CN218045615U - Flat ground walking device of electric wheelchair - Google Patents

Abstract

The utility model discloses a flat ground running gear of electronic wheelchair, a serial communication port, the walking wheel that bilateral symmetry set up separately of two pairs including the fore-and-aft direction, two pairs of walking wheels are installed respectively between two pairs of crawler attachment in the front and two pairs of crawler attachment in rear, and the walking wheel links to each other through the preceding support arm or the back support arm of the walking wheel lift control mechanism that corresponds and the bed frame that corresponds respectively. The utility model has the advantages of improving the smooth degree of the wheelchair walking on the flat ground and better conveniently controlling the wheelchair to go up and down the steps.

Description

Flat ground walking device of electric wheelchair

Technical Field

The utility model relates to a mobile wheelchair, in particular to a flat ground walking device of an electric wheelchair.

Background

The wheelchair or electric wheelchair is a movable chair specially used for the elderly or people with inconvenient legs and feet, and the lower end of the chair is provided with wheels and driven by a motor to replace walking. Generally, conventional wheelchairs are convenient to walk on flat ground, but are inconvenient to climb on stairs.

In the prior art, wheelchairs partially using a crawler belt to replace a walking wheel as a walking mechanism exist. For example, CN201420594373.1 discloses a crawler-type power-assisted wheelchair; CN201820333270.8 discloses a deformable crawler wheelchair; CN202021230877.7 discloses a crawler-type wheelchair for orthopedic patients; patents such as a crawler-type wheelchair with a retractable and stowable function disclosed in CN202021092616.3 belong to such a configuration. The wheel chair with the caterpillar as the walking mechanism is convenient to use when going up and down stairs, and can improve the stability by the caterpillar when walking on the flat ground. However, when the wheelchair travels on a very flat ground, the crawler belt is continuously adopted, so that the traveling speed of the wheelchair is reduced, the loss of the crawler belt mechanism is accelerated, and the service life is shortened.

In order to solve the above problems, the applicant filed patent CN202121847959.0, which comprises a base frame, a seat is mounted on the base frame, and a crawler device is mounted below the base frame, wherein a pair of ground wheels are mounted at front and rear ends of the crawler device respectively, the lower surface of the ground wheels is higher than the lower surface of the crawler in a normal driving state, and a crawler lifting control mechanism is further mounted between the base frame and the crawler device, and the crawler lifting control mechanism can control the crawler to lift upwards and make the lower surface of the crawler higher than the lower surface of the ground wheels. The utility model discloses a have and can control the different roughness condition of wheelchair adaptation better and walk on ground, reduce the track loss, increase of service life's advantage. The following drawbacks still remain: the land leveling wheel is directly arranged on the crawler attachment, and the land leveling wheel is supported to walk by controlling the crawler attachment to ascend and descend during land leveling, so that the control difficulty is high. 2 the crawler attachment of this wheelchair is the rectangular shape track of level setting, and the control degree of difficulty is great when going up the bench, and the convenience of control remains further to be improved. 3 the defect of inconvenient control still exists on going up and down steps of the wheelchair.

SUMMERY OF THE UTILITY MODEL

To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: provided is a flat ground traveling device for an electric wheelchair, which can improve the smooth level of the wheelchair traveling on the flat ground.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model provides a level land running gear of electronic wheelchair, its characterized in that, includes the walking wheel that two pairs of bilateral symmetry each respectively set up of fore-and-aft direction, and two pairs of walking wheels are installed respectively between two pairs of crawler attachment in the front and two pairs of crawler attachment in the rear, and the walking wheel links to each other through the preceding support arm or the back support arm of walking wheel lift control mechanism and the corresponding bed frame that correspond respectively.

Like this, when the walking of face to the level land has the needs, can transfer through four walking wheels of walking wheel lift control mechanism control, prop up the domain for crawler attachment breaks away from ground, replaces to support the wheelchair by the walking wheel and realizes the level land walking. More specifically, in the process of walking on the flat ground, when the road surface is uneven, the wheelchair can be supported by the crawler device to walk, so that the walking stability of the wheelchair is greatly improved, and the comfort of passengers is improved. But when the road surface was leveled, can control the walking wheel and transfer and rely on the walking wheel to support the walking to improve the portability of walking, control the wheelchair better and move ahead, avoid the track to reduce walking speed and wearing and tearing, reduce track walking noise, extension wheelchair life. Wherein whether the road surface is level and smooth can rely on the passenger to observe and judge back control, also can rely on the vibration sensor that sets up on the wheelchair to detect feedback automatic control, and concrete detection implementation and background art the preceding patent is unanimous, does not detail here. Therefore, when the walking wheel supports the walking switching control, the crawler device is kept still, the walking wheel is controlled to extend downwards to realize the support, and compared with the switching control mode of the prior patent in the background art, the control is simpler, quicker and more reliable. Meanwhile, when the wheelchair goes up and down the steps, the crawler device can be supported by the walking wheels to enable the crawler device to be in a suspended state, the crawler device is rotated to adjust the inclination angle of the crawler device, the angle of the crawler device is made to be consistent with the step angle, the walking wheels are folded, and then the crawler device goes up and down the steps, so that the wheelchair can go up and down the steps more conveniently, and the riding comfort of the wheelchair is improved.

Furthermore, the travelling wheel lifting control mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially and rotatably connected, wherein one end of the first connecting rod, which is far away from the second connecting rod, is respectively and rotatably connected with the lower end position of the corresponding front support arm or the corresponding rear support arm, and one end of the third connecting rod, which is far away from the second connecting rod, is respectively and rotatably connected with the middle position of the corresponding front support arm or the corresponding rear support arm; one end of the first connecting rod, which is rotatably connected with the front support arm or the rear support arm, is connected with a connecting rod motor and can be driven to rotate by the connecting rod motor; the traveling wheel is arranged at the position where the first connecting rod is connected with the second connecting rod.

Like this, drive first connecting rod through the connecting rod motor and rotate and drive the link mechanism linkage, and then drive the walking wheel and realize lifting control from top to bottom, have simple structure, reliable and stable advantage.

Furthermore, two walking wheels at the front end are respectively rotatably installed on a walking wheel installation plate arranged along the left-right direction through a walking wheel installation seat, the upper end of the walking wheel installation plate is fixed at the lower side surface position of the joint of the first connecting rod and the second connecting rod, and a steering motor and a walking wheel installation seat are further installed on the walking wheel installation plate and are in transmission connection.

Therefore, the walking wheel mounting base is conveniently controlled to rotate through the steering motor, and the steering control of the wheelchair is realized when the wheelchair walks by virtue of the walking wheels. And has the advantages of simple structure and reliable control.

Furthermore, in the two walking wheel lifting control mechanisms which are opposite from left to right, a first linkage rod is horizontally and fixedly arranged between the positions where the two first connecting rods are connected with the second connecting rods, and a second linkage rod is horizontally and fixedly arranged between the positions where the two second connecting rods are connected with the third connecting rods.

Therefore, the linkage of the left and right two walking wheel lifting control mechanisms can be realized, the control is more stable and reliable, and the connecting rod motor on one side can be saved.

Furthermore, a supporting rod is arranged on the first linkage rod in a vertical oblique direction, the lower end of the supporting rod and the first linkage rod are arranged in a rotatable mode, a supporting rod rotation control motor is further installed on the first linkage rod and can control the supporting rod to rotate upwards, a butt joint head is arranged at the upper end of the supporting rod, a butt joint seat is correspondingly arranged on the base frame, when the walking wheel is controlled by the walking wheel lifting control mechanism to extend downwards to be in a walking state, the supporting rod can be supported by the butt joint head and the butt joint seat after the supporting rod rotates to a vertical state.

Like this, when the walking wheel of needs walking supports the walking, connecting rod motor through walking wheel lifting control mechanism drives the walking wheel and falls to the walking station after, can rethread bracing piece rotation control motor control bracing piece upper end rotate to vertical state, the butt head can form stable and reliable support with butt seat butt this moment, wheelchair and the personnel's of taking gravity directly through the bracing piece downwards use first gangbar and on and use the walking wheel of below, avoid the gravity of wheelchair to pass through link mechanism and use on the connecting rod motor, the connecting rod motor does not receive wheelchair action of gravity, avoid impaired and greatly guaranteed the stability and the reliability that the wheelchair went in-process and supported.

As another mode, a supporting rod is arranged on the first linkage rod along the vertical direction in an inclined manner, the lower end of the supporting rod and the first linkage rod can be arranged in a rotating manner, the upper end of the supporting rod is provided with a butting head, and a butting seat is correspondingly arranged on the base frame; the upper end of the middle part of the first connecting rod is further upwards fixedly provided with a first lever seat, the lower end of the front support arm or the lower end of the rear support arm corresponding to the first connecting rod is further obliquely and downwards fixedly provided with a fulcrum support, the support rod is further fixedly provided with a second lever seat and a linkage lever, the fulcrum of the linkage lever is rotatably arranged on the fulcrum support, one end of the linkage lever is rotatably connected onto the first lever seat, and the other end of the linkage lever is rotatably connected onto the second lever seat.

Like this, when the walking wheel of needs walking supports the walking, the in-process that the connecting rod motor through walking wheel lifting control mechanism drove walking wheel and descends to the walking station, and when first connecting rod pivoted, can drive the synchronous upwards rotation of bracing piece through the linkage lever for when the walking wheel stretches out downwards completely and turns into the walking state, the bracing piece just rotates to vertical state, and the butt head can form the support of vertical direction with butt seat butt this moment. The connecting rod motor is protected from the gravity action of the wheelchair and the passengers, the control stability is ensured, and the service life is prolonged. Compared with the previous mode of controlling the rotation of the supporting rod by the motor, the mode has the advantages that the structure of purely mechanical linkage is ingeniously designed to control the supporting rod to rotate, the structure is simpler and more reliable, and the motor cost is saved.

To sum up, the utility model has the advantages of can improve the smooth and easy degree of wheelchair level land walking to can conveniently control the wheelchair better and go up the lower step.

Drawings

Fig. 1 is a schematic perspective view of an electric wheelchair using the structure of the present invention.

Fig. 2 is a schematic view of the structure of fig. 1 from the bottom.

Fig. 3 is a schematic view of the structure of the single track device in fig. 1.

Fig. 4 is a schematic structural view of the single pedestal and the flat ground running gear in fig. 1.

Fig. 5 is a schematic view in another direction of fig. 4.

Fig. 6 is a schematic structural view of another flat ground walking device adopting the lever linkage principle in implementation.

Detailed Description

The present invention will be described in further detail with reference to an electric wheelchair using the structure of the present invention and its accompanying drawings.

In the specific implementation: as shown in fig. 1 to 5, a dual-track electric wheelchair comprises a base frame, a seat 1 is mounted at the upper end of the base frame, a seat adjusting device is further arranged between the seat 1 and the base frame, a track traveling system is mounted below the base frame, the track traveling system comprises two pairs of track devices which are bilaterally symmetrical and arranged along the front and the back, each track device comprises a track wheel and a track 2 wound on the track wheel, wherein the track 2 is wound to be in an inverted triangle shape and is provided with a horizontal lower bottom edge, a front side edge which is positioned at the front end of the lower bottom edge and extends towards the front upper side, and an upper side edge which is connected between the front side edge and the lower bottom edge to form an inverted triangle.

Therefore, the crawler is designed into the shape of an inverted triangle, and the wheelchair normally walks by contacting the lower bottom surface with the road surface at ordinary times, and when the wheelchair needs to go up steps, the wheelchair is guided to continuously move forward by contacting the front side of the crawler with the steps to form a support until the lower bottom edge of the crawler contacts with the steps, and the wheelchair walks on the steps by supporting the lower bottom edge of the crawler.

The base frame comprises two front support arms 3 and two rear support arms 4 which are arranged side by side from left to right, the rear ends of the front support arms 3 and the front ends of the rear support arms 4 on the same side are inclined upwards and connected to form a triangle, and a horizontal connecting component is arranged between the two front support arms and/or between the two rear support arms (when in implementation, the connecting component comprises a rear support connecting plate and a front support connecting plate) and connected into a whole.

Such bed frame has simple structure, supports stable characteristics.

Wherein, a shock absorption damper 5 is also arranged on the front support arm 3.

Thus, the shock absorption is convenient, and the comfort of the wheelchair is improved.

Wherein, preceding support arm 3 length is less than rear support arm 4 length, seat 1 installs on rear support arm front half section.

Therefore, the chair has the advantages of stable gravity center, convenience for stable adjustment and control of the chair and the like.

Wherein, the length of the lower bottom edge of the crawler 2 is larger than that of the front side edge.

Therefore, the stability and reliability of the lower bottom edge support of the crawler are improved.

The crawler device further comprises a crawler wheel support 6, the crawler wheel support is in an inverted triangle shape consistent with the crawler, the crawler wheel comprises a first crawler wheel 7 installed at the upper end of the front side of the crawler wheel support, a second crawler wheel 8 installed at the front end of the lower bottom edge of the crawler wheel support, a third crawler wheel 9 installed in the middle of the lower bottom edge of the crawler wheel support and a fourth crawler wheel 10 installed at the rear end of the lower bottom edge of the crawler wheel support.

Therefore, the lower bottom edge is provided with the three crawler wheel supports, and the walking support of the crawler device structure is more stable and reliable.

The fourth crawler wheel 10 is connected with a crawler wheel driving motor 11 to form a driving wheel, and the crawler wheel driving motor 11 is coaxially and fixedly mounted on the crawler wheel support 6 corresponding to the fourth crawler wheel.

Thus, the driving is simpler and more convenient.

Wherein, the middle position of the upper side edge of the crawler wheel bracket 6 is rotatablely connected with the lower ends of the front support arm and the rear support arm of the base frame through a crawler device adjusting rotating shaft, and the crawler device adjusting rotating shaft is connected with a crawler device rotation adjusting motor 12.

Therefore, the crawler device can be controlled to integrally rotate by rotating the adjusting motor through the crawler device, and the wheelchair can be conveniently adjusted to keep balance when going up and down steps. Specifically, when the wheelchair goes up a step, after the wheelchair travels along the flat ground and reaches the step, the front side edge of the crawler device is firstly contacted with the step to realize auxiliary support, the wheelchair continues to move forwards, the front end of the lower bottom edge of the crawler is lifted upwards, the crawler device can be adjusted by the rotation adjusting motor of the crawler device to actively rotate forwards and upwards, the wheelchair stops when the inclination angles of the lower bottom edge of the crawler and the step are consistent, and then the wheelchair travels upwards on the step by virtue of the crawler, so that the stability of the seat is better ensured; when the wheelchair descends the step, after the wheelchair travels along the level land and arrives the step, can stretch out downwards through control walking wheel earlier and jack-up the wheelchair for crawler attachment is in unsettled state, then rotates adjusting motor through crawler attachment and adjusts crawler attachment initiative and rotate to the below, makes the track lower limb and step contact stop when unanimous to inclination, relies on the track to realize walking downwards on the step again, guarantees the stability of seat better.

Wherein the crawler adjusting shaft is coaxially connected with the crawler rotating adjusting motor 12.

Thus, the structure is simpler and more compact.

The crawler wheel support 6 comprises two crawler wheel mounting plates which are arranged in a bilateral symmetry mode, the crawler wheel mounting plates are arranged in a hollow mode and are in an inverted triangle shape consistent with the crawler, and the first crawler wheel 7, the second crawler wheel 8, the third crawler wheel 9 and the fourth crawler wheel 10 are all mounted between the two crawler wheel mounting plates.

Therefore, the crawler wheel is more convenient to mount and has a more stable and reliable structure.

The crawler wheel driving motor 11 and the crawler device rotation adjusting motor 12 are both installed at the inner side of the crawler wheel installation plate corresponding to each other.

Therefore, the motor can be better protected, and the overall appearance of the wheelchair is more attractive.

Wherein, still semi-surrounding formula cover is provided with track baffle 13 above the side on track 2, and track baffle installs on the athey wheel support. The crawler belt can be better protected.

The flat ground walking device comprises two pairs of walking wheels 14 which are arranged in a front-back direction in a bilateral symmetry mode, the two pairs of walking wheels 14 are respectively installed between the two pairs of front crawler devices and the two pairs of rear crawler devices, and the walking wheels 14 are respectively connected with the front supporting arms 3 or the rear supporting arms 4 of the corresponding base frames through the corresponding walking wheel lifting control mechanisms.

Like this, when having the needs to the walking of flat ground, can transfer through four walking wheels of walking wheel lift control mechanism control, prop the field for crawler attachment breaks away from ground, replaces to support the wheelchair by the walking wheel and realizes the walking of flat ground. More specifically, in the process of walking on the flat ground, when the road surface is uneven, the walking can be supported by the crawler device, so that the walking stability of the wheelchair is greatly improved, and the comfort of passengers is improved. But when the road surface was leveled, can control the walking wheel and transfer and rely on the walking wheel to support the walking to improve the portability of walking, control the wheelchair better and move ahead, avoid the track to reduce walking speed and wearing and tearing, reduce track walking noise, extension wheelchair life. Wherein whether the road surface is level and smooth, can rely on the person of taking to observe and judge back control, also can rely on the vibration sensor that sets up on the wheelchair to detect feedback automatic control, and concrete detection implementation mode is unanimous with the background art the preceding patent, not detailed here. Therefore, when the walking wheels support walking switching control, the crawler device is kept still, the walking wheels are controlled to stretch downwards to realize supporting, and compared with the switching control mode of the prior patent in the background art, the control is simpler, quicker and more reliable. Meanwhile, when the wheelchair goes up and down the steps, the crawler device can be supported by the walking wheels to enable the crawler device to be in a suspended state, the crawler device is rotated to adjust the inclination angle of the crawler device, the angle of the crawler device is made to be consistent with the step angle, the walking wheels are folded, and then the crawler device goes up and down the steps, so that the wheelchair can go up and down the steps more conveniently, and the riding comfort of the wheelchair is improved.

The lifting control mechanism of the travelling wheels comprises a first connecting rod 15, a second connecting rod 16 and a third connecting rod 17 which are rotatably connected in sequence, wherein one end of the first connecting rod 15, which is far away from the second connecting rod 16, is rotatably connected with the lower end position of the corresponding front support arm or rear support arm respectively, and one end of the third connecting rod 17, which is far away from the second connecting rod, is rotatably connected with the middle position of the corresponding front support arm or rear support arm respectively; one end of the first connecting rod 15, which is rotatably connected with the front support arm or the rear support arm, is connected with a connecting rod motor 18 and can be driven to rotate by the connecting rod motor 18; the road wheel is installed at the position where the first connecting rod 15 and the second connecting rod 16 are connected.

Like this, drive first connecting rod through the connecting rod motor and rotate and drive the linkage of link mechanism, and then drive the walking wheel and realize lift control from top to bottom, have simple structure, reliable and stable advantage.

Wherein, two walking wheels of front end respectively rotationally install on a walking wheel mounting panel 20 that sets up along left right direction through a walking wheel mount pad 19, and walking wheel mounting panel 20 upper end is fixed at the downside position of the department that first connecting rod 15 and second connecting rod 16 link, still installs on the walking wheel mounting panel 20 and turns to motor 21 and walking wheel mount pad transmission and be connected.

Therefore, the walking wheel mounting seat is conveniently controlled to rotate through the steering motor, and the steering control of the wheelchair is realized when the wheelchair walks by virtue of the walking wheels. And has the advantages of simple structure and reliable control.

In the left and right opposite travelling wheel lifting control mechanisms, a first linkage rod 22 is horizontally and fixedly arranged between the connecting positions of the two first connecting rods 15 and the second connecting rod 16, and a second linkage rod 23 is horizontally and fixedly arranged between the connecting positions of the two second connecting rods 16 and the third connecting rod 17.

Therefore, the linkage of the left and right two walking wheel lifting control mechanisms can be realized, the control is more stable and reliable, and the connecting rod motor on one side can be saved.

Wherein, be located and be provided with a bracing piece 25 along vertical slant on the first gangbar 22, bracing piece 25 lower extreme and the rotatable setting of first gangbar 22, still install bracing piece rotation control motor 26 on the first gangbar, bracing piece rotation control motor 26 can control bracing piece 25 and upwards rotate, the bracing piece upper end has a butt head 27, still correspond on the bed frame and be provided with a butt seat 28, when walking wheel lift control mechanism control walking wheel stretches out downwards for the walking state, the bracing piece rotates to vertical state back butt head can form the support with butt seat butt. In practice, the abutting head 27 and the abutting seat 28 are abutted through the cooperation of a step surface, so that the abutting and the rotation limiting are conveniently realized.

Like this, when the walking wheel of needs walking supports the walking, connecting rod motor through walking wheel lifting control mechanism drives the walking wheel and falls to the walking station after, can rethread bracing piece rotation control motor control bracing piece upper end rotate to vertical state, the butt head can form stable and reliable support with butt seat butt this moment, the wheelchair directly with take personnel's gravity through the bracing piece downwards with first gangbar and on and use the walking wheel of below, avoid the gravity of wheelchair to pass through on connecting rod mechanism uses connecting rod motor, connecting rod motor does not receive wheelchair action of gravity, avoid impaired and greatly guaranteed the stability and the reliability that the wheelchair travel in-process supported.

As another possible implementation manner, referring to fig. 6, a support rod 25 is disposed on the first linkage rod 22 in a vertical and oblique direction, the lower end of the support rod 25 and the first linkage rod 22 are rotatably disposed, the upper end of the support rod 25 is provided with a butting head, and a butting seat is correspondingly disposed on the base frame; the upper end of the middle part of the first connecting rod 15 is further upwards fixedly provided with a first lever seat 30, the lower end of the front support arm or the lower end of the rear support arm corresponding to the first connecting rod is further obliquely and downwards fixedly provided with a fulcrum support 31, the support rod 25 is further fixedly provided with a second lever seat 32 and a linkage lever 33, the fulcrum of the linkage lever 33 is rotatably arranged on the fulcrum support, one end of the linkage lever 33 is rotatably connected onto the first lever seat 30, and the other end of the linkage lever 33 is rotatably connected onto the second lever seat 32.

Like this, when the walking wheel of needs walking supports the walking, the in-process that the connecting rod motor through walking wheel lifting control mechanism drove walking wheel and descends to the walking station, and when first connecting rod pivoted, can drive the synchronous upwards rotation of bracing piece through the linkage lever for when the walking wheel stretches out downwards completely and turns into the walking state, the bracing piece just rotates to vertical state, and the butt head can form the support of vertical direction with butt seat butt this moment. The connecting rod motor is protected from the gravity action of the wheelchair and the passengers, the control stability is ensured, and the service life is prolonged. Compared with the previous mode of controlling the rotation of the supporting rod by the motor, the mode has the advantages that the structure of purely mechanical linkage is ingeniously designed to control the supporting rod to rotate, the structure is simpler and more reliable, and the motor cost is saved.

In addition, when in implementation, a seat adjusting device is arranged between the seat and the base frame, so that the seat can be adjusted forwards and backwards and rotatably, and the specific structural principle of the seat adjusting device is consistent with that of the prior patent in the background art, and is not described in detail here. Meanwhile, an automatic control system is further installed on the base frame, automatic control of the control process can be achieved by detecting the state of the wheelchair, the specific structural principle is consistent with that of the prior patent in the background technology, and detailed description is omitted.

Claims (6)

1. The utility model provides a level land running gear of electronic wheelchair, its characterized in that, includes the walking wheel that two pairs of bilateral symmetry each respectively set up of fore-and-aft direction, and two pairs of walking wheels are installed respectively between two pairs of crawler attachment in the front and two pairs of crawler attachment in the rear, and the walking wheel links to each other through the preceding support arm or the back support arm of walking wheel lift control mechanism and the corresponding bed frame that correspond respectively.

2. The flat ground walking device of the electric wheelchair as claimed in claim 1, wherein the walking wheel lifting control mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod which are rotatably connected in sequence, one end of the first connecting rod far away from the second connecting rod is rotatably connected with the lower end position of the corresponding front support arm or rear support arm respectively, and one end of the third connecting rod far away from the second connecting rod is rotatably connected with the middle position of the corresponding front support arm or rear support arm respectively; one end of the first connecting rod, which is rotatably connected with the front support arm or the rear support arm, is connected with a connecting rod motor and can be driven to rotate by the connecting rod motor; the traveling wheel is arranged at the position where the first connecting rod is connected with the second connecting rod.

3. The flat ground walking device of electric wheelchair as claimed in claim 2, wherein the two front walking wheels are rotatably mounted on a walking wheel mounting plate disposed along the left-right direction by a walking wheel mounting seat, the upper end of the walking wheel mounting plate is fixed at the lower side surface of the connection of the first connecting rod and the second connecting rod, and the walking wheel mounting plate is further mounted with a steering motor in transmission connection with the walking wheel mounting seat.

4. The flat ground walking device of the electric wheelchair as claimed in claim 3, wherein in the two walking wheel elevation control mechanisms opposite to each other on the left and right, a first linkage rod is horizontally and fixedly arranged between the connecting positions of the two first connecting rods and the second connecting rod, and a second linkage rod is horizontally and fixedly arranged between the connecting positions of the two second connecting rods and the third connecting rod.

5. The flat ground walking device of the electric wheelchair as claimed in claim 4, wherein a support rod is disposed on the first linkage rod in a vertical direction, the lower end of the support rod and the first linkage rod are rotatably disposed, a support rod rotation control motor is further mounted on the first linkage rod, the support rod rotation control motor can control the support rod to rotate upwards, the upper end of the support rod is provided with a butt joint head, the base frame is correspondingly provided with a butt joint seat, and when the walking wheel is controlled by the walking wheel lifting control mechanism to extend downwards to a walking state, the butt joint head can abut against the butt joint seat to form a support after the support rod rotates to a vertical state.

6. The flat ground walking device of the electric wheelchair as claimed in claim 4, wherein a support bar is provided on the first linkage bar in a vertical direction obliquely upward, the lower end of the support bar and the first linkage bar are rotatably disposed, the upper end of the support bar is provided with a butting head, and the base frame is correspondingly provided with a butting seat; the upper end of the middle part of the first connecting rod is further upwards fixedly provided with a first lever seat, the lower end of the front support arm or the lower end of the rear support arm corresponding to the first connecting rod is further obliquely and downwards fixedly provided with a fulcrum support, the support rod is further fixedly provided with a second lever seat and a linkage lever, the fulcrum of the linkage lever is rotatably arranged on the fulcrum support, one end of the linkage lever is rotatably connected onto the first lever seat, and the other end of the linkage lever is rotatably connected onto the second lever seat.

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