CN111494109A

CN111494109A - Wheelchair capable of climbing stairs

Info

Publication number: CN111494109A
Application number: CN202010314464.5A
Authority: CN
Inventors: 周梓达; 叶日鸿; 汪朋飞
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2020-08-07

Abstract

The invention discloses a stair climbing wheelchair, which comprises a chair surface, a bracket fixedly connected to the lower surface of the chair surface, a first lifting mechanism arranged at the front part below the chair surface and used for moving along the vertical direction, and a front driving wheel rotationally arranged on the first lifting mechanism; the rear driving wheel is rotatably arranged on the rear wheel pushing and swinging mechanism; the third lifting mechanism is arranged at the rear end of the second lifting mechanism and used for moving along the vertical direction, and the first auxiliary wheel is rotatably arranged on the third lifting mechanism; the auxiliary pushing and swinging mechanism is fixedly arranged below the chair surface and used for swinging back and forth, and a second auxiliary wheel is rotatably arranged on the auxiliary pushing and swinging mechanism. The structure is simplified, the stair climbing action is flexible, and the stair climbing efficiency and stability are greatly improved.

Description

Wheelchair capable of climbing stairs

Technical Field

The invention relates to the field of wheelchairs, in particular to a stair climbing wheelchair.

Background

With the aging of society, the proportion of old people increases, the number of disabled people also increases, and the base number of people with mobility disabilities increases obviously in recent years. The stairs are common obstacles in daily life, and no matter how the elevators and barrier-free passages are popularized, a plurality of unavoidable stair structures such as residential buildings, pedestrian overpasses, underground tunnels and the like exist. Even if only a few steps are available, the wheelchair becomes a gap which can not be exceeded by a common wheelchair, and particularly, the number of steps and stairs is increased due to the current social development, so that the inconvenience of going out of the elderly with mobility disabilities and the lower limb disabilities is aggravated. Therefore, the wheelchair capable of climbing stairs is urgently designed.

The stair climbing device has been studied in a large number at home and abroad, and can be divided into a wheel set type, a crawler type and other additional auxiliary stair climbing devices according to the principle of stair climbing function realization. The wheel set type ladder climbing device is turned over by a star wheel, and the gravity center fluctuation is large in the ladder climbing process, so that passengers feel uncomfortable. The wheelchair of the crawler-type stair climbing device in the current market is more in application, and compared with other stair climbing mechanisms, the crawler-type stair climbing device is more continuous in movement mode, higher in transmission efficiency, simple to control and capable of adapting to stairs of various sizes. The gravity center of the wheelchair always moves along a straight line parallel to the connecting line of the stair step edges in the stair climbing process, the fluctuation of the gravity center is small, and the movement is stable. However, the crawler belt is a ladder climbing device which is heavy in structure and inflexible in movement, and is not suitable for being used in the environment with too smooth stair steps and the gradient of more than 30-35 degrees. In addition, the crawler wheel chair easily damages the edge of the stair when climbing the stair, and the later maintenance cost is higher. The development and popularization of the tracked wheelchair are restricted by the series of problems.

Accordingly, the prior art is yet to be improved and developed.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a stair climbing wheelchair, wherein the stair climbing wheelchair simplifies the structure and the stair climbing action by virtue of a skillful design on the structure, is flexible in action, greatly improves the stair climbing efficiency and stability, solves the problems that the edge of a stair is easily damaged when the crawler wheelchair climbs the stair and the maintenance cost in the later period is high, and has the advantage of stably climbing stairs of different sizes in an efficient manner due to the fact that the center of gravity fluctuates in the stair climbing process.

The technical scheme of the invention is as follows:

the utility model provides a climb stair wheelchair, wherein, includes the seat, fixed connection is in the support of seat lower surface still includes:

the first lifting mechanism is arranged at the front part below the chair surface and used for moving along the vertical direction, and the front driving wheel is rotatably arranged on the first lifting mechanism;

the rear driving wheel is rotatably arranged on the rear wheel pushing and swinging mechanism;

the third lifting mechanism is arranged at the rear end of the second lifting mechanism and used for moving along the vertical direction, and the first auxiliary wheel is rotatably arranged on the third lifting mechanism;

the auxiliary pushing and swinging mechanism is fixedly arranged below the chair surface and used for swinging back and forth, and a second auxiliary wheel is rotatably arranged on the auxiliary pushing and swinging mechanism.

Further, the first lifting mechanism comprises a first motor fixedly arranged on the lower surface of the seat, a first ball screw module connected to an output shaft of the first motor, and a first support leg connected to a screw nut of the first ball screw module;

and a second motor is fixedly arranged on the first support leg, and an output shaft of the second motor is connected with the front driving wheel.

Further, second elevating system erects along vertical direction the support with between the seat, second elevating system is including fixed setting up third motor on the support is connected the epaxial second ball screw module of output of third motor is connected the lifting roof beam that just extends the setting along the fore-and-aft direction on the screw nut of second ball screw module is in along the fixed setting of vertical direction the seat with optical axis between the support, the cover is established just fixed connection is in outside the optical axis linear bearing on the lifting roof beam.

Further, the rear wheel pushing and swinging mechanism comprises a second support leg hinged to the lifting beam, and an electric push rod, one end of which is hinged to the second support leg, and the other end of which is hinged to the lifting beam, wherein the electric push rod is used for pushing the second support to swing back and forth;

and a fourth motor is fixedly arranged on the second support leg, and an output shaft of the fourth motor is connected with the rear driving wheel.

Further, the rear end of the lifting beam is fixedly connected with a third lifting mechanism, the third lifting mechanism comprises a fifth motor and a third ball screw module which is connected to an output shaft of the fifth motor along the vertical direction, a screw nut of the third ball screw module is fixedly connected with the lifting beam, and a third support leg which is fixedly connected to the lower end of the third ball screw module; the third supporting leg is rotatably connected with the first auxiliary wheel.

Furthermore, the auxiliary pushing and swinging mechanism comprises a steering engine fixedly arranged at the rear end of the support, a first connecting rod connected to an output shaft of the steering engine, a second connecting rod hinged to the first connecting rod through a limiting pin, a third connecting rod with one end hinged to the second connecting rod, and a fourth supporting leg fixedly connected to the third connecting rod, wherein the other end of the third connecting rod is hinged to the support;

the second auxiliary wheel is rotatably arranged on the fourth supporting leg;

the support is fixedly provided with a limiting block, and the limiting block is used for clamping and embedding the limiting pin.

Furthermore, the adjustable air spring also comprises a foot rest which is rotatably arranged at the front end of the chair face, wherein one end of the foot rest is hinged on the foot rest, and the other end of the foot rest is hinged on the first controllable air spring on the support.

Furthermore, the air spring seat further comprises a backrest rotatably arranged at the rear end of the seat surface, and a second controllable air spring with one end hinged on the backrest and the other end hinged on the support.

Furthermore, two first lifting mechanisms are arranged, the two first lifting mechanisms are respectively positioned at the left side and the right side of the chair surface, and sliding shoes are fixedly arranged between the two first lifting mechanisms;

the two second lifting mechanisms are respectively positioned at the left side and the right side of the chair surface, the two rear wheel pushing and swinging mechanisms are arranged, and a synchronizing rod is fixedly arranged between the two rear wheel pushing and swinging mechanisms.

Further, the device also comprises a first sensor which is fixedly arranged on the first lifting mechanism and is used for detecting the height; the second sensor is fixedly arranged on the rear wheel pushing and swinging mechanism and used for detecting the height; a third sensor fixedly arranged on the third lifting mechanism and used for detecting the height; and the fourth sensor is fixedly arranged on the auxiliary pushing and swinging mechanism and used for detecting the height.

Compared with the prior art, the stair climbing wheelchair provided by the invention has the advantages that the rear driving wheel is in a contracted state on the ground, the second auxiliary wheel is in a contracted state, the wheelchair runs and is supported by the front driving wheel and the rear driving wheel to reach a stair opening, the back surface of the wheelchair is close to stairs, the stair climbing mode is started, the pushing and swinging mechanism is assisted to swing firstly, the second auxiliary wheel is supported on the ground, the second lifting mechanism is controlled to ascend, meanwhile, the rear wheel pushing and swinging mechanism swings forwards, the rear driving wheel is close to the front driving wheel, and thus, a supporting structure of the front driving wheel, the rear driving wheel and the second auxiliary wheel for supporting the wheelchair is formed; then the third lifting mechanism is descended to enable the first auxiliary wheel to abut against the first step of the stair, then the first lifting mechanism and the second lifting mechanism are descended to lift the chair surface, the second auxiliary wheel of the auxiliary pushing and swinging mechanism is ascended to the first step of the stair, the first auxiliary wheel and the second auxiliary wheel reach the first step, the wheelchair is moved to enable the first auxiliary wheel to be close to the second step, at the moment, the first auxiliary wheel and the second auxiliary wheel are positioned on the first step of the stair, the front driving wheel and the rear driving wheel are on the ground, the second lifting mechanism is lifted to enable the rear driving wheel and the first auxiliary wheel to be lifted upwards, the first auxiliary wheel reaches the height of the second step, the rear driving wheel reaches the second step of the stair, the first auxiliary wheel reaches the second step of the stair, the rear driving wheel reaches the first step of the stair, at the moment, the wheelchair is stably supported on the first step of the stair through the rear driving wheel and the second auxiliary wheel, the first auxiliary wheel is supported on the second step; the second lifting mechanism is descended to enable the first lifting mechanism and the auxiliary pushing and swinging mechanism to be lifted, and the whole wheelchair is lifted except for the rear driving wheel and the first auxiliary driving wheel, so that the front driving wheel reaches a first step, the second auxiliary wheel reaches a second step, the wheelchair moves to a third step, the front driving wheel and the rear driving wheel realize support on the first step, and the first auxiliary wheel and the second auxiliary wheel realize support on the second step; lifting the second lifting mechanism to enable the first auxiliary wheel to reach the third step height, and enabling the rear driving wheel to reach the second step; the wheelchair moves to a third step, the first auxiliary wheel is arranged on the third step, and the rear driving wheel is arranged on the second step to support the wheelchair; and then the second lifting mechanism is descended to enable the front driving wheel to reach the second step and the second auxiliary wheel to reach the third step, so that the wheelchair is continuously lifted according to the principle in sequence, and the wheelchair is greatly simplified in action and control and is more efficient. The scheme has wide application range. The height difference of the front support and the rear support of the wheelchair is equal to the height of the step, and the supporting structures are used as main elements of the wheelchair, so that the wheelchair has the self-adaptive adjustment capability for different step heights, namely, the height difference is adjusted through the two groups of supporting structures of the first lifting mechanism and the third lifting mechanism; for the step height, the support structure is supported on the adjacent two steps, and the front span and the rear span are enough to maintain the gravity center, so that the design can be carried out according to the narrowest stair width. For all the stairs designed according to the industry standard specified by the state, the width is 260-320mm, and the height is 140-210mm, so that the stair can be designed according to the structural size and adapt to all the stairs designed according to the industry standard. Meanwhile, the machine body is horizontally lifted, the lifting process is stable, most of the ladder climbing wheelchairs on the market at present adopt star wheel type or crawler type, the machine body is inclined in the ladder climbing process due to the limitation of the form of the robot, the wheelchair inclines to cause psychological panic to a rider during ladder climbing, and the robot is easy to weightlessness, so a correction mechanism needs to be additionally arranged on the mechanism, the weight is increased, the mechanism is complex, the ladder climbing mechanism is designed based on a lifting mechanism, the motion track in the stair climbing process is vertical rising and horizontal forward moving, the angle change does not exist, the machine can be kept horizontal in the ladder climbing process, the additional mechanism does not need to be added for horizontal correction, the ladder climbing wheelchairs are not easy to weightlessness, and stable climbing is realized. The scheme is stable and safe in operation. Have the bearing structure of difference in height around two sets of for no matter be at cat ladder process or level land operation process, all guaranteed that at least 4 wheels (2 groups around) contact ground or step face simultaneously, and the front and back span of support is big, consequently the operation in-process organism is steady, maintains the focus easily, is difficult to the tipping or slope. The structure of this scheme is succinct, mainly comprises the bearing structure who distributes in both sides, and is small, light in weight to bearing structure modularization installation, maintenance convenience.

Drawings

FIG. 1 is a left side view of an embodiment of a stair climbing wheelchair of the present invention;

FIG. 2 is a schematic structural view of an embodiment of the wheelchair for climbing stairs of the present invention;

FIG. 3 is a schematic structural view of a first lifting mechanism of an embodiment of the wheelchair for climbing stairs according to the present invention;

fig. 4 is a schematic structural view of part of the components of the second lifting mechanism of the embodiment of the stair climbing wheelchair.

FIG. 5 is a schematic structural view of a third lifting mechanism and a rear wheel pushing and swinging mechanism of the wheelchair according to the embodiment of the present invention;

FIG. 6 is a schematic structural view illustrating a contracted state of a rear wheel pushing and swinging mechanism of an embodiment of the wheelchair for climbing stairs according to the present invention;

FIG. 7 is a schematic structural view illustrating a contracted state of an auxiliary pushing and swinging mechanism of the wheelchair according to the embodiment of the present invention;

FIG. 8 is a structural diagram illustrating a deployed state of an auxiliary pushing and swinging mechanism of the wheelchair according to the embodiment of the present invention;

FIG. 9 is a cross-sectional view of an embodiment of a stair climbing wheelchair of the present invention;

FIG. 10 is a left side elevational view of an embodiment of a stair climbing wheelchair of the present invention;

FIG. 11 is a view showing the states of the wheelchair for climbing stairs;

FIG. 12 is a view showing the states of the wheelchair for climbing stairs;

FIG. 13 is a view showing the states of the wheelchair for climbing stairs;

FIG. 14 is a view showing the states of the wheelchair for climbing stairs when descending stairs;

fig. 15 is a view showing the states of the wheelchair for climbing stairs when it descends the stairs.

The reference numbers in the figures: 1. a chair surface; 2. a backrest; 3. a foot rest; 4. a console; 5. a battery; 6. a support; 7. a slipper; 8. a first controllable gas spring; 9. a second controllable gas spring; 10. a first lifting mechanism; 11. a front drive wheel; 12. a first sensor; 13. a second motor; 14. a first motor; 15. a first ball screw module; 16. a first leg; 20. a second lifting mechanism; 21. a third motor; 22. a second ball screw module; 23. lifting the beam; 24. an optical axis; 25. a linear bearing; 26. a gear pair; 30. a rear wheel pushing and swinging mechanism; 31. a second leg; 32. an electric push rod; 33. a second sensor; 34. a rear drive wheel; 35. a fourth motor; 36. a synchronization lever; 40. a third lifting mechanism; 41. a third ball screw module; 42. a fifth motor; 43. a third leg; 44. a first auxiliary wheel; 45. a third sensor; 50. an auxiliary pushing and swinging mechanism; 51. a steering engine; 52. a first link; 53. a second link; 54. a third link; 55. a fourth leg; 56. a second auxiliary wheel; 57. a spacing pin; 58. a limiting block; 59. and a fourth sensor.

Detailed Description

The invention provides a stair climbing wheelchair, which is further described in detail below by referring to the attached drawings and examples in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 and 2, a wheelchair for climbing stairs, which comprises a seat 1 and a support 6 fixedly connected to the lower surface of the seat 1, wherein the wheelchair is used as a reference to describe the structure of the wheelchair, a person sits on the seat 1, the vertical direction is the up-down direction, the direction of the legs and the back is the front-back direction, the left-right direction of the person is the left-right direction of the structural description, and the left-right direction on the seat 1 is also fixedly provided with a handrail, and further comprises: the first lifting mechanism 10 is arranged at the front part below the seat surface 1 and used for moving along the vertical direction, the first lifting mechanism 10 can be electrically lifted, and the front driving wheel 11 is rotatably arranged at the lower end of the first lifting mechanism 10. A second lifting mechanism 20 is fixedly arranged at the rear part below the seat surface 1, the second lifting mechanism 20 is used for moving along the vertical direction, the second lifting mechanism 20 is electrically controlled, a rear wheel pushing and swinging mechanism 30 is hinged at the front end of the second lifting mechanism 20, and a rear driving wheel 34 arranged on the rear wheel pushing and swinging mechanism 30 is rotated; the rear wheel swing mechanism 30 is adapted to swing back and forth, thereby causing the rear drive wheel 34 to swing back and forth. A third lifting mechanism 40 is arranged at the rear end of the second lifting mechanism 20, the third lifting mechanism 40 is used for moving along the vertical direction, and the third lifting mechanism 40 can ascend or descend along with the second lifting mechanism 20 and rotate a first auxiliary wheel 44 arranged on the third lifting mechanism 40; the height between the first auxiliary wheel 44 and the rear driving wheel 34 is adjusted by the third elevating mechanism 40, so that the height difference is equal to the height of the stairs when climbing the stairs. An auxiliary pushing and swinging mechanism 50 is fixedly arranged on the support 6 below the chair surface 1, a second auxiliary wheel 56 is rotatably arranged on the auxiliary pushing and swinging mechanism 50, the auxiliary pushing and swinging mechanism 50 is used for swinging the second auxiliary wheel 56 forwards and backwards, when a ladder does not need to be climbed, the second auxiliary wheel 56 is in a contraction state, and when a stair climbs, the first lifting mechanism 10 can be adjusted up and down to enable the height difference between the front driving wheel 11 and the second auxiliary wheel 56 to be equal to the height of the stair steps.

The process of the invention in the process of climbing stairs is as follows: as shown in fig. 1, 11 and 12, on the ground, the rear driving wheel 34 is in a contracted state, the second auxiliary wheel 56 is in a contracted state, the wheelchair travels to be supported by the front driving wheel 11 and the rear driving wheel 34, reaches the stairway opening, and brings the back surface close to the stairway, the auxiliary swing mechanism 50 swings first to support the second auxiliary wheel 56 on the ground, the second lifting mechanism 20 is controlled to ascend, the rear wheel swing mechanism 30 swings forwards to bring the rear driving wheel 34 close to the front driving wheel 11, and thus a support structure for the front driving wheel 11, the rear driving wheel 34 and the second auxiliary wheel 56 to support the wheelchair is formed; the third lifting mechanism 40 is then lowered to make the first auxiliary wheel 44 abut against the first step of the stair, the first lifting mechanism 10 and the second lifting mechanism 20 are then lowered to lift the chair surface 1, the second auxiliary wheel 56 of the auxiliary pushing and swinging mechanism 50 is raised to the first step of the stair, after the first auxiliary wheel 44 and the second auxiliary wheel 56 reach the first step, the wheelchair is moved to make the first auxiliary wheel 44 approach the second step, at this time, the first auxiliary wheel 44 and the second auxiliary wheel 56 are on the first step of the stair, the front driving wheel 11 and the rear driving wheel 34 are on the ground, the second lifting mechanism 20 is lifted to make the rear driving wheel 34 and the first auxiliary wheel 44 lift upwards, the first auxiliary wheel 44 reaches the height of the second step, the rear driving wheel 34 reaches the height of the first step, the wheelchair moves backwards to approach the second step, so that the first auxiliary wheel 44 reaches the second step of the stair, the rear driving wheel 34 reaches the first step of the stair, the wheelchair is stably supported on the first step of the stair through the rear driving wheel 34 and the second auxiliary wheel 56, and the first auxiliary wheel 44 is supported on the second step; the second lifting mechanism 20 is lowered to lift the first lifting mechanism 10 and the auxiliary pushing and swinging mechanism 50, so that the front driving wheel 11 reaches a first step, the second auxiliary wheel 56 reaches a second step, the wheelchair moves to a third step, the front driving wheel 11 and the rear driving wheel 34 realize support on the first step, and the first auxiliary wheel 44 and the second auxiliary wheel 56 realize support on the wheelchair on the second step; lifting the second lifting mechanism 20 again to make the first auxiliary wheel 44 reach the third step height and the rear driving wheel 34 reach the second step; the wheelchair moves to the third step, the first auxiliary wheel 44 is arranged on the third step, and the rear driving wheel 34 is arranged on the second step to support the wheelchair; and then the second lifting mechanism 20 is descended to enable the front driving wheel 11 to reach the second step and the second auxiliary wheel 56 to reach the third step, the wheelchair is continuously lifted according to the principle in sequence, and the operation of the next step can be realized in the same way. The scheme has wide application range. The height difference of the front support and the rear support of the wheelchair is equal to the height of the step, and the supporting structures are used as main elements of the wheelchair, so that the wheelchair has the self-adaptive adjustment capability for different step heights, namely, the height difference is adjusted through the two groups of supporting structures of the first lifting mechanism 10 and the third lifting mechanism 40; for the step height, the support structure is supported on the adjacent two steps, and the front span and the rear span are enough to maintain the gravity center, so that the design can be carried out according to the narrowest stair width.

The specific structure of this embodiment is: as shown in fig. 2 and 3, the first lifting mechanism 10 includes a first motor 14 fixedly connected to the lower surface of the seat 1 by screws, a first ball screw module 15 connected to an output shaft of the first motor 14, the first ball screw module 15 is driven by the first motor 14 to lift, and the first ball screw module 15 is a common structure, wherein the first ball screw module includes a ball screw pair composed of a ball screw and a screw nut and a linear guide pair composed of a linear guide and a guide slider, and the first ball screw module 15 is positioned by the linear guide pair to realize directional linear movement of the screw nut through rotation of the ball screw; the second ball screw module 22 and the third ball screw module 41 are implemented by the same or similar schemes; a first leg 16 is fixedly connected to a screw nut of the first ball screw module 15; after the first ball screw module 15 is powered on, the first support leg 16 is lifted. A second motor 13 is fixedly connected to the first support leg 16 through a screw, the second motor 13 is arranged along the left-right direction, and an output shaft of the second motor 13 is connected with the front driving wheel 11; the second motor 13 is energized to drive the front driving wheels 11 to rotate, thereby providing power for the wheelchair.

As shown in fig. 4 and 5, the second lifting mechanism 20 is vertically erected between the bracket 6 and the seat 1, the second lifting mechanism 20 includes a third motor 21 fixedly disposed on the bracket 6, a gear pair 26 is connected to an output shaft of the third motor 21, the gear pair 26 is connected to a second ball screw module 22 to provide power for the second ball screw module 22, a lifting beam 23 is disposed on a screw nut of the second ball screw module 22 and extends in a front-back direction, an optical axis 24 is fixedly disposed between the seat 1 and the bracket 6 in the vertical direction, a linear bearing 25 is sleeved on the optical axis 24, the linear bearing 25 is fixedly connected to the lifting beam 23, the optical axis 24 and the linear bearing 25 function as a linear guide pair in the ball screw module, so that the lifting beam 23 is lifted up and down by the second ball screw module 22, and adopt gear pair 26 to connect third motor 21 and second ball screw module 22, the number of teeth and the modulus of gear pair 26 can be adjusted according to motor performance and operating condition, realize accelerating (improving the elevating speed) or slowing down (increasing the load capacity), also can save gear pair 26 if the motor performance is suitable, make the motor directly drive ball screw module through the shaft coupling.

As shown in fig. 5 and 6, the rear wheel pushing and swinging mechanism 30 includes a second leg 31 hinged to the lifting beam 23, and an electric push rod 32 for pushing the second bracket 6, one end of the electric push rod 32 is hinged to the second leg 31, and the other end is hinged to the lifting beam 23, a fourth motor 35 is fixedly disposed at the lower end of the second leg 31 through a screw, an output shaft of the fourth motor 35 is connected to the rear driving wheel 34, and the fourth motor 35 drives the rear driving wheel 34 to rotate, so as to provide forward or backward power for the wheelchair. The electric push rod 32 pushes the second bracket 6 to swing back and forth so as to realize the unfolding (the lifting beam 23 is at a right angle with the second leg 31) or the folding (the lifting beam 23 is at an acute angle with the second leg 31) of the rear driving wheel 34; the process of unfolding and folding the rear driving wheel 34 needs the electric push rod 32 to stretch and the second lifting mechanism 20 to drive the lifting beam 23 to lift and descend at the same time, the speed is coordinated, the rear driving wheel 34 cannot be lower than the second auxiliary wheel 56, so that the wheelchair cannot be lifted, or the fourth motor 35 is prevented from interfering with other components, when the stair climbing is started, the electric push rod 32 stretches out, the second lifting mechanism 20 drives the lifting beam 23 to ascend, so that the second support leg 31 is pushed out while the lifting beam 23 ascends, the second support leg 31 drives the rear driving wheel 34 to move forward, the lifting beam 23 and the second support leg 31 form an angle of 90 degrees, the rear driving wheel 34 is unfolded, and the auxiliary pushing and swinging mechanism 50 swings while the rear driving wheel 34 is unfolded, so that the second auxiliary wheel 56 is supported on the ground.

The rear end of the lifting beam 23 is fixedly connected with a third lifting mechanism 40, the third lifting mechanism 40 includes a fifth motor 42, a third ball screw module 41 connected to an output shaft of the fifth motor 42 along the vertical direction, a screw nut of the third ball screw module 41 is fixedly connected with the lifting beam 23 through a screw, and a third support leg 43 fixedly connected to the lower end of the third ball screw module 41; the first auxiliary wheel 44 is rotatably connected to the third leg 43. When the lifting beam 23 ascends or descends, the third lifting mechanism 40 is driven to ascend or descend, and the third ball screw module 41 can independently control the ascending or descending of the third support leg 43 according to the height of the step, so that the first auxiliary wheel 44 abuts against the surface of the step.

As shown in fig. 1, 7 and 8, the auxiliary pushing and swinging mechanism 50 includes a steering engine 51 fixedly disposed at the rear end of the bracket 6, a first connecting rod 52 connected to an output shaft of the steering engine 51, a second connecting rod 53 hinged to the first connecting rod 52 through a limit pin 57, and a third connecting rod 54 hinged to the second connecting rod 53, wherein one end of the third connecting rod 54 is hinged to the second connecting rod 53, and the other end is hinged to the bracket 6; thus, the first connecting rod 52, the second connecting rod 53, the third connecting rod 54 and the bracket 6 form a four-bar linkage; a fourth leg 55 is fixedly connected to the third link 54, and the second auxiliary wheel 56 is rotatably disposed on the fourth leg 55. The steering engine 51 is connected with the first link 52 to drive the four-bar linkage, thereby controlling the fourth leg 55 to retract and expand. The hinge joint of the first link 52 and the second link 53 is a limit pin 57, which is longer than pins at other positions of the mechanism, a limit block 58 is fixedly connected to the bracket 6 through a screw, when the fourth supporting leg 55 is folded, the limit pin 57 abuts against the limit block 58, and the limit block 58 does not interfere with any other components. When the auxiliary pushing and swinging mechanism 50 is in the retracted state, the fourth leg 55 is tilted, the second auxiliary wheel 56 is lifted off, and the limit pin 57 is caught on the limit block 58. The supporting force (the reaction force of the ground to the gravity) of the rear driving wheel 34 is directly transmitted to the bracket and is not transmitted to the steering engine 51 and the ball screw pair, so that the stress load is reduced, the service life is prolonged, and the protection effect is realized. When the auxiliary pushing and swinging mechanism 50 is in the unfolding state, the second auxiliary wheel 56 is in contact with the ground, the fourth supporting leg 55 is supported on the bracket, and the supporting force of the ground is also directly transmitted to the bracket, so that the stress of the four-bar mechanism is reduced, and the protection effect is also achieved.

As shown in fig. 4 and 5, two first lifting mechanisms 10 are provided, the two first lifting mechanisms 10 are respectively located at the left and right sides of the seat surface 1, and a sliding shoe 7 is fixedly arranged between the two first lifting mechanisms 10; the sliding shoe 7 is used for increasing the linear constraint of the two first lifting mechanisms 10, so that the first lifting mechanisms 10 are stably supported. The number of the second lifting mechanisms 20 is two, the two second lifting mechanisms 20 are respectively located at the left side and the right side of the seat surface 1, the number of the rear wheel pushing and swinging mechanisms 30 is two, and a synchronizing rod 36 is fixedly arranged between the two rear wheel pushing and swinging mechanisms 30. The synchronization rod 36 is fixedly connected to the two rear wheel pushing and swinging mechanisms 30, so that the rear wheel pushing and swinging mechanisms 30 synchronously swing, and the stability of the rear wheel pushing and swinging mechanisms is enhanced. Meanwhile, a groove is formed in the rear end of the third connecting rod 54 of the auxiliary pushing and swinging mechanism 50, when the auxiliary pushing and swinging mechanism 50 is in a retracted state, the fourth supporting leg 55 is inclined, the second auxiliary wheel 56 is lifted off, and the groove in the fourth connecting rod abuts against the outer wall of the synchronizing rod 36 when the limiting pin 57 is clamped on the limiting block 58. Thus reducing stress load, prolonging service life and playing a role in protection.

In order to realize intelligent control, the intelligent control system further comprises various sensors, specifically, as shown in fig. 3, a first sensor 12 is fixedly arranged on the first lifting mechanism 10 and used for detecting the height, and the first sensor 12 can detect the height of the front driving wheel 11 from the ground and control the first lifting mechanism 10 to perform corresponding lifting operation; as shown in fig. 5, a second sensor 33 for detecting the height is fixedly arranged on the rear wheel pushing and swinging mechanism 30, and the second sensor 33 can detect the height of the rear driving wheel 34 from the ground and control the second lifting mechanism 20 to perform corresponding lifting operation and the rear wheel pushing and swinging mechanism 30 to perform retracting and expanding actions; as shown in fig. 6, a third sensor 45 for detecting the height is fixedly arranged on the third lifting mechanism 40, and the third sensor 45 can detect the height of the first auxiliary wheel 44 from the ground and control the third lifting mechanism 40 to perform corresponding lifting operation; as shown in fig. 9 and 10, a fourth sensor 59 for detecting the height is fixedly disposed on the auxiliary pushing and swinging mechanism 50, and the fourth sensor 59 can detect the height of the second auxiliary wheel 56 from the ground and control the auxiliary pushing and swinging mechanism 50 to perform corresponding retracting and extending operations.

The whole structure of the wheelchair is bilaterally symmetrical. All kinds of sensors are arranged in pairs from left to right, if information fed back by the sensors symmetrically arranged from left to right in the process of going up and down stairs is inconsistent, the situation that the wheelchair is not parallel to the steps and deviates in direction is proved, and the wheelchair can automatically correct the direction through the differential speed of the driving motors of the first lifting mechanism, the second lifting mechanism or the third lifting mechanism on the left side and the right side.

As shown in fig. 1 and 9, the adjustable chair further comprises a foot rest 3 rotatably arranged at the front end of the chair surface 1, a first controllable gas spring 8 with one end hinged on the foot rest 3 and the other end hinged on the support 6, and the foot rest 3 is pushed to be lifted and put down by the first controllable gas spring 8, so that the proper angle adjustment and control of the foot rest 3 are realized. The chair is characterized by further comprising a backrest 2 rotatably arranged at the rear end of the chair surface 1, and a second controllable gas spring 9 with one end hinged on the backrest 2 and the other end hinged on the bracket 6. The second controllable gas spring 9 is stretched to push the backrest 2 to be lifted and put down, and the inclination degree of the backrest 2 is controlled, so that the backrest 2 can be adjusted at a proper angle. And a battery 5 is fixedly arranged on the bracket 6, and the battery 5 supplies power to all electrical appliances.

The left handrail or the right handrail is provided with a control console 4, the control console 4 is provided with a control circuit, automatic control of the wheelchair is achieved through the control circuit, the control console 4 is provided with a rocker for controlling the wheelchair to move on the ground, and the plurality of keys are used for controlling the air spring to stretch and enter an automatic stair climbing mode and the like. In addition, functions such as a horn and parking can be added according to the consumption demand.

The stair climbing working principle of the stair climbing wheelchair provided by the invention is as follows: as shown in fig. 11 a-b, the rear driving wheel 34 is contracted on the ground to contact the ground, the second auxiliary wheel 56 is contracted to suspend above the ground, the wheelchair is supported by the front driving wheel 11 and the rear driving wheel 34 to reach the stair entrance and the back face is close to the stair, the auxiliary swing mechanism 50 swings to support the second auxiliary wheel 56 on the ground, the second lifting mechanism 20 is controlled to lift, the rear wheel swing mechanism 30 swings forward to make the rear driving wheel 34 close to the front driving wheel 11, and thus the front driving wheel 11, the rear driving wheel 34 and the second auxiliary wheel 56 are abutted on the ground to form a supporting structure.

As shown in fig. 11 b, the second lifting mechanism 20 is lifted to lift the third lifting mechanism 40, as shown in fig. 11 c, and the third lifting mechanism 40 is lowered to make the first auxiliary wheel 44 abut against the first step of the staircase; as shown in d of fig. 11, the first lifting mechanism 10 and the second lifting mechanism 20 are lowered again to lift the seat surface 1, the second auxiliary wheel 56 of the auxiliary pushing and swinging mechanism 50 is raised to the first step of the staircase, and after the first auxiliary wheel 44 and the second auxiliary wheel 56 reach the first step, as shown in e of fig. 12, the wheelchair is moved to make the first auxiliary wheel 44 approach the second step, and at this time, the first auxiliary wheel 44 and the second auxiliary wheel 56 are on the first step of the staircase, and the front driving wheel 11 and the rear driving wheel 34 are on the ground.

The second lifting mechanism 20 is raised as shown at f in figure 12 to lift the rear drive wheel 34 and the first auxiliary wheel 44 upwardly to the level of the second step, the first auxiliary wheel 44 is at the level of the second step, as shown at g in figure 12, the rear drive wheel 34 reaches the first step height and the wheelchair is moved rearwardly adjacent the second step so that the first auxiliary wheel 44 reaches the second step of the staircase and the rear drive wheel 34 reaches the first step of the staircase, whereupon the wheelchair is stably supported on the first step of the staircase by the rear drive wheel 34 and the second auxiliary wheel 56, the first auxiliary wheel 44 being supported on the second step.

As shown in h in fig. 12, the second lifting mechanism 20 is lowered to lift the first lifting mechanism 10 and the auxiliary swing mechanism 50, so that the front drive wheels 11 reach the first step, the second auxiliary wheels 56 reach the second step, and the wheelchair moves to the third step, and as shown in i in fig. 13, the front drive wheels 11 and the rear drive wheels 34 are supported on the first step, and the first auxiliary wheels 44 and the second auxiliary wheels 56 support the wheelchair on the second step.

As shown by j in fig. 13, the second lifting mechanism 20 is lifted again, so that the first auxiliary wheel 44 reaches the third step height, and the rear driving wheel 34 reaches the second step; as shown at k in figure 13, the wheelchair is moving towards the third step, with the first auxiliary wheel 44 on the third step and the rear drive wheel 34 providing support for the wheelchair on the second step.

As shown by l in fig. 13, the second lifting mechanism 20 is lowered to make the front driving wheel 11 reach the second step and the second auxiliary wheel 56 reach the third step, and the wheelchair is continuously lifted in a cycle.

The wheelchair can be positioned on the middle platform of two sections of stairs, if the wheelchair arrives at the middle platform of the staircase, the mode of going upstairs can not be finished, the size and the direction of the middle platform of the staircase are different, the wheelchair can not be automatically detected by a sensor, and a user controls the wheelchair to move through the rocker, turns to the next stair section and continues to climb. If the rear wheel pushing and swinging mechanism 30 is unfolded once and the rear wheel pushing and swinging mechanism 30 is folded once every previous section of stairs, steps are increased, and time is wasted.

When the user arrives at the top of the building, namely all the stairs climb up, the stair climbing mode is ended, namely the rear wheel pushing and swinging mechanism 30 is firstly retracted, the third support leg 43 is also retracted to the initial position, then the auxiliary pushing and swinging mechanism is retracted, and the normal state is recovered.

The principle of going down stairs is as follows: when the wheelchair comes to the edge of the stairs, facing frontally towards the stairs, as shown in a in fig. 14, the wheelchair is put into the down mode, as shown in b in fig. 14, first the auxiliary swing assist mechanism 50 is deployed, the second auxiliary wheel 56 is deployed, then the rear wheel swing assist mechanism 30 is deployed, and the rear drive wheel 34 is advanced. In this state, the front drive wheels 11, the rear drive wheels 34, and the second auxiliary wheels 56 simultaneously contact the ground. The wheelchair travels slowly forward.

As shown in c in fig. 14, when the first sensor senses that the distance increases, that is, the increased distance is the step height, and the front driving wheel 11 is suspended, as shown in d in fig. 14, the first lifting mechanism 10 is lowered until the front driving wheel 11 contacts the first step surface, and at this time, the height difference between the first lifting mechanism 10 and the auxiliary pushing and swinging mechanism 50 is equal to the step height of the stairs. The wheelchair continues to travel forward.

As shown in e-f of fig. 15, when the rear driving wheel 34 is suspended, the second elevating mechanism 20 is lowered until the rear driving wheel 34 contacts the first step surface. As shown in fig. 15 g, the wheelchair further advances until the front drive wheels 11 are suspended, and then the second elevating mechanism 20 is raised to lower the seat surface 1 until the second auxiliary wheels 56 contact the first step surface, and as shown in fig. 15 h, the front drive wheels 11 contact the second step surface downward. At this time, the height difference between the rear driving wheel 34 and the first auxiliary wheel 44 of the second lifting mechanism 20 is equal to the height of the stair steps, and the seat is lowered by one step relative to the ground. The wheelchair continues to travel forward.

When the rear driving wheel 34 is suspended, the second elevating mechanism 20 is lowered to a height equal to the raised height or the step height, i.e., the rear driving wheel 34 reaches the second step surface and the first auxiliary wheel 44 reaches the first step surface. The wheelchair continues to travel forward.

When the front drive wheel 11 is again suspended, the previous steps are repeated.

When there is no step in front, the current bench ends. As shown in i-j in fig. 15, the wheelchair first travels to the second leg 31, and the rest is suspended, and then the first lifting mechanism 10 and the second lifting mechanism 20 are lifted at the same time, so that the wheelchair is lowered to the ground. Finishing the falling of the current bench; at this point, the wheelchair may be on the platform between the two flights or may reach the bottom of the stairs to complete the descent.

If the user arrives at the middle platform of the staircase, the user can go downstairs continuously by controlling the wheelchair to move through the rocker, turn or move to the next stair section without ending the downstairs mode.

If the user reaches the bottom of the stair, the stair descending mode is finished, namely the second lifting mechanism 20 is firstly retracted, the second leg 31 is retracted to the initial position, then the auxiliary pushing and swinging mechanism 50 is retracted, and the normal state is recovered.

The wheelchair capable of climbing stairs is convenient for old people and disabled people to go out, and can be transformed by refitting to form a baby carriage capable of climbing stairs, an express robot, a meal delivery robot and the like.

In summary, the stair climbing structure of the present invention is composed of a set of supporting structures with front-back height difference, which is composed of the first lifting mechanism 10 and the auxiliary pushing and swinging mechanism 50, and another set of supporting structures with front-back height difference, which is composed of the rear wheel pushing and swinging mechanism 30 on the second lifting mechanism 20 and the third lifting mechanism 40; the front and rear height difference of the two groups of support structures with the height difference is equal to the height of the steps of the stairs, so that the wheelchair can be supported to perform horizontal lifting and translation movement on the steps. Through the alternate support and drive of the two groups of support structures, the wheelchair can stably, quickly and efficiently realize the continuous lifting or descending of the multistage steps, thereby realizing the function of going upstairs and downstairs. The wheelchair can detect through the sensor, utilizes the control circuit in the control cabinet 4 to adjust the ball screw module, makes two sets of bearing structure's front and back difference in height equal to the stair step height, and when climbing stair process, first elevating system 10 keeps motionless relative to the seat, plays support and front and back driven effect, and second elevating system 20 can be the vertical lift motion relative to the seat, plays support, goes up and down and front and back driven effect. The scheme has great simplification in action and control and is more efficient. The scheme has wide application range. The height difference of the front support and the rear support of the wheelchair is equal to the height of the step, and the wheelchair has the self-adaptive adjustment capability for different step heights, namely the height difference of the two groups of support structures is respectively adjusted through the first lifting mechanism 10 and the third lifting mechanism 40; for the step height, the support structure is supported on the adjacent two steps, and the front span and the rear span are enough to maintain the gravity center, so that the design can be carried out according to the narrowest stair width. For all the stairs designed according to the industry standard specified by the state, the width is 260-320mm, and the height is 140-210mm, so that the stair can be designed according to the structural size and adapt to all the stairs designed according to the industry standard. Meanwhile, the machine body is horizontally lifted, the lifting process is stable, most of the ladder climbing wheelchairs on the market at present adopt star wheel type or crawler type, the machine body is inclined in the ladder climbing process due to the limitation of the form of the robot, the wheelchair inclines to cause psychological panic to a rider during ladder climbing, and the robot is easy to weightlessness, so a correction mechanism needs to be additionally arranged on the mechanism, the weight is increased, the mechanism is complex, the ladder climbing mechanism is designed based on a lifting mechanism, the motion track in the stair climbing process is vertical rising and horizontal forward moving, the angle change does not exist, the machine can be kept horizontal in the ladder climbing process, the additional mechanism does not need to be added for horizontal correction, the ladder climbing wheelchairs are not easy to weightlessness, and stable climbing is realized. The scheme is stable and safe in operation. Have the bearing structure of difference in height around two sets of for no matter be at cat ladder process or level land operation process, all guaranteed that at least 4 wheels (2 groups around) contact ground or step face simultaneously, and the front and back span of support is big, consequently the operation in-process organism is steady, maintains the focus easily, is difficult to the tipping or slope. The structure of this scheme is succinct, mainly comprises the bearing structure who distributes in both sides, and is small, light in weight to bearing structure modularization installation, maintenance convenience.

It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a climb stair wheelchair, includes the seat, fixed connection be in the support of seat lower surface, its characterized in that still includes:

2. The wheelchair of claim 1, wherein the first lifting mechanism comprises a first motor fixedly disposed on a lower surface of the seat, a first ball screw module connected to an output shaft of the first motor, and a first leg connected to a screw nut of the first ball screw module;

3. The wheelchair as claimed in claim 1, wherein the second lifting mechanism is vertically erected between the support and the seat, the second lifting mechanism comprises a third motor fixedly disposed on the support, a second ball screw module connected to an output shaft of the third motor, a lifting beam connected to a screw nut of the second ball screw module and extending in a front-back direction, an optical axis vertically and fixedly disposed between the seat and the support, and a linear bearing sleeved outside the optical axis and fixedly connected to the lifting beam.

4. The stair climbing wheelchair as claimed in claim 3, wherein the rear wheel pushing and swinging mechanism comprises a second leg hinged to the lifting beam, and an electric push rod with one end hinged to the second leg and the other end hinged to the lifting beam, the electric push rod being used for pushing the second bracket to swing back and forth;

5. The stair climbing wheelchair as claimed in claim 3, wherein a third lifting mechanism is fixedly connected to a rear end of the lifting beam, the third lifting mechanism comprises a fifth motor, a third ball screw module is vertically connected to an output shaft of the fifth motor, a screw nut of the third ball screw module is fixedly connected to the lifting beam, and a third support leg is fixedly connected to a lower end of the third ball screw module; the third supporting leg is rotatably connected with the first auxiliary wheel.

6. The stair climbing wheelchair as claimed in claim 1, wherein the auxiliary pushing and swinging mechanism comprises a steering engine fixedly arranged at the rear end of the support, a first connecting rod connected to an output shaft of the steering engine, a second connecting rod hinged to the first connecting rod through a limiting pin, a third connecting rod with one end hinged to the second connecting rod, and a fourth supporting leg fixedly connected to the third connecting rod, and the other end of the third connecting rod is hinged to the support;

the second auxiliary wheel is rotatably arranged on the fourth supporting leg;

7. The stair climbing wheelchair as claimed in claim 1, further comprising a foot rest rotatably provided at a front end of the seat, and a first controllable gas spring having one end hinged to the foot rest and the other end hinged to the support.

8. The stair climbing wheelchair as claimed in claim 1, further comprising a backrest rotatably disposed at a rear end of the seat surface, and a second controllable gas spring having one end hinged to the backrest and the other end hinged to the frame.

9. The wheelchair of claim 1, wherein the first lifting mechanism comprises two first lifting mechanisms, the two first lifting mechanisms are respectively positioned at the left side and the right side of the chair surface, and a sliding shoe is fixedly arranged between the two first lifting mechanisms;

10. The stair climbing wheelchair as claimed in claim 1, further comprising a first sensor fixedly provided on the first elevating mechanism for detecting a height; the second sensor is fixedly arranged on the rear wheel pushing and swinging mechanism and used for detecting the height; a third sensor fixedly arranged on the third lifting mechanism and used for detecting the height; and the fourth sensor is fixedly arranged on the auxiliary pushing and swinging mechanism and used for detecting the height.