CN109431701B - Intelligent wheelchair robot with leg rehabilitation training and stair climbing functions - Google Patents

Abstract

The invention relates to an intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing. The wheel hub motor can realize the motion function of the wheelchair; the wheelchair backrest and the backrest electric push rod are connected, and a seat cushion flip electric push rod is installed at the bottom of the wheelchair seat cushion. The lever can realize the vertical deployment of the wheelchair and the reset of the wheelchair; the lower part of the foot support leg is equipped with a foot pedal, and the crank rocker mechanism is used to realize the back and forth movement of the wheelchair foot pedal, so as to achieve the goal of leg rehabilitation exercise. Effect: A four-wheel turning drive motor is installed at the rear end of the chassis frame, and the stair-climbing function of the intelligent wheelchair is realized through the drivable four-wheel turning mechanism, which solves the problem that the existing wheelchair robot technology has a single purpose and cannot meet the needs of users to carry out legs. The problem of different usage scenarios of rehabilitation training and stair climbing functions.

Description

An intelligent wheelchair robot with leg rehabilitation training and stair climbing functions

technical field

The invention belongs to the field of rehabilitation medical equipment, and relates to an intelligent wheelchair robot with functions of leg rehabilitation training and stair climbing.

Background technique

Wheelchair is an important device for rehabilitation and medical treatment, and it is an important means of transportation for people with leg and foot disabilities and people with disabilities in their daily life. The user can move through the rotation of the tires on the wheelchair. Due to the limitation of the wheelchair's own structure, the existing wheelchair can only enable people to move on a flat ground. In real life, the user sometimes needs to climb stairs. Although many nursing homes, communities, hospitals and other units have established activity places to assist the disabled and the elderly in rehabilitation training, there is a lack of equipment to convert people from wheelchairs to standing postures for standing or walking training. This often restricts their activities. Long-term use of wheelchairs can cause greater damage to the lumbar spine, and is accompanied by adverse complications such as lower extremity edema and pressure ulcers, which is not conducive to their health and reduces their quality of life. At present, the general functions of the wheelchairs sold in the domestic market are relatively single, which cannot meet the needs of users for climbing stairs and performing leg rehabilitation training at the same time.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an intelligent wheelchair robot with leg rehabilitation training and stair climbing functions, which solves the problem that the wheelchair in the prior art has a single function and cannot meet the needs of users for leg rehabilitation training and stair climbing functions.

The technical scheme adopted in the present invention is as follows: an intelligent wheelchair robot with functions of leg rehabilitation training and stair climbing includes a chassis frame, a hub motor connecting sleeve is installed on both sides of the front end of the bottom of the chassis frame, the hub motor connecting sleeve is connected to the hub motor, and the hub motor is connected to the hub motor. set the walking wheel;

A wheelchair seat support shaft is installed on the upper end of the chassis frame, a seat cushion mounting seat is sleeved on the wheelchair seat support shaft, and a wheelchair seat cushion is arranged on the seat cushion mounting seat. One end of the rod, the other end of the backrest electric push rod is set on the backrest flipping push rod support seat, the backrest flipping push rod support base is set on the chassis frame, the bottom of the wheelchair seat cushion is connected to one end of the seat cushion flipping electric push rod, the seat cushion flips The other end of the electric push rod is connected to the chassis frame;

The bottom of the wheelchair seat cushion is connected to the footrest support leg, the footrest is arranged below the footrest support leg, the middle of the footrest support leg is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the crank plate, the crank plate Installed on both ends of the crank-rocker drive shaft, the crank-rocker drive shaft is connected to the crank-rocker drive motor;

The inner rear end of the chassis frame body is installed with a four-wheel overturning drive motor base plate, and a four-wheel overturning drive motor is installed on the four-wheel overturning drive motor base plate, and the four-wheel overturning drive motor is connected with the four-wheel overturning drive shaft. Four-wheel overturning support plate, four-wheel overturning rubber wheels are fixedly installed at the four corners of the four-wheel overturning support plate;

The front end of the chassis frame is vertically arranged with a vertical light bar support seat, a vertical light bar is installed on the vertical light bar support seat, a vertical slider is slid on the vertical light bar, and the vertical slider is connected with a three-wheel turning bearing seat, and the three-wheel turning bearing seat A three-wheel overturning shaft is installed, two ends of the three-wheel overturning shaft are connected with a three-wheel overturning triangular plate, and three-wheel overturning rubber wheels are respectively installed on the three corners of the three-wheel overturning triangle plate;

The armrest is set on the backrest of the wheelchair, and the armrest is equipped with a PLC programmable controller and a control circuit. The wheel hub motor, the backrest electric push rod, the seat cushion flip electric push rod, the crank rocker drive motor, and the four-wheel flip drive motor are all connected to the control circuit.

The present invention is also characterized in that,

Two sets of sliding guide mechanisms are installed on the bottom of the wheelchair seat cushion. Each set of sliding guide mechanisms is composed of a horizontal light bar fixed by two horizontal light bar support seats. The horizontal light bar support seat is arranged on the seat cushion crossbar. The cross bar is arranged under the wheelchair seat cushion, a horizontal slider is slid on the horizontal light bar, and the upper end of the horizontal slider is provided with a crank rocker drive motor seat, the crank rocker drive motor is installed on the crank rocker drive motor seat, and the crank rocker The drive motor base is connected to one end of the crank displacement electric push rod, the crank displacement electric push rod is connected to the control circuit, the other end of the crank displacement electric push rod is installed on the crank displacement push rod support seat, and the crank displacement push rod support seat is installed under the wheelchair seat cushion .

The two connecting rods at both ends of the crank-rocker drive shaft are 180 degrees out of phase with each other.

The four corners of the four-wheel overturning support plate are respectively connected with the four-wheel tightening screw, the four-wheel tightening screw is connected with the four-wheel overturning rubber wheel, the three-wheel overturning bearing seat is connected with one end of the vertical electric push rod, and the other end of the vertical electric push rod is connected with the vertical push rod The rod support seat, the two ends of the three-wheel turning shaft are connected with fastening nuts, the fastening nuts are connected with the three-wheel turning triangular plate, the three corners on the three-wheel turning triangular plate are respectively connected with the three-wheel tightening screws, and the three-wheel tightening screws are connected with the three-wheel turning Rubber wheels.

The right armrest and left armrest are set on the backrest of the wheelchair, and there are function selection knobs on the right armrest, with three function selection knobs for climbing stairs, wheelchair and rehabilitation training, and a motion control handle on the right armrest, and a three-wheel mechanism lowering button on the left armrest There are two buttons, the up button of the three-wheel turning mechanism, the function selection knob, the motion control handle, the lowering button of the three-wheel mechanism and the rising button of the three-wheel turning mechanism are all connected to the PLC programmable controller.

A backrest crossbar is installed on the back of the wheelchair backrest, and a backrest turning push rod connecting seat is arranged on the backrest crossbar.

One end of the seat cushion turning electric push rod is connected to the seat cushion turning push rod connecting seat, the seat cushion turning push rod connecting seat is connected to the wheelchair seat cushion, and the other end of the seat cushion turning electric push rod is connected to the seat cushion turning push rod support seat. The flipping push rod support base is installed on the chassis frame.

A wheelchair seat support bearing seat is installed on the upper end of the chassis frame, and a wheelchair seat support shaft is installed on the wheelchair seat support bearing seat.

The beneficial effects of the present invention are that an intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing of the present invention has the basic functions of motion control of ordinary electric wheelchairs, and can realize the forward, backward, left turn and right turn motion of the wheelchair; Through the four-wheel turning plate at the rear wheel of the wheelchair, the stair-climbing function of the wheelchair can be realized; the wheelchair can automatically upright the wheelchair seat cushion, and the foot pedal can automatically realize the function of swinging back and forth to assist the user to realize the exercise rehabilitation training function of the legs. Satisfy the use of users in different scenarios. The invention has rich functions, wide application range, high safety and comfort, and can realize various functions without the assistance of outsiders, thereby reducing the labor intensity of medical staff and improving the quality of life of the disabled and the elderly.

Description of drawings

1 is a schematic structural diagram of an intelligent wheelchair robot with leg rehabilitation training and stair climbing functions of the present invention in a sitting state;

Figure 2 is a schematic structural diagram of an intelligent wheelchair robot in a standing state;

Figure 3 is a schematic structural diagram of the bottom part of the front end of the lower chassis frame of the intelligent wheelchair robot;

Figure 4 is a schematic structural diagram of the bottom of the wheelchair seat cushion of the intelligent wheelchair robot;

Figure 5 is a schematic structural diagram of the control panel of the left and right armrests of the intelligent wheelchair robot.

In the figure, 1. Chassis frame, 2. Wheelchair seat support bearing seat I, 3. Wheelchair seat support shaft, 4. Four-wheel overturned rubber wheel, 5. Four-wheeled fastening screw, 6. Four-wheeled overturned support plate, 7. Four-wheel turning drive shaft, 8. Four-wheel turning drive motor base plate, 9. Wheel hub motor, 10. Three-wheel turning screw, 11. Four-wheel turning drive motor, 12. Three-wheel turning rubber wheel, 13. Fastening nut, 14. Three-wheel reversing bearing seat, 15. Three-wheel reversing shaft, 16. Three-wheel reversing triangle plate, 17. Footrest, 18. Connecting rod, 19. Footrest support leg, 20. Wheelchair seat cushion, 21. Right Armrest, 22. Left armrest, 23. Backrest electric push rod, 24. Backrest crossbar, 25. Backrest turning push rod connecting seat, 26. Wheelchair backrest, 27. Backrest turning push rod support seat, 28. Seat cushion turning push rod Connection seat, 29. Seat cushion flip electric push rod, 30. Seat cushion flip push rod support seat, 31. Vertical electric push rod, 32. Vertical push rod support seat, 33. Vertical light bar support seat, 34. Vertical light bar , 35. Vertical slider, 36. Hub motor connection sleeve, 37. Crank rocker drive shaft, 38. Crank disc, 39. Crank rocker drive motor, 40. Crank displacement electric push rod, 41. Crank displacement push rod support Seat, 42. Horizontal light bar, 43. Crank rocker drive motor seat, 44. Horizontal slider, 45. Horizontal light bar support seat, 46. Lower cross bar of seat cushion, 47. Function selection knob, 48. Motion control handle , 49. Down button of three-wheel flip mechanism, 50. Up button of three-wheel flip mechanism, 51. Seat cushion mount.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The present invention provides an intelligent wheelchair robot with leg rehabilitation training and stair climbing functions. As shown in FIG. 1 , it includes a chassis frame 1. The chassis frame 1 is a rectangular frame composed of various longitudinal and transverse beams. The chassis frame 1 For supporting and carrying weight, it has sufficient strength and rigidity, and is durable. There is a pair of upper beams extending in the longitudinal direction on the chassis frame 1. The wheelchair seat support bearing seat 2 is fixedly installed on the upper beam of the chassis frame 1. The wheelchair seat support bearing seat 2 is installed with a corresponding wheelchair seat support shaft 3. The wheelchair seat supports The shaft 3 is located below the wheelchair seat cushion 20, and the wheelchair seat cushion 20 and the bottom of the wheelchair backrest 26 are connected by pins so as to realize mutual rotation. A backrest cross bar 24 is installed in the horizontal direction in the middle of the wheelchair backrest 26 , a backrest turning push rod connecting seat 25 is fixed in the middle of the backrest crossbar 24 , and the backrest turning push rod connecting seat 25 is connected with one end of the backrest electric push rod 23 , and the middle of the wheelchair backrest 26 is A left armrest 21 and a right armrest 22 are oppositely arranged at both horizontal ends, a footrest support leg 19 is arranged below the wheelchair seat cushion 20 , and a footrest 17 is installed at the lower part of the footrest support leg 19 .

A four-wheel inversion drive motor base plate 8 is installed on the internal beam of the chassis frame 1, and a four-wheel inversion drive motor 11 is installed on the four-wheel inversion drive motor base plate 8. The four-wheel inversion drive motor 11 is connected with the four-wheel inversion drive Axle 7, the two ends of the four-wheel overturning shaft 7 are respectively equipped with a four-wheel overturning support plate 6, the four-wheel overturning support plate 6 is star-shaped, and the four corners of the four-wheel overturning support plate 6 are respectively tightened by the four-wheel screw 5. The four-wheel overturning rubber wheel 4 is fixedly installed, and the four-wheel overturning drive shaft 7 can be driven by the hollow worm gear reducer carried by the four-wheel overturning drive motor 11 .

The front end of the bottom side beam of the chassis frame 1 is relatively fixedly installed with a hub motor 9, and a three-wheel overturning triangle plate 16 is installed in front of the wheel hub motor 9. Both ends of the three-wheel overturning shaft 15 are fixedly connected to the three-wheel overturning triangular plate 16 through the tightening nut 13, and the three-wheel overturning triangular plate 16 is fixedly installed with the three-wheel overturning rubber wheel 12 through the three-wheel tightening screw 10 respectively.

As shown in FIG. 2 , the rear end of the chassis frame 1 is located at two vertically fixed seat cushion overturn push rod support bases 30 . The seat cushion overturn push rod support base 30 is connected to one end of the seat cushion overturn electric push rod 29 by a pin. The other end of the pad turning electric push rod 29 is connected with the seat pad turning push rod connecting seat 28 fixed at the bottom of the wheelchair seat cushion 20 through a pin, and the seat cushion turning electric push rod 29 realizes the turning of the wheelchair seat pad 20 . A backrest cross bar 24 is installed in the horizontal direction in the middle of the wheelchair backrest 26, a backrest turning push rod connecting seat 25 is fixed at the middle position of the backrest cross bar 24, and the backrest turning push rod connecting seat 25 is connected with one end of the backrest electric push rod 23, and the backrest electric push rod The other end of 23 is connected to the backrest flipping push rod support 27 fixedly connected to the wheelchair seat cushion 20 through a pin, and the backrest electric push rod 23 realizes the overturning of the wheelchair backrest 26 .

As shown in FIG. 3 , in-wheel motor connecting sleeves 36 are fixedly installed on both sides of the front end of the bottom of the chassis frame 1, a wheel-hub motor 9 is respectively installed on the in-wheel motor connecting sleeves 36, and the front end of the chassis frame 1 is vertically arranged with a vertical light bar support seat 33, each It is used to install a vertical light bar 34. A vertical slider 35 is installed on the two vertical light bars 34. The vertical slider 35 is fixedly connected with the three-wheel reversing bearing seat 14, and the three-wheel reversing bearing seat 14 is connected with the vertical electric push rod. One end of 31 is connected, and the other end of the vertical electric push rod 31 is connected with the vertical push rod support seat 32 fixedly connected to the beam of the front end of the chassis frame 1 perpendicular to the bottom beam. The wheel turning shaft 15, the two ends of the three-wheel turning shaft 15 are fixedly connected by the tightening nut 13 and the three-wheel turning triangular plate 16, and the three corners on the three-wheel turning triangular plate 16 are respectively installed with a three-wheel turning screw 10 through the three-wheel tightening screw 10. Turn the rubber wheel 12 over to form a three-wheel turning mechanism.

As shown in FIG. 4 , the bottom of the wheelchair seat cushion 20 is fixedly connected to the seat cushion mounting seat 51 , and two sets of sliding guide mechanisms are also installed at the bottom of the wheelchair seat cushion 20 , and each set of sliding guide mechanisms is fixed by two horizontal light bar support bases 45 A horizontal light bar 42 is formed. The horizontal light bar support seat 45 is installed on the seat cushion cross bar 46 that is fixedly connected under the wheelchair seat cushion 20. Each horizontal light bar 42 is matched with a horizontal slider 44. Sliding on the horizontal light bar 42, the upper end of the horizontal slider 44 is fixedly connected to the crank-rocker drive motor base 43, the crank-rocker drive motor base 43 is mounted with the crank-rocker drive motor 39, and the crank-rocker drive motor 39 is driven by the The hollow worm gear reducer drives the crank-rocker drive shaft 37, the two ends of the crank-rocker drive shaft 37 are provided with a crank disc 38, the crank disc 38 is connected with one end of the connecting rod 18 by a pin, and both ends of the crank-rocker drive shaft 37 are connected. The phase difference of the connecting rod 18 is 180 degrees. The other end of the connecting rod 18 is connected with the middle part of the foot pedal supporting leg 19 through a pin to form a crank rocker mechanism. The lower part of the foot pedal supporting leg 19 is installed with a foot pedal 17. In order to ensure the reasonable position of the foot pedal in the state of sports rehabilitation and other states, a crank displacement electric push rod 40 is added to the crank mechanism, and one end of the crank displacement electric push rod 40 is fixed to the crank at the bottom of the wheelchair seat cushion 20 The displacement push rod support base 41 and the other end are fixed on the crank rocker drive motor base 43, which are connected by pins.

An armrest is provided on the wheelchair back 26, and a PLC programmable controller and a control circuit are arranged in the armrest. The wheel hub motor 9, the backrest electric push rod 23, the seat cushion flip electric push rod 29, the crank rocker drive motor 39, the four The wheel turning drive motors 11 are all connected to the control circuit.

As shown in Figure 5, the smart wheelchair has a right armrest 21 and a left armrest 22. There is a function selection knob 47 on the right handrail 21, which can select three functions, namely, climbing stairs, wheelchair and rehabilitation training. There is also a motion control handle 48, which can operate the wheelchair to move forward, backward, turn left, and turn right. There are two buttons on the left armrest 22 , which are a three-wheel mechanism lowering button 49 and a three-wheel turning mechanism rising button 50 , which can control the rising and falling of the three-wheel turning mechanism. The function selection knob 47 , the motion control handle 48 , the three-wheel mechanism lowering button 49 and the three-wheel turning mechanism rising button 50 are all connected to the PLC programmable controller.

In the working process of the present invention, when the in-wheel motor 9 on the wheelchair is started, the PLC outputs the direction and the enabling signal in turn, and the in-wheel motor 9 starts; when the PLC stops outputting the enabling signal, the driver will automatically enter the braking mode, which is preset according to the potentiometer. The braking force of the wheel hub motor 9 will gradually decelerate to a stop.

The user can select the function to be performed through the function selection knob 47 on the right armrest 21. If the wheelchair function is to be selected, it can be realized through the motion control handle 48 on the right armrest 21. Differential steering at different speeds reduces the turning radius of the wheelchair and enables the wheelchair to turn left and right; if the user selects the function of going up stairs through the function selection knob 47 on the right handrail 21, at the same time, the user needs to use the left handrail The three-wheel mechanism lowering button 49 on the 22 extends the vertical electric push rod 31 at the front end, so that the three-wheel inverting rubber wheel 12 on the three-wheel inverting triangular plate 16 contacts the ground, so that the front hub motor 9 is in the three-wheel inverting triangular plate. 16 will not touch the steps when flipping, then the four-wheel flipping drive motor 11 drives the four-wheel flipping drive shaft 7 to rotate, and the four-wheel flipping drive shaft 7 drives the four-wheel flipping support plate 6 to rotate, and the rotating four-wheel flipping support disk 6 To achieve the function of climbing stairs. When climbing the stairs, the vertical electric push rod 31 pushes the two three-wheel flipping triangular plates 16 fixedly connected to the three-wheel flipping shaft 15 to rotate. This design mainly plays the role of making the wheelchair's center of gravity stably parallel to the ground and preventing the wheelchair from tipping over. , the vertical light bar 34 and the vertical slider 35 play a guiding role to ensure the vertical consistency of the left and right three-wheel turning triangles 16, and the three-wheel turning shaft 15 is connected with the three-wheel turning bearing seat 14, which can rotate to ensure The smooth rotation of the three-wheel overturning triangular board 16 is achieved when going up the stairs.

After climbing the stairs, the user selects the wheelchair function through the function selection knob 47, the four-wheel turning mechanism stops rotating, and simultaneously presses the three-wheel mechanism rising button 49 on the left handrail 22 to make the three-wheel turning mechanism rise, and the hub motor 9 It touches the ground and can perform other operations of the wheelchair function.

The user selects the rehabilitation exercise function through the function selection knob 47 on the right armrest 21, the backrest electric push rod 23 retracts, and the wheelchair back 26 is driven by the retraction movement of the backrest electric push rod 23 to rotate to form one with the wheelchair seat cushion 20. On a flat surface, the electric push rod 29 of the seat cushion is turned over to extend, which drives the wheelchair seat cushion 20 and the wheelchair backrest 26 to be perpendicular to the ground and become a vertical state. At the same time, the crank displacement electric push rod 40 pushes the crank rocker drive motor 39 to move forward, so that the foot pedal support leg 19 is also perpendicular to the ground, so that the user is in an upright state. At this time, the crank rocker drives the motor 39 to rotate, which drives the crank disc 38 to rotate, and the rotating crank disc 38 moves the two rods 18 connected to it, thereby causing the foot pedal support leg 19 to swing. The connection position is 180 degrees, so the left and right pedal support legs 19 swing back and forth, and the phase difference is 180 degrees.

The user dials the function selection knob 47 on the right armrest 21 to the wheelchair gear, the leg rehabilitation exercise stops, and under the retraction of the seat cushion electric push rod 29, the wheelchair backrest 26, the wheelchair seat cushion 20 and the footrest The supporting legs 19 are all positioned parallel to the ground, and the user is in a lying state. Then the backrest electric push rod 23 is extended so that the wheelchair backrest 26 is perpendicular to the wheelchair seat cushion 20, and at the same time the crank displacement electric push rod 40 retracts, the footrest support leg 19 can be adjusted to a suitable position, so that when the user is in the sitting position , the legs find the most comfortable state, so that the user can perform other operations of the wheelchair movement function.

An intelligent wheelchair robot with leg rehabilitation training and stair climbing functions of the present invention adds stair climbing and leg rehabilitation training functions on the basis of the existing motion control of ordinary electric wheelchairs. The motor can realize the movement functions of forward, backward and left and right rotation of the wheelchair; and has multiple push rods, which can realize the vertical deployment of the wheelchair and the reset of the wheelchair. In order to achieve the effect of assisting sports rehabilitation exercise; the stair-climbing function of the intelligent wheelchair robot can be realized through the drivable four-wheel turning mechanism set at the back end of the wheelchair, and the three-wheel turning mechanism set at the front end of the wheelchair can ensure that the intelligent wheelchair robot is climbing The center of gravity is stable in the process of stairs, which increases the safety of the intelligent wheelchair robot in the process of climbing stairs.

Claims (7)

1. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing is characterized by comprising a chassis frame (1), wherein hub motor connecting sleeves (36) are mounted on two sides of the front end of the bottom of the chassis frame (1), the hub motor connecting sleeves (36) are connected with a hub motor (9), and traveling wheels are arranged on the hub motor (9);

a wheelchair seat supporting shaft (3) is mounted at the upper end of the chassis frame (1), a seat cushion mounting seat (51) is sleeved on the wheelchair seat supporting shaft (3), a wheelchair seat cushion (20) is arranged on the seat cushion mounting seat (51), the wheelchair seat cushion (20) is rotatably connected with a wheelchair backrest (26), the back surface of the wheelchair backrest (26) is connected with one end of a backrest electric push rod (23), the other end of the backrest electric push rod (23) is arranged on a backrest overturning push rod supporting seat (27), the backrest overturning push rod supporting seat (27) is arranged on the chassis frame (1), the bottom of the wheelchair seat cushion (20) is connected with one end of a seat cushion overturning electric push rod (29), and the other end of the seat cushion overturning electric push rod (29) is connected to the chassis frame (1);

the bottom of the wheelchair seat cushion (20) is rotatably connected with a pedal supporting leg (19), a pedal (17) is arranged below the pedal supporting leg (19), the middle part of the pedal supporting leg (19) is connected with one end of a connecting rod (18), the other end of the connecting rod (18) is connected with a crank disc (38), the crank disc (38) is installed at two ends of a crank and rocker driving shaft (37), and the crank and rocker driving shaft (37) is connected with a crank and rocker driving motor (39);

a four-wheel turnover driving motor bottom plate (8) is installed at the rear end inside a frame body of the chassis frame (1), a four-wheel turnover driving motor (11) is installed on the four-wheel turnover driving motor bottom plate (8), the four-wheel turnover driving motor (11) is connected with a four-wheel turnover driving shaft (7), four-wheel turnover supporting discs (6) are installed at two ends of the four-wheel turnover driving shaft (7), and four corners of each four-wheel turnover supporting disc (6) are fixedly provided with four-wheel turnover rubber wheels (4) respectively;

a vertical light bar supporting seat (33) is vertically arranged at the front end of the chassis frame (1), a vertical light bar (34) is installed on the vertical light bar supporting seat (33), a vertical sliding block (35) is arranged on the vertical light bar (34) in a sliding mode, a three-wheel overturning bearing seat (14) is connected to the vertical sliding block (35), a three-wheel overturning shaft (15) is installed on the three-wheel overturning bearing seat (14), two ends of the three-wheel overturning shaft (15) are connected with a three-wheel overturning triangular plate (16), and three corners of the three-wheel overturning triangular plate (16) are respectively provided with a three-wheel overturning rubber wheel (12);

the wheelchair comprises a wheelchair backrest (26), a wheelchair seat, a seat cushion turnover electric push rod (29), a crank rocker driving motor (39), a four-wheel turnover driving motor (11), a seat cushion turnover electric push rod (23), a seat cushion turnover electric push rod (29), a crank rocker driving motor (39) and a control circuit, wherein handrails are arranged on the wheelchair seat back, a PLC programmable controller and the control circuit are arranged in the handrails, and the hub motor (9);

the bottom of the wheelchair seat cushion (20) is provided with two groups of sliding guide mechanisms, each group of sliding guide mechanisms is composed of a horizontal polished rod (42) fixed by two horizontal polished rod supporting seats (45), the horizontal polished rod supporting seats (45) are arranged on a seat cushion cross rod (46), the seat cushion cross rod (46) is arranged below the wheelchair seat cushion (20), the horizontal polished rod (42) is provided with a horizontal sliding block (44) in a sliding manner, the upper end of the horizontal sliding block (44) is provided with a crank rocker driving motor seat (43), a crank rocker driving motor (39) is arranged on the crank rocker driving motor seat (43), the crank rocker driving motor seat (43) is connected with one end of a crank displacement electric push rod (40), the crank displacement electric push rod (40) is connected with a control circuit, and the other end of the crank displacement electric push rod (40) is arranged on the crank displacement push rod supporting seat (41), the crank displacement push rod supporting seat (41) is arranged below the wheelchair seat cushion (20).

2. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing according to claim 1, wherein the two connecting rods (18) at two ends of the crank-rocker driving shaft (37) are 180 degrees out of phase with each other.

3. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing according to claim 1, wherein four corners of the four-wheel turnover support plate (6) are respectively connected with four-wheel fastening screws (5), the four-wheel fastening screws (5) are connected with four-wheel turnover rubber wheels (4), the three-wheel turnover bearing seat (14) is connected with one end of a vertical electric push rod (31), the other end of the vertical electric push rod (31) is connected with a vertical push rod support seat (32), two ends of the three-wheel turnover shaft (15) are connected with fastening nuts (13), the fastening nuts (13) are connected with a three-wheel turnover triangular plate (16), three corners of the three-wheel turnover triangular plate (16) are respectively connected with three-wheel fastening screws (10), and the three-wheel fastening screws (10) are connected with three-wheel turnover rubber wheels (12).

4. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing is characterized in that a right armrest (21) and a left armrest (22) are arranged on the wheelchair backrest (26), a function selection knob (47) is arranged on the right armrest (21), three function selection knobs for climbing stairs, wheelchairs and rehabilitation training are arranged, a motion control handle (48) is further arranged on the right armrest (21), two buttons, namely a three-wheel mechanism descending button (49) and a three-wheel turnover mechanism ascending button (50), are arranged on the left armrest (22), and the function selection knob (47), the motion control handle (48), the three-wheel mechanism descending button (49) and the three-wheel turnover mechanism ascending button (50) are all connected with a PLC (programmable logic controller).

5. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing according to claim 1, wherein a backrest cross rod (24) is mounted on the back surface of the wheelchair backrest (26), a backrest turning push rod connecting seat (25) is arranged on the backrest cross rod (24), and the backrest turning push rod connecting seat (25) is connected with one end of a backrest electric push rod (23) through a pin.

6. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing according to claim 1, wherein one end of the cushion turning electric push rod (29) is connected with a cushion turning push rod connecting seat (28), the cushion turning push rod connecting seat (28) is connected to the wheelchair cushion (20), the other end of the cushion turning electric push rod (29) is connected with a cushion turning push rod supporting seat (30), and the cushion turning push rod supporting seat (30) is installed on the chassis frame (1).

7. The intelligent wheelchair robot with the functions of leg rehabilitation training and stair climbing according to claim 1, wherein a wheelchair seat supporting bearing seat (2) is arranged at the upper end of the chassis frame (1), and a wheelchair seat supporting shaft (3) is arranged on the wheelchair seat supporting bearing seat (2).

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