CN111714301A

CN111714301A - Stair climbing wheelchair for disabled people

Info

Publication number: CN111714301A
Application number: CN202010672458.7A
Authority: CN
Inventors: 蔡旭东
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2020-09-29

Abstract

The invention discloses wheelchair equipment for the disabled to climb stairs and an automatic stair climbing method thereof, wherein the wheelchair equipment comprises a supporting plate, a balancing device fixedly arranged on the upper end surface of the supporting plate, two supporting columns fixedly arranged on the lower end surface of the supporting plate, a cross beam fixedly arranged below the two supporting columns, a placement cavity fixedly arranged in the cross beam, a rotating shaft rotatably arranged in the placement cavity, and two gear device assemblies symmetrically arranged on the rotating shaft; the gear assembly comprises stair climbing devices symmetrically arranged at two ends of the rotating shaft and anti-skidding devices arranged on the inner sides of the stair climbing devices, and the device is provided with a displacement sensor, a worm and the like, so that the angle of the seat can be automatically adjusted when the stair climbing device climbs stairs, and the seat and the ground are kept horizontal.

Description

Stair climbing wheelchair for disabled people

Technical Field

The invention belongs to the field of medical treatment, and particularly relates to a stair climbing wheelchair for disabled people.

Background

The wheelchair is an important tool for rehabilitation, is not only a walking tool for physically disabled persons and mobility-handicapped persons, but more importantly enables the disabled persons to do physical exercises and participate in social activities by means of the wheelchair, but with the development of the times, more and more stairs and slopes are used on a main traffic road, so that wheelchair users can hardly walk on the road.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a stair climbing wheelchair for disabled people, which enables users to smoothly pass through the stair or slope by the stair climbing wheelchair under the premise of keeping the center of gravity and the ground horizontal.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a disabled person is with climbing wheelchair equipment for stair, includes backup pad, the fixed balancing unit who sets up at the backup pad up end, two support columns, the fixed crossbeam that sets up in two support column below, the fixed settling chamber that sets up in the crossbeam, rotate the pivot that sets up in settling the intracavity, set up four stair climbing devices in backup pad four corners department, set up the antiskid in the backup pad below, balancing unit establishes at the axis of rotation connecting rod, the fixed gravity iron ball that sets up the terminal surface under the connecting rod including fixed gear, the fixed hollow chamber that sets up in the backup pad up end, the fixed axis of rotation, the rotation cover that sets up at hollow chamber rear end wall at the fixed hollow chamber of gear.

Has the advantages that: the device can automatically adjust the angle of the seat when climbing stairs by arranging the displacement sensor, the worm and the like, so that the seat and the ground are kept horizontal, the seat is adjusted by arranging the speed reducer, the seat and the motor in a modular design, the gravity center of the parts with higher specific gravity is adjusted at the same time, and risks caused by the inclination of the parts are reduced.

The balancing device also comprises a bracket fixedly arranged on the rear end wall of the hollow cavity, a hollow groove arranged in the bracket and two displacement sensor assemblies symmetrically arranged on the lower end wall of the hollow groove; the displacement sensor assemblies comprise two displacement sensors symmetrically arranged at two ends of the gravity iron ball and two fixed block assemblies symmetrically arranged at the front end surface and the rear end surface of the gear; the fixed block assembly comprises supporting blocks symmetrically arranged on the front end face and the rear end face of the gear, sliding chutes arranged on the supporting blocks, a seat arranged on the supporting blocks, two sliding blocks fixedly arranged on the lower end face of the seat, a first motor arranged on the left end face of the seat, a speed reducer arranged on an output shaft of the first motor, a worm arranged on an output shaft of the right end face of the speed reducer, an annular column fixedly arranged on the lower end face of the seat, ball bearings arranged in the annular column and two rotating assemblies symmetrically arranged on the lower end face of the seat; the rotating assembly comprises two output shafts which are symmetrically arranged at the front side and the rear side of the worm, a support frame which is fixedly arranged at the two ends of the support plate, a rotating shaft which is fixedly arranged at the front end surface of the support frame, and a pedal plate which is rotatably sleeved on the rotating shaft, the sliding block can slide in the sliding groove in a reciprocating manner, when a user operates the stair climbing device to climb, the support plate can incline anticlockwise, the connecting rod rotates clockwise due to gravity, the connecting rod drives the gravity iron ball to rotate clockwise, the gravity iron ball is contacted with the displacement sensor and promotes the displacement sensor, the displacement sensor transmits a signal to the first motor, the first motor controls the speed reducer to rotate, the speed reducer controls the output shafts to rotate, the output shafts drive the worm to rotate clockwise, the worm drives the seat to incline clockwise, so that the anticlockwise inclination generated when the user climbs the stair is counteracted, the device has the advantages that the device is provided with the speed reducer, the seat and the motor in a modular design, so that the gravity center of parts with larger specific gravity can be adjusted at the same time when the seat is adjusted, and risks caused by inclination of the parts are reduced.

The stair climbing device comprises a rotating shaft rotatably arranged in the mounting cavity, a hub fixedly arranged on the rotating shaft, a plurality of hub supports which are uniformly distributed on the hub circumferentially, a sliding cavity arranged in the hub supports, and two electromagnetic slide rail assemblies symmetrically arranged on the upper end surface and the lower end surface of the sliding cavity; the electromagnetic slide rail component comprises electromagnetic slide rails symmetrically and fixedly arranged on the inner wall of the sliding cavity, a middle column fixedly arranged on the upper end face of the electromagnetic slide rail, two spring components symmetrically arranged on the middle column, wherein each spring component comprises two small springs symmetrically arranged on the electromagnetic slide rails, an electromagnetic block fixedly arranged on one side of each small spring, a large spring fixedly sleeved on the hub bracket, and a tire column fixedly arranged on one side of the large spring, one side of the tire column is sleeved on the hub bracket, when a gravity ball inclines, the displacement sensor can also transmit signals to the electromagnetic slide rails, the electromagnetic slide rails control the two electromagnetic blocks to move inwards to be positioned on the same surface with the outer surface of the hub bracket, when the tire column runs on stairs, the tire column can vertically transmit the signals to the large springs due to the gravity center, and at the moment, the tire column can retract backwards due to the large springs and rotate clockwise, when the next tire column climbs to the previous step, the friction force is transmitted to the hub support and cannot retract inwards, the operation of climbing stairs can be completed, when the tire column climbs to the horizontal ground, the gravity iron ball is restored to the middle position due to gravity, the displacement sensor signal disappears at the moment, the electromagnetic slide rail does not work, the two electromagnetic blocks are restored to the initial state due to the small spring, the end face of the small spring abuts against the electromagnetic slide rail at the moment, and the wheelchair cannot bump when running on the horizontal road surface.

The anti-skid device comprises a rotating shaft rotatably arranged in the accommodating cavity, a cam fixedly arranged on the rotating shaft, a supporting framework fixedly arranged on the right end face of the rotating shaft, a sliding support fixedly arranged on the front end face of the supporting framework, a cavity arranged in the sliding support, a magnet block fixedly arranged on the lower end wall of the cavity, an iron ball arranged on the upper end face of the magnet block in a rolling manner, and two limiting sliding block assemblies symmetrically arranged on two sides of the iron ball; the limiting slide block component comprises two slide blocks which are symmetrically arranged on the left side and the right side of the iron ball, a rotating cavity which is fixedly arranged in the slide blocks, a rotating ball which is rotatably arranged in the rotating cavity, a rotating plate which is fixedly arranged on the rotating ball, a limiting block which is fixedly arranged on the front end surface of the supporting framework, a fixed block which is fixedly arranged on the front end surface of the supporting framework, a slide rod which is fixedly arranged on the upper end wall of the cavity, an iron wire reset spring which is fixedly arranged on the right end wall of the slide rod, an iron wire which is wound on the iron wire reset spring, the iron wire which is fixedly connected with the slide blocks, the fixed block which is fixedly connected with the rotating plate through a spring, and the device is structurally, the stair can ensure that an operator cannot retreat due to insufficient electric quantity or obstacles and the like in the process of driving on the stairs, so that the stair is out of control and causes the problems of user injury and the like.

The stair climbing device further comprises a cross beam fixedly arranged on the lower end face of the support column, a placement cavity fixedly arranged in the cross beam, a second motor fixedly arranged on the bottom end wall of the placement cavity, a differential fixedly arranged on an output control shaft of the second motor, and two transmission assemblies symmetrically arranged in the placement cavity, wherein the transmission assemblies comprise two rotating shafts symmetrically arranged on the left side and the right side of the differential.

In summary, the invention has the following advantages: when the stair climbing device climbs stairs, the angle of the seat can be automatically adjusted, so that the seat and the ground are kept horizontal, and when the seat is adjusted, the gravity center of the part with a larger specific gravity can be adjusted at the same time, so that the risk caused by the inclination of the part is reduced, the risk of side turning cannot occur when the gravity center of the seat is adjusted, the structure is more stable and reasonable, more humanized and closer to the real life.

Drawings

FIG. 1 is a schematic sectional view in elevation of the present invention;

FIG. 2 is a schematic cross-sectional view from the left of the present invention;

FIG. 3 is an enlarged schematic view at A in FIG. 1;

FIG. 4 is a schematic cross-sectional view of the device at B-B in FIG. 2;

FIG. 5 is an enlarged schematic view at C in FIG. 4;

FIG. 6 is a schematic structural view of the anti-slip device of the present invention;

fig. 7 is an enlarged schematic view of fig. 3 at D.

Detailed Description

As shown in fig. 1-7, a wheelchair device for the disabled to climb stairs comprises a supporting plate 27, a balancing device 101 fixedly arranged on the upper end surface of the supporting plate 27, two supporting columns 32 fixedly arranged on the lower end surface of the supporting plate 27, a cross beam 62 fixedly arranged below the two supporting columns 32, a placement cavity 63 fixedly arranged in the cross beam 62, a rotating shaft 37 rotatably arranged in the placement cavity 63, 4 stair climbing devices (102) arranged at four corners of the supporting plate (27), an anti-skid device 103 arranged below the supporting plate 27, wherein the balancing device 101 comprises a gear 20 fixedly arranged on the upper end surface of the supporting plate 27, a hollow cavity 65 fixedly arranged inside the gear 20, a rotating shaft 25 fixedly arranged on the rear end wall of the hollow cavity 65, a connecting rod 24 rotatably sleeved on the rotating shaft 25, and a gravity iron ball 26 fixedly arranged on the lower end surface of the connecting rod 24.

The balance device 101 further comprises a support 21 fixedly arranged on the rear end wall of the hollow cavity 65, a hollow groove 22, a displacement sensor 23, a gear 20, a supporting block 30, a sliding chute 31, an output shaft 15, a speed reducer 16, a first motor 13, a seat 14 and the hollow groove 22, wherein the two displacement sensor components are symmetrically arranged on the lower end wall of the hollow groove 22; the displacement sensor assembly comprises two displacement sensors 23 symmetrically arranged at two ends of a gravity iron ball 26, and two fixed block assemblies symmetrically arranged on the front end surface and the rear end surface of the gear 20; the fixed block assembly comprises supporting blocks 30 symmetrically arranged on the front end face and the rear end face of the gear 20, a chute 31 is arranged on the supporting blocks 30, the seat 14 is arranged on the supporting blocks 30, two sliders 15 are fixedly arranged on the lower end face of the seat 14, a first motor 13 is arranged on the left end face of the seat 14, a speed reducer 16 arranged on an output shaft of the first motor is arranged, a worm 29 of the speed reducer 16 is arranged on an output shaft on the right end face of the speed reducer 16, and two rotating assemblies are symmetrically arranged on the lower end face of the seat 14; the rotating assembly comprises two output shafts 15 which are symmetrically arranged at the front side and the rear side of a worm 29, the supporting frame 10 is fixedly arranged at the two ends of a supporting plate 27, a rotating shaft 12 is fixedly arranged at the front end surface of the supporting frame 10, a pedal 11 is rotatably sleeved on the rotating shaft 12, the sliding block 15 can slide in the sliding groove 16 in a reciprocating manner, when a user operates the stair climbing device to climb, the supporting plate 27 tilts anticlockwise, a connecting rod 24 rotates clockwise due to gravity, the connecting rod 24 drives a gravity iron ball 26 to rotate clockwise, the gravity iron ball 26 contacts with a displacement sensor 23 and activates the displacement sensor, the displacement sensor 23 transmits a signal to a first motor 13, the first motor 13 controls a speed reducer 16 to rotate, the speed reducer 16 controls the output shafts 15 to rotate, the output shafts 15 drive the worm 29 to rotate clockwise, the worm 29 drives a seat 14 to tilt clockwise, and therefore the anticlockwise tilt generated when climbing stairs, the gravity center of a user and the gravity center of the stair climbing device are kept horizontal with the ground, so that the operator cannot turn over due to stair climbing, when the stair climbing device climbs the stair, the angle of the seat can be automatically adjusted, the seat and the ground are kept horizontal, the gravity center of the stair climbing device is adjusted by the parts with higher specific gravity, risks caused by inclination of the parts are reduced, the risk of side turning cannot occur when the gravity center of the seat is adjusted, the structure is more stable and reasonable, more humanized and close to the real life, and the speed reducer 16 and the displacement sensor 23 are in the prior art and are not repeated.

The stair climbing device 102 comprises a rotating shaft 37 rotatably arranged in the mounting cavity 63, a hub 38 fixedly provided with a rotating sleeve on the rotating shaft 37, a plurality of hub brackets 39 circumferentially and uniformly distributed on the hub 38, a sliding cavity 66 arranged in the hub brackets 39, and two electromagnetic slide rail assemblies symmetrically arranged on the upper and lower end surfaces of the sliding cavity 66; the electromagnetic slide rail assembly comprises electromagnetic slide rails 42 symmetrically and fixedly arranged on the inner wall of the sliding cavity 66, a middle column 43 fixedly arranged on the upper end face of the electromagnetic slide rail 42, two spring assemblies symmetrically arranged on the middle column 43, the spring assemblies comprise two small springs 41 symmetrically arranged on the electromagnetic slide rails 42, electromagnetic blocks 40 fixedly arranged on one sides of the small springs 41, large springs 46 fixedly sleeved on the hub bracket 39 and tire columns 45 fixedly arranged on one sides of the large springs 46, one sides of the tire columns 45 are sleeved on the hub bracket 39, the displacement sensors can also transmit signals to the electromagnetic slide rails 42, the electromagnetic slide rails 42 control the two electromagnetic blocks 40 to move inwards to be positioned on the same surface with the outer surface of the hub bracket 39, when the tire columns run on stairs, the tire columns 45 can vertically transmit the gravity centers to the large springs 46, and the tire columns 45 can retract backwards and rotate clockwise due to the large springs 46, when the next tire post 45 climbs to the previous step, the friction force is transmitted to the hub bracket 39 by the gravity 43 and cannot retract inwards, so that the operation of climbing stairs can be completed, when the wheelchair climbs to the horizontal ground, the gravity iron ball 26 is restored to the middle position due to gravity, the displacement sensor signal disappears at the moment, the electromagnetic slide rail 42 does not work, the two electromagnetic blocks 40 are restored to the initial state due to the small spring 41, the end surface of the small spring 41 abuts against the electromagnetic slide rail 42, and the wheelchair cannot bump when running on the horizontal road surface.

The anti-skid device 103 comprises a rotating shaft 37, a cam 48, a supporting framework 67, a sliding support 56, a cavity 57, a magnet block 68, an iron ball 58, a rotating cavity 69, a rotating ball 53, a rotating plate 51, a fixing block 49, a sliding rod 59, the cam 48 fixedly arranged on the rotating shaft 37, a supporting framework 67 fixedly arranged on the right end face of the rotating shaft 37, the sliding support 56 fixedly arranged on the front end face of the supporting framework 67, the cavity 57 arranged in the sliding support 56, the magnet block 68 fixedly arranged on the lower end wall of the cavity 57, the iron ball 58 arranged on the upper end face of the magnet block 68 in a rolling manner, and two limiting slide block assemblies symmetrically arranged on two sides of the iron ball 58; the limiting slide block assembly comprises two sliding blocks 54 symmetrically arranged on the left side and the right side of an iron ball 58, a rotating cavity 69 is fixedly arranged in the sliding blocks 54, the rotating ball 53 is rotatably arranged in the rotating cavity 69, a rotating plate 51 is fixedly arranged on the rotating ball 53, a limiting block 52 and a fixing block 49 are fixedly arranged on the front end surface of a supporting framework 67, the fixing block 49 is fixedly arranged on the front end surface of the supporting framework 67, a sliding rod 59 is fixedly arranged on the upper end wall of a cavity 57, a wire return spring 60 is fixedly arranged on the right end wall of the sliding rod 59, a wire 70 is wound on the wire return spring 60, the wire 70 is fixedly connected with the sliding blocks 54, the fixing block 49 is fixedly connected with the rotating plate 51 through a spring 50, when the stair climbing operation is carried out, the supporting framework 67 is inclined counterclockwise, at the moment, the iron ball 58 rolls to the sliding blocks 54 due to gravity, and pushes the sliding blocks 54 to move leftwards until, at the moment, when the cam 48 rotates clockwise to climb the stairs, the rotating plate 51 is driven to rotate anticlockwise to be separated from the cam 48, and the original position is restored under the action of the fixed block 49, and if the stair climbing device suddenly moves backwards for various reasons, the cam 48 inevitably rotates anticlockwise to drive the rotating plate 51 to rotate clockwise, the limiting block 52 clamps the rotating plate 51 and the rotating plate 51 clamps the cam 48 in turn to force the stair climbing device not to move backwards, the mechanism ensures that an operator cannot slide down a slope or turn over the side when climbing the stairs.

The stair climbing device 102 further comprises a cross beam 62 fixedly arranged on the lower end face of the support column 32, a placement cavity 63, a second motor 36, a control shaft 35, a differential 34, a rotation shaft 37 of the placement cavity 63 is fixedly arranged in the cross beam 62, the second motor 36 is fixedly arranged on the bottom end wall of the placement cavity 63, the differential 34 is fixedly arranged on the upper end face of the output control shaft 35 of the second motor 36, two transmission assemblies are symmetrically arranged in the placement cavity 63 and comprise two rotation shafts 37 symmetrically arranged on the left side and the right side of the differential 34, the differential 34 transfers the rotation speed from an electrode output shaft to the left rotation shaft and the right rotation shaft of the differential after being adjusted, so that the rotation speeds of the two rotation shafts are different, and the trolley is enabled to turn, and the displacement sensor 23 is the prior art, so that the details are.

The working principle is as follows: when a user operates the stair climbing device to climb up a stair, the supporting plate 27 tilts anticlockwise, the connecting rod 24 rotates clockwise due to gravity, the connecting rod 24 drives the gravity iron ball 26 to rotate clockwise, the gravity iron ball 26 contacts with the displacement sensor 23 and triggers the displacement sensor, the displacement sensor 23 transmits a signal to the first motor 13, the first motor 13 controls the speed reducer 16 to rotate, the speed reducer 16 controls the output shaft 15 to rotate, the output shaft 15 drives the worm 29 to rotate clockwise, the worm 29 drives the seat 14 to tilt clockwise, so that the anticlockwise tilt generated when climbing the stair is counteracted, the gravity center of the user and the stair climbing device is kept horizontal with the ground, the operator cannot roll over due to climbing the stair, meanwhile, the displacement sensor can also transmit a signal to the electromagnetic slide rail 42, the electromagnetic slide rail 42 controls the two electromagnetic blocks 40 to move inwards to be positioned on the same surface with the outer surface of the hub bracket 39, when the tire post travels on stairs, the gravity of the tire post 45 is vertically transmitted to the large spring 46, at the same time, the tire post 45 retracts backwards and rotates clockwise due to the large spring 46 until the next tire post 45 climbs to a previous step, at this time, 43 transmits the friction force to the hub bracket 39 and does not retract inwards, so that the operation of climbing stairs can be completed, when the wheelchair climbs to a horizontal ground, the gravity iron ball 26 returns to the middle position due to the gravity, at the same time, the displacement sensor signal disappears, the electromagnetic slide rail 42 does not work, the two electromagnetic blocks 40 return to the initial state due to the small spring 41, at the same time, the end surface of the small spring 41 abuts against the electromagnetic slide rail 42, the wheelchair does not bump on a horizontal road, when the wheelchair climbs stairs during operation, the support framework 67 tilts counterclockwise, at the same time, the iron ball 58 rolls to the sliding block 54 due to the gravity and pushes the sliding block 54 to move leftwards until the rotating plate 51 interferes with the cam 48, at the moment, when the cam 48 rotates clockwise to climb stairs, the rotating plate 51 is driven to rotate anticlockwise to be separated from the cam 48, and the original position is restored under the action of the fixed block 49, and if the stair climbing mechanism suddenly moves backwards for various reasons, the cam 48 inevitably rotates anticlockwise to drive the rotating plate 51 to rotate clockwise, the limiting block 52 blocks the rotating plate 51, and the rotating plate 51 blocks the cam 48 in turn to force the stair climbing mechanism not to move backwards, so that the mechanism ensures that an operator cannot slide down a slope or turn over one's side when climbing stairs.

Claims

1. The utility model provides a disabled person is with climbing stair and is used wheelchair equipment, including backup pad (27), fixed balancing unit (101) that sets up at backup pad (27) up end, two support columns (32) of fixed setting terminal surface under backup pad (27), fixed crossbeam (62) that set up in two support columns (32) below, fixed arrangement chamber (63) that set up in crossbeam (62), set up a plurality of stair device (102) of climbing of backup pad (27) four corners department, the antiskid of setting in backup pad (27) below, its characterized in that: the balancing device (101) comprises a gear (20) fixedly arranged on the upper end face of the supporting plate (27), a hollow cavity (65) fixedly arranged in the gear (20), a rotating shaft (25) fixedly arranged on the rear end wall of the hollow cavity (65), a connecting rod (24) rotatably sleeved on the rotating shaft (25), and a gravity iron ball (26) fixedly arranged on the lower end face of the connecting rod (24).

2. A wheelchair device for disabled persons to climb stairs according to claim 1, characterized in that: the balancing device (101) further comprises a support (21) fixedly arranged on the rear end wall of the hollow cavity (65), a hollow groove (22) arranged in the support (21), two displacement sensors symmetrically arranged on the lower end wall of the hollow groove (22), and two fixing block assemblies symmetrically arranged on the front end face and the rear end face of the gear (20); the fixed block component comprises supporting blocks (30) symmetrically arranged on the left end surface and the right end surface of the gear (20), sliding chutes (31) arranged on the supporting blocks (30) and seats (14) arranged on the supporting blocks (30), the automatic seat comprises two sliding blocks (15) fixedly arranged on the lower end face of a seat (14), a first motor (13) arranged on the left end face of the seat (14), a speed reducer (16) arranged on an output shaft of the first motor, a worm (29) arranged on an output shaft of the right end face of the speed reducer (16), an annular column (17) fixedly arranged on the lower end face of the seat (14), ball bearings (18) arranged in the annular column (17), supporting frames (10) fixedly arranged at two ends of a supporting plate (27), a rotating shaft (12) fixedly arranged on the front end face of the supporting frames (10), and a pedal plate (11) rotatably sleeved on the rotating shaft (12), wherein the sliding blocks (15) can slide in the sliding grooves (31) in a reciprocating mode.

3. A wheelchair device for disabled persons to climb stairs according to claim 1, characterized in that: the stair climbing device (102) comprises a rotating shaft (37) rotatably arranged in the placement cavity (63), a hub (38) fixedly arranged on the rotating shaft (37), a plurality of hub supports (39) with the circumferences uniformly distributed on the hub (38), a sliding cavity (66) arranged in the hub supports (39), and two electromagnetic sliding rail assemblies arranged on the upper end surface and the lower end surface of the sliding cavity (66); the electromagnetic slide rail assembly comprises electromagnetic slide rails (42) symmetrically and fixedly arranged on the inner wall of the sliding cavity (66), a middle column (43) fixedly arranged on the upper end surface of the electromagnetic slide rail (42), and two spring assemblies arranged on the middle column (43); spring unit includes two little springs (41) of symmetry setting on electromagnetism slide rail (42), fixed electromagnetic block (40) that set up in little spring (41) one side, fixed cover establish big spring (46) on wheel hub support (39), fixed tire post (45) that set up in big spring (46) one side, tire post (45) one side cover is established on wheel hub support (39).

4. A wheelchair device for disabled persons to climb stairs according to claim 1, characterized in that: the anti-skid device (103) comprises a rotating shaft (37) rotatably arranged in the arranging cavity (63), a cam (48) fixedly arranged on the rotating shaft (37), a supporting framework (67) fixedly arranged on the right end face of the rotating shaft (37), a sliding support (56) fixedly arranged on the front end face of the supporting framework (67), a cavity (57) arranged in the sliding support (56), a magnet block (68) fixedly arranged on the lower end wall of the cavity (57), an iron ball (58) arranged on the upper end face of the magnet block (68) in a rolling manner, and two limiting sliding block assemblies symmetrically arranged on two sides of the iron ball (58); the limiting slide block assembly comprises sliding blocks (54) arranged on the left side and the right side of an iron ball (58), a rotating cavity (69) fixedly arranged in the sliding blocks (54), a rotating ball (53) rotatably arranged in the rotating cavity (69), a rotating plate (51) fixedly arranged on the rotating ball (53), a limiting block (52) fixedly arranged on the front end face of a supporting framework (67), a fixed block (49) fixedly arranged on the front end face of the supporting framework (67), a sliding rod (59) fixedly arranged on the upper end wall of the cavity (57), an iron wire reset spring (60) fixedly arranged on the right end wall of the sliding rod (59), and an iron wire (70) wound on the iron wire reset spring (60), wherein the iron wire (70) is fixedly connected with the sliding blocks (54), the fixed block (49) is fixedly connected with the rotating plate (51) through a spring (50).

5. A wheelchair device for disabled persons to climb stairs according to claim 3, wherein: the stair climbing device (102) further comprises a cross beam (62) fixedly arranged on the lower end face of the support column (32), a placement cavity (63) fixedly arranged in the cross beam (62), a second motor (36) fixedly arranged on the bottom end wall of the placement cavity (63), and a differential (34) rotatably arranged on an output shaft of the second motor (36).