 65 Below, the column 631 is set on the auxiliary leg 64, the lower end of the auxiliary leg 64 protrudes from the lower opening of the column 631, the upper end of the auxiliary leg 64 protrudes from the upper opening of the column 631, and is hinged with the end of the rocker arm 65, The rocker arm 65 is hinged with the upper end of the support arm 632 at a position between the two ends, and the other end of the rocker arm 65 is in contact with the bracket block 67 above the bracket block 67 . The two front and rear rocker arms 65 of the auxiliary supporting device 6 are arranged to be rotatable, and the supporting block 67 is moved upward by pulling the pull rod 61, so that the supporting block 67 can drive the two rocking arms 65 to swing, and the two rocking arms 65 can respectively drive one The auxiliary leg 64 moves downward until the lower end of the auxiliary leg 64 contacts the ground or the floor.

The auxiliary supporting device 6 of the above-mentioned structure is installed on the wheelchair, according to the situation when the wheelchair is running, the auxiliary legs 64 on the left and right sides of the wheelchair frame 4 are controlled to stretch out as required to ensure stability and safety when the wheelchair is running. For wheelchairs that need to climb stairs, due to the steps, the lengths of the front and rear second brackets 63 and auxiliary legs 64 of the auxiliary support device 6 can be set to be different, such as being set to be short in front and long in back to adapt to the upper and lower steps .

The wheelchair with the above structure has good balance stability and work efficiency. The gears are well meshed. When going up the stairs, use one foot and one foot. The motor can control which foot in the front goes up the steps first, which foot in the back goes up the steps behind, and which foot goes up the steps first. Moreover, it can be supported by The institution maintains its stability. The footstep sequence can be adjusted according to the situation to ensure the balance and stability of the wheelchair and the required riding comfort. At the same time, the wheelchair has a compact structure. It reliably transmits various forces and moments between the body and the wheels, and ensures sufficient strength and life while satisfying the requirement that the mass of the components be small.

The orientations or positional relationships of up, down, front, rear, left, right, etc. indicated in the above content are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or It should not be construed as limiting the invention by implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation.

The present invention has been exemplarily described above with reference to the accompanying drawings. Apparently, the specific implementation of the present invention is not limited by the above methods. As long as various insubstantial improvements are made using the method concept and technical solution of the present invention; or without improvement, the above-mentioned concept and technical solution of the present invention are directly applied to other occasions, all within the protection scope of the present invention within.

Claims (9)

1. one kind can the wheelchair of speeling stairway, including wheelchair frame and running gear, it is characterized in that: described running gear includes telescopic supporting leg assembly and for supporting leg assembly provides the motor of driving force, supporting leg assembly is at least provided with four, supporting leg assembly includes the rotary setting the first gear on described wheelchair frame, the first support being located on wheelchair frame, it is located at the pin on the first gear and is connected with the first bracket slide and is driven support bar for linear motion by pin, support bar is provided with the first chute allowing pin insert, the length direction of the first chute is spatially perpendicular with the axis of pin；

Described support bar includes the sliding shoe being connected with described first bracket slide and is slidably connected with sliding shoe and towards the connecting rod extended below sliding shoe, described first chute is located on sliding shoe, on sliding shoe and be provided with for the drive connection bar driver for linear motion along the direction parallel with the first track length direction.

The most according to claim 1 can the wheelchair of speeling stairway, it is characterized in that: described pin stretches out towards the side of described first gear, and the axis of the axis of pin and the first gear is parallel, the direction of motion of described support bar and the axis perpendicular of pin, the length direction of described first chute is perpendicular with the direction of motion of support bar.

The most according to claim 2 can the wheelchair of speeling stairway, it is characterised in that: described motor rotates by being located at the first gear described in the rack drives on described wheelchair frame, and tooth bar engages in the lower section of the first gear.

The most according to claim 3 can the wheelchair of speeling stairway, it is characterised in that: described driver is electric pushrod, cylinder or the hydraulic cylinder being connected with described connecting rod.

The most according to claim 4 can the wheelchair of speeling stairway, it is characterized in that: described supporting leg assembly also includes the rotary setting pedal in described connecting rod lower end and rotary setting castor on pedal, the rotation centerline of pedal is paralleled with the length direction of connecting rod, and the rotation centerline of castor is paralleled with the axis of described pin.

The most according to claim 5 can the wheelchair of speeling stairway, it is characterised in that: described pedal is provided with the brake for described castor provides brake force.

The most according to claim 6 can the wheelchair of speeling stairway, it is characterised in that: described supporting leg assembly also includes being located on described first support and for the lockable mechanism of the first gear described in locking.

The most according to claim 7 can the wheelchair of speeling stairway, it is characterized in that: described supporting leg assembly is provided with four altogether, described motor and described tooth bar are respectively equipped with two, and each motor-driven tooth bar the first gear with two supporting leg assemblies of the same side successively engages, two the supporting leg assemblies being pointed to the same side provide driving forces.

9. according to claim 1 to 8 arbitrary described can the wheelchair of speeling stairway, it is characterised in that: also include the sidepiece being located at described wheelchair frame and for the auxiliary support apparatus providing auxiliary to support.