CN212730188U

CN212730188U - Electric folding wheelchair capable of going up and down steps

Info

Publication number: CN212730188U
Application number: CN202020843392.9U
Authority: CN
Inventors: 王治平; 廖景威; 吕俊流; 梁土珍; 王屹; 黎小嫣; 陈斯桂
Original assignee: Guangzhou Electrical And Advanced Technical Schools Guangzhou Electromechanical Technician College Guangzhou Electromechanical Advanced Vocational And Technical Training College
Current assignee: Guangzhou Electrical And Advanced Technical Schools Guangzhou Electromechanical Technician College Guangzhou Electromechanical Advanced Vocational And Technical Training College
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2021-03-19
Anticipated expiration: 2030-05-19

Abstract

The utility model discloses an electric folding wheelchair capable of going up and down steps, a wheelchair seat assembly is arranged on the upper part of a wheelchair underframe assembly in a lifting way through a wheelchair seat lifting assembly; the wheelchair wheel assembly and the wheelchair upper and lower step assembly are arranged on the wheelchair underframe assembly; the wheelchair seat assembly consists of foldable armrests, a foldable backrest and a translatable wheelchair seat plate which are connected with one another; the wheelchair seat lifting assembly is a scissor mechanical structure, the upper end of the scissor mechanical structure is matched with the bottom of the wheelchair seat assembly, and the lower end of the scissor mechanical structure is matched with the wheelchair underframe assembly; the wheelchair wheel assembly consists of a front wheel driving motor, a rear wheel driving motor, a wheelchair front wheel and a wheelchair rear wheel which are driven by the front wheel driving motor and the rear wheel driving motor; the wheelchair upper and lower step assembly consists of a front auxiliary wheel, a rear auxiliary wheel, a large motor and a power transmission mechanism thereof. The utility model discloses can fold, save space, and the seat can freely translate and go up and down to possess the function of upper and lower step, safe and reliable.

Description

Electric folding wheelchair capable of going up and down steps

Technical Field

The utility model belongs to the technical field of the wheelchair technique and specifically relates to an electric wheelchair, concretely relates to folding wheelchair of electrodynamic type that can go up and down the step.

Background

The wheelchair is an indispensable tool for riding instead of walk for the old and the disabled with inconvenient actions, and has very wide application objects. Today, the quality of life of people is improved, and the quality of life of people who are inconvenient to move is also improved. How to act freely and autonomously without relying on the help of others is a primary problem to meet the demand. The wheelchairs in the market at present comprise the following wheelchairs: a foldable human-powered wheelchair; an electric wheelchair with a fixed seat and armrests; a wheelchair with an adjustable seat. However, the wheelchairs on the market at present have the following defects:

1. from the power system of the wheelchair, the wheelchair on the market at present is mainly driven by manpower and assisted by electric power, so the electric power driven wheelchair still has great market prospect;

2. for the pain point of the upper and lower steps: this is the largest factor affecting the patient's mobility alone. The manual wheelchair is time-consuming and labor-consuming to accomplish this function; the function of the electrically-driven wheelchairs in the market can not be basically finished, and only a few non-mass-production wheelchairs can reliably realize the function;

3. in terms of pain points that the patient transfers from the bed to the wheelchair alone: because the seat of the existing wheelchair on the market is not only fixed and invariable in height, but also generally lower than the height of a bed, the seat is also surrounded by the armrests, the transfer of the seriously ill patient is very difficult to complete, the patient can not be transferred to the bed by himself, and a lot of inconvenience is brought to the nursing person;

4. in terms of space occupancy of an electric wheelchair: in the prior art, the electric wheelchairs are basically manual wheelchairs which can achieve high folding rate, most of the existing electric wheelchairs on the market cannot be folded or only can be partially folded, so the electric wheelchairs on the market have the function of enabling a patient to move forwards independently, but cannot be folded generally.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model aims to provide an electric folding wheelchair capable of going up and down steps, which solves the problem that most of the prior wheelchairs proposed in the background art can not realize the function of going up and down steps; difficulty in transferring the patient from the bed to the wheelchair; the problem that the existing electric wheelchair can not be folded generally to cause too large space occupation rate is solved.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: an electric folding wheelchair capable of climbing steps comprises a wheelchair seat assembly, a wheelchair seat lifting assembly, a wheelchair wheel assembly, a wheelchair underframe assembly and a wheelchair climbing step assembly, wherein the wheelchair seat assembly is arranged at the upper part of the wheelchair underframe assembly in a lifting way through the wheelchair seat lifting assembly; the wheelchair wheel assembly and the wheelchair upper and lower step assembly are arranged on the wheelchair underframe assembly; the wheelchair seat assembly consists of foldable armrests, a foldable backrest and a translatable wheelchair seat plate which are connected with one another; the wheelchair seat lifting assembly is of a scissor mechanical structure, the upper end of the scissor mechanical structure is matched with the bottom of the wheelchair seat assembly, and the lower end of the scissor mechanical structure is matched with the wheelchair underframe assembly; the wheelchair wheel assembly consists of a front wheel driving motor, a rear wheel driving motor, a wheelchair front wheel and a wheelchair rear wheel which are driven by the front wheel driving motor and the rear wheel driving motor; the wheelchair upper and lower step assembly consists of a front auxiliary wheel, a rear auxiliary wheel, a large motor and a power transmission mechanism thereof.

As a further improvement of the utility model, the wheelchair seat assembly comprises a base, a square tube, a first layer seat plate, a second layer seat plate, a third layer seat plate, a small motor, a screw bolt, a first linear guide rail, a second linear guide rail, a backrest, a handrail, a backrest support and a fixing plate, wherein the square tube is symmetrically arranged on two sides of the inner wall of the base; linear guide rails I are symmetrically arranged on two sides of the upper surface of the third layer seat plate along the length direction of the third layer seat plate, a first layer seat plate is slidably arranged on the linear guide rails I, linear guide rails II are symmetrically arranged at two ends of the upper surface of the first layer seat plate along the width direction of the first layer seat plate, and a second layer seat plate is slidably arranged on the linear guide rails II; one end of the third layer seat plate is hinged with the third hole on the fixing pieces on the two sides, the other end of the third layer seat plate is hinged with the sixth hole on the base, the two sides of the lower end of the third layer seat plate are provided with cross beams in parallel, and the two ends of each cross beam are respectively hinged with the fourth hole on the fixing piece and the fifth hole on the base; the fixing piece is provided with a backrest support through a knob plunger II and a stud II, a backrest is arranged between the backrest supports on the two sides, the upper end of the backrest support is provided with a hole I, the outer side surface of the backrest support is rotatably provided with a handrail through the stud I, and the tail end of the handrail is provided with the knob plunger I.

As a further improvement of the present invention, the wheelchair seat lifting assembly comprises a medium-sized stepping motor, a lead screw, a conversion seat, a small wheel, a first cross rod, a first support column, a second cross rod and a second support column, wherein the two lead screws are symmetrically installed on two sides of the rear end of the wheelchair chassis assembly through a pair of supports respectively, a guide rail is arranged below the lead screw, the conversion seat is matched on the lead screw through threads, the bottom of the conversion seat is matched with the guide rail, the lower end of the second support column is hinged with the conversion seat, the upper end of the second support column is fixedly connected with the second cross rod, and two ends of the second cross rod are matched with a hole seven of; the first supporting column is crossed with the second supporting column, the crossed point of the first supporting column is hinged, the lower end of the first supporting column is hinged with the wheelchair underframe assembly, the upper end of the first supporting column is fixedly connected with the first cross rod, the two ends of the first cross rod are provided with small wheels, and the small wheels are slidably matched in the square tube.

As a further improvement of the utility model, the wheelchair wheel assembly comprises a wheelchair front wheel, a rear wheel large motor, a wheelchair rear wheel and a front wheel large motor, a pair of rear wheel large motors are symmetrically arranged on two side walls of the rear end of the wheelchair chassis assembly, the wheelchair rear wheel is symmetrically arranged outside the two sides of the rear end of the wheelchair chassis assembly, and the wheel shaft of the wheelchair rear wheel is connected with the power output end of the rear wheel large motor; the pair of large front wheel motors are symmetrically arranged on two side walls of the front end of the wheelchair underframe assembly, the wheelchair front wheels are symmetrically arranged on the outer portions of two sides of the front end of the wheelchair underframe assembly, and wheel shafts of the wheelchair front wheels are connected with power output ends of the large front wheel motors.

As a further improvement of the utility model, the wheelchair upper and lower step assembly comprises a front auxiliary wheel, a rear auxiliary wheel, a large motor, a small chain wheel I, a large chain wheel I, a front auxiliary wheel shaft, a small chain wheel II, a large chain wheel II, a rear auxiliary wheel shaft, a rear auxiliary wheel bracket and a front auxiliary wheel bracket, wherein the front auxiliary wheel shaft is arranged between the supports at the front end of the wheelchair chassis assembly, the front auxiliary wheel is connected with the front auxiliary wheel shaft through the front auxiliary wheel bracket, the large chain wheel I is coaxially arranged on the front auxiliary wheel shaft, the large motor is arranged in the middle of the wheelchair chassis assembly, the small chain wheel I is arranged on the power output shaft of the large motor, and the small chain wheel I and the large chain wheel I are connected through a belt; a rear auxiliary wheel shaft is arranged between supports at the rear end of the wheelchair underframe assembly, the rear auxiliary wheel is connected with the rear auxiliary wheel shaft through a rear auxiliary wheel support, a large chain wheel II is coaxially arranged on the rear auxiliary wheel shaft, the large chain wheel II is connected with a small chain wheel II on the front side of the large chain wheel II through a belt, and the small chain wheel I is connected with the small chain wheel II through a belt.

As a further improvement of the utility model, the front end of the wheelchair chassis assembly is hinged with a pedal plate through a hinge.

As a further improvement of the utility model, the first supporting column and the second supporting column are crossed to form a shear fork mechanical structure.

As a further improvement of the utility model, the hole three, the hole four, the third layer bedplate, the beam, the hole five and the hole six form a parallelogram four-bar linkage mechanism.

As a further improvement, the middle-sized stepping motor, the small motor, the large motor of the rear wheel and the large motor of the front wheel are all electrically connected with the storage battery and the controller.

(III) advantageous effects

Compared with the prior art, after the technical scheme is adopted, the utility model discloses beneficial effect does:

1. the utility model discloses utilize special two front and back auxiliary wheels can realize the upper and lower most steps of wheelchair: when the wheelchair meets a step, firstly, the front auxiliary wheel is put on the step and moves towards the ground, the front wheel of the wheelchair is supported to enable the lowest point of the front wheel of the wheelchair to be lifted to a position slightly higher than the step, meanwhile, the seat is inclined to ensure that the seat board is always parallel to the ground, so that the comfort of a patient when the front wheel of the wheelchair is on the step is ensured, and then the large-scale motor of the rear wheel drives the front wheel of the wheelchair to be conveyed to the step; in the same way, the rear wheel of the wheelchair is supported by the rear auxiliary wheel, so that the lowest point of the rear wheel of the wheelchair is raised to a position slightly higher than the step, and meanwhile, the inclination of the seat is synchronously disappeared to ensure that the seat board is always parallel to the ground, thereby ensuring the comfort level of a patient when the rear wheel of the wheelchair goes up the step; and finally, the large motor of the front wheel drives the rear wheel to be conveyed to the step. At the moment, the wheelchair finishes the action of climbing steps, the mechanism is simple and effective, the reliability is high, and other conventional electric wheelchairs still have no reliable structure for realizing the function;

2. the utility model utilizes the freely movable seat board to realize that the serious illness patient can easily sit on the wheelchair independently from the bed; the seat board is divided into three layers, the first layer moves in the x direction, the second layer moves in the y direction, the third layer rotates around the y axis, and meanwhile, the seat board moves in the z direction by lifting of the seat, so that the chair has multiple degrees of freedom, the difficulty of moving an handicapped person in the last half meter during transfer is solved, and other conventional electric wheelchairs still have no reliable structure for realizing the function;

3. the utility model can fold the wheelchair, and not only can lift the wheelchair seat, but also can fold the seat by using the shear fork mechanical structure; the hinge fixes the pedal and the wheelchair underframe assembly, so the pedal can be folded; the armrests are fixed by the pins of the knob plungers, so the wheelchair armrests can be folded; the backrest of the wheelchair can be folded from top to bottom, and the folding form is different from the left and right folding of a common electric wheelchair, so that a more compact square shape can be formed after the backrest is folded, the backrest is firm and reliable, the space is saved, the room is beautified, and convenience can be brought to the whole transportation;

4. the utility model discloses thereby utilize four wheel drive to make the wheelchair operation more nimble, and pure electric operation safe and reliable more.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment provided by the present invention;

FIG. 2 is a schematic structural view of a wheelchair seat lift assembly in an embodiment provided by the present invention;

FIG. 3 is a schematic structural view of a wheelchair wheel assembly in an embodiment provided by the present invention;

FIG. 4 is a schematic view of a raised seat plate of a wheelchair seat assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of a folded seat plate of a wheelchair seat assembly according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a manual operator according to an embodiment of the present invention;

fig. 7 is a circuit block diagram of a controller and a hand operator according to an embodiment of the present invention;

fig. 8 is a schematic circuit diagram of a core control chip according to an embodiment of the present invention;

fig. 9 is a schematic circuit diagram of a first motor driving module according to an embodiment of the present invention;

fig. 10 is a schematic circuit diagram of a second motor driving module according to an embodiment of the present invention;

description of reference numerals:

1. a medium-sized stepping motor; 2. a screw rod; 3. a conversion seat; 4. a small wheel; 5. a base; 6. a square tube; 7. a first layer seat plate; 8. a second layer seat board; 9. a third layer of seat plate; 10. a small-sized motor; 11. a screw stud; 12-1, a linear guide rail I; 12-2, a linear guide rail II; 13. a front auxiliary wheel; 14. a rear auxiliary wheel; 15. a wheelchair front wheel; 16. a large-sized motor; 17. a small chain wheel I; 18. a large chain wheel I; 19. a front auxiliary axle; 20. a small chain wheel II; 21. a large chain wheel II; 22. a rear auxiliary axle; 23. a rear wheel large motor; 24. a wheelchair rear wheel; 25. a front wheel large motor; 26. a first hole; 27. a first knob plunger; 28. a stud I; 29. a knob plunger II; 30. a second hole; 31. a second stud; 32. a third hole; 33. a first cross bar; 34. a first support column; 35. a second cross bar; 36. a wheelchair chassis assembly; 37. a second support column; 38. a backrest; 39. a handrail; 40. a backrest support; 41. a fixing sheet; 42. a fifth hole; 43. a sixth hole; 44. a seventh hole; 45. a cross beam; 46. a fourth hole; 47. a rear auxiliary wheel support; 48. a front auxiliary wheel support; 49. a foot pedal; 50. a middle cross beam.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides an embodiment: an electric folding wheelchair capable of climbing steps comprises a medium-sized stepping motor 1, a screw rod 2, a conversion seat 3, a small wheel 4, a base 5, a square tube 6, a first layer seat plate 7, a second layer seat plate 8, a third layer seat plate 9, a small-sized motor 10, a screw rod stud 11, a linear guide rail I12-1, a linear guide rail II 12-2, a front auxiliary wheel 13, a rear auxiliary wheel 14, a wheelchair front wheel 15, a large-sized motor 16, a small chain wheel I17, a large chain wheel I18, a front auxiliary wheel shaft 19, a small chain wheel II 20, a large chain wheel II 21, a rear auxiliary wheel shaft 22, a rear wheel large-sized motor 23, a wheelchair rear wheel 24, a front wheel large-sized motor 25, a hole I26, a knob plunger I27, a stud I28, a knob plunger II 29, a hole II 30, a stud II 31, a hole III 32, a cross rod I33, a support column I34, a cross rod II 35, a bottom frame assembly 36, a support column II 37, An armrest 39, a backrest bracket 40, a fixing sheet 41, a hole five 42, a hole six 43, a hole seven 44, a cross beam 45, a hole four 46, a rear auxiliary wheel bracket 47, a front auxiliary wheel bracket 48, a pedal 49 and a middle cross beam 50,

square pipes 6 are symmetrically arranged on two sides of the inner wall of the base 5, a middle cross beam 50 is arranged in the middle of the base 5 along the width direction, a small motor 10 is arranged in the middle of the middle cross beam 50, the power output end of the small motor 10 is connected with one end of a screw rod stud 11, and the other end of the screw rod stud 11 is hinged with the bottom of a third layer seat plate 9; linear guide rails I12-1 are symmetrically arranged on two sides of the upper surface of the third layer seat plate 9 along the length direction of the third layer seat plate, a first layer seat plate 7 is arranged on the linear guide rails I12-1 in a sliding manner, linear guide rails II 12-2 are symmetrically arranged at two ends of the upper surface of the first layer seat plate 7 along the width direction of the first layer seat plate, and a second layer seat plate 8 is arranged on the linear guide rails II 12-2 in a sliding manner; one end of the third layer seat board 9 is hinged with the third hole 32 on the fixing pieces 41 at the two sides, the other end of the third layer seat board is hinged with the sixth hole 43 of the base 5, the two sides of the lower end of the third layer seat board 9 are parallelly provided with a cross beam 45, the two ends of the cross beam 45 are respectively hinged with the fourth hole 46 on the fixing pieces 41 and the fifth hole 42 of the base 5, and the third hole 32, the fourth hole 46, the third layer seat board 9, the cross beam 45, the fifth hole 42 and the sixth hole 43 form a parallelogram four-bar mechanism; a backrest support 40 is arranged on the fixing plate 41 through a second knob plunger 29 and a second stud 31, a backrest 38 is arranged between the backrest supports 40 on the two sides, a first hole 26 is formed in the upper end of the backrest support 40, a handrail 39 is rotatably arranged on the outer side surface of the backrest support 40 through a first stud 28, and a first knob plunger 27 is arranged at the tail end of the handrail 39;

the two screw rods 2 are symmetrically arranged on two sides of the rear end of the wheelchair underframe assembly 36 through a pair of supports respectively, guide rails are arranged below the screw rods 2, the conversion seat 3 is matched on the screw rods 2 through threads, the bottom of the conversion seat 3 is matched with the guide rails, the lower end of the support column II 37 is hinged with the conversion seat 3, the upper end of the support column II is fixedly connected with the cross rod II 35, and two ends of the cross rod II 35 are matched with holes seven 44 of the base 5; the first support column 34 is crossed with the second support column 37, the cross point of the first support column is hinged, the lower end of the first support column 34 is hinged with the wheelchair underframe assembly 36, the upper end of the first support column is fixedly connected with the first cross rod 33, the two ends of the first cross rod 33 are provided with small wheels 4, and the small wheels 4 can be slidably matched in the square tubes 6; the first support column 34 and the second support column 37 are crossed to form a scissor mechanical structure;

the pair of large rear wheel motors 23 are symmetrically arranged on two side walls of the rear end of the wheelchair chassis assembly 36, the wheelchair rear wheels 24 are symmetrically arranged on the outer portions of two sides of the rear end of the wheelchair chassis assembly 36, and wheel shafts of the wheelchair rear wheels 24 are connected with power output ends of the large rear wheel motors 23; the pair of large front wheel motors 25 are symmetrically arranged on two side walls of the front end of the wheelchair chassis assembly 36, the wheelchair front wheels 15 are symmetrically arranged outside two sides of the front end of the wheelchair chassis assembly 36, and wheel shafts of the wheelchair front wheels 15 are connected with the power output ends of the large front wheel motors 25;

a front auxiliary wheel shaft 19 is arranged between supports at the front end of the wheelchair underframe assembly 36, a front auxiliary wheel 13 is connected with the front auxiliary wheel shaft 19 through a front auxiliary wheel bracket 48, a large chain wheel I18 is coaxially arranged on the front auxiliary wheel shaft 19, a large motor 16 is arranged in the middle of the wheelchair underframe assembly 36, a small chain wheel I17 is arranged on a power output shaft of the large motor 16, and the small chain wheel I17 is connected with the large chain wheel I18 through a belt; a rear auxiliary wheel shaft 22 is arranged between the supports at the rear end of the wheelchair underframe assembly 36, the rear auxiliary wheel 14 is connected with the rear auxiliary wheel shaft 22 through a rear auxiliary wheel bracket 47, a large chain wheel II 21 is coaxially arranged on the rear auxiliary wheel shaft 22, the large chain wheel II 21 is connected with a small chain wheel II 20 at the front side of the large chain wheel II through a belt, and a small chain wheel I17 is connected with the small chain wheel II 20 through a belt; the front end of the wheelchair chassis assembly 36 is hinged with a pedal 49 through a hinge, and the hinge connects the pedal 49 with the wheelchair chassis assembly 36 to achieve the purpose that the pedal 49 can be folded.

In this embodiment, the middle-sized stepping motor 1, the small-sized motor 10, the large-sized motor 16, the large-sized motor 23 for the rear wheel, and the large-sized motor 25 for the front wheel are electrically connected to a battery and a controller, which are not shown in the figure and are installed in a reserved space of the wheelchair underframe assembly 36.

The principle and the using method of the embodiment are as follows:

the method for unfolding the wheelchair in the folded state comprises the following steps:

as shown in fig. 2, a pair of medium-sized stepping motors 1 in the wheelchair in a folded state drives a screw rod 2 to rotate so as to enable a conversion seat 3 to make linear motion, when the conversion seat 3 makes linear motion, an end a of a scissors mechanical structure is driven to make linear motion, so that a small wheel 4 at an end C of the scissors mechanical structure rolls in a square tube 6 welded with a base 5, along with the motion of the conversion seat 3, an end B and an end D of the scissors mechanical structure rotate along a hinged point, and finally, a wheelchair seat is enabled to rise to a position flush with a bed.

The working principle of the free movement of the seat plate is as follows:

as shown in figures 4 and 5, the seat plate is composed of three parts, a first layer seat plate 7 translates along the advancing direction of the wheelchair through a first linear guide rail 12-1, a second layer seat plate 8 translates perpendicular to the advancing direction of the wheelchair through a second linear guide rail 12-2, and a third layer seat plate 9 is pushed by a small motor 10 through a screw rod stud 11 to form a certain oblique angle according to the principle of a parallelogram four-bar mechanism. When the wheelchair seat plate rises to a position flush with the bed, a person can not only make the seat plate translate to the bed, but also adjust the inclination of the seat plate, thereby facilitating a patient to sit on the wheelchair.

Climbing steps work principle:

as shown in fig. 3, in preparation for climbing the steps, the front auxiliary wheels 13 are higher than the steps, the rear auxiliary wheels 14 are in a ground-off state,

the step of climbing the steps by the front wheel 15 of the wheelchair:

the first stage is as follows: when the front wheel 15 of the wheelchair encounters a step, the large motor 16 rotates positively to drive the large chain wheel I18 by using the small chain wheel I17, so that the front auxiliary wheel 13 makes circular motion around the front auxiliary wheel shaft 19 towards the ground, and meanwhile, the small chain wheel II 20 drives the large chain wheel II 21 to make the rear auxiliary wheel 14 move upwards with the rear auxiliary wheel shaft 22 as the center of a circle;

the second stage is as follows: after the front auxiliary wheel 13 presses the steps in the movement process, the front wheel 15 of the wheelchair is lifted to leave the ground until the lowest point of the front wheel 15 of the wheelchair exceeds the height of the steps, and meanwhile, the third layer seat plate 9 is pushed by the small motor 10 by using the screw rod stud 11 to enable the seat plate to incline so as to enable the seat plate to be always parallel to the ground and ensure the comfort level of a patient on the steps on the front wheel 15 of the wheelchair;

the third stage is as follows: when the lowest point of the front wheel 15 of the wheelchair exceeds the height of the step, the large motor 23 of the rear wheel drives the rear wheel 24 of the wheelchair to move the wheelchair forwards, so that the front wheel 15 of the wheelchair climbs the step;

the step of climbing the steps by the rear wheel 24 of the wheelchair:

the first stage is as follows: when the lowest point of the front wheel 15 of the wheelchair crosses a step, the large motor 16 rotates reversely, the small chain wheel II 20 drives the large chain wheel II 21 to enable the rear auxiliary wheel 14 to move towards the ground by taking the rear auxiliary wheel shaft 22 as a circle center, and meanwhile, the small chain wheel I17 drives the large chain wheel I18 to enable the front auxiliary wheel 13 to move upwards in a circular manner around the front auxiliary wheel shaft 19 to enable the front wheel 15 of the wheelchair to contact the ground;

the second stage is as follows: the rear auxiliary wheel 14 in the movement process is pressed to the ground, the rear wheel 24 of the wheelchair is lifted to be away from the ground until the height of the steps is exceeded, meanwhile, the third layer seat plate 9 is pushed by the small motor 10 through the screw rod stud 11 to enable the seat plate to be inclined and cancelled, so that the seat plate is always parallel to the ground, and the comfort level of a patient on the steps on the front wheel 15 of the wheelchair is guaranteed;

the third stage is as follows: when the lowest point of the rear wheel 24 of the wheelchair exceeds the height of the step, the large motor 25 of the front wheel rotates to enable the front wheel 15 of the wheelchair to run, so that the wheelchair can run forwards;

the fourth stage is as follows: when the rear wheel 24 of the wheelchair crosses the steps, the large motor 16 rotates positively to restore the front and rear auxiliary wheels to the preparation stage, and the whole process of the wheelchair climbing the steps is finished and preparation is made for the next time of climbing the steps.

The folding working principle is opposite to the unfolding working principle of the wheelchair, and the working principle of the lower step is opposite to that of the upper step.

The folding method of the wheelchair backrest and the armrests comprises the following steps:

as shown in fig. 4 and 5, when the arm rest 39 is folded, the knob plunger one 27 is firstly pulled outwards by hand, then the arm rest 39 is folded by taking the stud one 28 as a center, finally the knob plunger one 27 is loosened, the pin of the knob plunger one 27 at the tail end of the arm rest 39 is inserted into the hole one 26 at the upper end of the backrest support 40, and finally the arm rest is folded. Similarly, when the backrest 38 is folded backwards, the knob plunger 29 is pulled up, then the backrest 38 is folded around the stud 31, and finally the knob plunger 29 is released to enable the pin to be buckled into the second hole 30 on the fixing plate 41.

As shown in fig. 6, the electric wheelchair in this embodiment uses a hand operator installed at the front end of the armrest as a main control mechanism, uses voice control as an auxiliary control means, and installs a storage battery and a controller in a reserved space of the wheelchair underframe assembly 36. As shown in fig. 7 and 8, the core controller chip adopts an ATxmega128 high-end chip, so that the processing speed is higher and the response is faster. As shown in fig. 9 and 10, the two-channel analog signal inputted by the left rocker of the manual operator is processed by the analog-to-digital converter to obtain the digital quantity of each channel, the program determines the position pointed by the rocker at this time, and calculates the corresponding speed level according to the digital quantity to obtain the corresponding moving direction. Four paths of PWM signals are output to the motor driving module through the universal I/O port, so that the real-time speed regulation of the motor is realized, and the front and back movement and the steering movement of the wheelchair are controlled. The right rocker inputs two-channel analog signals, controls the height adjustment of the wheelchair and can manually operate the up-down step mechanism to work. Meanwhile, a simulation channel of a knob reserved on the manual operator controls a motor for adjusting the upright shape of the seat plate, so that posture adjustment is realized.

The voice input module externally connected with the serial port is used for realizing corresponding actions according to the preset speed of a program and a motor control flow by using simple voice instructions such as 'fast', 'medium speed', 'slow speed', 'forward', 'backward', 'upper step' and the like.

The manual operator of the embodiment is attached with an electronic display screen, and can display information such as the working state, the working duration, the advancing speed, the battery power and the like of the wheelchair. The operating state of the wheelchair is judged by the rocker attitude signal or the voice command, and the operating information is displayed on the electronic display screen. The reserved port of the circuit monitors the voltage of the battery in real time and feeds back the electric quantity information to the electronic display screen. The timer of the core control chip records the working time of the wheelchair and detects the advancing speed of the wheelchair by combining the photoelectric door sensor. The wheelchair is provided with an acceleration sensor, the inclination angle of the wheelchair is detected, and the overturn alarm is carried out before the danger threshold value is exceeded. The switch and the button reserved on the manual operator can control the wheelchair to turn on the illuminating lamp or sound the horn at night or in dark environment.

To sum up, the utility model discloses can fold, save space, and the seat can freely translate and go up and down to possess the function of upper and lower step, safe and reliable.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An electric folding wheelchair capable of climbing up and down steps is characterized by comprising a wheelchair seat assembly, a wheelchair seat lifting assembly, a wheelchair wheel assembly, a wheelchair underframe assembly and a wheelchair climbing up and down step assembly, wherein the wheelchair seat assembly is arranged on the upper part of the wheelchair underframe assembly in a lifting manner through the wheelchair seat lifting assembly; the wheelchair wheel assembly and the wheelchair upper and lower step assembly are arranged on the wheelchair underframe assembly; the wheelchair seat assembly consists of foldable armrests, a foldable backrest and a translatable wheelchair seat plate which are connected with one another; the wheelchair seat lifting assembly is of a scissor mechanical structure, the upper end of the scissor mechanical structure is matched with the bottom of the wheelchair seat assembly, and the lower end of the scissor mechanical structure is matched with the wheelchair underframe assembly; the wheelchair wheel assembly consists of a front wheel driving motor, a rear wheel driving motor, a wheelchair front wheel and a wheelchair rear wheel which are driven by the front wheel driving motor and the rear wheel driving motor; the wheelchair upper and lower step assembly consists of a front auxiliary wheel, a rear auxiliary wheel, a large motor and a power transmission mechanism thereof.

2. The electric folding wheelchair capable of climbing up and down steps as claimed in claim 1, wherein the wheelchair seat assembly comprises a base, square tubes, a first layer seat plate, a second layer seat plate, a third layer seat plate, a small motor, a screw bolt, a first linear guide rail, a second linear guide rail, a backrest, a handrail, a backrest support and a fixing plate, wherein the square tubes are symmetrically arranged on two sides of the inner wall of the base, a middle cross beam is arranged in the middle of the base along the width direction, the small motor is arranged in the middle of the middle cross beam, a power output end of the small motor is connected with one end of the screw bolt, and the other end of the screw bolt is hinged with the bottom of the third layer seat plate; linear guide rails I are symmetrically arranged on two sides of the upper surface of the third layer seat plate along the length direction of the third layer seat plate, a first layer seat plate is slidably arranged on the linear guide rails I, linear guide rails II are symmetrically arranged at two ends of the upper surface of the first layer seat plate along the width direction of the first layer seat plate, and a second layer seat plate is slidably arranged on the linear guide rails II; one end of the third layer seat plate is hinged with the third hole on the fixing pieces on the two sides, the other end of the third layer seat plate is hinged with the sixth hole on the base, the two sides of the lower end of the third layer seat plate are provided with cross beams in parallel, and the two ends of each cross beam are respectively hinged with the fourth hole on the fixing piece and the fifth hole on the base; the fixing piece is provided with a backrest support through a knob plunger II and a stud II, a backrest is arranged between the backrest supports on the two sides, the upper end of the backrest support is provided with a hole I, the outer side surface of the backrest support is rotatably provided with a handrail through the stud I, and the tail end of the handrail is provided with the knob plunger I.

3. The electric folding wheelchair capable of climbing steps as claimed in claim 1, wherein the wheelchair seat lifting assembly comprises a medium-sized stepping motor, a screw rod, a conversion seat, a small wheel, a first cross rod, a first support column, a second cross rod and a second support column, the two screw rods are symmetrically mounted on two sides of the rear end of the wheelchair underframe assembly through a pair of supports, a guide rail is arranged below the screw rod, the conversion seat is matched on the screw rod through threads, the bottom of the conversion seat is matched with the guide rail, the lower end of the second support column is hinged with the conversion seat, the upper end of the second support column is fixedly connected with the second cross rod, and two ends of the second cross rod are matched with a hole seven of the base; the first supporting column is crossed with the second supporting column, the crossed point of the first supporting column is hinged, the lower end of the first supporting column is hinged with the wheelchair underframe assembly, the upper end of the first supporting column is fixedly connected with the first cross rod, the two ends of the first cross rod are provided with small wheels, and the small wheels are slidably matched in the square tube.

4. The electric folding wheelchair capable of climbing up and down steps as claimed in claim 1, wherein the wheelchair wheel assembly comprises a wheelchair front wheel, a rear wheel large motor, a wheelchair rear wheel and a front wheel large motor, a pair of rear wheel large motors are symmetrically installed on two side walls of the rear end of the wheelchair chassis assembly, the exterior of two sides of the rear end of the wheelchair chassis assembly is symmetrically provided with a wheelchair rear wheel, and the wheel shaft of the wheelchair rear wheel is connected with the power output end of the rear wheel large motor; the pair of large front wheel motors are symmetrically arranged on two side walls of the front end of the wheelchair underframe assembly, the wheelchair front wheels are symmetrically arranged on the outer portions of two sides of the front end of the wheelchair underframe assembly, and wheel shafts of the wheelchair front wheels are connected with power output ends of the large front wheel motors.

5. The electric folding wheelchair capable of climbing up and down steps as claimed in claim 1, wherein the wheelchair up-down step assembly comprises a front auxiliary wheel, a rear auxiliary wheel, a large motor, a first small chain wheel, a first large chain wheel, a front auxiliary wheel shaft, a second small chain wheel, a second large chain wheel, a rear auxiliary wheel shaft, a rear auxiliary wheel support and a front auxiliary wheel support, the front auxiliary wheel shaft is arranged between supports at the front end of the wheelchair chassis assembly, the front auxiliary wheel is connected with the front auxiliary wheel shaft through the front auxiliary wheel support, the first large chain wheel is coaxially arranged on the front auxiliary wheel shaft, the large motor is arranged in the middle of the wheelchair chassis assembly, the first small chain wheel is arranged on a power output shaft of the large motor, and the first small chain wheel is connected with the first large chain wheel through a belt; a rear auxiliary wheel shaft is arranged between supports at the rear end of the wheelchair underframe assembly, the rear auxiliary wheel is connected with the rear auxiliary wheel shaft through a rear auxiliary wheel support, a large chain wheel II is coaxially arranged on the rear auxiliary wheel shaft, the large chain wheel II is connected with a small chain wheel II on the front side of the large chain wheel II through a belt, and the small chain wheel I is connected with the small chain wheel II through a belt.

6. The electrically powered collapsible wheelchair of claim 1 in which the front end of said wheelchair chassis assembly is hinged to a foot pedal.

7. The electrically powered collapsible wheelchair as claimed in claim 3 wherein the first support post and the second support post intersect to form a scissors mechanism.

8. The electrically powered collapsible wheelchair as claimed in claim 2, wherein said third, fourth, third deck seat panels, cross member, fifth and sixth apertures form a parallelogram four bar linkage.