CN111035509A - Standing-up assisting wheelchair with changeable walking mode - Google Patents

Abstract

The invention relates to a wheelchair. The technical scheme is as follows: the standing-up assisting wheelchair with a changeable walking mode is characterized in that: the device comprises a chassis which is horizontally arranged, two groups of wheel-type traveling devices which are arranged on the chassis and used for performing wheel-type traveling, two groups of crawler-type traveling devices which are arranged on the lower part of the chassis and used for performing crawler-type traveling, a seat which is arranged above the middle part of the chassis, a mobile lifting device which is connected between the chassis and the seat and used for adjusting the position of the seat, two groups of auxiliary hoes which are arranged on the rear part of the chassis and used for assisting the wheelchair to park, two groups of hood folding and unfolding devices which are arranged on the chassis and positioned between the seat and the auxiliary hoes, and an auxiliary action amplifier; the two sets of wheel type running devices, the two sets of crawler type running devices, the two sets of hoes and the two sets of hood retracting devices are respectively identical in structure and are arranged in bilateral symmetry about a vertical central plane of the chassis. The wheelchair can be switched to the advancing mode according to the external environment, the stability of the wheelchair is guaranteed, the operation is simple, and the applicability is strong.

Description

Standing-up assisting wheelchair with changeable walking mode

Technical Field

The invention relates to a wheelchair, in particular to a standing-up assisting wheelchair with a changeable walking mode.

Background

With the increasing trend of aging of the population in China, the safety of daily living of the old people is concerned widely. At present, most children in families are busy working in the daytime, so that the elderly living alone or the elderly with empty nests are careless. Meanwhile, with the increasing age, many old people have the phenomena of inconvenient legs and feet and deteriorated self-care ability. The old people are more or less inconvenient for a plurality of matters needing to be processed independently due to the decline of physical functions, and need the help of other people or the assistance of instruments, and the importance of the auxiliary instruments is gradually increased in the times that the human resources are more and more expensive nowadays.

At present, the old people have troubles which cannot be effectively solved in the wheelchair traveling process, such as: the wheelchair has poor trafficability, and can not pass obstacles by itself when passing through a deceleration strip and a park step without an auxiliary channel; at home, the user wants to take articles higher than the hand activity space in a sitting position; bad weather but not rain gear, etc. In addition, the existing standing-up assisting wheelchair is only limited to the functions of a common wheelchair, lacks active safety protection measures and additional functions, is mostly limited by a self mechanism, and cannot adapt to various environments. Accordingly, there is a need for improvements to existing assisted-rise wheelchairs.

Disclosure of Invention

The invention aims to overcome the defects of the background technology and provide a standing-up assisting wheelchair with a changeable walking mode, wherein the wheelchair can be switched to a traveling mode according to an external environment and simultaneously ensures the stability of the wheelchair; the wheelchair should also be capable of assisting the old to stand up, and be matched with safety protection measures under different environmental conditions, and has the characteristics of simple operation, strong safety, convenient use and strong applicability.

The technical scheme provided by the invention is as follows:

the standing-up assisting wheelchair with a changeable walking mode is characterized in that: the device comprises a chassis which is horizontally arranged, two groups of wheel-type traveling devices which are arranged on the chassis and used for performing wheel-type traveling, two groups of crawler-type traveling devices which are arranged at the lower part of the chassis and used for performing crawler-type traveling, a seat which is arranged above the middle part of the chassis, a mobile lifting device which is connected between the chassis and the seat and used for adjusting the position of the seat, two groups of auxiliary hoes which are arranged at the rear part of the chassis and used for assisting the wheelchair to park, two groups of hood collecting and releasing devices which are arranged on the chassis and positioned between the seat and the auxiliary hoes, and an auxiliary action amplifier which is arranged on the chassis; the two sets of wheel type running devices, the two sets of crawler type running devices, the two sets of hoes and the two sets of hood retracting devices are respectively identical in structure and are arranged in bilateral symmetry about a vertical central plane of the chassis.

Each group of wheel type running devices comprises a front wheel which is rotatably positioned at the front part of the chassis, a first driving assembly which drives the front wheel to rotate, a plurality of springs which are vertically fixed below the rear part of the chassis and used for damping, a wheel axle support fixed at the tail end of each spring and a rear wheel which is rotatably positioned on the wheel axle support; the first driving assembly comprises a large gear coaxially and fixedly connected with the front wheel, a first motor fixed on the chassis, a small gear fixedly connected with a motor shaft of the first motor, and a chain wound on the peripheries of the large gear and the small gear.

Each group of crawler-type traveling devices comprises two groups of wheel track switching cylinders vertically fixed at the bottom of the chassis at intervals, an overhanging shaft bracket horizontally fixed at the tail end of a push rod of the two groups of wheel track switching cylinders, a second motor installed at one end of the overhanging shaft bracket along the left-right direction, a driving wheel fixed on a motor shaft of the second motor, a guide wheel rotatably positioned at the other end of the overhanging shaft bracket, a crawler wound on the peripheries of the driving wheel and the guide wheel, and a plurality of inducer installed on the inner side of the crawler to support the crawler.

The movable lifting device comprises a rear leg supporting column vertically fixed on the chassis, second sliding rails vertically arranged on the front side and the rear side of the rear leg supporting column respectively, a first lifting column capable of vertically moving along the second sliding rails on the front side of the rear leg supporting column, a first positioning cylinder used for driving the first lifting column, a rear supporting rod horizontally fixed on the first lifting column in the left-right direction, a second lifting column capable of vertically moving along the second sliding rails on the rear side of the rear leg supporting column, a second positioning cylinder used for driving the second lifting column and a four-connecting-rod structure used for improving the bearing capacity of the seat.

The four-connecting-rod structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first connecting rod is horizontally fixed on the chassis and is provided with a first sliding rail and a first sliding block which are in sliding fit; one end of the second connecting rod is hinged to the first sliding block, and the other end of the second connecting rod is hinged to the middle of the third connecting rod; one end of the third connecting rod is hinged with the first connecting rod, and the other end of the third connecting rod is hinged with the front supporting rod; one end of the fourth connecting rod is hinged to the front supporting rod, and the other end of the fourth connecting rod is hinged to the rear supporting rod.

The seat comprises a plurality of front leg supporting columns, a front supporting rod, a seat board, a backrest and a backrest cylinder, wherein the bottoms of the front leg supporting columns are hinged to a chassis, the front supporting rod is horizontally fixed to the upper portions of the front leg supporting columns in the left-right direction, the seat board is located above a four-bar mechanism, one end of the seat board is hinged to the front supporting rod, the base is fixed to a fourth connecting rod, a push rod of the base is hinged to the bottom of the seat board through the seat board cylinder, the lower end of the backrest is hinged to a first lifting column, the base is fixed to a second lifting.

Every group hood winding and unwinding devices is including back and forth interval certain distance and vertical two stands of fixing on the chassis, the crossbeam of horizontally connect on two stand tops, the vertical fourth slide rail that sets up on the stand of rear, but the fourth slider of vertical slip ground location on the fourth slide rail, vertical fixed on the stand of rear and its push rod and fourth slider fixed connection's third cylinder, one end and fourth slider are articulated and the other end to the fluffy pole that the seat top stretches out and one end articulate on the crossbeam and the other end articulates the down tube at fluffy pole middle part.

The hoe comprises a five-rod mechanism, a second driving assembly for driving the five-rod mechanism and a parking plate arranged on the five-rod mechanism; the second driving assembly comprises a driving motor arranged on the chassis, a first lead screw which is rotatably positioned on the lead screw supporting seat and driven by the driving motor, and a fifth sliding block which is in fit transmission with the first lead screw;

the five-rod mechanism comprises a first rod, a second rod, a third rod, a fourth rod and a fifth rod; the first rod piece, the second rod piece and the third rod piece are sequentially hinged; the parking plate is hinged to the tail end of the third rod piece; one end of the fifth rod piece is fixedly connected with the screw rod supporting seat of the first screw rod, and the other end of the fifth rod piece is arranged into a Y-shaped connecting end; one of the forked ends of the Y-shaped connecting ends of the fifth rod piece is hinged with the middle part of the second rod piece, and the other forked end of the Y-shaped connecting ends of the fifth rod piece is hinged with one end of the fourth rod piece; the other end of the fourth rod piece is hinged with the middle part of the third rod piece.

The auxiliary action amplifier comprises a fixed seat vertically fixed on the chassis, a rotating disc rotatably and horizontally positioned on the fixed seat, a fourth motor fixed on the side surface of the fixed seat and driving the rotating disc through a gear pair, a first rod vertically fixed on the rotating disc, a second rod with one end hinged with the top end of the first rod, a first air cylinder with two ends respectively hinged with the middle parts of the rotating disc and the second air rod, a third rod obliquely and downwards arranged with the middle part hinged with the other end of the second rod, a second air cylinder with one end hinged with the upper end of the third rod and the other end hinged with the middle part of the second rod, a fourth rod arranged perpendicular to the central line of the third rod and with the middle part hinged with the lower end of the third rod, two adjusting blocks capable of being slidably positioned on the fourth rod along the length direction of the fourth rod, two mechanical claws respectively fixed on the two adjusting blocks, a third motor fixed on the third, The second lead screw is fixedly connected with a motor shaft of the third motor, and the second slide block is matched with the second lead screw; one end of each of the two mechanical claws is hinged to the two sides of the second sliding block respectively; the first cylinder and the second cylinder are respectively positioned on two sides of the second rod.

An arc-shaped mudguard which is fixed on the chassis and is suitable for the outer diameter of the front wheel is arranged above the front wheel; armrests for safety protection are arranged on two sides of the seat board; a safety belt is arranged between the seat board and the backrest; a control key board is arranged on the armrest; a bumper is arranged at the front part of the chassis; the front part of the chassis is provided with a camera; the front part and the rear part of the chassis are provided with lighting devices; the rear part of the chassis is provided with a power supply.

The invention has the beneficial effects that:

1) the wheel-track switching cylinder realizes switching between the wheel-type traveling device and the track-type traveling device, can adapt to different road environments, and improves the application range and the passing rate of the wheelchair.

2) In the wheel type walking device, the spring is connected between the rear wheel and the chassis, so that the bumping phenomenon in the walking process can be greatly reduced, and the stability and the comfort are improved.

3) The auxiliary hoe can assist the wheelchair to park, prevent the wheelchair from sliding down or turning backwards when climbing a slope, and improve the safety performance of the wheelchair.

4) The hood folding and unfolding device disclosed by the invention adopts a scissor-fork type structure, is smooth and convenient to fold and unfold, and is simple in structure and convenient to operate.

5) The movable lifting device can adjust the inclination angle of the seat plate, so that the old can be assisted to stand up, and the physical strength of the old can be saved; in addition, the inclination angle of the backrest of the seat can be adjusted through the backrest cylinder, the old can adjust the backrest according to the self condition, and the comfort is improved.

6) The auxiliary action amplifier can position the mechanical claw in a three-dimensional space, has a large adjustable range, can assist the old to take objects out of the range of the hand, and improves the independent living capacity of the old.

7) The invention has wide application range, high safety, convenient operation and lower cost, and is suitable for popularization and application.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a right-view structural diagram of the present invention.

Fig. 3 is a left side view of the present invention (with the hood retraction device and bumper omitted).

Fig. 4 is a schematic perspective view of the wheel-type running gear and the crawler-type running gear of the present invention.

Fig. 5 is an enlarged schematic view of a portion a of fig. 2.

Fig. 6 is a schematic perspective view of the first driving assembly according to the present invention.

Fig. 7 is a schematic partial perspective view of the mobile lifting device of the present invention.

Fig. 8 is a perspective view of the mobile lifting device and the seat of the present invention (the backrest is omitted).

Fig. 9 is a second perspective view of the mobile lifting device and the seat of the present invention (the backrest and the seat plate are omitted).

Fig. 10 is a right-side structural schematic view of the mobile lifting device and the seat of the invention (the backrest is omitted).

FIG. 11 is a schematic cross-sectional view of B-B in FIG. 10.

FIG. 12 is a schematic left-view structural diagram of the assisted hoe of the present invention.

Fig. 13 is a schematic perspective view of the canopy folding and unfolding apparatus of the present invention.

Fig. 14 is a schematic right-view structural view of the hood retracting device of the present invention.

Fig. 15 is a schematic perspective view of an auxiliary operational amplifier according to the present invention.

Reference numerals:

100. a wheel-type running gear; 101. a front wheel; 102. a rear wheel; 103. a spring; 104. a wheel axle bracket; 105. a bull gear; 106. a pinion gear; 107. a chain; 108. a first motor; 200. a crawler-type running gear; 201. a driving wheel; 202. a wheel-track switching cylinder; 203. an outrigger; 204. an inducer; 205. a crawler belt; 206. a guide wheel; 300. hoeing is assisted; 301. a parking board; 302. a fourth bar member; 303. a third bar member; 304. a second bar member; 305. a first bar member; 306. a fifth bar member; 307. a fifth slider; 308. a first lead screw; 309. a lead screw supporting seat; 310. a drive motor; 400. a hood retraction device; 401. a third cylinder; 402. a tent pole; 403. a diagonal bar; 404. a fourth slider; 405. a fourth slide rail; 406. a column; 407. a cross beam; 500. moving the lifting device; 501. a first positioning cylinder; 502. a second slide rail; 503. a rear support bar; 504. a fourth link; 505. a first slider; 506. a third link; 507. a second link; 508. a first link; 509. a first slide rail; 510. a rear leg support post; 511. a first lifting column; 512. a second lifting column; 513. a second positioning cylinder; 600. a seat; 601. a backrest cylinder; 602. a front support bar; 603. a backrest; 604. a seat plate; 605. a front leg support post; 606. a seat plate cylinder; 607. a seat plate connecting piece; 701. a seat belt; 702. a fender; 703. a handrail; 800. an auxiliary operation amplifier; 801. a gripper; 802. an adjusting block; 803. a fourth bar; 804. a third motor; 805. a second slider; 806. a second lead screw; 807. a third lever; 808. a second cylinder; 809. a second lever; 810. a first cylinder; 811. a first lever; 812. rotating the disc; 813. a fourth motor; 814. a fixed seat; 900. a chassis; 1000. a control key pad; 1100. a bumper; 1200. a camera is provided.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

For convenience of description, the left side of fig. 2 is taken as front, the right side is taken as back, the upper side is taken as top or top, the lower side is taken as bottom or bottom, the direction inward from the vertical paper surface in fig. 2 is taken as right, and the direction outward from the vertical paper surface is taken as left.

The standing-up assisting wheelchair with changeable walking modes as shown in fig. 1 and fig. 2 comprises a chassis 900, two sets of wheel-type walking devices 100, two sets of crawler-type walking devices 200, a seat 600, a mobile lifting device 500, two sets of hoes 300, two sets of hood folding and unfolding devices 400 and an auxiliary action amplifier 800. The chassis is horizontally arranged; the two sets of wheel type traveling devices are arranged on the left side and the right side of the chassis; the two sets of crawler-type traveling devices are arranged at the lower part of the chassis; the seat is arranged above the middle part of the chassis; the two groups of mobile lifting devices are connected between the chassis and the seat and used for adjusting the position of the seat; the auxiliary hoe is arranged at the rear part of the chassis and is used for assisting the wheelchair to stop; the two groups of hood folding and unfolding devices are arranged on the chassis and are positioned between the seat and the auxiliary hoe; the auxiliary action amplifier is installed on the chassis and is positioned beside the seat, so that the old can take articles conveniently. The two sets of wheel type traveling devices, the two sets of crawler type traveling devices, the two sets of hoes and the two sets of hood retracting devices are respectively identical in structure and are arranged in bilateral symmetry about a vertical central plane of the chassis, so that balance and stability of the wheelchair during operation are guaranteed.

As shown in fig. 4 and 5, each set of wheel-type running gear includes a front wheel 101, a first drive assembly, a plurality of (two in this embodiment) springs 103, an axle bracket 104, and a rear wheel 102. The front wheels and the rear wheels are respectively arranged at the front part and the rear part of the chassis; in the embodiment, the front wheel adopts a spoke structure large wheel, and the front wheel can be rotatably positioned on the side surface of the front part of the chassis; the rear wheels are small wheels and are positioned in the middle position of the rear lower part of the chassis, so that two front wheels and two rear wheels in the two sets of wheel type walking devices are arranged in an inverted triangle. The two springs are vertically fixed below the rear part of the chassis and used for damping; the wheel shaft bracket is fixed at the tail end of the spring; the rear wheel is rotatably positioned on the wheel axle bracket. A mudguard 702 is also arranged above the front wheel; the mudguard is fixed on the chassis and is matched with the outer diameter of the front wheel.

As shown in fig. 6, the first driving assembly is used for driving the front wheel and includes a large gear 105, a first motor 108, a small gear 106, and a chain 107. The large gear is coaxially and fixedly connected with the front wheel; the first motor is fixed on the chassis and used as a power source to drive the wheel type walking device to move; the pinion is fixedly connected with a motor shaft of the first motor; the chain is wound on the peripheries of the large gear and the small gear. When the device works, the first motor drives the small gear, the small gear drives the big gear to rotate through the chain, and then the front wheel coaxially connected with the big gear is driven to rotate, so that wheel type traveling is realized; and in the process of advancing, the spring plays a role in damping, and the stability of advancing of the wheelchair is improved.

As shown in fig. 4 and 5, each crawler-type running gear set includes two sets of wheel-track switching cylinders 202, an outrigger 203, a driving wheel 201, a guide wheel 206, a second motor (not shown), a crawler 205, and a plurality of inducer 204. The two groups of wheel-track switching cylinders are vertically fixed at the bottom of the chassis at a certain distance from the front to the back; the overhanging shaft bracket is horizontally fixed at the tail ends of push rods of the two groups of wheel track switching cylinders along the front-back direction so as to be driven by the two groups of wheel track switching cylinders to vertically move. The second motor is arranged at one end of the outward extending shaft bracket along the left-right direction, and a motor shaft of the second motor is fixedly connected with the driving wheel so as to drive the driving wheel; the guide wheel is rotatably positioned at the other end of the overhanging shaft bracket; the crawler belt is wound on the peripheries of the driving wheel and the driven wheel; the plurality of inducer are arranged on the inner side of the crawler belt and used for supporting the crawler belt. When the crawler-type traveling device works, the cylinder shafts of the two groups of wheel-track switching cylinders extend or contract, so that the overhanging shaft bracket is driven to vertically move, the crawler is driven to contact or be far away from the ground, and free switching between the wheel-type traveling device and the crawler-type traveling device is realized. In this embodiment, each set of wheel-track switching cylinders includes four wheel-track switching cylinders, that is, there are 16 wheel-track switching cylinders in the two sets of crawler-type traveling devices.

As shown in fig. 7 to 11, the mobile lifting device includes two rear leg support columns 510, four second slide rails 502, one first lifting column 511, two first positioning cylinders 501, a rear support rod 503, three second lifting columns 512, two second positioning cylinders 513, and a four-bar linkage (in fig. 6, the rear leg support columns are not shown due to the shielding of the first lifting columns). The two rear leg supporting columns are vertically fixed on the chassis, and the second sliding rails are vertically arranged on the front side and the rear side of each rear leg supporting column respectively. First promotion post is located the intermediate position of two back leg support column front sides, and first promotion post can be under the drive of two first positioning cylinder along the second slide rail vertical motion of back leg support column front side (in this embodiment first promotion post is located between two first positioning cylinder, and the base of two first positioning cylinder is fixed on the chassis, and the push rod end of two first positioning cylinder all with first promotion post fixed connection, the push rod end of two first positioning cylinder can respectively with second slide rail sliding fit, under the synchronous drive of two first cylinders, vertical motion can be made steadily to first promotion post). And a rear support rod is horizontally fixed on the first lifting column along the left-right direction. The three second promotes the post and is located the rear side of back leg support column, and three second promotes the post and can be under the drive of two second location cylinders along the second slide rail vertical motion of back leg support column rear side (two location cylinders and three second promote post interval arrangement in this embodiment, the base of two second location cylinders is fixed on the chassis, and the push rod end and the three second of two second location cylinders promote post fixed connection, the push rod end of two second location cylinders can respectively with second slide rail sliding fit, under the synchronous drive of two second cylinders, vertical motion can be made steadily to three second promotion post).

The four-bar linkage mechanism plays a damping role in the process of adjusting the seat so as to improve the bearing capacity of the seat. As shown in fig. 7, the four-link mechanism includes a first link 508, a second link 507, a third link 506, and a fourth link 504; wherein, the first link is horizontally fixed on the chassis and is provided with a first slide rail 509 and a first slide block 505 which are in sliding fit; one end of the second connecting rod is hinged to the first sliding block, and the other end of the second connecting rod is hinged to the middle of the third connecting rod; one end of the third connecting rod is hinged with the first connecting rod, and the other end of the third connecting rod is hinged with the front support rod 602; one end of the fourth connecting rod is hinged to the front supporting rod, and the other end of the fourth connecting rod is hinged to the rear supporting rod.

As shown in fig. 8-11, the seat includes two front leg support posts 605, a front support bar 602, a seat pan 604, four seat pan cylinders 606, a backrest 603, four backrest cylinders 601, an armrest 703, and a seat belt 701. The bottom of the front leg supporting columns is hinged to the chassis, and the front supporting rods are horizontally fixed to the upper portions of the two front leg supporting columns in the left-right direction. And the base of the seat plate cylinder is fixed on the fourth connecting rod. The bedplate is installed in four bar linkage top, and wherein the one end of bedplate passes through bedplate connecting piece 607 and articulates on the front support pole, and the bottom of bedplate articulates at the push rod end of bedplate cylinder for the bedplate can be around the swing of front support pole under the drive of bedplate cylinder, thereby adjusts the inclination of bedplate. The base of the backrest cylinder is fixed on the second lifting column, and the height position of the backrest cylinder can be adjusted through the second lifting column so as to adjust the backrest. The lower end of the backrest is hinged to the top of the first lifting column, and the middle of the backrest is hinged to the tail end of a push rod of the backrest cylinder, so that the inclination angle of the backrest can be adjusted through the backrest cylinder. The seat board is provided with a safety belt. The right and left sides of the seat board are provided with armrests for safety protection. When the first lifting column and the second lifting column move vertically, the height positions of the seat plate and the backrest can be adjusted; when the seat plate cylinder extends or contracts, the inclination angle of the seat plate can be adjusted; when the backrest cylinder extends or contracts, the inclination angle of the backrest can be adjusted.

The two groups of auxiliary hoes are arranged at the rear part of the chassis and are used for assisting the wheelchair to stop. As shown in FIG. 12, each set of assisted hoes includes a five-bar mechanism, a second drive assembly, and a parking plate 301. The parking plate is arranged on the five-rod mechanism; the second driving assembly is used for driving the five-rod mechanism, and further driving the parking plate to park the wheelchair.

The second drive assembly includes a drive motor 310, a first lead screw 308, and a fifth slider 307. The driving motor is arranged on the chassis; the first lead screw is rotatably positioned on the lead screw supporting seat 309 (the lead screw supporting seat is fixedly connected with the chassis), and the first lead screw is fixedly connected with a motor shaft of the driving motor so as to be driven by the driving motor to rotate; the fifth sliding block is in matched transmission with the first lead screw, so that the fifth sliding block moves along the length direction of the first lead screw.

The five-bar mechanism includes a first bar 305, a second bar 304, a third bar 303, a fourth bar 302, and a fifth bar 306; the first rod piece, the second rod piece and the third rod piece are sequentially hinged; the parking plate is hinged to the tail end of the third rod piece; one end of the fifth rod piece is fixedly connected with a lead screw supporting seat 309 of the first lead screw, and the other end of the fifth rod piece is arranged to be a Y-shaped connecting end; one of the forked ends of the Y-shaped connecting ends of the fifth rod piece is hinged with the middle part of the second rod piece, and the other forked end of the Y-shaped connecting ends of the fifth rod piece is hinged with one end of the fourth rod piece; the other end of the fourth rod piece is hinged with the middle part of the third rod piece.

As shown in fig. 13 and 14, each set of the top retraction devices includes two pillars 406, a cross beam 407, a fourth slide rail 405, a fourth slider 404, a third cylinder 401, a canopy rod 402, and an inclined rod 403. Two upright posts are vertically fixed on the chassis at a certain distance in tandem; the cross beam 407 is horizontally and fixedly connected between the top ends of the two upright posts; the fourth slide rail is vertically arranged on the rear upright post; the fourth sliding block can be vertically and slidably positioned on the fourth sliding rail; the third cylinder is vertically fixed on the rear upright post, and a push rod of the third cylinder is fixedly connected with the fourth sliding block so as to drive the fourth sliding block to vertically move. One end of the tent rod is hinged with the fourth sliding block, and the other end of the tent rod extends towards the upper part of the seat. One end of the inclined rod is hinged on the cross beam, and the other end of the inclined rod is hinged in the middle of the tent rod. In this embodiment, two pillars of the two groups of hood retraction devices are also connected with a beam 407 correspondingly, so as to form a rectangular frame. When in use, the hood is covered on the two hood rods (the hood is not shown in the figure).

As shown in fig. 15, the booster is mounted on the chassis and beside the seat to assist the elderly in taking items. The auxiliary motion amplifier comprises a fixed seat 814, a rotating disc 812, a fourth motor 813, a first rod 811, a second rod 809, a first air cylinder 810, a third rod 807, a second air cylinder 808, a fourth rod 803, two adjusting blocks 802, two mechanical claws 801, a third motor 804, a second lead screw 806 and a second sliding block 805. The fixed seat is vertically fixed on the chassis; the rotating disc can be rotatably and horizontally positioned on the fixed seat; the fourth motor is fixed on the side surface of the fixed seat and drives the rotating disc through the gear pair; the first rod is vertically fixed on the rotating disc; one end of the second rod is hinged with the top end of the first rod, and the other end of the second rod is hinged with the middle part of the third rod; two ends of the first air cylinder are hinged with the rotating disc and the middle part of the second air rod respectively; the third rod is arranged obliquely downwards; one end of the second cylinder is hinged to the upper end of the third rod, and the other end of the second cylinder is hinged to the middle of the second rod; the first cylinder and the second cylinder are respectively positioned on two sides of the second rod. The third motor is fixed on the third rod; the second lead screw is arranged along the length direction of the third rod and is fixedly connected with a motor shaft of a third motor so as to be driven by the third motor to rotate; the second sliding block and the second lead screw are in matched transmission, so that the second sliding block can move along the second lead screw. The central line of the fourth rod is vertical to the central line of the third rod, and the middle part of the fourth rod is hinged with the lower end of the third rod. The two adjusting blocks are arranged at a certain distance and can be positioned on the fourth rod in a sliding manner along the length direction of the fourth rod; one ends of the two mechanical claws are respectively hinged to two sides of the second sliding block, and the middle parts of the two mechanical claws are respectively fixed on the two adjusting blocks.

As shown in fig. 1 and 2, a control key pad 1000 is arranged on the armrest; a singlechip (not shown in the figure) is arranged in the control key panel. All the motors and the cylinders are electrically connected with the single chip microcomputer to control the wheelchair to act.

A bumper 1100 is mounted to the front of the chassis for protecting the wheelchair. The front part and the rear part of the chassis are provided with lighting devices (not shown in the figure) for lighting and reminding others; the lighting device is electrically connected with the singlechip.

The front part of the chassis is provided with a camera 1200; the number of camera pixels is 30 ten thousand; the camera is electrically connected with the singlechip.

The rear part of the chassis is provided with a power supply (not shown in the figure) for providing power for the normal work of the above components.

The use mode of the invention is as follows:

and in a normal state, all the wheel-track switching cylinders are contracted, so that the crawler-type traveling device is suspended, and the crawler-type traveling device travels by adopting the wheel-type traveling device, so that the crawler-type traveling device is suitable for traveling on a flat road surface. The old people operate the wheel type walking device, and can control the first motor to rotate through the keyboard to drive the front wheel to move forwards; and because the spring is arranged between the rear wheel and the chassis, the shock absorption effect can be achieved, and the traveling stability of the wheelchair is greatly improved.

When the old people meet a muddy road surface, the old people operate the crawler type traveling device, the wheel-track switching cylinders are controlled by the control keyboard to extend, so that the crawler is in contact with the ground, and the crawler type traveling device is adopted to travel at the moment to complete switching between the wheel type traveling device and the crawler type traveling device; then the second motor is controlled to rotate, and the second motor drives the driving wheel to rotate, so that the crawler belt is driven to advance.

When climbing is needed, the crawler-type traveling device is still adopted for traveling, in order to prevent the wheelchair from turning backwards or sliding down the slope, the old can operate the auxiliary hoe, the driving motor is controlled to rotate through the control key disc, the driving motor drives the fifth sliding block on the first lead screw to move, the parking plate is further in contact and compaction with the ground through the five-rod mechanism, and the wheelchair is stopped in an auxiliary mode.

When the old man need get up, the old man operates removal hoisting device and seat, controls the push rod extension of first location cylinder and second location cylinder through the keyboard, drives first promotion post and second and promotes the post upward movement, controls the push rod extension of bedplate cylinder and back cylinder simultaneously, can adjust the height and the inclination of bedplate and back to suitable position, makes things convenient for the old man to get up.

In a similar way, when the old man needs to sit down, the old man operates removal hoisting device and seat, controls the push rod shrink of first location cylinder and second location cylinder through the keyboard, drives first promotion post and second promotion post downstream, controls the push rod shrink of bedplate cylinder and back cylinder simultaneously, can adjust the height and the inclination of bedplate and back to suitable position, makes things convenient for the old man to sit down. In the operation process that the old man stands up or sits down, first slider is along first slide rail motion under four-bar linkage's drive, and four-bar linkage plays the damping effect to improve the bearing capacity of wheelchair.

In a normal state, the third cylinder in the hood retracting device is retracted to minimize the included angle β between the hood rod and the diagonal rod, and at this time, the hood rod is retracted inward, and the hood is in a closed state (the hood is not shown in the figure).

When meeting rainy day or need sunshade, the old man operates hood take-up and pay-off device, controls the push rod extension of third cylinder through the keyboard, drives fourth slider upward movement, and then drives the fluffy pole motion that articulates on the fourth slider, makes contained angle β between fluffy pole and the down tube crescent, and fluffy pole outwards opens, can open the hood (not show the hood in the picture).

When an object at a high position needs to be picked up, the old can operate the auxiliary action amplifier, and the fourth motor is controlled to rotate through the keyboard, so that the two mechanical claws can be driven to rotate in the horizontal direction; the two mechanical claws can be driven to move in the vertical direction by driving the first air cylinder and the second air cylinder; the opening angles of the two mechanical claws can be driven by driving the third motor, so that the position positioning of the mechanical claws in a three-dimensional space is realized, an object is accurately taken, and the operation is convenient.

When the wheelchair is used at night, the lighting devices at the front and the rear of the chassis can be turned on to illuminate, and meanwhile, other people are reminded, so that traffic accidents are avoided.

Finally, the above embodiments are only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the scope of the present invention should be defined by the claims.

Claims (10)

1. The standing-up assisting wheelchair with a changeable walking mode is characterized in that: the device comprises a chassis (900) which is horizontally arranged, two groups of wheel-type traveling devices (100) which are arranged on the chassis and are used for performing wheel-type traveling, two groups of crawler-type traveling devices (200) which are arranged at the lower part of the chassis and are used for performing crawler-type traveling, a seat (600) which is arranged above the middle part of the chassis, a mobile lifting device (500) which is connected between the chassis and the seat and is used for adjusting the position of the seat, two groups of auxiliary hoes (300) which are arranged at the rear part of the chassis and are used for assisting the wheelchair to park, two groups of hood collecting and releasing devices (400) which are arranged on the chassis and are positioned between the seat and the auxiliary hoes, and an; the two sets of wheel type running devices, the two sets of crawler type running devices, the two sets of hoes and the two sets of hood retracting devices are respectively identical in structure and are arranged in bilateral symmetry about a vertical central plane of the chassis.

2. The walking convertible assisted-rise wheelchair of claim 1, further comprising: each group of wheel type running gear comprises a front wheel (101) which is rotatably positioned at the front part of the chassis, a first driving assembly which drives the front wheel to rotate, a plurality of springs (103) which are vertically fixed below the rear part of the chassis and used for damping, a wheel axle support (104) which is fixed at the tail end of each spring, and a rear wheel (102) which is rotatably positioned on the wheel axle support; the first driving assembly comprises a large gear (105) coaxially and fixedly connected with the front wheel, a first motor (108) fixed on the chassis, a small gear (106) fixedly connected with a motor shaft of the first motor, and a chain (107) wound on the peripheries of the large gear and the small gear.

3. The walking convertible assisted-rise wheelchair of claim 2, further comprising: each group of crawler-type traveling devices comprises two groups of wheel track switching cylinders (202) vertically fixed at the bottom of the chassis at intervals, an overhanging shaft bracket (203) horizontally fixed at the tail end of a push rod of each group of wheel track switching cylinders, a second motor installed at one end of the overhanging shaft bracket along the left-right direction, a driving wheel (201) fixed on a motor shaft of the second motor, a guide wheel (206) rotatably positioned at the other end of the overhanging shaft bracket, a crawler (205) wound on the peripheries of the driving wheel and the guide wheel, and a plurality of inducer (204) installed on the inner side of the crawler to support the crawler.

4. The walking convertible assisted-rise wheelchair of claim 3, further comprising: the movable lifting device comprises a rear leg supporting column (510) vertically fixed on a chassis, second sliding rails (502) vertically arranged on the front side and the rear side of the rear leg supporting column respectively, a first lifting column (511) capable of vertically moving along the second sliding rail on the front side of the rear leg supporting column, a first positioning cylinder (501) used for driving the first lifting column, a rear supporting rod (503) horizontally fixed on the first lifting column along the left-right direction, a second lifting column (512) capable of vertically moving along the second sliding rail on the rear side of the rear leg supporting column, a second positioning cylinder (513) used for driving the second lifting column and a four-link structure used for improving the bearing capacity of the seat.

5. The walking convertible assisted-rise wheelchair of claim 4, further comprising: the four-link structure comprises a first link (508), a second link (507), a third link (506) and a fourth link (504); wherein, the first connecting rod is horizontally fixed on the chassis and is provided with a first slide rail (509) and a first slide block (505) which are in sliding fit; one end of the second connecting rod is hinged to the first sliding block, and the other end of the second connecting rod is hinged to the middle of the third connecting rod; one end of the third connecting rod is hinged with the first connecting rod, and the other end of the third connecting rod is hinged with the front supporting rod (602); one end of the fourth connecting rod is hinged to the front supporting rod, and the other end of the fourth connecting rod is hinged to the rear supporting rod.

6. The walking convertible assisted-rise wheelchair of claim 5, further comprising: the seat comprises a plurality of front leg supporting columns (605) with the bottoms hinged on a chassis, a front supporting rod (602) horizontally fixed on the upper parts of the front leg supporting columns along the left-right direction, a seat plate (604) positioned above a four-bar mechanism and with one end hinged with the front supporting rod, a seat plate cylinder (606) with the lower end hinged on a first lifting column and the push rod hinged at the bottom of the seat plate to adjust the inclination angle of the seat plate, a backrest (603) with the lower end hinged on the first lifting column and a backrest cylinder (601) with the lower end hinged on a second lifting column and the push rod hinged at the middle part of the backrest to adjust the inclination.

7. The walking convertible assisted-rise wheelchair of claim 6, further comprising: every group hood receiving and releasing device includes that the interval certain distance just vertically fixes two stands (406) on the chassis around, horizontal connection is at crossbeam (407) on two stand tops, vertical setting is fourth slide rail (405) on the stand of rear, but vertical sliding ground location fourth slider (404) on the fourth slide rail, vertical fixed on the stand of rear and its push rod and fourth slider fixed connection's third cylinder (401), one end and fourth slider hinge and the other end to the fluffy pole (402) that the seat top stretches out and down tube (403) that one end articulates on the crossbeam and the other end articulates at fluffy pole middle part.

8. The walking convertible assisted-rise wheelchair of claim 7, further comprising: the hoe comprises a five-rod mechanism, a second driving assembly for driving the five-rod mechanism and a parking plate (301) arranged on the five-rod mechanism; the second driving assembly comprises a driving motor (310) arranged on the chassis, a first lead screw (308) which is rotatably positioned on the lead screw supporting seat (309) and driven by the driving motor, and a fifth sliding block (307) which is in fit transmission with the first lead screw;

the five-rod mechanism comprises a first rod (305), a second rod (304), a third rod (303), a fourth rod (302) and a fifth rod (306); the first rod piece, the second rod piece and the third rod piece are sequentially hinged; the parking plate is hinged to the tail end of the third rod piece; one end of the fifth rod piece is fixedly connected with a lead screw supporting seat (309) of the first lead screw, and the other end of the fifth rod piece is arranged to be a Y-shaped connecting end; one of the forked ends of the Y-shaped connecting ends of the fifth rod piece is hinged with the middle part of the second rod piece, and the other forked end of the Y-shaped connecting ends of the fifth rod piece is hinged with one end of the fourth rod piece; the other end of the fourth rod piece is hinged with the middle part of the third rod piece.

9. The walking convertible assisted-rise wheelchair of claim 8, further comprising: the auxiliary action amplifier comprises a fixed seat (814) vertically fixed on the chassis, a rotating disc (812) rotatably and horizontally positioned on the fixed seat, a fourth motor (813) fixed on the side surface of the fixed seat and driving the rotating disc through a gear pair, a first rod (811) vertically fixed on the rotating disc, a second rod (809) with one end hinged with the top end of the first rod, a first air cylinder (810) with two ends respectively hinged with the middle parts of the rotating disc and the second air rod, a third rod (807) obliquely and downwards arranged with the middle part hinged with the other end of the second rod, a second air cylinder (808) with one end hinged with the upper end of the third rod and the other end hinged with the middle part of the second rod, a fourth rod (803) vertically arranged with the central line of the third rod and with the middle part hinged with the lower end of the third rod, and two adjusting blocks (802) slidably positioned on the fourth rod along the, Two mechanical claws (801) respectively fixed on the two adjusting blocks, a third motor (804) fixed on the third rod, a second lead screw (806) fixedly connected with a motor shaft of the third motor, and a second sliding block (805) matched with the second lead screw; one end of each of the two mechanical claws is hinged to the two sides of the second sliding block respectively; the first cylinder and the second cylinder are respectively positioned on two sides of the second rod.

10. The walking convertible assisted-rise wheelchair of claim 9, further comprising: an arc-shaped mud guard (702) which is fixed on the chassis and is suitable for the outer diameter of the front wheel is arranged above the front wheel; armrests (703) for safety protection are arranged on two sides of the seat board; a safety belt (701) is arranged between the seat plate and the backrest; a control key board (1000) is arranged on the armrest; a bumper (1100) is arranged at the front part of the chassis; the front part of the chassis is provided with a camera (1200); the front part and the rear part of the chassis are provided with lighting devices; the rear part of the chassis is provided with a power supply.

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