CN114176926A

CN114176926A - Multi-scene wheel-track composite electric wheelchair

Info

Publication number: CN114176926A
Application number: CN202210003506.2A
Authority: CN
Inventors: 郭明飞; 施亦非; 李翔龙; 李毅
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2022-01-05
Filing date: 2022-01-05
Publication date: 2022-03-15
Anticipated expiration: 2042-01-05
Also published as: CN114176926B

Abstract

The invention provides a multi-scene wheel-track composite electric wheelchair, and belongs to the technical field of electric wheelchairs. The composite electric wheelchair comprises a wheel-track conversion module, a track transmission steering module, a wheel type transmission steering module, an attitude adjusting module and a control module; the wheel-track conversion module comprises a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting limiting mechanism and a wheel type lifting mechanism, and the track transmission steering module comprises a track, a driving wheel, a tensioning wheel, a pressure bearing wheel, a third mounting plate, a transmission mechanism I, a differential mechanism, an electromagnetic brake, a motor I and a transmission mechanism II. According to the invention, the lifting transmission mechanism is adopted to realize wheel-track switching, and the guide rail slider structure is adopted to guide, after the switching is completed, the supporting and limiting mechanism is a multi-link mechanism, and can realize self-locking, so that the electric wheelchair can keep good stability in the wheel-track switching process, and the wheelchair is safer and more reliable.

Description

Multi-scene wheel-track composite electric wheelchair

Technical Field

The invention relates to the technical field of electric wheelchairs, in particular to a multi-scene wheel-track composite electric wheelchair.

Background

The aging problem of the population is becoming one of the major crisis facing the world today. As the first major world, the population base is large, and the population structure of China is gradually aging at present under the influence of birth policies. Meanwhile, the number of disabled people caused by accidents such as various production accidents and traffic accidents and sudden natural disasters has increased year by year in recent years, and the occupied population proportion also tends to increase. For the old and disabled with inconvenient legs and feet, the wheelchair is the first choice for them to use as a walking aid. The world wheelchair foundation estimates that about one hundred million people in the world need wheelchairs, and about 880 million disabled people in China need wheelchairs according to the digital display published by the Chinese disabled people association. However, at present, wheelchairs mainly comprise common manual wheelchairs and electric wheelchairs, only have the capability of moving on flat ground, and do not have the functions of obstacle crossing, stair climbing and the like. Although the country has vigorously pursued barrier-free facilities in public places, there are still many places which are limited by economic conditions and cannot complete the transformation of disabled person access facilities. And according to the latest residential design code GB50096-2011, buildings below seven floors are not required to be provided with elevator facilities, and domestic residential buildings are mainly elevator-free buildings except high-rise buildings. These objective factors make the elderly and disabled who live above the high-rise building spend more manpower to help them go upstairs and downstairs every time they go out with the wheelchair, which causes that they still can not go out to touch the society for most of the time, and brings great influence to their physiology and psychology.

In order to solve the problem, electric wheelchair structures with stair climbing functions of different structures are available at home and abroad, and mainly comprise a planetary wheel type stair climbing wheelchair, a crawler type stair climbing wheelchair, a walking type stair climbing wheelchair and a mixture of the three modes. The wheel-track combined stair climbing mechanism respectively realizes wheel-type walking on the flat ground and crawler-type walking during stair climbing by switching the walking modes of the wheel-track combined stair climbing mechanism, and has certain advantages in the aspects of considering walking power consumption and stair climbing safety.

The invention patent with patent publication number CN104622650B and publication date 2017.03.29 provides a wheel-track combined type electric wheelchair, which mainly comprises a wheel-track switching module, a track module, a seat balancing module, a chassis and a control box, wherein the wheel-track switching module consists of two parallelogram mechanisms, a front coupling shaft, a rear coupling shaft, a switching crank and a switching push rod, which are symmetrically distributed on two sides of the electric wheelchair; the electric wheelchair comprises two crawler belt modules, a crawler belt driving wheel, a crawler belt driven wheel inner plate, a crawler belt driven wheel outer plate, a crawler belt supporting plate and a stepping motor, wherein the crawler belt modules are symmetrically distributed on two sides of the electric wheelchair. Although the switching of wheel hub walking mode and track walking mode is realized to parallelogram in above-mentioned patent, the situation that rocks can appear among the switching process, and can't auto-lock, can't guarantee the stability in the use.

Disclosure of Invention

The invention aims to provide a multi-scene wheel-track composite electric wheelchair, which adopts a lifting transmission mechanism to realize wheel-track switching and adopts a guide rail and slide block structure to guide, after the switching is finished, the supporting and limiting mechanism is a multi-link mechanism and can realize self locking, and the stability of wheel-track switching is ensured in the switching process, so that the wheelchair is safer and more reliable.

The invention provides a multi-scene wheel-track composite electric wheelchair which is arranged on a rack and comprises a wheel-track conversion module, a track transmission steering module, a wheel type transmission steering module, an attitude adjusting module and a control module;

the wheel-track conversion module comprises a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting limiting mechanism and a wheel type lifting mechanism, wherein the lifting transmission mechanism comprises a lifting plate, a push rod motor IV fixedly connected with the lifting plate and first connecting rods positioned on two sides of the lifting plate, two ends of the lifting plate are fixedly connected with the guide rail sliding block mechanism, the wheel type lifting mechanism comprises a supporting rod fixed with the rack, a connecting block fixedly connected with the first connecting rod, lifting rods hinged with two sides of the connecting block, a front wheel connecting rod and a rear wheel connecting rod vertically connected to the rack, a second connecting rod with one end hinged with the front wheel connecting rod or the rear wheel connecting rod and the other end fixedly connected with the supporting rod, the lifting rods are hinged with the front wheel connecting rod, and the supporting limiting mechanism comprises a transverse fixing rod fixedly connected with the second connecting rod, The first vertical fixing rod is hinged with the transverse fixing rod, the second vertical fixing rod is hinged with the first vertical fixing rod at one end, and the other end of the second vertical fixing rod is hinged with the first connecting rod, and the limiting rod is hinged with the rack at one end, and is hinged with the rear wheel connecting rod at the other end;

the crawler belt transmission steering module comprises crawler belts arranged on two sides of the rack, a driving wheel and a tensioning wheel which are used for driving the crawler belts to move, a pressure bearing wheel which is used for supporting the crawler belts, a third mounting plate which is fixedly connected with the rack, a first transmission mechanism and a differential which are used for driving the driving wheel to move, electromagnetic brakes arranged on two sides of the differential, a first motor which is used for driving the differential to move, and a second transmission mechanism which is connected between the first motor and the differential;

the wheel type transmission steering module comprises a first mounting plate fixedly connected with the rear wheel connecting rod, shock absorbers connected with two sides of the first mounting plate, rear wheels connected with the lower ends of the shock absorbers, a second mounting plate fixedly connected with the front wheel connecting rod, front wheels arranged between the second mounting plates, and a steering mechanism arranged on the front wheel connecting rod.

Preferably, the guide rail and slide block mechanism comprises a guide rail vertically arranged on the rack, a slide block matched with the guide rail to slide, and a first mounting seat used for connecting the guide rail and the rack, wherein two sides of the lifting plate are fixedly connected with the slide block.

Preferably, the first transmission mechanism comprises a first belt wheel fixedly connected with the driving wheel, a second belt wheel connected with the differential, a third belt wheel rotatably connected to a third mounting plate, and a first synchronous belt, the first synchronous belt is in three-phase connection with the first belt wheel, the second belt wheel and the third belt wheel, the third belt wheel is rotatably connected with the third mounting plate through a first tensioning shaft, and the third mounting plate is provided with a first chute for inserting the first tensioning shaft to adjust the tension of the first synchronous belt; drive mechanism two include with a motor output shaft fixed connection's band pulley four, with band pulley five that differential mechanism connects, with the third mounting panel rotates the band pulley six, hold-in range two of connecting, hold-in range two with band pulley four, band pulley five, band pulley six are connected in succession, band pulley six through tensioning axle two with the third mounting panel rotates to be connected, be provided with the confession on the third mounting panel tensioning axle two inserts the spout two in order to be used for adjusting the tensioning of hold-in range two.

Preferably, the differential mechanism comprises a planet carrier, a first driving gear rotationally connected with the planet carrier, a first planet gear and a second planet gear which are respectively in meshing transmission with the first driving gear, and a first driven gear in meshing transmission with the first planet gear and the second planet gear, wherein the first driving gear is rotationally connected with the planet carrier through a first rotating shaft, the first rotating shaft is fixedly connected with a second belt wheel and a fifth belt wheel, the first driven gear is rotationally connected with the planet carrier through a second rotating shaft, the second rotating shaft is fixedly connected with a second belt wheel far away from the fifth belt wheel, and the first rotating shaft and the second rotating shaft are respectively provided with an electromagnetic brake.

Preferably, the steering mechanism comprises a fourth mounting plate fixedly connected with the upper end of the second mounting plate, a second driven gear fixedly connected with the fourth mounting plate, a second driving gear in meshing transmission with the second driven gear, and a second motor for driving the second driving gear to move, and the front wheel connecting rod is connected with the second driven gear.

Preferably, the front wheel connecting rod is connected with the second driven gear through a deep groove ball bearing and a tapered roller bearing.

Preferably, the posture adjustment module includes a front mounting beam, a rear mounting beam, a front auxiliary support frame, a rear auxiliary support frame, and a seat adjustment mechanism, the front mounting beam and the rear mounting beam are fixedly connected between the third mounting plates, the front auxiliary support frame is fixedly connected to the front mounting beam, and the rear auxiliary support frame is fixedly connected to the mounting beam.

Preferably, the seat adjusting mechanism comprises a second hinged support used for connecting the frame and the seat, a third push rod motor fixedly connected with the frame, a third hinged support used for connecting the seat and the third push rod motor, and a first hinged support used for connecting the third push rod motor and the frame.

Preferably, the control module includes a console connected to a seat, a controller mounted on the frame, and a battery holder provided on the third mounting plate for mounting a battery.

Preferably, the frame is provided with a protective casing.

The multi-scene wheel-track composite electric wheelchair has the following beneficial effects:

1. the invention is provided with a wheel-track conversion module, a track transmission steering module, a wheel type transmission steering module, an attitude adjustment module and a control module, wherein the wheel-track conversion module is internally provided with a lifting transmission mechanism, a guide rail slider mechanism, a supporting limiting mechanism and a wheel type lifting mechanism, the lifting transmission mechanism is adopted to realize wheel-track switching, and the guide rail slider structure is adopted to guide, after the switching is finished, the supporting limiting mechanism is a multi-link mechanism, and can realize self-locking, thereby ensuring that the electric wheelchair can keep good stability in the process of wheel-track switching, and ensuring that the wheelchair is safer and more reliable.

2. The crawler transmission steering module is provided with the pressure bearing wheel for supporting the crawler, and when the electric wheelchair goes up and down stairs, the crawler has higher adhesive force to the surface of the stairs, so that the wheelchair goes up and down stairs more safely and reliably.

3. Be provided with seat adjustment structure in the gesture adjustment module, auxiliary stay frame before combining, back auxiliary stay frame, when going upstairs the process is about to accomplish and the focus is about to overturn, back auxiliary stay frame supports in order to stabilize the focus on the stair surface, when the wheelchair is gone downstairs the process and the track focus is about to leave the platform, preceding auxiliary stay frame supports on the stair step with stable focus, go upstairs the in-process, seat adjustment structure lasts work, maintain seat plane and ground and keep level, guarantee user's security and comfort.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.

Fig. 1 is a schematic overall structure diagram of a multi-scenario wheel-track composite electric wheelchair according to an embodiment of the invention.

Fig. 2 is a schematic structural diagram of a wheel-track conversion module according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a lifting transmission mechanism according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of the wheel type lifting mechanism and the support limiting mechanism according to the embodiment of the invention.

Fig. 5 is a schematic structural diagram of a rail-slider mechanism according to an embodiment of the present invention.

FIG. 6 is a schematic structural diagram of a track drive steering module according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a first transmission mechanism according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a second transmission mechanism according to an embodiment of the present invention.

Fig. 9 is a schematic view of the internal structure of the differential according to the embodiment of the present invention.

Fig. 10 is a schematic structural view of a crawler according to an embodiment of the present invention.

Fig. 11 is a schematic structural diagram of a wheel drive steering module according to an embodiment of the present invention.

Fig. 12 is a schematic structural view of a steering mechanism according to an embodiment of the present invention.

Fig. 13 is a schematic structural diagram of an attitude adjustment module according to an embodiment of the present invention.

Fig. 14 is a schematic structural view of a seat adjusting mechanism according to an embodiment of the present invention.

Fig. 15 is a schematic structural diagram of a control module according to an embodiment of the present invention.

In the figure, 100, a track drive steering module; 110. a crawler belt; 111. a third mounting plate; 112. a driving wheel; 113. a pressure bearing wheel; 114. a tension wheel; 120. a first transmission mechanism; 121. a first belt wheel; 122. a second belt wheel; 123. a third belt wheel; 124. tensioning a first shaft; 125. a first sliding chute; 126. a first synchronous belt; 130. an electromagnetic brake; 140. a first motor; 150. a differential mechanism; 151. a planet carrier; 152. a first driving gear; 153. a first driven gear; 154. a first planet gear; 155. a second planet gear; 156. rotating a first shaft; 157. a second rotating shaft; 160. a second transmission mechanism; 161. a belt wheel IV; 162. a fifth belt wheel; 163. a sixth belt wheel; 164. a second tensioning shaft; 165. a second chute; 166. a second synchronous belt; 200. a wheel-track conversion module; 210. a lifting transmission mechanism; 211. a deep groove ball bearing; 212. lifting the plate; 213. a fixed hinge support; 214. a fourth motor; 215. a first connecting rod; 220. a guide rail slider mechanism; 221. a guide rail; 222. a slider; 223. a first mounting seat; 230. a supporting and limiting mechanism; 231. a transverse fixing rod; 232. a first vertical fixing rod is fixed; 233. a second vertical fixing rod; 234. a limiting rod; 235. a second mounting seat; 240. a wheel-type lifting mechanism; 241. a support bar; 242. a second connecting rod; 243. a front wheel connecting rod; 244. connecting blocks; 245. lifting the rod; 246. a rear wheel connecting rod; 300. an attitude adjustment module; 310. a front mounting beam; 320. a rear mounting beam; 330. a rear auxiliary support frame; 340. a front auxiliary support frame; 350. a seat adjustment mechanism; 351. a first hinged support; 352. a third motor; 353. a second hinged support; 354. a seat; 355. a third hinged support; 400. a wheel-type transmission steering module; 410. a first mounting plate; 420. a shock absorber; 430. a rear wheel; 440. a second mounting plate; 450. a front wheel; 460. a steering mechanism; 461. A second motor; 462. a third mounting seat; 463. a second driving gear; 464. a fourth mounting plate; 465. a driven gear II; 500. A frame; 600. a control module; 610. a console; 620. a controller; 630. and a battery holder.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The first embodiment is as follows: as shown in fig. 1 and 8, which are only one embodiment of the present invention, the present invention provides a multi-scenario wheel-track composite electric wheelchair, which is disposed on a frame 500, and includes a wheel-track conversion module 200, a track transmission steering module 100, a wheel transmission steering module 400, an attitude adjustment module 300, and a control module 600; the wheel-track conversion module 200 comprises a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting limiting mechanism and a wheel type lifting mechanism, wherein the lifting transmission mechanism comprises a lifting plate 212, a push rod motor four 214 fixedly connected with the lifting plate 212 and first connecting rods 215 positioned at two sides of the lifting plate 212, two ends of the lifting plate 212 are fixedly connected with the guide rail sliding block mechanism, the wheel type lifting mechanism comprises a supporting rod 241 fixedly connected with the rack 500, a connecting block 244 fixedly connected with the first connecting rod 215, lifting rods 245 hinged with two sides of the connecting block 244, a front wheel connecting rod 243 and a rear wheel connecting rod 246 vertically connected to the rack 500, a second connecting rod 242 with one end hinged with the front wheel connecting rod 243 and the other end fixedly connected with the supporting rod 241, the lifting rods 245 are hinged with the front wheel connecting rod 243, and the supporting limiting mechanism comprises a transverse fixing rod 231, a transverse fixing rod 231 and a wheel 242 hinged with the second connecting rod 242, A first vertical fixing rod 232 fixedly connected with the transverse fixing rod 231, a second vertical fixing rod 233 with one end hinged with the first vertical fixing rod 232 and the other end hinged with the first connecting rod 215, and a limiting rod 234 with one end hinged with the frame 500 and the other end hinged with the rear wheel connecting rod 246; the track transmission steering module 100 comprises tracks 110 arranged on two sides of a frame 500, a driving wheel 112 and an idler wheel 114 for driving the tracks 110 to move, a bearing wheel 113 for supporting the tracks 110, a third mounting plate 111 fixedly connected with the frame 500, a first transmission mechanism 120 for driving the driving wheel 112 to move, a differential 150, electromagnetic brakes 130 arranged on two sides of the differential 150, a first motor 140 for driving the differential 150 to move, and a second transmission mechanism 160 connected between the first motor 140 and the differential 150; the wheel type transmission steering module 400 includes a first mounting plate 410 fixedly connected to the rear wheel connecting rod 246, dampers 420 connected to both sides of the first mounting plate 410, rear wheels 430 connected to the lower ends of the dampers 420, a second mounting plate 440 fixedly connected to the front wheel connecting rod 243, front wheels 450 disposed between the second mounting plates 440, and a steering mechanism 460 disposed on the front wheel connecting rod 243.

First, the hub operating mode and the track operating mode can be switched to each other. When the hub operation mode is switched to the track operation mode: firstly, the change-over switch is started, the push rod motor 214 in the lifting transmission mechanism provides driving force for lifting, the lifting plate 212 and the first connecting rods 215 positioned at two sides of the lifting plate 212 move upwards, the connecting block 244 moves upwards along with the first connecting rods 215, the first connecting rods 215 are connected with the frame 500 through the deep groove ball bearings 211, the friction force between the first connecting rods 215 and the frame 500 is reduced, the number of the lifting rods 245 is two, the two lifting rods are respectively arranged at two sides of the connecting block 244, one end of the lifting rod 245 at the left side is hinged with the connecting block 244, the other end of the lifting rod 245 at the left side is hinged with the front wheel connecting rod 243, one end of the lifting rod 245 at the right side is hinged with the connecting block 244, the other end of the lifting rod at the right side is hinged with the rear wheel connecting rod 246, the lifting rod 245 is driven to move upwards in the lifting process of the connecting block 244, the front wheel connecting rod 243 and the rear wheel connecting rod 246 are driven to move upwards, and the front wheel 450 is connected below the front wheel connecting rod 243, a rear wheel 430 is connected below the rear wheel connecting rod 246, so that the front wheel 450 and the rear wheel 430 rise, and finally, a wheel track is supported on the ground, and the fourth push rod motor 214 is connected to the frame 500 through a fixed hinge support 213; then, the number of the vertical fixing rods two 233 in the supporting and limiting mechanism is two, which are respectively disposed at both sides of the first connecting rod 215, one end of the vertical fixing rod two 233 is hinged with the first connecting rod 215 and the other end is hinged with the vertical fixing rod one 232, the number of the vertical fixing rod one 232 is two, one end of the vertical fixing rod one 232 is hinged with the vertical fixing rod two 233 and the other end is hinged with the transverse fixing rod 231, the transverse fixing rod 231 is fixedly connected with the second connecting rod 242, the left and right sides of the frame 500 are both fixedly connected with the supporting rods 241, the number of the second connecting rods 242 is two, one end of the left second connecting rod 242 is fixedly connected with the left supporting rod 241 and the other end is hinged with the front wheel connecting rod 243, one end of the right second connecting rod 242 is fixedly connected with the right supporting rod 241 and the other end is hinged with the rear wheel connecting rod 246, since the length of the transverse fixing rod 231 itself is fixed, the lifting plate 212 moves downwards until reaching the lowest critical point, the first vertical fixing rod 232, the second vertical fixing rod 233 and the transverse fixing rod 231 finally form a structure similar to a triangle, the self-locking purpose is achieved, the first vertical fixing rod 232 and the second vertical fixing rod 233 are prevented from being inconsistent in height from front to back after rotating in the vertical direction, the limiting rod 234 serves as a lifting process, the front wheel connecting rod 243 rotates, and wheel track switching is facilitated. The limiting rod 234 is connected with the frame 500 through a second mounting seat 235. In addition, a guide rail sliding block mechanism is arranged on the rack 500, a guide rail 221 in the guide rail sliding block mechanism is vertically arranged on the rack 500 through a first mounting seat 223, the first mounting seat 223 is fixedly mounted on the rack 500 through screws, one side of the sliding block 222 is fixedly connected with the lifting plate 212, a guide groove is formed in the guide rail 221, a guide block which is matched with the guide groove to slide is arranged on the sliding block 222, and the guide block and the guide groove are matched to slide, so that the lifting plate 212 can stably move upwards in the lifting process, and the lifting plate 212 is prevented from shaking.

Then, during transmission, the output shaft of the first motor 140 transmits power to the differential 150, and the differential 150 transmits the power to the crawler 110 through the first transmission mechanism 120 to realize forward or backward movement; when the steering mechanism is in steering, the electromagnetic brake 130 on the steering side loses power, the output shaft of the differential 150 on the steering side stops rotating, the output shaft of the differential 150 on the opposite side of the steering side continues rotating, and the crawler 110 on the opposite side of the steering side continues moving under the action of the first transmission mechanism 120, so that the steering function is realized; when braking, the electromagnetic brakes 130 on both sides of the differential 150 lose power, the power is cut off, and the track 110 stops moving. Including the pulley 121 with action wheel 112 fixed connection, the pulley two 122 of being connected with differential 150, rotate the pulley three 123, the hold-in range 126 of connecting on third mounting panel 111 in drive mechanism 120, the hold-in range 126 is tangent with pulley 121, pulley two 122, pulley three 123 and is connected, and pulley three 123 rotates with third mounting panel 111 through tensioning axle 124 and is connected, be provided with the confession on the third mounting panel 111 tensioning axle 124 inserts the spout 125 that is used for adjusting the tensioning of hold-in range 126. The first tensioning shaft 124 is mounted in the third pulley 123 through a bearing, so that the third pulley 123 can rotate relative to the first tensioning shaft 124, and after the position of the first tensioning shaft 124 in the first sliding groove 125 is adjusted to be tensioned by the first synchronous belt 126, the position of the first tensioning shaft 124 is locked by a nut, so that the first tensioning shaft 124 is fixed in the first sliding groove 125. Simultaneously, can adjust the tensile force of hold-in range one 126 according to actual use condition, the practicality is strong. The first transmission mechanisms 120 are arranged on two sides of the seat 354 and are respectively used for driving the crawler belt 110 to move. The second transmission mechanism 160 comprises a fourth belt wheel 161 fixedly connected with the output shaft of the first motor 140, a fifth belt wheel 162 connected with the differential 150, a sixth belt wheel 163 rotatably connected with the third mounting plate 111, and a second synchronous belt 166, wherein the second synchronous belt 166 is tangentially connected with the fourth belt wheel 161, the fifth belt wheel 162 and the sixth belt wheel 163, the sixth belt wheel 163 is rotatably connected with the third mounting plate 111 through a second tensioning shaft 164, and the third mounting plate 111 is provided with a second sliding groove 165 for the second tensioning shaft 164 to be inserted for adjusting the tensioning of the second synchronous belt 166. The second tensioning shaft 164 is mounted in the second pulley 163 through a bearing, so that the second pulley 163 can rotate relative to the second tensioning shaft 164, and after the position of the second tensioning shaft 164 in the second sliding groove 165 is adjusted to the position of the second synchronous belt 166, the position of the second tensioning shaft 164 is locked by a nut, so that the second tensioning shaft 164 is fixed in the second sliding groove 165. The fourth belt wheel 161 is fixedly connected with an output shaft of the first motor 140 and used for transmitting power to the second synchronous belt 166, the second synchronous belt 166 drives the fifth belt wheel 162 and the sixth belt wheel 163 to rotate, and the fifth belt wheel 162 is fixedly connected with the first rotating shaft 156 in the differential 150 and then transmits the power to the differential 150.

The differential 150 is provided with a planet carrier 151, a first driving gear 152 rotationally connected with the planet carrier 151, a first planet gear 154 and a second planet gear 155 respectively engaged with the first driving gear 152 for transmission, and a first driven gear 153 engaged with the first planet gear 154 and the second planet gear 155 for transmission. The first driving gear 152 is rotatably connected to the planet carrier 151 through the first rotating shaft 156, and the first driven gear 153 is rotatably connected to the planet carrier 151 through the second rotating shaft 157. The rotating shaft I156 is fixedly connected with the belt wheels II 122 and the belt wheels V162, the belt wheels V162 are used for transmitting the power of the output shaft of the motor I140 to the rotating shaft I156, the belt wheels II 122 are used for transmitting the power on the rotating shaft I156 to the transmission mechanism I120, the number of the transmission mechanism I120 is two, the transmission mechanism I120 is respectively arranged on two sides of the seat 354, therefore, the number of the belt wheels II 122 is two, and the rotating shaft II 157 is also fixedly connected with the belt wheels II 122. During operation, the belt wheel five 162 in the transmission mechanism two 160 rotates to drive the whole planet carrier 151 to rotate, at this time, the planet carrier 151 drives the rotation shaft one 156 and the rotation shaft two 157 to rotate, and then drives the belt wheel two 122 to rotate, so as to transmit power to the transmission mechanism one; during steering, under the action of the electromagnetic brake 130, the first rotating shaft 156 or the second rotating shaft 157 is braked, and taking the example that the second rotating shaft 157 is braked, the first driven gear 153 does not rotate, and at this time, the first planetary gear 154 rotates around the first planetary shaft to continue to drive the first driving gear 152 and the first rotating shaft 156 on the other side to rotate, so that power is transmitted to the first transmission mechanism 120 on one side of the first rotating shaft 156, and single-side power output is realized.

Then, the wheel type transmission steering module 400 includes a first mounting plate 410 fixedly connected to the rear wheel connecting rod 246, dampers 420 connected to both sides of the first mounting plate 410, rear wheels 430 connected to the lower ends of the dampers 420, a second mounting plate 440 fixedly connected to the front wheel connecting rod 243, front wheels 450 disposed between the second mounting plates 440, and a steering mechanism 460 disposed on the front wheel connecting rod 243. The first mounting plate 410 is fixedly coupled to the rear wheel connecting rod 246 by screws. One end of the damper 420 is fixed to both sides of the first mounting plate 410 by a screw, and the other end is connected to the rear wheel 430 by a nut. The lower end of the second mounting plate 440 is connected to the front wheel 450 via a nut, and the upper end of the second mounting plate 440 is fixedly connected to the steering mechanism 460 via a screw.

The steering mechanism 460 includes a fourth mounting plate 464 fixedly connected to the upper end of the second mounting plate 440, a second driven gear 465 fixedly connected to the fourth mounting plate 464, a second driving gear 463 in meshing transmission with the second driven gear 465, and a second motor 461 for driving the second driving gear 463 to move. The front wheel connecting rod 243 is connected with the fourth mounting plate 464 through a deep groove ball bearing, a tapered roller bearing and a self structure. The second motor 461 is mounted on the fourth mounting plate 464 through the third mounting seat 462, and the second driving gear 463 is fixedly connected with the output shaft of the second motor 461. During operation, the second motor 461 provides driving force to drive the second driving gear 463 to rotate, the second driving gear 463 drives the second driven gear 465 to rotate, and then the second mounting plate 440 and the front wheel 450 are driven to rotate together, so as to achieve the purpose of steering.

Finally, the posture adjustment module 300 includes a front mounting beam 310, a rear mounting beam 320, a front auxiliary support frame 340, a rear auxiliary support frame 330, and a seat 354 adjustment mechanism 350, where the front mounting beam 310 and the rear mounting beam 320 are fixedly connected between the third mounting plates 111, the front auxiliary support frame 340 is fixedly connected with the front mounting beam 310, and the rear auxiliary support frame 330 is fixedly connected with the mounting beams. One support point of the front auxiliary support frame 340 is mounted to the front mounting beam 310, and the other support point is mounted to the frame 500. One support point of the rear auxiliary support frame 330 is mounted to the rear mounting beam 320, and the other support point is mounted to the frame 500. When the process of going upstairs is about to be completed and the center of gravity is about to overturn, the rear auxiliary support frame 330 is supported on the surface of the stairs to stabilize the center of gravity; when the wheelchair starts to go downstairs and the gravity center of the crawler 110 is about to leave the platform, the front auxiliary support frame 340 is supported on the stair steps to stabilize the gravity center, and the seat 354 continuously works by adjusting the structure in the upstairs process, so that the plane of the seat 354 is kept horizontal with the ground, and the safety and the comfort of a user are guaranteed. Two push rod motors are fixedly connected to the frame 500, and the telescopic ends of the push rod motors are hinged to the front auxiliary support frame 340 and the rear auxiliary support frame 330 and used for adjusting the support angles of the front auxiliary support frame 340 and the rear auxiliary support frame 330.

The seat 354 adjusting mechanism 350 comprises a second hinge support 353 for connecting the frame 500 and the seat 354, a third push rod motor 352 fixedly connected with the frame 500, a third hinge support 355 for connecting the seat 354 and the third push rod motor 352, and a first hinge support 351 for connecting the third push rod motor 352 and the frame 500. The first hinged support 351 and the second hinged support 353 are fixed on the frame 500, the third hinged support 355 is installed on the seat 354, one end of the third push rod motor 352 is connected with the third hinged support 355, and the other end of the third push rod motor is connected with the first hinged support 351. In operation, the third push rod motor 352 pushes the seat 354 to move, and the height of the seat 354 is adjusted.

The control module 600 includes a console 610 attached to a seat 354, a controller 620 mounted to the frame 500, and a battery holder provided on the third mounting plate 111 for mounting a battery. 630. A protective housing is mounted on the frame 500. The third mounting plate 111 has mounting holes formed in the inner side thereof and is connected to the frame 500 by bolts or screws. The end part of the output shaft of the first motor 140 is connected with the third mounting plate 111 through a bearing seat and a bearing, and the first motor 140 is supported.

Process and driving principle for switching from hub mode to track 110 mode: starting a change-over switch, a first push rod motor 140 in a lifting transmission mechanism provides driving force for lifting, a lifting plate 212 and first connecting rods 215 positioned on two sides of the lifting plate 212 move upwards, a connecting block 244 moves upwards along with the first connecting rods 215, and in the process of lifting the connecting block 244, the lifting rods 245 are driven to move upwards, so that the front wheel connecting rods 243 and the rear wheel connecting rods 246 are driven to move upwards, the front wheels 450 and the rear wheels 430 are lifted, and finally, the wheel tracks are supported on the ground, so that switching is completed; the mode of the crawler 110 is divided into three operation states, when the crawler travels, the output shaft of the motor I140 transmits power to the differential 150, and the differential 150 transmits the power to the crawler 110 through the transmission mechanism I120 to realize forward or backward movement; when the steering mechanism is in steering, the electromagnetic brake 130 on the steering side loses power, the output shaft of the differential 150 on the steering side stops rotating, the output shaft of the differential 150 on the opposite side of the steering side continues rotating, and the crawler 110 on the opposite side of the steering side continues moving under the action of the first transmission mechanism 120, so that the steering function is realized; when braking, the electromagnetic brakes 130 on both sides of the differential 150 lose power, the power is cut off, and the track 110 stops moving.

The steering process and driving principle of the wheelchair in the hub mode are as follows: during operation, the second motor 461 provides driving force to drive the second driving gear 463 to rotate, the second driving gear 463 drives the second driven gear 465 to rotate, and then the second mounting plate 440 and the front wheel 450 are driven to rotate together, so as to achieve the purpose of steering.

Balance adjustment process during the up or down stairs of the seat 354: when the process of going upstairs is about to be completed and the center of gravity is about to overturn, the rear auxiliary support frame 330 is supported on the surface of the stairs to stabilize the center of gravity; when the wheelchair starts to go downstairs and the gravity center of the crawler 110 is about to leave the platform, the front auxiliary support frame 340 is supported on the stair steps to stabilize the gravity center, and the seat 354 continuously works by adjusting the structure in the upstairs process, so that the plane of the seat 354 is kept horizontal with the ground, and the safety and the comfort of a user are guaranteed.

Height adjustment process of seat 354: in operation, the third push rod motor 352 pushes the seat 354 to move, and the height of the seat 354 is adjusted.

The invention is provided with a wheel-track conversion module 200, a track transmission steering module 100, a wheel type transmission steering module 400, an attitude adjusting module 300 and a control module 600, wherein the wheel-track conversion module 200 is internally provided with a lifting transmission mechanism, a guide rail slider mechanism 220, a supporting limiting mechanism and a wheel type lifting mechanism, the wheel-track switching is realized by adopting the lifting transmission mechanism, the guide rail slider mechanism 220 is adopted for guiding, and after the switching is finished, the supporting limiting mechanism is a multi-link mechanism and can realize self-locking, so that the electric wheelchair can keep good stability in the wheel-track switching process, and the wheelchair is safer and more reliable.

The above-described aspects may be implemented individually or in various combinations, and such variations are within the scope of the present invention.

It should be noted that, in the description of the present application, it should be noted that the terms "upper end", "lower end" and "bottom end" indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the application is usually placed in when the product of the application is used, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the device referred to must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A multi-scene wheel-track composite electric wheelchair is arranged on a frame (500), and is characterized in that: the device comprises a wheel-track conversion module (200), a track transmission steering module (100), a wheel type transmission steering module (400), an attitude adjusting module (300) and a control module (600);

the wheel-track conversion module (200) comprises a lifting transmission mechanism (210), a guide rail sliding block mechanism (220), a supporting and limiting mechanism (230) and a wheel-type lifting mechanism (240), wherein the lifting transmission mechanism (210) comprises a lifting plate (212), a push rod motor four (214) fixedly connected with the lifting plate (212) and first connecting rods (215) positioned at two sides of the lifting plate (212), two ends of the lifting plate (212) are fixedly connected with the guide rail sliding block mechanism (220), the wheel-type lifting mechanism comprises a supporting rod (241) fixed with the rack (500), a connecting block (244) fixedly connected with the first connecting rod (215), lifting rods (245) hinged with two sides of the connecting block (244), a front wheel (450) connecting rod (243) and a rear wheel (430) connecting rod (246) vertically connected to the rack (500), and a front wheel (450) connecting rod (243) or a rear wheel (430) connecting rod (246) hinged with one end of the other connecting rod (246) of the front wheel (450) or the rear wheel (430) The end of the second connecting rod (242) is fixedly connected with a supporting rod (241), the lifting rod (245) is hinged with the connecting rod (243) of the front wheel (450), the supporting and limiting mechanism (230) comprises a transverse fixing rod (231) fixedly connected with the second connecting rod (242), a vertical fixing rod I (232) hinged with the transverse fixing rod (231), a vertical fixing rod II (233) with one end hinged with the vertical fixing rod I (232) and the other end hinged with the first connecting rod (215), and a limiting rod (234) with one end hinged with the rack (500) and the other end hinged with the connecting rod (246) of the rear wheel (430);

the crawler belt transmission steering module (100) comprises crawler belts (110) arranged on two sides of the rack (500), a driving wheel (112) and a tensioning wheel (114) used for driving the crawler belts (110) to move, a pressure bearing wheel (113) used for supporting the crawler belts (110), a third mounting plate (111) fixedly connected with the rack (500), a first transmission mechanism (120) used for driving the driving wheel (112) to move, a differential (150), electromagnetic brakes (130) arranged on two sides of the differential (150), a first motor (140) used for driving the differential (150) to move, and a second transmission mechanism (160) connected between the first motor (140) and the differential (150);

the wheel type transmission steering module (400) comprises a first mounting plate (410) fixedly connected with a connecting rod (246) of the rear wheel (430), shock absorbers (420) connected with two sides of the first mounting plate (410), a rear wheel (430) connected with the lower end of the shock absorber (420), a second mounting plate (440) fixedly connected with a connecting rod (243) of the front wheel (450), the front wheel (450) arranged between the second mounting plates (440), and a steering mechanism (460) arranged on the connecting rod (243) of the front wheel (450).

2. The multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the guide rail sliding block mechanism (220) comprises a guide rail (221) vertically arranged on the rack (500), a sliding block (222) matched with the guide rail (221) to slide, and a first mounting seat (223) used for connecting the guide rail (221) and the rack (500), wherein two sides of the lifting plate (212) are fixedly connected with the sliding block (222).

3. The multi-scene wheel-track composite electric wheelchair as claimed in claim 2, wherein: the transmission mechanism I (120) comprises a belt wheel I (121) fixedly connected with the driving wheel (112), a belt wheel II (122) connected with the differential mechanism (150), a belt wheel III (123) rotationally connected to a third mounting plate (111), and a synchronous belt I (126), wherein the synchronous belt I (126) is tangentially connected with the belt wheel I (121), the belt wheel II (122) and the belt wheel III (123), the belt wheel III (123) is rotationally connected with the third mounting plate (111) through a tensioning shaft I (124), and a sliding groove I (125) for the tensioning shaft I (124) to be inserted into for adjusting the tensioning of the synchronous belt I (126) is arranged on the third mounting plate (111); drive mechanism two (160) include with motor one (140) output shaft fixed connection's band pulley four (161), with five (162) of band pulley that differential mechanism (150) are connected, with third mounting panel (111) rotate the band pulley six (163), hold-in range two (166) of connecting, hold-in range two (166) and band pulley four (161), five (162) of band pulley, six (163) of band pulley are tangent to be connected, six (163) of band pulley through tensioning axle two (164) with third mounting panel (111) rotate to be connected, be provided with the confession on third mounting panel (111) tensioning axle two (164) insert spout two (165) in order to be used for adjusting the tensioning of hold-in range two (166).

4. The multi-scene wheel-track composite electric wheelchair as claimed in claim 3, wherein: the differential (150) comprises a planet carrier (151), a first driving gear (152) rotationally connected with the planet carrier (151), a first planet gear (154) and a second planet gear (155) which are respectively in meshing transmission with the first driving gear (152), and a first driven gear (153) which is in meshing transmission with the first planet gear (154) and the second planet gear (155), the first driving gear (152) is rotationally connected with the planet carrier (151) through a first rotating shaft (156), the rotating shaft I (156) is fixedly connected with the belt wheel II (122) and the belt wheel V (162), the driven gear I (153) is rotationally connected with the planet carrier (151) through a rotating shaft II (157), the second rotating shaft (157) is fixedly connected with a second belt wheel (122) far away from the fifth belt wheel (162), and the first rotating shaft (156) and the second rotating shaft (157) are respectively provided with an electromagnetic brake (130).

5. The multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the steering mechanism (460) comprises a fourth mounting plate (464) fixedly connected with the upper end of the second mounting plate (440), a second driven gear (465) fixedly connected with the fourth mounting plate (464), a second driving gear (463) in meshing transmission with the second driven gear (465), and a second motor (461) for driving the second driving gear (463) to move, wherein the connecting rod (243) of the front wheel (450) is connected with the second driven gear (465).

6. The multi-scene wheel-track composite electric wheelchair as claimed in claim 5, wherein: and the front wheel (450) connecting rod (243) is connected with the second driven gear (465) through a deep groove ball bearing (211) and a tapered roller bearing.

7. The multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: attitude adjustment module (300) is including preceding installation roof beam (310), back installation roof beam (320), preceding auxiliary stay frame (340), back auxiliary stay frame (330), seat (354) guiding mechanism (350), preceding installation roof beam (310) and back installation roof beam (320) fixed connection are between third mounting panel (111), preceding auxiliary stay frame (340) with preceding installation roof beam (310), back auxiliary stay frame (330) with installation roof beam fixed connection.

8. The multi-scene wheel-track composite electric wheelchair as claimed in claim 7, wherein: the seat (354) adjusting mechanism (350) comprises a hinged support II (353) used for connecting the frame (500) and the seat (354), a push rod motor III (352) fixedly connected with the frame (500), a hinged support III (355) used for connecting the seat (354) and the push rod motor III (352), and a hinged support I (351) used for connecting the push rod motor III (352) and the frame (500).

9. The multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the control module (600) comprises a console (610) connected to a seat (354), a controller (620) mounted on the frame (500), and a battery rack (630) provided on the third mounting plate (111) for mounting a battery.

10. The multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: and a protective shell is arranged on the frame (500).