CN204863726U - Electronic stair wheelchair of climbing - Google Patents

Abstract

The utility model discloses an electronic stair wheelchair of climbing. On when going downstairs, it contacts with the horizontal plane in ladder step and the intersection line of facade to climb the stair piston shoes, the utilization is fixed electrical actuator on climbing the stair wheelchair and is made and to climb stair and lead the slide and slide on climbing the stair piston shoes, the simultaneously whole stair wheelchair of climbing will use the point of intersect in stair ladder step to rotate for supporting, its motion is synthetic for in the slant or oblique decurrent motion, and the supporter of wheelchair automobile body is being climbed the stair piston shoes and is being shifted between the wheel greatly, the messenger climbs the continuous completion of rising or descend of stair wheelchair and climbs stair work, make it have the stair of climbing function. The utility model has the characteristics of the excellent stair function of climbing, motion stationary, strike little, laborsaving, simple structure, convenient to use etc.

Description

Electric stair climbing ladder wheelchair

Technical field

This utility model relates to the electric tools with stair climbing function, especially relates to a kind of electric stair climbing ladder wheelchair.

Background technology

A large amount of handicapped person is had in the old people of current China, people with disability and patient, these people constitute the wheelchair demand colony of substantial amounts, huge demand facilitates China's wheelchair industry and in recent years comparatively fast develops, electric wheelchair and manpower wheelchair enter huge numbers of families in a large number, improve people's quality of the life.But no matter be that electric wheelchair or manpower wheelchair all run into a difficult problem of going upstairs, and most domestic people still lives in and does not have in the multi-storey building of elevator now, upper downstairs by stair, constrains the popularization of wheelchair to a certain extent.For this reason, wheelchair has stair climbing function becomes the problem of urgently capturing, relevant manufacturers drops into a large amount of manpower and materials and researches and develops, the wheelchair having many moneys to have electric stair climbing ladder function at present emerges, electronic star-wheel stair climbing wheelchair structure is wherein relatively simple, but this type of wheelchair exists very large defect, bumpy motion, impact are greatly; And the stair climbing technology of the complete wheeled seat self-balancing stair climbing wheelchair produced with external importing technology and movable support rod stair climbing wheelchair is more ripe, but expensive.

Summary of the invention

In order to solve the deficiency in above-mentioned technology, the electric stair climbing ladder wheelchair with stair climbing function that the purpose of this utility model is to provide that a kind of structure is simple, stable movement, impact are little.

For convenience, in the following description to facade and the horizontal plane of stair ladder step in three dimensions, can describe with the vertical line of the stair ladder step in two dimensional surface view and horizontal line, in other words these two kinds of statements are of equal value; The facade that in same three dimensions, stair ladder walks and the external corner intersection of horizontal plane, and the statement of the vertical line that in two dimensional surface view, stair ladder walks and horizontal intersection point is of equal value, and claim this intersection point to be the intersection point that ladder walks; In three dimensions, in each arc-shaped surface of stair climbing slide plate and stair climbing piston shoes and two dimensional surface view, two kinds of each circular arc of stair climbing slide plate and stair climbing piston shoes state equivalence.For stair climbing piston shoes and wheel, what its projection did not refer to perspective plane is all for perspective plane with place, the side plane of car body.

In order to solve the problems of the technologies described above, this utility model electric stair climbing ladder wheelchair, comprise wheelchair frame, wheel, brake gear, and seat such as to lean at the part, wheel has two big wheels and two trundles, wheelchair frame comprises two side framves be parallel to each other, each side frame is respectively provided with a big wheel and a trundle, big wheel is parallel with side frame, and seat stretches tight by the fabric of general flexibility and to be formed on wheelchair frame, electric stair climbing ladder wheelchair is provided with stair-climbing device, and this device mainly comprises stair climbing slide guide device, Vidacare corp, stair climbing slide guide device is primarily of stair climbing slide plate and stair climbing piston shoes composition, and the projection of stair climbing slide plate is fan-shaped, stair climbing piston shoes be projected as partial circle shape, all circular arcs on stair climbing slide plate and stair climbing piston shoes are all concentric circular circular arcs, stair climbing piston shoes are parallel to each other by two and the rigid body that forms of the piston shoes side plate of symmetry and a piston shoes arc block, piston shoes side plate is partial circle shape, there are orthodrome and small arc-shaped, this small arc-shaped is part ring gear, piston shoes arc block also has orthodrome and small arc-shaped, the large circular arc radius of the partial circle shape of piston shoes side plate is equal with the radius of the orthodrome of piston shoes arc block, arbitrary radial section of stair climbing piston shoes is " U " shape, and it is through along fan-shaped circumference, the both sides of " U " shape are piston shoes side plate, the base of " U " shape is piston shoes arc block, and the top of each piston shoes side plate, namely there is a circumferentially through arc chute side of small end, on stair climbing piston shoes, the arc chute of each piston shoes side plate is in inner side, the radius of the small arc-shaped of piston shoes arc block is slightly larger than the radius of the fan-shaped circular arc of stair climbing slide plate, and the thickness of piston shoes arc block is slightly larger than the thickness of stair climbing slide plate, respectively there is the circular arc feather key of an evagination on the fan-shaped small end two sides of stair climbing slide plate, two circular arc feather keys are symmetrical, the small arc-shaped radius of this circular arc feather key is slightly larger than the radius of the small arc-shaped of arc chute, and the large circular arc radius of circular arc feather key is less than the radius of the orthodrome of arc chute, the height of circular arc feather key and the deep equality of arc chute, stair climbing piston shoes are sleeved on stair climbing slide plate, the small arc-shaped of piston shoes arc block on stair climbing piston shoes contacts with the fan-shaped circular arc of stair climbing slide plate, the arc chute of each piston shoes side plate on stair climbing piston shoes and the circular arc feather key of stair climbing slide plate respective side suitable,

Vidacare corp comprises motor, gear, control device; Motor and gear are fixedly connected on stair climbing slide plate, gear engages with the part ring gear of the piston shoes side plate small arc-shaped of stair climbing piston shoes, motor positive and inverse moves driven gear and rotates, thus drive stair climbing piston shoes relative to stair climbing slide plate do suitable, slide counterclockwise; The installation site of Vidacare corp should ensure stair climbing piston shoes and stair climbing slide plate in working range relative suitable, slide counterclockwise, gear normally engages with the part ring gear of the piston shoes side plate small arc-shaped of stair climbing piston shoes;

Stair climbing slide plate is fixed on the inner side of side frame of wheelchair frame, or is fixed on the outside of side frame of wheelchair frame, namely between big wheel and side frame; Stair climbing slide plate and on the plane of movement of stair climbing piston shoes and big wheel place plane be parallel to each other not in same plane, stair climbing piston shoes slide and do not interference with other components on stair climbing slide plate; Electric stair climbing ladder wheelchair forms stair-climbing device two groups of stair climbing slide plates and on stair climbing piston shoes symmetrical;

The setting height(from bottom) in the center of circle that stair climbing slide plate is fan-shaped is higher than the height intending the highest ladder step of climbing, when the angle of electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, the height of the orthodrome end points of the fan-shaped end points of stair climbing slide plate and stair climbing piston shoes is higher than the height intending the highest ladder step of climbing, the contact point that stair climbing piston shoes walk with ladder, and the intersection point of the projection of stair climbing piston shoes and high-wheeled projection distance is in the horizontal direction less than the minimum-depth intended stair climbing ladder and walk, some is overlapping for the projection and high-wheeled projection of stair climbing piston shoes, a part for the orthodrome projection of stair climbing piston shoes is in the outside of high-wheeled projection, stair climbing piston shoes climb the outside being projected in high-wheeled projection of the contact point that the highest ladder walks with plan, and the active section on the orthodrome of stair climbing piston shoes is in the outside of high-wheeled projection, the minimum point of the orthodrome of stair climbing piston shoes is higher than the minimum point of big wheel wheel rim, the minimum point of the orthodrome of stair climbing piston shoes is positioned at high-wheeled projection, and near the projection of stair climbing piston shoes and the intersection point of high-wheeled projection, also near high-wheeled minimum point, make the distance of the intersection point of the projection of stair climbing piston shoes and high-wheeled projection and horizontal plane less like this, thus stair climbing wheelchair can easily be crossed by big wheel.The arc length of the fan-shaped circular arc of stair climbing slide plate is greater than the arc length of corresponding position circular arc on stair climbing piston shoes, the slide guide when arc length of the fan-shaped circular arc of stair climbing slide plate meets the slip work of stair climbing piston shoes and support.

The stair-climbing device that stair climbing wheelchair of the present utility model is arranged, stair climbing piston shoes can be slided under the driving of Vidacare corp on the stair climbing slide plate being connected in wheelchair, except stair climbing piston shoes, whole stair climbing wheelchair can slide on stair climbing piston shoes equally, makes wheelchair utilize big wheel speeling stairway to be substantially converted into the slip on the inclined-plane along mistake stair intersection point like this.The wheel speeling stairway moment of resistance is the product acting on the car body gravity at wheel shaft center and the vertical dimension of fulcrum (stair intersection point), and kinetic moment is the product acting on the external force at wheel shaft center and the vertical dimension of fulcrum (stair intersection point), the arm of force (vertical dimension of fulcrum) that height along with stair ladder step increases its moment of resistance increases, and power arm reduces, so ladder step will be climbed need larger power, as climbed highly for the stair ladder of 100mm walks, required external force is greater than the gravity of whole wheelchair, and the force-bearing situation of the stair-climbing device of star wheel structure is similar.And utilize stair-climbing device to be converted into the slip on inclined-plane, external force just mainly overcomes downslide component and the frictional force of car body, and the gradient of stair is generally at about 30 degree, so the external force of this utility model electric stair climbing ladder needed for speeling stairway of wheelchair will much smaller than the gravity of whole stair climbing wheelchair, thus very laborsaving.Meanwhile, this slip makes stair climbing wheelchair speeling stairway more steady, impacts less.When stair activity, the supporter of stair climbing wheelchair car body shifts between stair climbing piston shoes and big wheel, when supporter transfers to big wheel, under the driving of Vidacare corp, stair climbing piston shoes reset on the one hand, on the other hand, very little to the distance of horizontal plane by the strong point due to what transfer on big wheel, stair climbing wheelchair can be climbed very like a cork.

The one of stair climbing wheelchair of the present utility model is improved, and the stair climbing piston shoes of stair climbing slide guide device are parallel to each other by two and the piston shoes side plate of symmetry, the rigid body of at least two truckles and at least two large pulley compositions, the small arc-shaped of the piston shoes side plate of stair climbing piston shoes is part ring gear, the thickness of piston shoes side plate small end is less than the thickness of large end, its interface is arc surface, form step, and step plane is parallel with piston shoes side plate planar, the arc radius of the step on this piston shoes side plate is greater than the large circular arc radius of circular arc feather key, the height of step is equal with the height of circular arc feather key, step plane is at least fixed with two truckles, its rotational plane is parallel with step plane, the width of truckle is equal with the height of step, truckle is distributed in the plane of step, the center of circle of the internal common tangent circle of each truckle is on the line of symmetry of piston shoes plate portion annular, its internal common tangent circle center of circle is slightly in the top in the concentric circular center of circle of each circular arc, internal common tangent circle radius equals the radius of the small arc-shaped of circular arc feather key, two large pulleys are had at least to be evenly fixed between the large end of two piston shoes side plates, the width of large pulley is slightly larger than the thickness of stair climbing slide plate, its rotational plane is parallel with piston shoes side plate planar, the outer common tangent circle of each large pulley and the circle of other circular arcs are concentric circular, this outer common tangent circle radius equals the radius of the fan-shaped circular arc of stair climbing slide plate, and internal common tangent circle radius is less than or equal to the large radius of circle of piston shoes side plate, the stair climbing piston shoes of stair-climbing device are sleeved on stair climbing slide plate, large pulley on stair climbing piston shoes contacts with the fan-shaped circular arc of stair climbing slide plate, truckle on each piston shoes side plate on stair climbing piston shoes contacts with the small arc-shaped of the circular arc feather key of stair climbing slide plate respective side, stair climbing piston shoes relative stair climbing slide plate (31) under the driving of Vidacare corp can do suitable, slide counterclockwise.In other words, the slid clockwise that the relative stair climbing slide plate of stair climbing piston shoes is done, be exactly the counterclockwise slip of stair climbing slide plate relative to stair climbing piston shoes, vice versa.Owing to have employed pulley, its frictional resistance is reduced, laborsaving further.

This utility model electric stair climbing ladder wheelchair another kind improve be composition stair-climbing device two stair climbing slide plates form a rigid body, and on two stair climbing piston shoes be also a rigid body; On vehicle frame between two side framves that the rigid body that two stair climbing slide plates are formed is fixedly connected on electric stair climbing ladder wheelchair, constant with the relativeness of the big wheel 1 of electric stair climbing ladder wheelchair; The rigid body of two stair climbing piston shoes formations is sleeved on the rigid body of two stair climbing slide plates formations, and its nested relationship is constant.The rigidity of so further reinforcement stair-climbing device, can adopt one or two motor to drive simultaneously.

This utility model electric stair climbing ladder wheelchair adopts the stair climbing slide guide device of stair climbing slide plate and cover stair climbing piston shoes thereon, and utilizes Vidacare corp that the relative stair climbing piston shoes of stair climbing slide plate are slided, and structure is very simple.During stair activity, the horizontal plane that stair climbing piston shoes walk with ladder contacts with the intersecting lens of facade, utilize the Vidacare corp be fixed on stair climbing wheelchair that stair climbing slide plate is slided on stair climbing piston shoes, simultaneously whole stair climbing wheelchair by with the intersection point of stair ladder step for support rotating, the motion that its motion synthesis makes stair climbing wheelchair substantially do obliquely or obliquely, and the supporter of wheelchair car body shifts between stair climbing piston shoes and big wheel, make stair climbing wheelchair constantly increase or the stair climbing work that declined, make it have stair climbing function; Due to stair climbing piston shoes of the present utility model and big wheel project between overlap, ensure that supporter shifts steady, greatly reduce or avoid impact, stable movement in stair climbing process, laborsaving, solve the problems existed in electronic star-wheel stair climbing wheelchair stair climbing.

Thus electric stair climbing of the present utility model ladder wheelchair has excellent stair climbing function, and stable movement, impacts little, and structure is simple, the laborsaving and feature such as easy to use.

Accompanying drawing explanation

Be described in further detail below in conjunction with accompanying drawing and embodiment of the present utility model:

Fig. 1 is the stair climbing piston shoes three dimensional structure of stair climbing guider structure and the exploded perspective view of stair climbing guider three dimensional structure that are made up of stair climbing slide plate and stair climbing piston shoes (two piston shoes side plates and a piston shoes arc block).

Fig. 2 is that stair climbing piston shoes make the schematic three dimensional views of suitable, counterclockwise slip relative to stair climbing slide plate.

Fig. 3 is that stair climbing piston shoes are made up of two piston shoes side plates, multiple truckle and multiple large pulley, its piston shoes side plate three dimensional structure, piston shoes side plate and pulley and stair climbing slide plate three-dimensional mounting structure, and the exploded perspective view of the stair climbing guider three dimensional structure formed.

Fig. 4 is suitable, counterclockwise slip done by the stair climbing piston shoes be made up of two piston shoes side plates, multiple truckle and multiple large pulley schematic three dimensional views relative to stair climbing slide plate.

Fig. 5 is the 2 and 3 dimensional organization schematic diagram of the stair-climbing device of gear-wheel gear-ring engagement.

Fig. 6 is the stair climbing slide plate of stair climbing guider of gear-wheel gear-ring engagement does suitable, counterclockwise slip schematic diagram relative to stair climbing piston shoes.

Fig. 7 is the structural representation of this utility model electric stair climbing ladder wheelchair.

Fig. 8 is that this utility model electric stair climbing ladder wheelchair is gone upstairs one of schematic diagram.

Fig. 9 is that this utility model electric stair climbing ladder wheelchair is gone upstairs schematic diagram two.

Figure 10 is that this utility model electric stair climbing ladder wheelchair is gone upstairs schematic diagram three.

Figure 11 is that this utility model electric stair climbing ladder wheelchair is gone upstairs schematic diagram four.

Figure 12 is that this utility model electric stair climbing ladder wheelchair is gone downstairs one of schematic diagram.

Figure 13 is that this utility model electric stair climbing ladder wheelchair is gone downstairs schematic diagram two.

Figure 14 is that this utility model electric stair climbing ladder wheelchair is gone downstairs schematic diagram three.

Figure 15 is that this utility model electric stair climbing ladder wheelchair is gone downstairs schematic diagram four.

Figure 16 is that this utility model electric stair climbing ladder wheelchair is gone downstairs schematic diagram five.

Detailed description of the invention

This utility model electric stair climbing ladder wheelchair, comprise wheelchair frame, wheel, brake gear, and seat such as to lean at the part; Wheel has two big wheels 1 and two trundles, wheelchair frame comprises two side framves be parallel to each other, each side frame is respectively provided with a big wheel 1 and a trundle, big wheel 1 is parallel with side frame, and seat stretches tight by the fabric of general flexibility and to be formed on wheelchair frame.

From Fig. 1-Fig. 2, this utility model electric stair climbing ladder wheelchair is provided with stair-climbing device, and this device mainly comprises stair climbing slide guide device, Vidacare corp.And stair climbing slide guide device forms primarily of stair climbing slide plate 31 and stair climbing piston shoes 32.The projection of stair climbing slide plate 31 is fan-shaped, stair climbing piston shoes 32 be projected as partial circle shape, as shown in Figure 1; All circular arcs on stair climbing slide plate 31 and stair climbing piston shoes 32 are all concentric circular circular arcs.Stair climbing slide guide device of the present utility model selects light specific gravity, and intensity is high, the engineering plastics manufacture that wear-resistant self-lubricating performance is good.

Stair climbing piston shoes 32 are parallel to each other by two and the rigid body that forms of three parts such as the piston shoes side plate 33 of symmetry and a piston shoes arc block 34, piston shoes side plate 33 is partial circle shape, there are orthodrome and small arc-shaped, the top of piston shoes side plate 33, namely there is a circumferentially through arc chute 35 side of small end, and the circular arc feather key 36 that the hierarchy structure of groove and stair climbing slide plate 31 match is correlated with; Piston shoes arc block 34 also has orthodrome and small arc-shaped, the airline radius of the partial circle shape of piston shoes side plate 33 is equal with the radius of the orthodrome of piston shoes arc block 34, and the large 2mm of radius of the fan-shaped circular arc of the radius ratio stair climbing slide plate 31 of the small arc-shaped of piston shoes arc block 34, the large 3mm of thickness of the Thickness Ratio stair climbing slide plate 31 of piston shoes arc block 34; On stair climbing piston shoes 32, the arc chute 35 of two piston shoes side plates 33 is all towards inner side, piston shoes arc block 34 is placed between the large end of two piston shoes side plates 33, the airline face of two piston shoes side plates 33 and the great circle cambered surface of piston shoes arc block 34 coplanar, and it is fixedly connected to form stair climbing piston shoes 32 rigid body with bolt, as shown in Figure 1, arbitrary radial section of stair climbing piston shoes 32 is " U " shape, and it is through along fan-shaped circumference, obviously the both sides of " U " shape are piston shoes side plate 33, and the base of " U " shape is piston shoes arc block 34.

Respectively there is the circular arc feather key 36 of an evagination the fan-shaped small end both sides of stair climbing slide plate 31, two circular arc feather keys are symmetrical, the large 2mm of radius of the small arc-shaped of the small arc-shaped radius ratio arc chute 35 of this circular arc feather key 36, and the large circular arc radius of circular arc feather key 36 10mm less of the radius of the orthodrome of arc chute 35, the height of circular arc feather key 36 and the deep equality of arc chute 35.

Stair climbing piston shoes 32 are sleeved on stair climbing slide plate 31, the small arc-shaped of the piston shoes arc block 34 on stair climbing piston shoes 32 and the fan-shaped circular arc of stair climbing slide plate 31 suitable, for the work surface of stair climbing slide guide device during stair activity, the fan-shaped arc surface of stair climbing slide plate 31 the upper and small arc surface of piston shoes arc block 34 under, and two arc surfaces contact; The arc chute 35 of each piston shoes side plate 33 on stair climbing piston shoes 32 is suitable with the circular arc feather key 36 of stair climbing slide plate 31 respective side, when without External Force Acting, namely the small arc surface being in arc chute 35 under free state the upper and small arc surface of circular arc feather key 36 under, and to contact with each other; Stair climbing piston shoes 32 and stair climbing slide plate 31 can relatively do suitable, slide counterclockwise; As shown in Figure 1, 2.The radius of each circular arc contacted in theory should be equal, but consider that friction reason should be variant, due to the radius slightly difference of arc surface matched, make the segmental arc that contacts shorter, thus friction is also less.

It is the structural representation of a kind of improvement of the stair climbing slide guide device of this utility model electric stair climbing ladder wheelchair by Fig. 3-Fig. 4, stair climbing piston shoes 32 are wherein parallel to each other by two and the piston shoes side plate 33 of symmetry, the rigid body that at least two truckles 38 and at least two large pulleys 39 form, this utility model adopts three truckles 38 and four large pulleys 39.The thickness of piston shoes side plate 33 small end of stair climbing piston shoes 32 is less than the thickness of large end, its interface is arc surface, form step 37, the thickness difference at two ends and the height of step 37 equal with the height of circular arc feather key 36, and step 37 plane is parallel with piston shoes side plate 33 plane, the arc radius 5mm larger than the large circular arc radius of circular arc feather key 36 of the step 37 on this piston shoes side plate 33, step 37 plane is fixed three truckles 38, the rotational plane of pulley is parallel with step 37 plane, the width of truckle 38 is equal with the height of step 37, truckle 38 is distributed in the plane of step 37, the center of circle of the internal common tangent circle of each truckle 38 is on the line of symmetry of piston shoes side plate 33 partial circle shape, its internal common tangent circle center of circle is 2mm on the concentric circular center of circle of each circular arc, internal common tangent circle radius equals the radius of the small arc-shaped of circular arc feather key 36, thus makes there is 2mm gap between the small arc-shaped of the internal common tangent circle of truckle 38 and circular arc feather key 36.Four large pulleys 39 are evenly fixed between the large end of two piston shoes side plates 33, the width 3mm larger than the thickness of stair climbing slide plate 31 of large pulley 39, its rotational plane is parallel with piston shoes side plate 33 plane, each outer common tangent circle of large pulley 39 and the circle of other circular arcs are concentric circular, and this outer common tangent circle radius is equal with the radius of the fan-shaped circular arc of stair climbing slide plate 31.Four large pulleys 39 are placed in two piston shoes side plates 33 that three truckles 38 are respectively housed greatly between end, step 37 is positioned at inner side, and is fixedly connected to form stair climbing piston shoes 32 rigid body with bolt, certainly in order to ensure that the rigidity of stair climbing piston shoes 32 can increase connecting bolt; Stair climbing piston shoes 32 are sleeved on stair climbing slide plate 31, four large pulleys 39 on stair climbing piston shoes 32 are suitable with the fan-shaped circular arc of stair climbing slide plate 31, during stair activity work, the fan-shaped arc surface of stair climbing slide plate 31 upper and large pulley 39 under, four large pulleys 39 on stair climbing piston shoes 32 contact with the fan-shaped arc surface of stair climbing slide plate 31; Three truckles 38 of each piston shoes side plate 33 on stair climbing piston shoes 32 are suitable with the small arc-shaped of the circular arc feather key 36 of stair climbing slide plate 31 respective side, when without External Force Acting, namely to be under free state truckle 38 the upper and small arc surface of circular arc feather key 36 under, three truckles 38 on piston shoes side plate 33 contact with the small arc surface of the circular arc feather key 36 of stair climbing slide plate 31 respective side, as shown in Figure 3, Figure 4.Stair climbing piston shoes 32 and stair climbing slide plate 31 can relatively do suitable, slide counterclockwise, as shown in Figure 4.Consider the contaminated problem of large pulley 39 possibility of this structure in actual use, an available arc plate is closed between the orthodrome of two piston shoes side plates 33.Owing to adopting pulley, friction is reduced further.

Form primarily of stair climbing slide plate 31 and stair climbing piston shoes 32 at stair climbing slide guide device recited above, and the stair climbing piston shoes 32 improved are parallel to each other by two and the piston shoes side plate 33 of symmetry, in the stair climbing slide guide device of at least two truckles 38 and at least two large pulley 39 compositions, can be the small arc-shaped of two piston shoes side plates 33 be part ring gear 40, also can be the small arc-shaped of a piston shoes side plate 33 be part ring gear 40, the small arc-shaped of preferred two the piston shoes side plates 33 of this utility model be part ring gear 40.Vidacare corp mainly contains motor 42, gear 41, control device.On stair climbing slide plate 31 close part ring gear 40 radially inner side and open a through hole at the partial circle shape line of symmetry place of piston shoes side plate 33, gear 41 is duplicate gear, the axle of gear 41 is through this through hole, duplicate gear 41 is engaged with the part ring gear 40 on two piston shoes side plates 33, in fact the installation site being exactly gear 41 will on the line of symmetry of piston shoes side plate 33 partial circle shape, can ensure relative suitable in working range of stair climbing piston shoes 32 and stair climbing slide plate 31 like this, during counterclockwise slip, gear 41 can normally engage with the part ring gear 40 of piston shoes side plate 33 small arc-shaped of stair climbing piston shoes 32, motor 42 and gear 41 are fixedly connected on (as shown in Figure 5, the tooth module of gear and ring gear is not chosen by demand, only illustrates, remaining same) on stair climbing slide plate 31.Motor 42 driven wheel 41, the corresponding rotation of the positive and negative rotation driven gear of motor 42 41, thus drive stair climbing piston shoes 32 relative stair climbing slide plates 31 do suitable, slide counterclockwise; Motor 42 driven wheel 41 makes the relative stair climbing slide plate 31 of stair climbing piston shoes 32 rotate clockwise when rotating clockwise, also can be considered that the relative stair climbing piston shoes 32 of stair climbing slide plate 31 rotate counterclockwise; Gear 41 makes the relative stair climbing slide plate 31 of stair climbing piston shoes 32 rotate counterclockwise when rotating counterclockwise, be also that the relative stair climbing piston shoes 32 of stair climbing slide plate 31 rotate clockwise (as shown in Figure 6).Encoder is equipped with motor 42, in order to gather the rotary state data of motor 42; Two pressure transducers are at least housed in the active section fan section of stair climbing slide plate 31, and this utility model respectively fills a pressure transducer, in order to gather the data of stair climbing slide guide device and stair contact condition in two radial edges in active section fan section; And adopt PLC as controller; Form control device of the present utility model thus.

In such scheme, in order to improve the reliability of stair climbing slide guide device of the present utility model further, respectively can be connected a backplate near stair climbing piston shoes 32 small end in the both sides of stair climbing slide plate 31, the upper, middle and lower of this backplate projection is three circular arcs, arc radius in the middle of it is less than the radius of piston shoes side plate 33 small arc-shaped on stair climbing piston shoes 32, and following arc radius is greater than the radius of piston shoes side plate 33 small arc-shaped on stair climbing piston shoes 32.Radial section is " Z " shape, the large 2mm of thickness of piston shoes side plate 33 on its aspect ratio stair climbing piston shoes 32, one end of backplate 42 is fixed on stair climbing slide plate 31, the other end unsettled and when stair climbing piston shoes 32 slide work the small end of piston shoes side plate 33 on cover part stair climbing piston shoes 32 all the time, the unsettled relative unsettled face of stair climbing piston shoes 32 of backplate 42 is plane and the outer surface of piston shoes side plate 33 on parallel stair climbing piston shoes 32, makes stair climbing piston shoes 32 work more reliable at stair climbing slide plate 31 like this.

Fig. 7 is the structural representation of this utility model electric stair climbing ladder wheelchair, in the diagram for giving prominence to the installation site of stair-climbing device and wheelchair, avoid the interference of the relative elements of big wheel 1, several steel wires are only drawn, and with double dot dash line signal big wheel 1 profile, do not draw the bearing block of Support Gear 41 axle, several figure below also use this kind and express simultaneously.Selected wheelchair both can be common wheelchair, and also can be electric wheelchair, the preferred electric wheelchair of this utility model, have installed stair-climbing device exactly on existing electric wheelchair, and this stair-climbing device comprises stair climbing slide guide device, Vidacare corp; Stair climbing slide guide device is generally in fan-shaped, and workpiece has stair climbing piston shoes 32 and stair climbing slide plate 31, and the orthodrome of stair climbing piston shoes 32 is exactly the maximum circular arc of stair climbing slide guide device.The radius of the installation site of stair climbing slide guide device on stair climbing wheelchair and stair climbing piston shoes 32 orthodrome is subject to intending the height of stair climbing ladder step and the impact (in this figure, stair are illustrated with double dot dash line) of the degree of depth, too little its orthodrome termination height that makes of the radius of stair climbing piston shoes 32 orthodrome highly then can not realize stair climbing function lower than ladder step, make again too greatly the contact point that stair climbing piston shoes 32 walk with ladder, the terraced degree of depth walked is greater than with the intersection point distance in the horizontal direction of the projection of stair climbing piston shoes 32 and the projection of big wheel 1, thus stair climbing piston shoes 32 can not be returned to original state when occurring upstairs, thus stair climbing again cannot be continued, so the large circular arc radius of its installation site and stair climbing piston shoes 32 should make the height of its curved line end points be greater than ladder step height, make the contact point that stair climbing piston shoes 32 walk with ladder again, the terraced degree of depth walked is less than with the intersection point projector distance in the horizontal direction of the projection of stair climbing piston shoes 32 and the projection of big wheel 1, stair climbing piston shoes 32 will be taken into account with the terraced contact point walked both in the outside that big wheel 1 projects in installation site simultaneously, again as far as possible near the projection of big wheel 1, and the intersection point of the projection of the projection of stair climbing piston shoes 32 and big wheel 1 is as far as possible near the minimum point of big wheel 1, and the minimum point of stair climbing piston shoes 32 should in the projection of big wheel 1, the intersection point of the close projection of stair climbing piston shoes 32 and the projection of big wheel 1 as far as possible again, and the minimum point of stair climbing piston shoes 32 is higher than the minimum point of big wheel 1.

Because the fan-shaped center of circle of stair-climbing device does not overlap with the center of circle of big wheel 1, and stair climbing wheelchair upper downstairs time whole car body need around big wheel 1 central rotation angle, thus the orthodrome of stair climbing piston shoes 32 and the contact point that walks of ladder, with the intersection point distance in the horizontal direction of the projection of the orthodrome of stair climbing piston shoes 32 and the projection of cart roller 1, with stair climbing wheelchair upper downstairs time relevant with the angle of horizontal plane, larger then its projector distance of angle is less, but this change is little, this angle general is at about 70 degree, in order to reduce the impact of this change, the influence factor of this angle is considered when installing stair-climbing device, by stair climbing wheelchair upper downstairs time and horizontal plane angle state based on determine the installation site of stair-climbing device, Fig. 7 is the state of the stair climbing wheelchair walking in a horizontal state installing stair-climbing device, and with the profile of double dot dash line signal stair, only for illustration of the structure of stair climbing wheelchair.

Stair climbing guider installation site is determined by the installation site of stair climbing slide plate 31, the installation site of stair climbing slide plate 31 both can be arranged on the inner side of side frame of wheelchair frame, also can be arranged on the outside of side frame of wheelchair frame, namely, between big wheel 1 and side frame, stair climbing slide plate 31 is preferably arranged on the inner side of side frame of wheelchair frame by stair climbing wheelchair of the present utility model.Stair climbing slide plate 31 and on the plane of movement of stair climbing piston shoes 32 and big wheel 1 place plane be parallel to each other not in same plane, stair climbing piston shoes 32 slide and do not interference with other components on stair climbing slide plate 31.Stair climbing wheelchair forms stair-climbing device two groups of stair climbing slide plates 31 and on stair climbing piston shoes 32 symmetrical.

Stair climbing guider installation site should meet: the setting height(from bottom) in the center of circle that stair climbing slide plate 31 is fan-shaped is higher than the height intending the highest ladder step of climbing, when the angle of electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, the height of the orthodrome end points of the fan-shaped end points of stair climbing slide plate 31 and stair climbing piston shoes 32 is higher than the height intending the highest ladder step of climbing, the height that this utility model electric stair climbing ladder wheelchair preferably intends climbing the highest ladder step is 200mm, the contact point that stair climbing piston shoes 32 walk with ladder, the minimum-depth intended stair climbing ladder and walk is less than with the intersection point projector distance in the horizontal direction of the projection of stair climbing piston shoes 32 and the projection of big wheel 1, stair climbing wheelchair of the present utility model preferably this horizontal range is that 200mm(is according to construction standards, the height of general stair is not more than 175mm, the degree of depth is not less than 260mm), thus these group data are selected can to guarantee to climb most stair.And the distance of the intersection point of the projection of the projection of stair climbing piston shoes 32 and big wheel 1 and horizontal plane is little as far as possible, preferably this is highly about 60mm to this utility model.Some is overlapping for the projection of stair climbing piston shoes 32 and the projection of big wheel 1, a part for the orthodrome projection of stair climbing piston shoes 32 is in the outside of the projection of big wheel 1, certain stair climbing piston shoes 32 climb the outside being projected in the projection of big wheel 1 of the contact point that the highest ladder walks with plan, active section on the orthodrome of obvious stair climbing piston shoes 32 must in the outside of the projection of big wheel 1, so-called active section is exactly the contact point that stair climbing piston shoes 32 walk with ladder, and the segmental arc between the intersection point of the projection of the projection of stair climbing piston shoes 32 and big wheel 1; Simultaneously the minimum point of the orthodrome of stair climbing piston shoes 32 is higher than the minimum point of big wheel 1 wheel rim, the minimum point of the orthodrome of stair climbing piston shoes 32 is positioned at the projection of big wheel 1, and the intersection point of the close projection of stair climbing piston shoes 32 and the projection of big wheel 1, also near the minimum point of big wheel 1; The arc length of the fan-shaped circular arc of stair climbing slide plate 31 is greater than the arc length of corresponding position circular arc on stair climbing piston shoes 32, the arc length of the fan-shaped circular arc of stair climbing slide plate 31 meet stair climbing piston shoes 32 slide work time slide guide and support.And when the angle of stair climbing wheelchair and horizontal plane is the angle of stair activity, the two ends of the fan-shaped circular arc of stair climbing slide plate 31 are basic with high, and when stair climbing wheelchair walking in a horizontal state, the fan-shaped circular arc roller chair back end of stair climbing slide plate 31 raises up.

The angle being stair activity with electric stair climbing ladder wheelchair and the angle of horizontal plane and in a free state for benchmark arranges control sequence.Pattern and downstairs pattern are upstairs set.

Fig. 8-Figure 11 is the signal of process upstairs of this utility model electric stair climbing ladder wheelchair, the handle 2 of electric stair climbing ladder wheelchair at front and big wheel 1 rear, stair climbing wheelchair upside down away, starts pattern upstairs, and big wheel 1 rotates clockwise under the effect of its motor always in the process.The angle of electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, when the stair climbing piston shoes 32 of the stair climbing slide guide device of this utility model electric stair climbing ladder wheelchair just walk contact with stair ladder, the orthodrome center of circle of stair climbing piston shoes 32 and orthodrome end points are on this ladder step height, a bit contacting of the circular arc that the intersection point that this ladder walks is following with orthodrome end points, now the supporter of stair climbing wheelchair car body is big wheel 1, and the horizontal plane being supported for previous stair ladder step of whole stair climbing wheelchair, as shown in Figure 8, after this pressure transducer be arranged on stair climbing slide plate 31 sends signal owing to being under pressure, controller PLC sends signal enabling motor 42 driven gear 41 and rotates clockwise, stair climbing slide plate 31 starts relative stair climbing piston shoes 32 and does counterclockwise slip, now the supporter of electric stair climbing ladder wheelchair car body becomes stair climbing piston shoes 32, as shown in Figure 9, and whole stair climbing wheelchair be supported for by the intersection point of this stair ladder step climbed, this point is exactly the strong point of whole stair climbing wheelchair, corresponding point on the orthodrome of the stair climbing piston shoes 32 be in contact with it are by the strong point, under the effect that gear 41 rotates, stair climbing slide plate 31 does counterclockwise slip along stair climbing piston shoes 32, stair climbing wheelchair car body is driven to rotate counterclockwise around the center of circle of stair climbing piston shoes 32, simultaneously because the height of operator is constant, thus in process upstairs, the height of handle 2 is substantially constant, so whole stair climbing wheelchair will rotate clockwise around the intersection point of stair ladder step, the result of its motion synthesis is that stair climbing wheelchair car body does oblique ascending motion, stair climbing wheelchair is made to increase, be equivalent to slide on inclined-plane, in the process, constant by the relative position of the strong point on stair climbing piston shoes 32.When the big wheel 1 of climbing on stair climbing wheelchair car body go upward to orthodrome on stair climbing piston shoes 32 by the strong point, during the critical localisation namely overlapped with the projection of orthodrome on stair climbing piston shoes 32 and the projection intersection point of big wheel 1, as shown in Figure 10, now big wheel 1 contacts with stair intersection point, and big wheel 1 is another directly rotates clockwise, the supporter of stair climbing wheelchair car body just becomes big wheel 1 from stair climbing piston shoes 32, now, stair climbing slide plate 31 is without stair pressure, pressure transducer on it sends signal again, controller PLC sends again another signal enabling motor 42 and rotates backward driven gear 41 and rotate counterclockwise, counterclockwise slip done by stair climbing piston shoes 32 just relative stair climbing slide plate 31, its rotational angle is identical with the reflex angle number of degrees rotated, thus stair climbing piston shoes 32 are resetted, the power-off of the state that affranchises motor 42 stops operating, be in and treat work state, meanwhile also be transferred on big wheel 1 by corresponding point stair climbing piston shoes 32 walking the strong point with ladder by the strong point and walk the corresponding point of the strong point with ladder, under the motor effect of big wheel 1, big wheel 1 will rotate clockwise around the strong point, the wheel shaft of big wheel 1 is up thereupon rotating, thus stair climbing wheelchair car body is also up, until the tangent and walking in a horizontal state of the horizontal line that walks of big wheel 1 and this ladder, or the intersection point that stair climbing piston shoes 32 walk with one, top stair ladder again contacts, stair climbing wheelchair climbs up this stair ladder step, so far climbing of a ladder step is completed, as shown in figure 11, so repeatedly complete whole stair climbing work.Stair climbing wheelchair handle 2 can be lengthened in practice, more convenient operation.

If common wheelchair powers up dynamic stair-climbing device, walking in a horizontal state is by manual hand, and this infrastructure cost is lower, and some consumers also must use the wheelchair of manual hand.To the big wheel 1 of wheelchair then on stair climbing wheelchair car body of this structure go upward to orthodrome on stair climbing piston shoes 32 by the strong point, during the critical localisation namely overlapped with the projection of orthodrome on stair climbing piston shoes 32 and the projection intersection point of big wheel 1 (as shown in Figure 10), manpower traction is needed to climb stair climbing wheelchair car body, big wheel 1 rotates clockwise around stair intersection point, make the axis of rotation of big wheel 1 up, thus drive that to climb stair climbing wheelchair car body up, until the horizontal line that big wheel 1 and this ladder walk is tangent, stair climbing wheelchair climbs up this stair ladder step.

Figure 12-Figure 16 is the signal of process downstairs of this utility model electric stair climbing ladder wheelchair, in the process, the big wheel 1 of stair climbing wheelchair is at front and handle 2 rear, and stair climbing wheelchair forward moves ahead, start pattern downstairs, big wheel 1 rotates counterclockwise under the effect of motor always in the process.The initial state that the ladder of electric stair climbing shown in Figure 12 wheelchair is gone downstairs, the facade that the vertical plane crossing wheel shaft of big wheel 1 just walks with stair ladder overlaps, the strong point of stair climbing wheelchair is the intersection point of this ladder step, and point corresponding with it on big wheel 1 is by the strong point, under the motor effect of big wheel 1, big wheel 1 rotates counterclockwise around the strong point, and the wheel shaft of big wheel 1 rotates and declines, and makes stair climbing wheelchair car body descending, in the process, constant by the relative position of the strong point on big wheel 1, big wheel 1 shown in Figure 13 around the strong point rotate make stair climbing wheelchair car body come downwards on big wheel 1 by the strong point, with orthodrome in the projection of big wheel 1 and stair climbing piston shoes 32 project the position of intersection point overlap time, be in the critical of the supporter transfer of stair climbing wheelchair car body, stair climbing piston shoes 32 contact with stair intersection point, the pressure transducer be arranged on stair climbing slide plate 31 sends signal, controller PLC sends signal enabling motor 42 driven gear 41 and rotates counterclockwise, stair climbing slide plate 31 starts relative stair climbing piston shoes 32 and makes slid clockwise, the supporter of stair climbing wheelchair car body just becomes stair climbing piston shoes 32 from big wheel 1, also be transferred on stair climbing piston shoes 32 by corresponding point big wheel 1 walking the strong point with ladder by the strong point simultaneously and walk the corresponding point of the strong point with ladder, under the effect that gear 41 rotates, slid clockwise made by the relative stair climbing piston shoes 32 of stair climbing slide plate 31, stair climbing wheelchair car body is rotated clockwise around the center of circle of stair climbing piston shoes 32, simultaneously because hands is almost constant in the process the height of 2, whole stair climbing wheelchair will rotate counterclockwise around the intersection point (strong point) of stair ladder step, the synthesis of its motion makes stair climbing wheelchair car body do oblique downward movement, as shown in figure 14.In the process, constant by the relative position of the strong point on stair climbing piston shoes 32, until big wheel 1 drops to the plane contact walked with next one ladder, supporter shifts as big wheel 1 again, as shown in figure 15.At this moment stair climbing slide plate 31 is without stair pressure, pressure transducer on it sends signal again, controller PLC sends again another signal enabling motor 42 and rotates backward driven gear 41 and rotate clockwise, slid clockwise made by stair climbing piston shoes 32 just relative stair climbing slide plate 31, and its rotational angle is identical with the reflex angle number of degrees rotated, thus stair climbing piston shoes 32 are resetted, affranchise state, at this moment motor 42 power-off stops operating, and is in and treats work state, as shown in figure 16.So far this stair ladder step complete under stair climbing wheelchair, completes the decline of a ladder step.So repeatedly complete whole process downstairs.

One as stair-climbing device is improved, and two stair climbing slide plates 31 that electric stair climbing ladder wheelchair forms stair-climbing device form a rigid body, and on two stair climbing piston shoes 32 be also a rigid body; On vehicle frame between two side framves that the rigid body that two stair climbing slide plates 31 are formed is fixedly connected on electric stair climbing ladder wheelchair, constant with the relativeness of the big wheel 1 of electric stair climbing ladder wheelchair; The rigid body of two stair climbing piston shoes 32 formations is sleeved on the rigid body of two stair climbing slide plates 31 formations, and its nested relationship is constant.This structure not only increases the rigidity of stair climbing slide guide device, and a motor or two motors can be selected to drive stair climbing slide guide device to slide.Adopt the electric stair climbing of this structure ladder wheelchair operation principle and in like manner upper, repeat no more.

Abundant description is done to this utility model herein; do not deviating from utility model spirit and scope situation in this paper; can do some amendments to this utility model and improve, this has the people of ordinary skill one be apparent, but all falls into this utility model protection domain.

Claims (3)

1. an electric stair climbing ladder wheelchair, comprise wheelchair frame, wheel, brake gear, and seat relying part is divided, wheel has two big wheels (1) and two trundles, wheelchair frame comprises two side framves be parallel to each other, each side frame is respectively provided with a big wheel (1) and a trundle, big wheel (1) is parallel with side frame, and seat to be formed on wheelchair frame by stretching tight with flexible fabric, it is characterized in that: described electric stair climbing ladder wheelchair is provided with stair-climbing device, and this device comprises stair climbing slide guide device, Vidacare corp, described stair climbing slide guide device is made up of stair climbing slide plate (31) and stair climbing piston shoes (32), the projection of described stair climbing slide plate (31) is fan-shaped, stair climbing piston shoes (32) be projected as partial circle shape, all circular arcs on stair climbing slide plate (31) and stair climbing piston shoes (32) are all concentric circular circular arcs, described stair climbing piston shoes (32) are parallel to each other by two and the rigid body that forms of the piston shoes side plate (33) of symmetry and a piston shoes arc block (34), piston shoes side plate (33) is partial circle shape, there are orthodrome and small arc-shaped, this small arc-shaped is part ring gear (40), piston shoes arc block (34) also has orthodrome and small arc-shaped, the large circular arc radius of the partial circle shape of piston shoes side plate (33) is equal with the radius of the orthodrome of piston shoes arc block (34), arbitrary radial section of described stair climbing piston shoes (32) is " U " shape, and it is through along fan-shaped circumference, the both sides of " U " shape are piston shoes side plate (33), the base of " U " shape is piston shoes arc block (34), and the top of each piston shoes side plate (33), namely there is a circumferentially through arc chute (35) side of small end, the arc chute (35) of the upper each piston shoes side plate (33) of described stair climbing piston shoes (32) is in inner side, the radius of the small arc-shaped of described piston shoes arc block (34) is slightly larger than the radius of the fan-shaped circular arc of stair climbing slide plate (31), and the thickness of piston shoes arc block (34) is slightly larger than the thickness of stair climbing slide plate (31), respectively there is the circular arc feather key (36) of an evagination on the fan-shaped small end two sides of stair climbing slide plate (31), two circular arc feather keys are symmetrical, the small arc-shaped radius of this circular arc feather key (36) is slightly larger than the radius of the small arc-shaped of arc chute (35), and the large circular arc radius of circular arc feather key (36) is less than the radius of the orthodrome of arc chute (35), the height of circular arc feather key (36) and the deep equality of arc chute (35), described stair climbing piston shoes (32) are sleeved on stair climbing slide plate (31), the small arc-shaped of the piston shoes arc block (34) on stair climbing piston shoes (32) contacts with the fan-shaped circular arc of stair climbing slide plate (31), and the arc chute (35) of each piston shoes side plate (33) on stair climbing piston shoes (32) is suitable with the circular arc feather key (36) of stair climbing slide plate (31) respective side,

Described Vidacare corp comprises motor (42), gear (41), control device; Described motor (42) and gear (41) are fixedly connected on stair climbing slide plate (31), gear (41) engages (40) with the part ring gear of piston shoes side plate (33) small arc-shaped of stair climbing piston shoes (32), motor (42) positive and negative rotation driven gear (41) rotates, thus drive stair climbing piston shoes (32) relatively stair climbing slide plate (31) do suitable, slide counterclockwise; The installation site of Vidacare corp should ensure stair climbing piston shoes (32) and stair climbing slide plate (31) in working range relative suitable, slide counterclockwise, gear (41) normally engages with the part ring gear (40) of piston shoes side plate (33) small arc-shaped of stair climbing piston shoes (32);

Described stair climbing slide plate (31) is fixed on the inner side of side frame of wheelchair frame, or is fixed on the outside of side frame of wheelchair frame, namely between big wheel (1) and side frame; Stair climbing slide plate (31) and on the plane of movement of stair climbing piston shoes (32) and big wheel (1) place plane be parallel to each other not in same plane, stair climbing piston shoes (32) do not interference with other components upper slip of stair climbing slide plate (31); Described electric stair climbing ladder wheelchair forms stair-climbing device two groups of stair climbing slide plates (31) and on stair climbing piston shoes (32) symmetrical;

The setting height(from bottom) in the center of circle that described stair climbing slide plate (31) is fan-shaped is higher than the height intending the highest ladder step of climbing, when the angle of described electric stair climbing ladder wheelchair and horizontal plane is the angle of stair activity, the height of the orthodrome end points of the fan-shaped end points of described stair climbing slide plate (31) and stair climbing piston shoes (32) is higher than the height intending the highest ladder step of climbing, the contact point that stair climbing piston shoes (32) walk with ladder, and the intersection point distance in the horizontal direction of the projection of the projection of stair climbing piston shoes (32) and big wheel (1) is less than the minimum-depth intended stair climbing ladder and walk, some is overlapping for the projection of described stair climbing piston shoes (32) and the projection of big wheel (1), a part for the orthodrome projection of stair climbing piston shoes (32) is in the outside of the projection of big wheel (1), stair climbing piston shoes (32) are upper and intend the outside being projected in the projection of big wheel (1) of climbing the contact point that the highest ladder walks, and the active section on the orthodrome of stair climbing piston shoes (32) is in the outside of the projection of big wheel (1), the minimum point of the orthodrome of stair climbing piston shoes (32) is higher than the minimum point of big wheel (1) wheel rim, the minimum point of the orthodrome of described stair climbing piston shoes (32) is positioned at the projection of big wheel (1), and the intersection point of the close projection of stair climbing piston shoes (32) and the projection of big wheel (1), also near the minimum point of big wheel (1), the arc length of the fan-shaped circular arc of described stair climbing slide plate (31) is greater than the arc length of stair climbing piston shoes (32) upper corresponding position circular arc, the slide guide when arc length of the fan-shaped circular arc of stair climbing slide plate (31) meets stair climbing piston shoes (32) slip work and support.

2. according to claim 1 electric stair climbing ladder wheelchair, it is characterized in that: the stair climbing piston shoes (32) of described stair climbing slide guide device are parallel to each other by two and the piston shoes side plate (33) of symmetry, the rigid body that at least two truckles (38) and at least two large pulleys (39) form, the small arc-shaped of the piston shoes side plate (33) of described stair climbing piston shoes (32) is part ring gear (40), the thickness of piston shoes side plate (33) small end is less than the thickness of large end, its interface is arc surface, form step (37), and step (37) plane is parallel with piston shoes side plate (33) plane, the arc radius of the step (37) on this piston shoes side plate (33) is greater than the large circular arc radius of circular arc feather key (36), the height of step (37) is equal with the height of circular arc feather key (36), described step (37) plane is at least fixed with two truckles (38), its rotational plane is parallel with step (37) plane, the width of truckle (38) is equal with the height of step (37), truckle (38) is distributed in the plane of step (37), the center of circle of the internal common tangent circle of each truckle (38) is on the line of symmetry of piston shoes side plate (33) partial circle shape, its internal common tangent circle center of circle is slightly in the top in the concentric circular center of circle of each circular arc, internal common tangent circle radius equals the radius of the small arc-shaped of circular arc feather key (36), two described large pulleys (39) are had at least to be evenly fixed between the large end of two piston shoes side plates (33), the width of large pulley (39) is slightly larger than the thickness of stair climbing slide plate (31), its rotational plane is parallel with piston shoes side plate (33) plane, the outer common tangent circle of each large pulley (39) and the circle of other circular arcs are concentric circular, this outer common tangent circle radius equals the radius of stair climbing slide plate (31) fan-shaped circular arc, and internal common tangent circle radius is less than or equal to the large radius of circle of piston shoes side plate (33), the stair climbing piston shoes (32) of described stair-climbing device are sleeved on stair climbing slide plate (31), large pulley (39) on stair climbing piston shoes (32) contacts with the fan-shaped circular arc of stair climbing slide plate (31), truckle (38) on each piston shoes side plate (33) on stair climbing piston shoes (32) contacts with the small arc-shaped of the circular arc feather key (36) of stair climbing slide plate (31) respective side, described stair climbing piston shoes (32) relative stair climbing slide plate (31) under the driving of Vidacare corp can do suitable, slide counterclockwise.

3. electric stair climbing ladder wheelchair according to claim 1 or 2, it is characterized in that: two the stair climbing slide plates (31) described electric stair climbing ladder wheelchair forming stair-climbing device form a rigid body, and on two stair climbing piston shoes (32) be also a rigid body; On vehicle frame between two side framves that the rigid body that described two stair climbing slide plates (31) are formed is fixedly connected on electric stair climbing ladder wheelchair, constant with the relativeness of big wheel 1 of electric stair climbing ladder wheelchair; The rigid body that described two stair climbing piston shoes (32) are formed is sleeved on the rigid body that two stair climbing slide plates (31) form, and its nested relationship is constant.