WO2020252759A1

WO2020252759A1 - Electric wheelchair capable of climbing stairs and method for using same to ascend and descend steps

Info

Publication number: WO2020252759A1
Application number: PCT/CN2019/092197
Authority: WO
Inventors: 曾昭毅
Original assignee: 曾昭毅
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2020-12-24

Abstract

An electric wheelchair capable of climbing stairs and a method for using same to ascend and descend steps, the electric wheelchair consisting of a seat body (1), universal wheels (6), driving wheels (5), a battery, a main control module (11), an operating lever (13), a support frame (7), pin shafts (4), distance measuring sensor modules (10), a seat angle adjuster (12), chair wheel support rods (2/3/9) and chair wheel lifting devices (8). Two rows containing four universal wheels (6) in total are arranged at the front end of the wheelchair, and two rows containing four driving wheels (5) in total are arranged at the rear end of the wheelchair, wherein each row of universal wheels (6) and driving wheels (5) may be retracted to thus achieve the function of climbing stairs. The electric wheelchair has a novel design and a simple structure, and may safely and steadily go ascend and descend steps. At the same time, the wheelchair may adapt well to flat ground conditions without requiring a user to change the operation state of the wheelchair. The electric wheelchair is convenient to use and is beneficial for people having difficulty moving their lower limbs to move around and participate in social activities.

Description

Electric wheelchair capable of climbing stairs and method of using the same

Technical field

The invention belongs to the technical field of electric wheelchairs, and particularly relates to an electric wheelchair capable of going up and down steps by itself.

Background technique

There are a large number of patients, the disabled and the elderly who have difficulty walking in the society. Their travel is heavily dependent on wheelchairs. Electric wheelchairs give them the convenience of movement. However, due to the incomplete construction of barrier-free facilities, there are many restrictions on their travel, and many places with steps or similar obstacles cannot go by themselves. Even if someone helps, going up and down the stairs is very troublesome. This limitation limits the ability of these groups to integrate into normal life. Therefore, a facility that can overcome steps and similar obstacles is needed to help them.

technical problem

Some people try to design solutions for up and down steps. The current technical solutions for electric wheelchairs that go up and down steps on their own are generally divided into planetary wheels, large chair wheels, crawler wheels, or a combination of them. Planetary wheels and large chair wheels have up and down The steps are not safe and stable enough, the crawler mechanism is not efficient on flat ground, and there is also the risk of slipping when climbing stairs. The combined plan needs to switch the working status to go up and down the steps, the structure is complicated, and the operation and maintenance are inconvenient. No cases of large-scale applications have been seen.

The invention intends to realize the convenient, stable and safe up and down steps of the electric wheelchair, and at the same time, it can also be well adapted to flat ground operation.

Technical solutions

In view of the foregoing problems, the present invention implements the following technical solutions:

The electric wheelchair consists of the seat body and universal wheels, drive wheels, battery and main control module, joystick, support frame and pin shaft, distance measurement sensor module, seat angle adjuster, chair wheel support rod, and chair wheel lifting device .

There are four universal wheels and four driving wheels. The four universal wheels are at the front end of the wheelchair as front wheels and steering wheels. They are distributed in two rows in front and rear. Each row has a universal wheel on the left and right sides of the wheelchair. The four driving wheels are at the rear of the wheelchair. They are driven by electric motors as the rear wheels. Each row has a driving wheel on the left and right sides of the wheelchair. The left and right driving wheels are driven by electric motors. Different output rates can be realized, thereby controlling the speed of the wheelchair and completing the functions such as the steering of the wheelchair; the size and interval of the universal wheels are required to be that the front and rear universal wheels can be placed on a step at the same time without interference; The size and spacing of the driving wheels are required to be that the front and rear driving wheels can be placed on a step at the same time without interference with each other. Suppose the width of each step is L. Considering the interval, the diameter of each wheel is D <L/2.

The universal wheels and the driving wheels are both fixed on the chair wheel support rods in the vertical direction; in the two rows of front and rear universal wheels and the driving wheels, the chair wheel support rods in each row are connected by the chair wheel lifting device, The row of universal wheels or driving wheels can be raised or lowered by one step. Preferably, the second row of universal wheels and the first row of driving wheels of the wheelchair in the present invention are connected to the chair wheel lifting device through the chair wheel support rod.

The chair wheel lifting device is connected to the support frame through a pin shaft, and the chair wheel support rod connected to the chair wheel lifting device is directly connected to the support frame through a pin shaft; the support frame is the upper and lower levels in the horizontal direction, and the vertical direction The four sets of chair wheel support rods form a parallelogram, and the parallelogram can be deformed by the pin shaft, which enables the chair wheel support rod to be kept in a vertical direction when the front and rear wheels of the wheelchair cross different steps and different heights.

The front end of the seat body is rigidly connected with the first group of chair wheel support rods that cannot be raised and lowered. A self-locking seat angle adjuster is installed on the support frame, which engages with a gear fixed under the seat, and adjusts the angle between the seat body and the horizontal support frame through gear transmission.

The distance measuring sensor module is installed above the universal wheel and the driving wheel, and can measure the horizontal distance between the wheel and the front step and the vertical distance from the ground.

The joystick is a control device for the wheelchair user to manipulate the wheelchair forward, backward, and turn. The wheelchair will move or turn in the corresponding direction according to the swing direction of the joystick; when climbing stairs, the wheelchair user does not need to make special controls. When the wheelchair is moving forward, after the main control module detects the steps through the ranging sensor module, it will automatically control the chair wheels and the chair wheel support rods to complete the up and down steps. The armrests on both sides of the seat body and the back side of the backrest are reserved for the installation position of the joystick, and the installation position of the joystick can be determined according to the user's hand health and usage scenarios.

The battery and the main control module are installed under the seat body, the battery provides power for the wheelchair movement, and the main control module is provided with an inclination sensor. The main control module is the control center of the electric wheelchair. It receives the action instructions sent by the user through the operating lever, and coordinates the operation of various parts of the wheelchair according to the measurement data of the distance measuring sensor module, and performs forward, backward, left and right turns such as stairs climbing and flat running. When the inclination sensor detects an angle tilt, the main control module outputs a control signal to the seat angle adjuster to adjust the angle between the seat body and the support frame to ensure the seat level; A pair of chair wheel support rods are rigidly connected, and because the opposite sides of the parallelogram are parallel, this also ensures that all chair wheel support rods are always in a vertical state, thereby ensuring a stable center of gravity and preventing the wheelchair from falling over.

There is also an auxiliary brake mechanism on the driving wheel to ensure that the wheelchair can stop in time and be stable in a stationary state.

The method of up and down steps of the present invention is as follows:

When going up the stairs:

1) The front ranging sensor detects the approaching step, and the second row of universal wheels is driven by the chair wheel lifting device to extend downward to the height of a step. This action lifts the front of the wheelchair and the first row of universal wheels by one step. The height of the steps;

2) The rear driving wheel rotates forward to push the first row of universal wheels above the first step;

3) The second row of universal wheels is retracted upwards to the initial position. At this time, the first row of universal wheels falls on the first step and supports the front end of the wheelchair, while the second row of universal wheels is suspended from the first step. height;

4) The rear driving wheel continues to rotate forward, pushing the second row of universal wheels above the first step. At this time, the first two universal wheels fall on the first step and are on the driving wheel. Continue to advance until it is close to the second step, then repeat the aforementioned steps 1-4 to complete the climbing of the next step;

5) The steps of driving wheels up the steps are similar. When the rear ranging sensor detects the approaching steps, the first row of driving wheels will be retracted by the height of the first step under the drive of the chair wheel lifting device. At this time, there is only the second row at the rear end. The driving wheel lands on the ground to support and drive;

6) The second row of driving wheels rotate forward to push the first row of driving wheels above the first step;

7) The first row of driving wheels extends downward to the initial position. This action lifts the rear end of the wheelchair, so that the second row of driving wheels is suspended and raised to the same height as the first row of driving wheels. Rows of driving wheels support and drive on the first step;

8) The first row of driving wheels rotate forward, so that the second row of driving wheels also come to the first step and form a support. The driving wheels continue to rotate forward until they approach the second step. At this time, repeat the previous step 5. -8, complete the step climbing action of the driving wheel;

When descending steps:

1) When approaching the first step, the first row of universal wheels will step out of the step first, and the second row of universal wheels will form a support on the ground;

2) After the front ranging sensor detects that the first row of universal wheels has been completely suspended, the second row of universal wheels retracts upward to the height of a step. This action will lower the front of the wheelchair, that is, the first row of universal wheels. The wheel is placed on the next step to form a support;

3) The rear driving wheel rotates forward to push the second row of universal wheels onto the next step and hang in the air;

4) The second row of universal wheels extends downwards back to the initial position, and the first row of universal wheels simultaneously forms a support on the next step;

5) The rear driving wheel continues to rotate forward, push the first row of universal wheels forward, enter the state of step 1 again, and repeat the aforementioned steps 1-5 to complete the downward movement of the next step;

6) The steps of driving the wheels down the steps are similar, the first row of driving wheels go out of the steps and hang in the air, at this time the rear end is supported by the second row of driving wheels on the ground;

7) After the first row of driving wheels are completely suspended above the next step, they extend down to the height of the next step to form a support on the next step;

8) The first row of driving wheels continue to rotate forward, so that the second row of driving wheels leave the upper step and hang in the air;

9) After the second row of driving wheels is completely above the next step, the first row of driving wheels is retracted upwards to the initial position, so that the rear end of the wheelchair is lowered, and the second row of driving wheels is also lowered to the step of this step. Support on top;

10) The two rows of driving wheels touch the ground and rotate forward, so that the first row of driving wheels travel beyond the step again to form a suspension, and enter the state of step 6. At this time, repeat the aforementioned steps 7-10 to complete the lowering of the driving wheels. Step action.

When the wheelchair approaches the steps, the main control module will judge whether the wheelchair is facing the steps according to the data detected by the left and right distance measuring sensors. If it is not facing the steps, the main control module will adjust the speed of the left and right driving wheels so that the wheelchair is facing behind the steps. Then proceed up and down the steps to avoid the chair wheel from stepping on and causing it to fall over.

When the present invention runs on flat ground, four-wheel operation or eight-wheel operation mode can be selected according to road conditions. When running on the ground with good road conditions, the four chair wheels connected by the chair wheel lifting device can be raised upwards to reduce friction and noise; when running on the ground with rough road conditions, you can choose to run all eight wheels on the ground to provide better support.

Beneficial effect

The present invention has the following beneficial effects:

1) Running on flat ground and going up and down steps does not require special instructions or state switching, easy to operate;

2) No additional assistance is required to go up and down steps by yourself;

3) At any time, at least a pair of universal wheels and driving wheels are stably supported on the level of the steps, and there is no unstable step of rolling or sliding on the slope of the steps or the top corners of the horizontal and vertical surfaces of the steps. The wheelchair runs safely and smoothly;

4) The step-climbing mechanism only needs to continuously extend and retract the height of one step to repeatedly climb multiple steps, which reduces the size requirements of the climbing mechanism.

Description of the drawings

Figure 1: A schematic diagram of the three-dimensional structure of the present invention;

Figure 2: Front view of the present invention;

Figure 3: Right side view of the present invention;

Figure 4: Schematic diagram of the steps of the front wheel on the steps;

Figure 5: Schematic diagram of the steps of the rear wheel on the steps;

Figure 6: Schematic diagram of the steps of the front wheel descending steps;

Figure 7: Schematic diagram of the steps of the rear wheel descending steps.

The name of the label in the drawing:

1- seat body, 2- seat wheel support rod (universal wheel), 3- seat wheel support rod (front drive wheel), 4-pin shaft, 5 (5a-5d)-drive wheel, 6 (6a-6d) )-Universal wheel, 7-support frame, 8-chair wheel lifting device, 9-chair wheel support rod (rear driving wheel), 10-range sensor module, 11-battery and main control module, 12-seat angle Adjuster, 13-joystick.

The best mode of the invention

The best embodiment of the present invention will be further described below in conjunction with Figures 1-7. The following implementation cases are only used to explain the working principle of this solution more clearly, and should not be used to limit the protection content of the present invention.

As shown in Figures 1-3, the electric wheelchair of the present invention consists of a seat body 1 and universal wheels 6 (including four universal wheels 6a, 6b, 6c, and 6d), a driving wheel 5 (including driving wheel 5a) , 5b, 5c, and 5d), battery and main control module 11, joystick 13, support frame 7, pin 4, distance measuring sensor module 10, seat angle adjuster 12, chair wheel support rod 2, chair The wheel supporting rod 3 (front driving wheel), the chair wheel supporting rod 9 (rear driving wheel), and the chair wheel lifting device 8 are constituted.

The chair wheel support rods 2 and 3 are installed on the chair wheel lifting device 8. The seat body 1, the chair wheel lifting device 8 and the chair wheel support rod 9 are connected with the support frame 7 through the pin 4 to form a deformable parallelogram. .

As shown in Figure 1, the universal wheels 6 are distributed in front and rear rows, 6a, 6c are the first row, 6b, 6d are the second row; the driving wheels 5 are distributed in front and rear two rows, 5a, 5c are the first row, and 5b , 5d is the second row. In particular, because the front and rear intervals of the chair wheels are small, the parallelogram deformation of the support frame 7 and the chair wheel support rods 2, 3, 9 etc. when going up and down steps will cause the horizontal front and rear intervals to be further reduced. In order to avoid two rows of chairs. The wheels squeeze each other to make the front and rear rows of chair wheels staggered in the left and right directions, as shown in Figure 1 and Figure 2.

As shown in Fig. 1, the chair wheel support rods 2, 3 and the chair wheel lifting device 8 mounted on the universal wheels 6b, 6d and the driving wheels 5a, 5c can lift the height of a step.

The battery and the main control module 11 are installed on the supporting frame 7 and fixed under the seat body 1. The distance measuring sensor module 10 is installed beside the chair wheels 5 and 6, and detects the horizontal and vertical distances between the chair wheels and the steps.

The seat angle adjuster 12 is installed on the support frame 7 and engages with the seat body 1 through gears to adjust the angle between the seat body 1, the seat wheel support rods 2, 3, and 9 and the support frame 7. The joystick 13 is installed on the armrest of the wheelchair and can be installed in several alternative positions. The user sends an action command to the main control module 11 through the joystick 13, and the main control module 11 refers to the information detected by the ranging sensor module 10 and the built-in inclination sensor to control the driving wheel 5, the chair wheel lifting device 8, and the seat angle adjustment The device 12 performs actions to complete the instructions sent by the user.

The method of up and down steps of the present invention is shown in Figures 4 to 7, which are described below:

Figure 4 is an exploded view of the steps of the universal wheel ascending steps:

1) Approach the steps;

2) The second row of universal wheels 6b, 6d extend downward to the height of a step, and the front end of the wheelchair and the first row of universal wheels 6a, 6c are raised to the height of a step;

3) The rear driving wheel 5 rotates forward, pushing the first row of universal wheels 6a, 6c above the first step;

4) The second row of universal wheels 6b, 6d are retracted upwards to the same height as 6a, 6c, and the front end of the wheelchair is supported by the first row of universal wheels 6a, 6c on the first step;

5) The driving wheel 5 continues to rotate forward, and the second row of universal wheels 6b and 6d are also pushed above the first step to complete the step up step. Repeat the above steps 1-5 to complete the entire flight of stairs on the universal wheel.

Figure 5 is an exploded view of the steps of the driving wheel ascending steps:

1) The driving wheel approaches the steps;

2) The first row of driving wheels 5a, 5c are retracted by a step height, and the second row of driving wheels 5b, 5d form a support;

3) The second row of driving wheels 5b, 5d rotate forward to push the first row of driving wheels 5a, 5c above the first step;

4) The first row of driving wheels 5a, 5c extend downward to ascend to 5b, 5d, and lift the rear end of the wheelchair;

5) The first row of driving wheels 5a, 5c rotate forward, so that the second row of driving wheels 5b, 5d also come to the first step and form a support to complete the step of stepping up. Repeat the aforementioned steps 1-5 to complete the entire flight of stairs on the driving wheels.

Figure 6 is an exploded view of the steps of the universal wheel descending steps:

1) Close to the edge of the steps;

2) The first row of universal wheels 6a, 6c step out of the steps and hang in the air, and only the second row of universal wheels 6b, 6d form a support;

3) After the front ranging sensor detects that the first row of universal wheels 6a and 6c have been completely suspended, the second row of universal wheels 6b and 6d are retracted up to the height of a step, and the front of the wheelchair is lowered, and the first The row of universal wheels 6a, 6c are placed on the next step to form a support;

4) The rear driving wheel 5 rotates forward to push the second row of universal wheels 6b and 6d out of the air;

5) The second row of universal wheels 6b, 6d extend downwards to form a support, completing the step of stepping down. Repeat the aforementioned steps 1-5 to complete the entire section of stairs under the universal wheel.

Figure 7 is an exploded view of the steps of driving the wheel down:

1) The driving wheel is close to the edge of the step;

2) Driven by the second row of driving wheels 5b, 5d, the first row of driving wheels 5a, 5c step out of the steps and hang in the air, at this time, the driving wheels 5b, 5d form a support;

3) The first row of driving wheels 5a, 5c are completely suspended, extending downward to the height of a step, forming a support on the next step;

4) The first row of driving wheels 5a, 5c rotate forward, so that the second row of driving wheels 5b, 5d leave the upper step and hang in the air;

5) After the second row of driving wheels 5b, 5d are completely suspended, the first row of driving wheels 5a, 5c are retracted to the same height as the driving wheels 5b, 5d, so that the rear end of the wheelchair is lowered and the second row of driving wheels 5b and 5d are also lowered to the step above to form a support, completing the step of stepping down. Repeat the aforementioned steps 1-5 to complete the entire flight of stairs under the driving wheels.

As shown in Figure 4-Figure 7, according to the specific positions of the universal wheel and the driving wheel during the up and down steps, the universal wheel and the driving wheel will take corresponding actions according to their own steps to complete the front of the wheelchair. And the back-end up and down stairs. At the same time, the seat angle adjuster 12 adjusts the angle between the seat body 1 and the support frame 7 during the entire process of going up and down according to the signal of the main control module 11 to ensure the level of the seat.

The above are only the principle description and the best embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any improvement and deformation that does not deviate from the technical principle of the present invention should be regarded as Within the protection scope of the present invention.

Embodiments of the invention

On the basis of the aforementioned best embodiment of the present invention, the following embodiments can also be adopted:

The driving wheel 5 can be directly driven by a motor, or it can be driven by a motor through gear or chain transmission; after being driven by a gear or chain, the front and rear driving wheels can be driven by the same motor, reducing the overall cost of the wheelchair.

The seat angle adjuster 12 can be realized by gear coupling or hydraulic rod, electric push rod, spiral screw rod and the like.

The chair wheel lifting device 8 can adopt linear motors, screw rods, hydraulic drive, etc., and the chair wheel lifting devices 8 on the left and right sides can be driven by the same set of power, which not only ensures synchronization, but also reduces power components and drive modules.

Additional distance measuring sensors or cameras can be added to the front and rear of the wheelchair to realize early detection of surrounding obstacles, so that the wheelchair can avoid or stop in advance, and further enhance the safety of the wheelchair operation.

According to the adjustment of the structural layout of the various components of the wheelchair, the first row of universal wheels or the second row of driving wheels can also be selected to support up and down expansion, and the steps of the wheelchair up and down the steps are adjusted accordingly according to the expansion sequence.

Industrial applicability

The invention has a clear principle and a clear structure. The key components involved such as driving wheels, batteries and main control modules, distance measuring sensor modules, seat angle adjusters, chair wheel lifting devices, etc. can all adopt mature industrial products or technical solutions. It can be realized and put into practical application using typical industrial design and manufacturing methods.

The invention solves the target technical problem by alternately climbing the steps with two rows of chair wheels, the working process is simple and clear, the working state is stable and reliable, the operation is simple and the applicability is wide.

In summary, the present invention has strong industrial applicability.

Sequence Listing Free Content

no.

Claims

An electric wheelchair capable of climbing stairs, which is supported by the seat body and universal wheels, drive wheels, battery and main control module, joystick, support frame and pin shaft, distance measurement sensor module, seat angle adjuster, and chair wheels The rod and the chair wheel lifting device are composed; it is characterized in that there are four universal wheels and four driving wheels. The four universal wheels are at the front end of the wheelchair as the front wheel and steering wheel. The four driving wheels are at the rear end of the wheelchair. The rear wheels are driven by electric motors; the distribution of the four universal wheels is as follows: the front of the wheelchair is divided into two rows, each row has a universal wheel on the left and right sides of the wheelchair; the distribution of the four driving wheels is The rear end of the wheelchair is divided into two rows, each row has a driving wheel on the left and right sides of the wheelchair; the size and spacing of the universal wheels are required to be that the front and rear universal wheels can be placed on a step at the same time And there is no interference with each other; the size and spacing of the driving wheels are required to be that the front and rear driving wheels can be placed on a first step at the same time without interference; the universal wheels and the driving wheels are both fixed on the chair wheels in the vertical direction On the support rod; in the front and rear rows of universal wheels and driving wheels, each of a row of chair wheel support rods is connected by a chair wheel lifting device, which can raise or lower the row of universal wheels or driving wheels by one step The height of the chair wheel lifting device is connected to the support frame through a pin shaft, and the chair wheel support rod connected to the chair wheel lifting device is directly connected to the support frame through a pin shaft; the support frame is the upper and lower levels in the horizontal direction, and the vertical The straight chair wheel support rods form a parallelogram, which can be deformed by the pin shaft; the front end of the seat body and the first group of chair wheel support rods that cannot be raised and lowered are rigidly connected, and the seat angle adjuster is installed on the support frame , In order to ensure the stable posture of the seat body; the distance measuring sensor module is installed above the universal wheel and the driving wheel, and can measure the horizontal distance of the wheel from the front step and the vertical distance from the ground; the armrests and backrests on both sides of the seat body The joystick installation position is reserved on the back side, which can be determined according to the user’s hand health and usage scenarios; the battery and the main control module are installed under the seat body. The battery provides power for the wheelchair movement. The control module is equipped with an inclination sensor. The main control module coordinates the operation of various parts of the wheelchair according to the actions of the user through the operating lever and the measurement data of the ranging sensor module and the inclination sensor, and carries out the forward and backward movement of stairs climbing and flat ground operation. , Turn left and right, etc.
The electric wheelchair according to claim 1, which is characterized by its flat ground operation method: four-wheel operation or eight-wheel operation can be selected; for a relatively flat ground, a row of universal wheels and a row of universal wheels can be raised by the chair-wheel lifting device Rows of drive wheels, only one row of universal wheels and one row of drive wheels that cannot be raised or lowered are left in contact with the ground. At this time, the wheelchair operates in the same manner as an ordinary wheelchair. According to the action of the joystick, the two drive wheels are controlled. Different output power and forward and reverse rotation can realize the forward, backward and turning of the wheelchair; for the more bumpy ground, the other four wheels can be lowered by the chair wheel lifting device, that is, all eight wheels are in contact with the ground to increase the bearing capacity. The key point is to increase the stability of the wheelchair. When the main control module detects the slope of the ground according to the inclination sensor, it will control the seat angle adjuster to adjust the angle between the seat body and the support frame to ensure the level of the seat.
The electric wheelchair according to claim 1, the method of using up and down steps is as follows:

For the convenience of presentation, the second row of universal wheels and the first row of driving wheels of the wheelchair are connected to the chair wheel lifting device through the chair wheel support rods; before going up and down the steps, all the eight wheels of the wheelchair should run on the ground;

When going up the stairs:

The front ranging sensor detects the approaching step, and the second row of universal wheels extends downward to the height of a step. This action is to lift the front of the wheelchair and the first row of universal wheels to the height of a step. At this time, the rear The driving wheel rotates forward, pushing the first row of universal wheels above the first step, and then the second row of universal wheels retracts upward to the same height as the first row of universal wheels. The wheels fall on the first step, supporting the front end of the wheelchair, and the second row of universal wheels is suspended at the height of the first step at the rear. At this time, the rear driving wheel continues to rotate forward, turning the second row of universal wheels Also push to the first step. At this time, the first two universal wheels fall on the first step to form a support to complete the step-up movement; the wheelchair continues to move forward under the push of the driving wheel until it approaches For the second step, repeat the previous steps to complete the entire staircase;

The steps for the driving wheels are similar. When the rear ranging sensor detects the approaching steps, the first row of driving wheels is retracted up by the height of a step. At this time, only the second row of driving wheels are on the ground at the rear end, and the second row of driving wheels is facing Turn forward to push the first row of driving wheels above the first step. At this time, the first row of driving wheels extends downward to the same height as the second row of driving wheels. This action lifts the rear of the wheelchair and the first The second row of driving wheels is suspended, and the first row of driving wheels forms a support on the first step. At this time, the first row of driving wheels rotates forward, so that the second row of driving wheels also come to the first step and form a support. Complete the action of one step up the stairs; the driving wheel continues to rotate forward until it is close to the second step. At this time, repeat the previous steps to complete the entire stairs;

When descending steps:

When approaching the first step, the first row of universal wheels will go out of the step first, and only the second row of universal wheels will form a support. After the front ranging sensor detects that the first row of universal wheels is completely suspended, the second row of universal wheels will Retract the wheels up to the height of the first step. This action will lower the front of the wheelchair, that is, put the first row of universal wheels on the next step to form a support. At this time, the rear driving wheel rotates forward to set the The second row of universal wheels is pushed out above the next step and suspended, and then the second row of universal wheels extends downward to the same height as the first row of universal wheels, and also forms a support on the next step to complete the next step. Step action; at this time, the rear driving wheel continues to rotate forward, push the first row of universal wheels forward, repeat the previous steps, and then complete the descending of the entire flight of stairs;

The steps for driving wheels down the steps are similar. The first row of driving wheels first step out of the steps and hang in the air. At this time, only the second row of driving wheels touch the ground at the rear end. After the first row of driving wheels are completely suspended above the next step, they will extend downward. The height of the first step forms a support on the next step. The first row of drive wheels continue to rotate forward, so that the second row of drive wheels leave the upper step and hang in the air. After going up, the first row of driving wheels retracts upwards to ascend the second row of driving wheels, so that the rear end of the wheelchair is lowered, and the second row of driving wheels are also lowered to the step to form a support, completing the step down step. Action; At this time, the driving wheels rotate forward, so that the first row of driving wheels again travel outside the steps to form a suspension. At this time, repeat the foregoing steps to complete the descending of the entire flight of stairs;

If the chair wheels that can be raised and lowered are the first row of universal wheels or the second row of driving wheels, only need to adjust the lifting sequence according to this principle to complete the stair climbing action;
According to the electric wheelchair of claim 1, when going up and down steps, the main control module will control the seat angle adjuster according to the inclination detected by the inclination sensor, adjust the angle between the seat body and the support frame, and ensure the seat The chair is horizontal, and at the same time, because of the rigid connection between the seat body and the chair wheel support rod, this also keeps the chair wheel support rod in the vertical direction, thereby maintaining a stable center of gravity and avoiding the center of gravity shifting and tipping when going up and down steps.
The electric wheelchair according to claim 1, when approaching the steps, the main control module will judge whether the wheelchair is facing the steps according to the data detected by the left and right distance measuring sensors. If it is not facing the steps, the main control module will adjust the left and right driving wheels The speed of the wheelchair is to make the wheelchair move up and down after facing the steps to avoid the chair wheels from stepping on and causing them to fall over.