CN110664559B

CN110664559B - Auxiliary obstacle crossing robot capable of loading wheelchair

Info

Publication number: CN110664559B
Application number: CN201911015283.6A
Authority: CN
Inventors: 杨泽雪; 韩雪娜; 吕莉媛; 丁金凤; 蒋超
Original assignee: Heilongjiang Institute of Technology
Current assignee: Heilongjiang Institute of Technology
Priority date: 2019-10-24
Filing date: 2019-10-24
Publication date: 2020-09-25
Anticipated expiration: 2039-10-24
Also published as: CN110664559A

Abstract

The invention relates to an auxiliary robot, in particular to an auxiliary obstacle crossing robot capable of loading a wheelchair. Be provided with two around the bar shaped plate, be connected through backup pad I between two bar shaped plate, all be connected with the long post through the spliced pole on two bar shaped plate, all be provided with the upstand on two long posts, the upstand can slide and fix along the long post level, the upper end fixedly connected with circle axle of upstand, the height of circle axle can be adjusted, the inner fixedly connected with frame pole fixing base of circle axle, be provided with the frame pole slot on the frame pole fixing base, be provided with the opening on the frame pole slot, there is set screw IV through threaded connection on the frame pole fixing base, set screw IV inserts in the frame pole slot.

Description

Auxiliary obstacle crossing robot capable of loading wheelchair

Technical Field

The invention relates to an auxiliary robot, in particular to an auxiliary obstacle crossing robot capable of loading a wheelchair.

Background

Wheelchairs are chairs equipped with wheels to help replace walking and are classified into electric and manual folding wheelchairs. The wheelchair not only meets the requirements of physical disabilities and mobility-handicapped people for riding instead of walking, but also is more important to facilitate the family members to move and take care of the patients, so that the patients can do physical exercises and participate in social activities by means of the wheelchair.

The existing wheelchair can only pass through a relatively flat ground and cannot walk on a relatively complex terrain, and when a disabled person drives the wheelchair to meet the relatively complex terrain, the disabled person is relatively difficult to pass through the wheelchair, so that a robot for assisting the wheelchair to cross obstacles is needed, but the traditional robot cannot load the wheelchair.

Disclosure of Invention

The invention provides an auxiliary obstacle crossing robot capable of loading a wheelchair, which has the beneficial effects that the auxiliary obstacle crossing robot can load the wheelchair on the robot and assist the wheelchair to walk on a complex terrain.

Be provided with two around the bar shaped plate, be connected through backup pad I between two bar shaped plate, all be connected with the long post through the spliced pole on two bar shaped plate, all be provided with the upstand on two long posts, the upstand can slide and fix along the long post level, the upper end fixedly connected with circle axle of upstand, the height of circle axle can be adjusted, the inner fixedly connected with frame pole fixing base of circle axle, be provided with the frame pole slot on the frame pole fixing base, be provided with the opening on the frame pole slot, there is set screw IV through threaded connection on the frame pole fixing base, set screw IV inserts in the frame pole slot.

But supplementary obstacle crossing robot of loading wheelchair still includes bar groove, door shape plug-in components and set screw I, and the lower part fixedly connected with door shape plug-in components of upstand, door shape plug-in components insert on the long column, and door shape plug-in components can slide along the long column, is provided with the bar groove on the long column, has set screw I through threaded connection on the door shape plug-in components, and set screw I inserts at the bar inslot, and set screw I top is tight fixes door shape plug-in components on the long column.

But supplementary obstacle crossing robot of loading wheelchair still includes the slider, the cylinder, set screw II, the gleitbretter, the connecting plate, fixing base and set screw III, sliding connection has the slider on the upstand, there is set screw II through threaded connection on the slider, set screw II pushes up on the upstand, sliding connection has two gleitbretters on the upstand, through connecting plate fixed connection between two gleitbretters, two gleitbretters are located the upper and lower both sides of slider respectively, the equal fixedly connected with cylinder in upper and lower both sides of slider, two cylinders sliding connection respectively is on two gleitbretters, all the cover has the spring on two cylinders, two springs all are located between two gleitbretters, fixedly connected with fixing base on the connecting plate, circle axle sliding connection is on the fixing base, there is set screw III through threaded connection on the fixing base, set.

The auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a rear wheel groove and a front wheel groove, the left parts of the two strip-shaped plates are provided with the rear wheel groove, and the right parts of the two strip-shaped plates are provided with the front wheel groove.

But supplementary obstacle crossing robot of loading wheelchair still includes a screw thread section of thick bamboo, collude the piece, the kerve, backup pad II, the midget, the screw rod, bolt and girder, the left end of two bar boards all is provided with colludes the piece, backup pad I and two collude a sliding connection, the upside of two bar boards all is provided with a screw thread section of thick bamboo, the downside of two bar boards all is provided with the kerve, both ends difference sliding connection is on two kerfs around backup pad II, the midget of backup pad II's middle part fixedly connected with, the middle part of screw rod is rotated and is connected on the midget, be provided with two bolts on the screw rod, two bolts are located the front and back both sides of midget respectively, two screw threads revolve to opposite around the screw rod, two parts cooperate with two screw thread sections respectively around the screw rod through the screw thread, the middle part of fixed connection at.

The auxiliary obstacle crossing robot capable of loading the wheelchair further comprises an inclined plate, the left ends of the two strip-shaped plates are fixedly connected with the inclined plate, and the right end of the inclined plate inclines downwards.

The auxiliary obstacle crossing robot capable of loading the wheelchair further comprises spherical wheels, and the main beam is provided with four spherical wheels capable of moving vertically.

But supplementary obstacle crossing robot of loading wheelchair still includes flange, vertical traveller, right angle board and motor, the equal fixedly connected with flange in both ends about the girder, the equal vertical sliding connection in both ends has vertical traveller around two flanges, the equal fixedly connected with right angle board in lower part of four vertical travelers all is provided with the motor on four right angle boards, four spherical wheels are fixed connection respectively on the output shaft of four motors.

The auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a stop block, the upper ends of the four vertical sliding columns are fixedly connected with the stop block, damping springs are sleeved on the four vertical sliding columns, and the four damping springs are located on the lower sides of the corresponding convex plates.

The main beam is provided with a battery.

The auxiliary obstacle crossing robot capable of loading the wheelchair has the beneficial effects that:

the invention relates to an auxiliary obstacle crossing robot capable of loading a wheelchair.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic view of the overall structure of an auxiliary obstacle crossing robot capable of loading a wheelchair according to the first embodiment of the invention;

FIG. 2 is a schematic view of the overall structure of an auxiliary obstacle crossing robot capable of loading a wheelchair according to the present invention;

FIG. 3 is a schematic structural diagram I of a strip-shaped plate, a support plate I and a long column;

FIG. 4 is a schematic structural diagram II of a strip-shaped plate, a support plate I and a long column;

FIG. 5 is a schematic structural view of a support plate II;

FIG. 6 is a first schematic structural view of a vertical column;

FIG. 7 is a second schematic structural view of the upstand;

FIG. 8 is a schematic structural view of the fixing base;

fig. 9 is a schematic structural view of the main beam and the vertical strut.

In the figure: a strip-shaped plate 1; a rear wheel groove 101; a threaded barrel 102; a front wheel groove 103; a hook 104; a swash plate 105; a bottom tank 106; a support panel I2; a long column 3; a strip-shaped groove 301; a connecting post 302; a support panel II 4; a middle block 401; a screw 402; a latch 403; a vertical post 5; a door plug 501; a set screw I502; a slider 503; a cylinder 504; set screw II 505; a slide sheet 506; a connecting plate 507; a fixed seat 6; a circular shaft 601; set screw III 602; frame bar slots 603; an opening 604; a frame bar fixing base 605; a set screw IV 606; a main beam 7; a convex plate 701; a vertical strut 8; a stopper 801; a right angle plate 802; a motor 803; a spherical wheel 804.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The first embodiment is as follows:

the present invention will be described with reference to fig. 1 to 9, and the present invention relates to an auxiliary robot, and more specifically, to an auxiliary obstacle crossing robot capable of loading a wheelchair, which includes a strip-shaped plate 1, a support plate I2, a long column 3, a connection column 302, a vertical column 5, a circular shaft 601, a frame bar slot 603, an opening 604, a frame bar fixing seat 605 and a positioning screw IV 606.

Be provided with two around the bar shaped plate 1, be connected through backup pad I2 between two bar shaped plate 1, all be connected with long post 3 through spliced pole 302 on two bar shaped plate 1, all be provided with upstand 5 on two long posts 3, upstand 5 can be fixed along 3 horizontal sliding of long post, the upper end fixedly connected with circle axle 601 of upstand 5, the height of circle axle 601 can be adjusted, the inner fixedly connected with frame pole fixing base 605 of circle axle 601, be provided with frame pole slot 603 on the frame pole fixing base 605, be provided with opening 604 on the frame pole slot 603, there is set screw IV606 through threaded connection on the frame pole fixing base 605, set screw IV606 inserts in the frame pole slot 603. The wheelchair is provided with four wheels, two rear wheels with large radius and two small wheels with small radius, and the four wheels of the wheelchair are respectively placed on the two strip-shaped plates 1. The vertical post 5 can horizontally slide and be fixed along the long post 3, the height of the round shaft 601 can be adjusted, and the front and back positions of the frame rod fixing seat 605 can be adjusted; the wheelchair frame is provided with a plurality of rods, the frame rod fixing seat 605 is inserted on the wheelchair rod, so that the wheelchair rod enters the frame rod slot 603 from the opening 604 on the frame rod fixing seat 605, and then the positioning screw IV606 is rotated to be pressed against the wheelchair rod in the frame rod slot 603, so as to fix the wheelchair rod. The frame rod fixing base 605 may be provided in plural, and a plurality of rods on the wheelchair are fixed, so that the wheelchair is loaded on the robot.

The second embodiment is as follows:

the following describes the present embodiment with reference to fig. 1 to 9, where the wheelchair-loadable auxiliary obstacle crossing robot further includes a strip-shaped groove 301, a door-shaped insert 501 and a positioning screw I502, the lower portion of the upright post 5 is fixedly connected with the door-shaped insert 501, the door-shaped insert 501 is inserted onto the long post 3, the door-shaped insert 501 can slide along the long post 3, the strip-shaped groove 301 is provided on the long post 3, the door-shaped insert 501 is connected with the positioning screw I502 through a thread, the positioning screw I502 is inserted into the strip-shaped groove 301, and the positioning screw I502 is pressed against the long post 3 to fix the door-shaped insert 501 on the long post 3. The door-shaped plug 501 slides along the long column 3, the left and right positions of the vertical column 5 are adjusted, and the positioning screw I502 is screwed to be tightly pressed against the long column 3, so that the door-shaped plug 501 is fixed on the long column 3. After the set screw I502 is screwed off, the gate-shaped insert 501 can be pulled out, which facilitates the installation and removal of the plurality of vertical posts 5.

The third concrete implementation mode:

the embodiment is described below with reference to fig. 1-9, the wheelchair-loadable auxiliary obstacle crossing robot further includes a sliding block 503, a cylinder 504, a set screw II505, a sliding vane 506, a connecting plate 507, a fixed seat 6 and a set screw III602, the upright post 5 is slidably connected with the sliding block 503, the sliding block 503 is connected with the set screw II505 through a thread, the set screw II505 abuts against the upright post 5, the upright post 5 is slidably connected with two sliding vanes 506, the two sliding vanes 506 are fixedly connected through a connecting plate 507, the two sliding vanes 506 are respectively located at the upper and lower sides of the sliding block 503, the upper and lower sides of the sliding block 503 are respectively fixedly connected with the cylinder 504, the two cylinders 504 are respectively slidably connected with the two sliding vanes 506, the two cylinders 504 are respectively sleeved with springs, the two springs are respectively located between the two sliding vanes 506, the fixed seat 6 is fixedly connected to the connecting plate 507, the circular shaft 601 is slidably connected to the fixed, the set screw III602 bears against the circular shaft 601. The slider 503 can be on the upstand 5 vertical slip, rotating set screw II505 can fix slider 503 on upstand 5, two gleitbretters 506 also can be on upstand 5 vertical slip, because be connected through connecting plate 507 between two gleitbretters 506, so two gleitbretters 506 can slide simultaneously, when two gleitbretters 506 slide synchronously, can press one of them spring, the spring can play the effect of buffering, make fixing base 605 can reciprocate one section distance, when making the robot cross the abominable road, the wheelchair of being fixed on a plurality of fixing bases 605 can be through the shock attenuation of a plurality of springs, make the people on the wheelchair more comfortable.

The fourth concrete implementation mode:

the following describes the present embodiment with reference to fig. 1 to 9, wherein the wheelchair-loadable auxiliary obstacle crossing robot further includes a rear wheel groove 101 and a front wheel groove 103, the rear wheel groove 101 is provided on the left portion of each of the two strip-shaped plates 1, and the front wheel groove 103 is provided on the right portion of each of the two strip-shaped plates 1. The rear wheel groove 101 and the front wheel groove 103 are respectively used for placing a rear wheel with a large radius and a small wheel with a small radius on the wheelchair.

The fifth concrete implementation mode:

the embodiment is described below with reference to fig. 1 to 9, the wheelchair-loadable auxiliary obstacle crossing robot further includes a threaded cylinder 102, hook members 104, bottom grooves 106, support plates II4, a middle block 401, a screw 402, bolts 403, and a main beam 7, the left ends of the two strip-shaped plates 1 are both provided with the hook members 104, the support plates I2 are slidably connected with the two hook members 104, the upper sides of the two strip-shaped plates 1 are both provided with the threaded cylinder 102, the lower sides of the two strip-shaped plates 1 are both provided with the bottom grooves 106, the front and rear ends of the support plates II4 are respectively slidably connected to the two bottom grooves 106, the middle part of the support plates II4 is fixedly connected with the middle block 401, the middle part of the screw 402 is rotatably connected to the middle block 401, the two bolts 403 are arranged on the screw 402, the two bolts 403 are respectively located at the front and rear sides of the middle block 401, the front and rear threads of the screw 402 are opposite in rotation directions, two ends of the main beam 7 are respectively and fixedly connected with the middle parts of the support plate I2 and the support plate II 4. When the screw 402 rotates on the middle block 401, the distance between the two strip-shaped plates 1 can be increased and reduced, and the distance between the two strip-shaped plates 1 is adjusted to adapt to wheelchairs with different wheel distances of different models.

The sixth specific implementation mode:

the present embodiment is described below with reference to fig. 1 to 9, and the auxiliary obstacle crossing robot capable of loading a wheelchair further includes a sloping plate 105, the sloping plate 105 is fixedly connected to the left ends of the two strip-shaped plates 1, and the right end of the sloping plate 105 is inclined downward. The sloping plates 105 prevent the robot from tipping over when the robot is descending and facilitate the sliding of the wheelchair onto the two strips 1 from the two sloping plates 105.

The seventh embodiment:

the present embodiment is described below with reference to fig. 1 to 9, and the wheelchair-loadable auxiliary obstacle crossing robot further includes four spherical wheels 804, and the main beam 7 is provided with the four spherical wheels 804 capable of moving vertically.

The specific implementation mode is eight:

the following describes this embodiment with reference to fig. 1 to 9, where the auxiliary obstacle crossing robot capable of loading a wheelchair further includes a protruding plate 701, vertical sliding columns 8, right-angle plates 802 and motors 803, the protruding plates 701 are fixedly connected to the left and right ends of the main beam 7, the vertical sliding columns 8 are vertically and slidably connected to the front and rear ends of the two protruding plates 701, the right-angle plates 802 are fixedly connected to the lower portions of the four vertical sliding columns 8, the motors 803 are arranged on the four right-angle plates 802, and the four spherical wheels 804 are respectively and fixedly connected to output shafts of the four motors 803. The four motors 803 respectively drive the four spherical wheels 804 to rotate, so that the robot is controlled to move, the spherical wheels 804 are close to spherical, the robot can conveniently walk on a complex road surface, and the robot cannot easily sink into a deep groove on the road surface.

The specific implementation method nine:

the embodiment is described below with reference to fig. 1 to 9, and the auxiliary obstacle crossing robot capable of loading a wheelchair further includes a stopper 801, the stoppers 801 are fixedly connected to the upper ends of the four vertical sliding columns 8, and the four vertical sliding columns 8 are sleeved with damping springs, and the four damping springs are located on the lower sides of the corresponding convex plates 701. Four vertical travelers 8 all can vertical slip for the upper and lower position of four spherical wheels 804 can change, adapts to complicated topography, can push damping spring when four vertical travelers 8 vertical slip, and four damping spring have played absorbing effect to the wheelchair.

The detailed implementation mode is ten:

the present embodiment will be described with reference to fig. 1 to 9, in which the main beam 7 is provided with a battery. The battery powers four motors 803.

The working principle of the invention is as follows: the wheelchair is provided with four wheels, two rear wheels with large radius and two small wheels with small radius, and the four wheels of the wheelchair are respectively placed on the two strip-shaped plates 1. The vertical post 5 can horizontally slide and be fixed along the long post 3, the height of the round shaft 601 can be adjusted, and the front and back positions of the frame rod fixing seat 605 can be adjusted; the wheelchair frame is provided with a plurality of rods, the frame rod fixing seat 605 is inserted on the wheelchair rod, so that the wheelchair rod enters the frame rod slot 603 from the opening 604 on the frame rod fixing seat 605, and then the positioning screw IV606 is rotated to be pressed against the wheelchair rod in the frame rod slot 603, so as to fix the wheelchair rod. The frame rod fixing base 605 may be provided in plural, and a plurality of rods on the wheelchair are fixed, so that the wheelchair is loaded on the robot. The door-shaped plug 501 slides along the long column 3, the left and right positions of the vertical column 5 are adjusted, and the positioning screw I502 is screwed to be tightly pressed against the long column 3, so that the door-shaped plug 501 is fixed on the long column 3. After the set screw I502 is screwed off, the gate-shaped insert 501 can be pulled out, which facilitates the installation and removal of the plurality of vertical posts 5. The slider 503 can be on the upstand 5 vertical slip, rotating set screw II505 can fix slider 503 on upstand 5, two gleitbretters 506 also can be on upstand 5 vertical slip, because be connected through connecting plate 507 between two gleitbretters 506, so two gleitbretters 506 can slide simultaneously, when two gleitbretters 506 slide synchronously, can press one of them spring, the spring can play the effect of buffering, make fixing base 605 can reciprocate one section distance, when making the robot cross the abominable road, the wheelchair of being fixed on a plurality of fixing bases 605 can be through the shock attenuation of a plurality of springs, make the people on the wheelchair more comfortable. The rear wheel groove 101 and the front wheel groove 103 are respectively used for placing a rear wheel with a large radius and a small wheel with a small radius on the wheelchair. When the screw 402 rotates on the middle block 401, the distance between the two strip-shaped plates 1 can be increased and reduced, and the distance between the two strip-shaped plates 1 is adjusted to adapt to wheelchairs with different wheel distances of different models. The sloping plates 105 prevent the robot from tipping over when the robot is descending and facilitate the sliding of the wheelchair onto the two strips 1 from the two sloping plates 105. The four motors 803 respectively drive the four spherical wheels 804 to rotate, so that the robot is controlled to move, the spherical wheels 804 are close to spherical, the robot can conveniently walk on a complex road surface, and the robot cannot easily sink into a deep groove on the road surface. Four vertical travelers 8 all can vertical slip for the upper and lower position of four spherical wheels 804 can change, adapts to complicated topography, can push damping spring when four vertical travelers 8 vertical slip, and four damping spring have played absorbing effect to the wheelchair.

The battery powers four motors 803.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. The utility model provides a but supplementary obstacle crossing robot of loading wheelchair, includes strip shaped plate (1), backup pad I (2), long post (3), spliced pole (302), upstand (5), circle axle (601), frame pole slot (603), opening (604), frame pole fixing base (605) and set screw IV (606), its characterized in that: the front and back of the strip-shaped plates (1) are provided with two strip-shaped plates (1), the two strip-shaped plates (1) are connected through a support plate I (2), the two strip-shaped plates (1) are connected with long columns (3) through connecting columns (302), the two long columns (3) are provided with vertical columns (5), the vertical columns (5) can horizontally slide and be fixed along the long columns (3), the upper ends of the vertical columns (5) are fixedly connected with round shafts (601), the heights of the round shafts (601) can be adjusted, the inner ends of the round shafts (601) are fixedly connected with frame rod fixing seats (605), frame rod inserting grooves (603) are formed in the frame rod fixing seats (605), openings (604) are formed in the frame rod inserting grooves (603), the frame rod fixing seats (605) are connected with positioning screws IV (606) through threads, and the positioning screws IV (606) are inserted into the frame rod inserting grooves (603;

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a strip-shaped groove (301), a door-shaped plug-in (501) and a positioning screw I (502), the lower portion of the vertical column (5) is fixedly connected with the door-shaped plug-in (501), the door-shaped plug-in (501) is inserted into the long column (3), the door-shaped plug-in (501) can slide along the long column (3), the strip-shaped groove (301) is formed in the long column (3), the door-shaped plug-in (501) is connected with the positioning screw I (502) through threads, the positioning screw I (502) is inserted into the strip-shaped groove (301), and the positioning screw I (502) is tightly propped against the long column (3) to fix the door-shaped plug-in (501) on the long column (3);

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a sliding block (503), a cylinder (504), a positioning screw II (505), sliding blades (506), a connecting plate (507), a fixed seat (6) and a positioning screw III (602), wherein the sliding block (503) is connected on the vertical column (5) in a sliding manner, the positioning screw II (505) is connected on the sliding block (503) through threads, the positioning screw II (505) abuts against the vertical column (5), the vertical column (5) is connected with two sliding blades (506) in a sliding manner, the two sliding blades (506) are fixedly connected through the connecting plate (507), the two sliding blades (506) are respectively positioned on the upper side and the lower side of the sliding block (503), the cylinder (504) is fixedly connected on the upper side and the lower side of the sliding block (503), the two cylinders (504) are respectively connected on the two sliding blades (506) in a sliding manner, springs are sleeved on the two cylinders (504), and the, a fixed seat (6) is fixedly connected to the connecting plate (507), the round shaft (601) is connected to the fixed seat (6) in a sliding mode, a positioning screw III (602) is connected to the fixed seat (6) through threads, and the positioning screw III (602) abuts against the round shaft (601);

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a rear wheel groove (101) and a front wheel groove (103), the rear wheel grooves (101) are formed in the left parts of the two strip-shaped plates (1), and the front wheel grooves (103) are formed in the right parts of the two strip-shaped plates (1);

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a threaded cylinder (102), hook pieces (104), bottom grooves (106), a support plate II (4), a middle block (401), a screw rod (402), bolts (403) and a main beam (7), wherein the hook pieces (104) are arranged at the left ends of the two strip-shaped plates (1), a support plate I (2) is connected with the two hook pieces (104) in a sliding mode, the threaded cylinders (102) are arranged on the upper sides of the two strip-shaped plates (1), the bottom grooves (106) are arranged on the lower sides of the two strip-shaped plates (1), the front end and the rear end of the support plate II (4) are respectively connected onto the two bottom grooves (106) in a sliding mode, the middle block (401) is fixedly connected to the middle portion of the support plate II (4), the middle portion of the screw rod (402) is rotatably connected onto the middle block (401), the two bolts (403) are arranged on the screw rod (402), and the two bolts, the front and rear threads of the screw (402) are opposite in rotating direction, the front and rear threads of the screw (402) are respectively matched with the two thread cylinders (102) through threads, and two ends of the main beam (7) are respectively and fixedly connected to the middle parts of the support plate I (2) and the support plate II (4);

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises an inclined plate (105), the left ends of the two strip-shaped plates (1) are fixedly connected with the inclined plate (105), and the right end of the inclined plate (105) inclines downwards;

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises spherical wheels (804), and the main beam (7) is provided with four spherical wheels (804) capable of moving vertically;

the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises convex plates (701), vertical sliding columns (8), right-angle plates (802) and motors (803), the left end and the right end of a main beam (7) are fixedly connected with the convex plates (701), the front end and the rear end of each of the two convex plates (701) are vertically connected with the vertical sliding columns (8) in a sliding mode, the lower portions of the four vertical sliding columns (8) are fixedly connected with the right-angle plates (802), the four right-angle plates (802) are provided with the motors (803), and the four spherical wheels (804) are respectively fixedly connected to output shafts of the four motors (803).

2. The auxiliary obstacle crossing robot capable of being loaded with a wheelchair as claimed in claim 1, wherein: the auxiliary obstacle crossing robot capable of loading the wheelchair further comprises a stop block (801), the stop blocks (801) are fixedly connected to the upper ends of the four vertical sliding columns (8), damping springs are sleeved on the four vertical sliding columns (8), and the four damping springs are located on the lower sides of the corresponding convex plates (701).

3. The auxiliary obstacle crossing robot capable of being loaded with a wheelchair as claimed in claim 2, wherein: and a battery is arranged on the main beam (7).