CN112168520A

CN112168520A - Wheel chair

Info

Publication number: CN112168520A
Application number: CN202011209187.8A
Authority: CN
Inventors: 钱理
Original assignee: Suzhou Zhiyu Photoelectric Technology Co ltd
Current assignee: Suzhou Zhiyu Photoelectric Technology Co ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-01-05
Also published as: WO2022095191A1

Abstract

The invention belongs to the technical field of wheelchairs, and particularly relates to a wheelchair which comprises a chair seat, a travelling wheel mechanism, a first support wheel mechanism and a support wheel mechanism. When the wheelchair walks on a normal flat road, the four supporting wheel mechanisms play a role in supporting and balancing the wheelchair; at the moment, the balance program in the wheelchair is closed; the universal wheels at the lower ends of the four supporting wheel mechanisms are lifted up when the wheelchair goes upstairs, so that the four supporting wheel mechanisms are prevented from interfering with the stairs in the process of going upstairs, and meanwhile, the balance of the wheelchair going upstairs is artificially assisted and balanced through a self-contained balancing program.

Description

Wheel chair

Technical Field

The invention belongs to the technical field of wheelchairs, and particularly relates to a wheelchair.

Background

The wheelchair step is a product which is designed pertinently, but the following problems exist:

the full-automatic wheelchair which can independently depend on the steps on the wheelchair can solve the problem of stepping, but the popularization degree is not high, and the problem can not be basically seen in the market because the cost is too high, namely the price is high; in addition, the structure is complex, and the maintenance difficulty and the cost are high; therefore, it is necessary to design a full-automatic wheelchair for going upstairs, which has low cost, relatively simple structure and convenient maintenance.

However, in terms of the current technological development, it is difficult to realize a full-automatic wheelchair which is low in cost, relatively simple in structure and convenient to maintain, and semi-automatic stepping can be realized while considering the condition of low cost and maintenance difficulty.

The invention designs a wheelchair to solve the problems.

Disclosure of Invention

In order to solve the defects in the prior art, the invention discloses a wheelchair which is realized by adopting the following technical scheme.

A wheelchair comprises a seat, walking wheel mechanisms, first supports and support wheel mechanisms, wherein two symmetrically distributed walking wheel mechanisms are respectively installed on the lower side of the seat through one first support; when the chair runs on a flat road, the universal wheels at the lower ends of the four supporting wheel mechanisms are in contact with the ground to support the chair seat, and when the chair runs on stairs, the universal wheels at the lower ends of the four supporting wheel mechanisms are lifted up to be separated from the ground.

The walking wheel mechanism comprises an annular motor, an installation shell, a screw rod, a wheel surface, a first gear, an installation rotating shaft, a servo motor, a fixed support, a second gear and a threaded sleeve, wherein the installation shell is installed on the lower side of the seat through the first support; the servo motor is fixedly arranged at one end in the mounting shell, one end of the mounting rotating shaft is fixedly connected with an output shaft of the servo motor, two ends of the first gear are both bevel gear ends, the first gear is fixedly arranged on the mounting rotating shaft, and the first gear is positioned at the other end of the mounting shell; the wheel surface is composed of a plurality of wheel unit blocks which are uniformly distributed in the circumferential direction, two screw rods are symmetrically and fixedly installed on the inner arc surface of each wheel unit block, the two screw rods are installed on the installation shell through sliding fit of the guide sliding block and the guide sliding groove, the wheel unit blocks are located on the outer side of the installation shell, the inner side of each wheel unit block corresponds to two thread sleeves, the two thread sleeves are rotatably installed in the installation shell through a fixed support, the two thread sleeves are in one-to-one corresponding thread fit with the two screw rods, and the rotating directions of the inner screw rod and the outer screw rod are opposite; and a second gear is fixedly mounted on each threaded sleeve and is a bevel gear, and the second gear is meshed with the bevel gear at the corresponding end of the first gear.

The battery is installed to the rear side of above-mentioned seat support, and annular motor and servo motor all are connected with the battery through the electric wire.

As a further improvement of the technology, the supporting wheel mechanism comprises a fixed rod, a telescopic rod, a universal wheel, an electric push rod and a return spring, wherein the upper end of the fixed rod is fixedly arranged at the lower side of the chair seat, the return spring is arranged in the telescopic rod, the upper end of the telescopic rod is hinged and arranged at the lower end of the fixed rod, and the universal wheel is arranged at the lower end of the telescopic rod; install electric putter between telescopic link and the seat support, electric putter's one end is articulated to be installed at the downside of seat support, and electric putter's the other end is articulated to be installed on the telescopic link.

As a further improvement of the present technology, the return spring is a compression spring and has a pre-pressure.

As a further improvement of the technology, one side of each of the two mounting shells in the two travelling wheel mechanisms is respectively provided with a rotary electric connecting device B, and the rotary electric connecting devices B are fixedly mounted on the lower side of the seat through second supports; the rotary electric connecting device A is installed in the rotary electric connecting device B, and an electric wire accessed by the servo motor is connected with the battery through the rotary power supply mode of the rotary electric connecting device A and the rotary electric connecting device B.

As a further improvement of the technology, the inner sides of the two mounting shells in the two traveling wheel mechanisms are respectively provided with a fixed shaft sleeve, and one end of each of the two mounting shafts is rotatably mounted in the two fixed shaft sleeves.

As a further improvement of the technology, a plurality of shaft holes are circumferentially and uniformly formed in the outer circular surface of one end of the mounting shell, two guide sliding blocks are symmetrically mounted in each shaft hole, two guide sliding grooves are symmetrically formed in the outer circular surface of each screw rod, and the screw rods are mounted in the corresponding shaft holes through the sliding fit of the two guide sliding grooves and the corresponding guide sliding blocks.

As a further improvement of the technology, two mounting notches are formed in two ends of the outer arc surface of each wheel unit block, and a friction plate is mounted on each mounting notch.

As a further improvement of the technology, each wheel unit block is provided with a mounting hole, a plurality of friction arc plates are respectively and circumferentially and uniformly arranged on the outer circular surfaces of the two mounting shells through connecting blocks, and the friction arc plates are matched with the mounting holes formed in the corresponding wheel unit blocks.

As a further improvement of the technology, the two mounting shells are respectively and fixedly provided with a mounting ring, and one end of the connecting block is fixedly arranged on the outer circular surface of the mounting ring.

As a further improvement of the present technology, the mounting ring is fixedly mounted on the corresponding mounting shell by welding.

Compared with the traditional wheelchair technology, the beneficial effects of the design of the invention are as follows:

1. when the wheelchair climbs stairs, the wheel unit blocks on the two wheel surfaces are controlled to be opened firstly, so that gaps are formed between the two adjacent wheel unit blocks, and if the gaps between the two adjacent wheel unit blocks on the two wheel surfaces are good and can be clamped on the corresponding step surfaces in the stair climbing process, the wheelchair can climb the stairs smoothly by the supporting force of the step surfaces on the wheel unit blocks positioned on the upper side in the wheel rotating direction.

2. When the wheelchair walks on a normal flat road, the four supporting wheel mechanisms play a role in supporting and balancing the wheelchair; at the moment, the balance program in the wheelchair is closed; the universal wheels at the lower ends of the four supporting wheel mechanisms are lifted up when the wheelchair goes upstairs, so that the four supporting wheel mechanisms are prevented from interfering with the stairs in the process of going upstairs, and meanwhile, the balance of the wheelchair going upstairs is artificially assisted and balanced through a self-contained balancing program.

3. The friction plate is designed, so that the wheelchair can play a role in skid resistance in the process of going upstairs and downstairs, and the relative safety of going upstairs and downstairs of the wheelchair is ensured; the contact area with the stair step surface, namely the front end and the rear end of the wheel unit block, has larger friction resistance.

4. The friction arc plate is designed, and in the normal walking process, the friction sliding plate is matched with the mounting hole on the corresponding wheel unit block, so that sufficient friction force is ensured between the wheel surface and the ground during the flat road walking, and the normal walking of the wheel surface is ensured.

5. When the friction arc plate designed in the invention is used for climbing stairs, the wheel unit block moves for a certain distance relative to the friction arc plate along the radial direction, and the friction arc plate is not contacted with the step surface of the stairs, so that the wheelchair is ensured to be opposite to the steps by virtue of the smooth surface of the middle area of the wheel unit when the wheelchair is contacted with the steps.

Drawings

Fig. 1 is an external view of an entire part.

Fig. 2 is a schematic view of the seat structure.

FIG. 3 is a schematic view of the installation of the traveling wheel mechanism and the supporting wheel mechanism.

Fig. 4 is a schematic view of the support wheel mechanism.

Fig. 5 is a schematic structural view of a road wheel mechanism.

FIG. 6 is a schematic view of the internal structure of the traveling wheel mechanism.

Fig. 7 is a schematic view of the installation of the rotating electrical connection device a.

Fig. 8 is a schematic view of the structure of the mounting case.

Fig. 9 is a first gear mounting schematic.

FIG. 10 is a schematic view of a friction arc plate installation.

Fig. 11 is a second gear mounting schematic.

Fig. 12 is a schematic view of a wheel unit block structure.

FIG. 13 is a schematic view of the screw and thread bushing engagement.

Number designation in the figures: 1. a chair seat; 2. a battery; 3. a support wheel mechanism; 4. a traveling wheel mechanism; 5. fixing the rod; 6. a telescopic rod; 7. a universal wheel; 8. an electric push rod; 9. a return spring; 10. a first support; 11. a wheel surface; 12. a second support; 13. a rotary electric connection device B; 14. an annular motor; 15. mounting a shell; 16. a rotary electric connection device A; 17. a screw; 18. a mounting ring; 19. a first gear; 20. fixing the shaft sleeve; 21. a shaft hole; 22. a guide slider; 23. installing a rotating shaft; 24. a servo motor; 25. connecting blocks; 26. a friction arc plate; 27. a wheel unit block; 28. fixing and supporting; 29. a second gear; 30. a friction plate; 31. mounting holes; 32. installing a notch; 33. a guide chute; 34. and (4) a threaded sleeve.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples or figures are illustrative of the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1, the chair comprises a chair seat 1, walking wheel mechanisms 4, a first support 10 and support wheel mechanisms 3, wherein as shown in fig. 1 and 3, the two walking wheel mechanisms 4 which are symmetrically distributed are respectively installed on the lower side of the chair seat 1 through the first support 10, the four support wheel mechanisms 3 are symmetrically installed on the front end and the rear end of the lower side of the chair seat 1 in a pairwise and one group, and the two support wheel mechanisms 3 which are positioned on the same side of the front end and the rear end are symmetrical left and right; when walking on a flat road, the universal wheels 7 at the lower ends of the four supporting wheel mechanisms 3 are in contact with the ground to support the seat 1, and when going upstairs, the universal wheels 7 at the lower ends of the four supporting wheel mechanisms 3 are lifted to be separated from the ground.

The steering of the walking wheel mechanism 4 designed by the invention realizes the steering function by controlling the speed difference of the wheel surfaces 11 in the two walking wheel mechanisms 4. The walking wheel mechanism 4 is divided into two parts, the balance of the wheelchair in the process of going upstairs adopts the prior art, such as the balance technology of a balance car, and the balance in the process of going upstairs is not the same as that of a common balance car, so that the manual auxiliary balance can be adopted, and the safety of going upstairs is improved.

When the wheelchair walks on a normal level, the four supporting wheel mechanisms 3 play a role in supporting and balancing the wheelchair; at the moment, the balance program in the wheelchair is closed, and the steering is realized through the speed difference of the travelling wheel mechanisms 4 at the two sides; the universal wheels 7 at the lower ends of the four supporting wheel mechanisms 3 are lifted up when going upstairs, so that interference between the four supporting wheel mechanisms 3 and stairs is avoided in the process of going upstairs, meanwhile, the balance of the wheelchair is balanced through a balance program in the wheelchair, but the balance program used by the upstairs in the prior art is rare, and the balance effect is poor, so that the wheelchair needs additional manual assistance when going upstairs, the balance is guaranteed, and the wheelchair is a semi-automatic wheelchair.

As shown in fig. 5 and 6, the travelling wheel mechanism 4 includes a ring motor 14, a mounting shell 15, a screw 17, a wheel surface 11, a first gear 19, a mounting rotating shaft 23, a servo motor 24, a fixed support 28, a second gear 29, and a threaded sleeve 34, wherein as shown in fig. 3 and 6, the mounting shell 15 is mounted on the lower side of the seat 1 through a first support 10, the ring motor 14 is fixedly mounted on one side of the first support 10, and the output end of the ring motor 14 is fixedly connected with the mounting shell 15; as shown in fig. 6 and 9, the servo motor 24 is fixedly installed at one end in the installation shell 15, and one end of the installation rotating shaft 23 is fixedly connected with an output shaft of the servo motor 24, as shown in fig. 6 and 9, both ends of the first gear 19 are tapered ends, the first gear 19 is fixedly installed on the installation rotating shaft 23, and the first gear 19 is located at the other end of the installation shell 15; as shown in fig. 6, the wheel surface 11 is composed of a plurality of wheel unit blocks 27 uniformly distributed in the circumferential direction, two screw rods 17 are symmetrically and fixedly mounted on the inner arc surface of each wheel unit block 27, as shown in fig. 11, the two screw rods 17 are mounted on the mounting shell 15 through the sliding fit of the guide slider 22 and the guide runner 33, the wheel unit blocks 27 are located outside the mounting shell 15, the inner side of each wheel unit block 27 corresponds to two threaded sleeves 34, the two threaded sleeves 34 are rotatably mounted in the mounting shell 15 through one fixed support 28, the two threaded sleeves 34 are in one-to-one threaded fit with the two screw rods 17, and the rotation directions of the inner and outer screw rods 17 are opposite; ensuring that when the first gear 19 rotates, the two sets of screw rods 17 and threaded sleeves 34 respectively driven by the two second gears 29 on both sides of the first gear 19 can drive the corresponding wheel unit blocks 27 to move in the same direction; each threaded sleeve 34 is fixedly provided with a second gear 29, the second gear 29 is a bevel gear, and the second gear 29 is meshed with a bevel gear at the corresponding end of the first gear 19.

The annular motor 14 works to drive the mounting shell 15 to rotate, and the mounting shell 15 rotates to drive the wheel surface 11 to rotate through the screw 17 which is slidably mounted on the mounting shell, so that the walking function is realized; when the vehicle runs on an upper step, the servo motor 24 is controlled to drive the installation rotating shaft 23 to rotate, the installation rotating shaft 23 rotates to drive the first gear 19 to rotate, the first gear 19 rotates to drive the second gear 29 meshed with the first gear to rotate, the second gear 29 rotates to drive the corresponding threaded sleeve 34 to rotate, as the screw 17 is connected with the installation shell 15 in a sliding fit manner through the guide chute 33 and the guide sliding block 22, the screw 17 can only slide along the corresponding shaft hole 21 formed in the installation shell 15 and cannot rotate, so that the screw 17 in threaded fit with the threaded sleeve 34 can be driven to slide along the corresponding shaft hole 21 by the rotation of the threaded sleeve 34, the screw 17 slides to drive the corresponding wheel unit block 27 to move, the originally combined wheel unit blocks 27 are separated in a single manner, a gap appears between two adjacent wheel unit blocks 27, and sharp corners of the upper and lower steps can be clamped in the gap between the two wheel unit blocks 27 when the vehicle runs on an upper step, the upper-layer step surface can provide enough supporting force for the wheel unit block 27 in contact fit with the upper-layer step surface in the rotating direction, so that the wheel unit block 27 can drive the wheelchair to move upwards when the annular motor 14 drives the annular motor to rotate.

The wheelchair designed by the invention has a specified application range, and the height of the stair step must be matched with the wheelchair, for example, when a nursing home is built, the stair is built into the stair matched with the wheelchair.

The error of the main torque of the two wheel surfaces 11 of the wheelchair designed by the invention is less than five percent.

When the wheelchair goes upstairs, the wheel unit blocks 27 on the two wheel surfaces 11 are controlled to be opened firstly, so that gaps are formed between the two adjacent wheel unit blocks 27, and when the gaps between the two adjacent wheel unit blocks 27 on the two wheel surfaces 11 are really clamped on the corresponding step surfaces in the process of going upstairs, the wheelchair can smoothly climb the stairs through the supporting force of the step surfaces on the wheel unit blocks 27 on the upper side in the rotation direction of the wheels.

If two walking mechanisms simultaneously touch the step surface when climbing stairs, but the gap between the wheel unit blocks 27 on one walking wheel is clamped on the step surface, the gap between the wheel unit blocks 27 on the other walking wheel mechanism 4 is not clamped on the step surface, the torque required by the rotation of the wheel surface 11 on the clamped side is relatively large, the torque required by the rotation of the wheel surface 11 on the clamped side is relatively small, the difference value of the torque required on the two sides is more than five percent, the two walking wheel mechanisms 4 are driven by the driving torque required on the side with small driving torque, the side with relatively small required torque slips and rotates, the driving torque on the other side is far less than the torque required by the rotation of the side, the walking wheel mechanism 4 on the side can be relatively static because the wheel surface 11 is clamped on the step and cannot rotate to the sharp corner of the clamped step, the torque required by the subsequent rotation of the travelling wheel mechanisms 4 at the two sides can drive the two wheel surfaces 11 to rotate by using large torque, and the wheelchair can go upstairs normally under the action of the step surfaces.

When the wheelchair goes upstairs, if the walking direction of the wheelchair is not in the same direction as the direction of the stairs, and if the wheelchair has large deviation, the gap of the wheel surface 11 on one side can be clamped on the step surface in an inclined way, and the wheel surface 11 on the other side is not in contact with the step surface, at the moment, the wheelchair can be turned on one side, and a balancing device carried by the wheelchair cannot effectively function, so that the wheelchair needs certain artificial assistance when going upstairs; at the moment, the wheel surface 11 on one side is obliquely clamped on the step surface, the wheel surface 11 on the other side is far away from the step surface, and the torque required by the wheel surface 11 far away from the step surface is far less than that of the wheel surface 11 on the other side; the wheelchair drives the two travelling wheel mechanisms 4 by the torque required by the wheel surface 11 far away from the step surface, the torque required by the wheel surface 11 clamped on the step surface is large, so the wheelchair cannot rotate, the wheel surface 11 far away from the step surface rotates, one side of the wheelchair far away from the step surface is driven to gradually approach the step surface by taking the travelling wheel mechanism 4 clamped on the step surface as a fulcrum, and after the wheelchair approaches the step surface, if the gap of the wheel surface 11 is not matched with the sharp corner of the step surface, the wheelchair continues to rotate until the gap is matched with the sharp corner of the step surface, and finally the wheelchair rotates together.

As shown in fig. 2, the battery 2 is installed at the rear side of the seat 1, and the ring motor 14 and the servo motor 24 are connected to the battery 2 through wires.

The motor for controlling the opening of the wheel unit block 27 in the present invention employs the servo motor 24, and the opening angle of the wheel unit block 27 is precisely controlled by the servo motor 24.

As shown in fig. 4, the supporting wheel mechanism 3 includes a fixing rod 5, a telescopic rod 6, a universal wheel 7, an electric push rod 8, and a return spring 9, wherein the upper end of the fixing rod 5 is fixedly installed at the lower side of the seat 1, the telescopic rod 6 has the return spring 9 therein, the upper end of the telescopic rod 6 is hinged to the lower end of the fixing rod 5, and the universal wheel 7 is installed at the lower end of the telescopic rod 6; install electric putter 8 between telescopic link 6 and seat support 1, electric putter 8's one end is articulated to be installed at the downside of seat support 1, and electric putter 8's the other end is articulated to be installed on telescopic link 6.

When the walking machine walks on a flat road, the telescopic rod 6 and the fixed rod 5 are in a collinear state; when the wheelchair is suspended, the telescopic rods 6 at the lower ends of the four supporting wheel mechanisms 3 are in an extension state, and the lowest point of the universal wheel 7 is lower than the lowest point of the combined wheel surface 11; after the wheelchair lands on the ground, the telescopic rods 6 in the four supporting wheel mechanisms 3 are compressed and shortened, and the internal return spring 9 is compressed, so that in the state, the four supporting wheel mechanisms 3 share and bear a part of supporting force of the wheelchair, even if no balancing device is arranged, the balance of the wheelchair can be ensured through the four supporting wheel mechanisms 3, and the wheelchair cannot topple; in the invention, after a person sits on the wheelchair, the telescopic rods 6 in the four supporting wheel mechanisms 3 are basically in the shortest state, but are still telescopic, and the telescopic amount is relatively small, so the design reason is to prevent the two supporting wheel mechanisms 3 corresponding to the front side or the rear side from being compressed again to be large and cause the person and the wheelchair to overturn if the person leans forwards or backwards after sitting on the wheelchair; the design of small amount of extension is to ensure that the wheelchair touches the bulge or the pit in the walking process, and the wheelchair also has certain damping and buffering functions and is comfortable to sit.

The return spring 9 is a compression spring and has a preload.

As shown in fig. 7, one side of each of the two mounting cases 15 of the two travelling wheel mechanisms 4 is respectively provided with a rotary electric connecting device B13, and the rotary electric connecting device B13 is fixedly mounted on the lower side of the seat 1 through the second support 12; the rotary electric connector a16 is mounted in the rotary electric connector B13, and the electric wire connected to the servo motor 24 is connected to the battery 2 by the rotary electric connector a16 and the rotary electric connector B13. In the invention, the servo motor 24 is fixedly arranged in the mounting shell 15, the mounting shell 15 is driven to rotate when the wheelchair travels, and the electric wire connected with the battery 2 is in a static state, so in order to prevent the electric wire connected between the servo motor 24 and the battery 2 from being torn off in the rotating process of the servo motor 24, the electric connection rotating matching of the rotating electric connecting device A16 and the rotating electric connecting device B13 is designed; the electric connection adopts the prior art, the conductive connecting parts of the two parts adopt the annular and brush piece connection technology such as the carbon brush electric connection in a brush motor, a specific rotary electric connecting device A16 is provided with three copper rings which are respectively connected with three wires of a servo motor 24, the three copper rings rotate along with the shell of the servo motor 24, the rotary electric connecting device is provided with three brush pieces which are statically distributed, and each brush piece is always in pressure contact with the corresponding rotary copper piece.

As shown in fig. 8, two of the traction mechanisms 4 have a fixed shaft sleeve 20 on the inner side of each of the two mounting housings 15, and one end of each of the two mounting shafts is rotatably mounted in the two fixed shaft sleeves 20.

As shown in fig. 8, a plurality of shaft holes 21 are uniformly formed in the circumferential direction on the outer circumferential surface of one end of the mounting shell 15, two guide sliding blocks 22 are symmetrically installed in each shaft hole 21, as shown in fig. 13, two guide sliding grooves 33 are symmetrically formed on the outer circumferential surface of each screw 17, and the screw 17 is installed in the corresponding shaft hole 21 through the sliding fit of the two guide sliding grooves 33 and the corresponding guide sliding blocks 22.

As shown in fig. 12, two mounting notches 32 are formed at two ends of the outer arc surface of each wheel unit block 27, and a friction plate 30 is mounted on each of the two mounting notches 32. The friction plate 30 is designed to play a role in preventing skidding when the wheelchair goes up and down stairs, so that the relative safety of the wheelchair going up and down stairs is ensured; so that the contact area with the stair step surface, namely the front and rear ends of the wheel unit block 27 has larger frictional resistance.

As shown in fig. 12, each wheel unit block 27 is provided with a mounting hole 31, the outer circumferential surfaces of the two mounting shells 15 are respectively and uniformly provided with a plurality of friction arc plates 26 circumferentially through the connecting blocks 25, and the friction arc plates 26 are matched with the mounting holes 31 formed on the corresponding wheel unit block 27.

The friction arc plate 26 designed in the invention has the function that in the normal walking process, the friction sliding plate is matched with the mounting hole 31 on the corresponding wheel unit block 27, so that enough friction force is ensured between the wheel surface 11 and the ground when the wheel is walking on a flat road, and the normal walking of the wheel surface 11 is ensured.

As shown in fig. 6, a mounting ring 18 is fixedly mounted on each of the two mounting cases 15, and as shown in fig. 10, one end of the connecting block 25 is fixedly mounted on the outer circumferential surface of the mounting ring 18.

The mounting ring 18 is fixedly mounted to the corresponding mounting housing 15 by welding.

The specific working process is as follows: when the wheelchair designed by the invention is used, in the normal walking process, the four supporting wheel mechanisms 3 play a role in supporting and balancing the wheelchair; at the moment, the balance program in the wheelchair is closed; the annular motor 14 controls the two mounting shells 15 to rotate, and the two mounting shells 15 rotate to drive the wheel surfaces 11 on the two sides to rotate through the corresponding screw rods 17, so that the walking function is realized.

When going upstairs, the servo motor 24 is controlled to drive the installation rotating shaft 23 to rotate, the installation rotating shaft 23 rotates to drive the first gear 19 to rotate, the first gear 19 rotates to drive the second gear 29 engaged with the first gear to rotate, the second gear 29 rotates to drive the corresponding threaded sleeve 34 to rotate, as the screw 17 is connected with the installation shell 15 in a sliding fit manner through the guide chute 33 and the guide sliding block 22, the screw 17 can only slide along the corresponding shaft hole 21 formed in the installation shell 15 and cannot rotate, so that the screw 17 in threaded fit with the threaded sleeve 34 can be driven to slide along the corresponding shaft hole 21 by the rotation of the threaded sleeve 34, the screw 17 slides to drive the corresponding wheel unit block 27 to move, the originally combined wheel unit blocks 27 are separated in a single manner, so that a gap appears between two adjacent wheel unit blocks 27, and when going upstairs, the sharp corners of the upper and lower steps can be clamped in the gap between the two wheel unit blocks 27, the upper-layer step surface can provide enough supporting force for the wheel unit block 27 in contact fit with the upper-layer step surface in the rotating direction, so that the wheel unit block 27 can drive the wheelchair to move upwards when the annular motor 14 drives the annular motor to rotate.

Claims

1. A wheelchair, characterized by: the four supporting wheel mechanisms are symmetrically arranged at the front end and the rear end of the lower side of the seat in a pairwise and group mode, and the two supporting wheel mechanisms positioned at the front side and the rear side of the same side are mutually symmetrical in the left-right direction; when the chair runs on a flat road, the universal wheels at the lower ends of the four supporting wheel mechanisms are in contact with the ground to support the chair seat, and when the chair runs on stairs, the universal wheels at the lower ends of the four supporting wheel mechanisms are lifted up to be separated from the ground;

the walking wheel mechanism comprises an annular motor, an installation shell, a screw rod, a wheel surface, a first gear, an installation rotating shaft, a servo motor, a fixed support, a second gear and a threaded sleeve, wherein the installation shell is installed on the lower side of the seat through the first support; the servo motor is fixedly arranged at one end in the mounting shell, one end of the mounting rotating shaft is fixedly connected with an output shaft of the servo motor, two ends of the first gear are both bevel gear ends, the first gear is fixedly arranged on the mounting rotating shaft, and the first gear is positioned at the other end of the mounting shell; the wheel surface is composed of a plurality of wheel unit blocks which are uniformly distributed in the circumferential direction, two screw rods are symmetrically and fixedly installed on the inner arc surface of each wheel unit block, the two screw rods are installed on the installation shell through sliding fit of the guide sliding block and the guide sliding groove, the wheel unit blocks are located on the outer side of the installation shell, the inner side of each wheel unit block corresponds to two thread sleeves, the two thread sleeves are rotatably installed in the installation shell through a fixed support, the two thread sleeves are in one-to-one corresponding thread fit with the two screw rods, and the rotating directions of the inner screw rod and the outer screw rod are opposite; a second gear is fixedly arranged on each threaded sleeve and is a bevel gear, and the second gear is meshed with the bevel gear at the corresponding end of the first gear;

the battery is installed to the rear side of seat support, and annular motor and servo motor all are connected with the battery through the electric wire.

2. A wheelchair in accordance with claim 1, wherein: the supporting wheel mechanism comprises a fixed rod, a telescopic rod, a universal wheel, an electric push rod and a return spring, wherein the upper end of the fixed rod is fixedly arranged on the lower side of the chair seat, the return spring is arranged in the telescopic rod, the upper end of the telescopic rod is hinged to the lower end of the fixed rod, and the universal wheel is arranged at the lower end of the telescopic rod; install electric putter between telescopic link and the seat support, electric putter's one end is articulated to be installed at the downside of seat support, and electric putter's the other end is articulated to be installed on the telescopic link.

3. A wheelchair in accordance with claim 2, wherein: the reset spring is a compression spring and has pre-pressure.

4. A wheelchair in accordance with claim 1, wherein: one side of each of the two mounting shells in the two walking wheel mechanisms is respectively provided with a rotary electric connecting device B, and the rotary electric connecting devices B are fixedly mounted on the lower side of the seat through second supports; the rotary electric connecting device A is installed in the rotary electric connecting device B, and an electric wire accessed by the servo motor is connected with the battery through the rotary power supply mode of the rotary electric connecting device A and the rotary electric connecting device B.

5. A wheelchair in accordance with claim 1, wherein: the inner sides of two mounting shells in the two walking wheel mechanisms are respectively provided with a fixed shaft sleeve, and one end of each mounting shaft is rotatably mounted in the two fixed shaft sleeves.

6. A wheelchair in accordance with claim 1, wherein: the outer disc of installation shell one end goes up the even division of circumference and has a plurality of shaft holes, and equal symmetrical two direction sliders of installing in every shaft hole, equal symmetrical division has two direction spouts on the outer disc of every screw rod, and the screw rod is installed in the shaft hole that corresponds through two direction spouts and the sliding fit who corresponds the direction slider.

7. A wheelchair in accordance with claim 1, wherein: two ends of the outer arc surface of each wheel unit block are provided with two mounting notches, and a friction plate is respectively mounted on each mounting notch.

8. A wheelchair in accordance with claim 7, wherein: each wheel unit block is provided with a mounting hole, a plurality of friction arc plates are respectively and uniformly arranged on the outer circular surfaces of the two mounting shells in the circumferential direction through connecting blocks, and the friction arc plates are matched with the mounting holes formed in the corresponding wheel unit blocks.

9. A wheelchair in accordance with claim 8, wherein: and the two mounting shells are respectively and fixedly provided with a mounting ring, and one end of the connecting block is fixedly arranged on the outer circular surface of the mounting ring.

10. A wheelchair in accordance with claim 9, wherein: the mounting rings are fixedly mounted on the corresponding mounting shells in a welding mode.