WO2022095191A1 - 一种轮椅 - Google Patents

一种轮椅 Download PDF

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Publication number
WO2022095191A1
WO2022095191A1 PCT/CN2020/134116 CN2020134116W WO2022095191A1 WO 2022095191 A1 WO2022095191 A1 WO 2022095191A1 CN 2020134116 W CN2020134116 W CN 2020134116W WO 2022095191 A1 WO2022095191 A1 WO 2022095191A1
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WO
WIPO (PCT)
Prior art keywords
wheel
gear
mounting
seat
wheelchair
Prior art date
Application number
PCT/CN2020/134116
Other languages
English (en)
French (fr)
Inventor
钱理
Original Assignee
常熟市平方轮椅有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 常熟市平方轮椅有限公司 filed Critical 常熟市平方轮椅有限公司
Publication of WO2022095191A1 publication Critical patent/WO2022095191A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering

Definitions

  • the invention belongs to the technical field of wheelchairs, and particularly relates to a wheelchair.
  • Wheelchair climbing is a product that has been targeted for a long time, but there are still the following problems: There is a fully automatic wheelchair that can independently rely on the wheelchair itself to climb the stairs. Although it can solve the problem of climbing stairs, the popularity is not high, and it is basically unknown in the market. The reason is that the cost is too high, that is, the price is high; in addition, because of its complex structure, the maintenance difficulty and cost are also high; therefore, it is necessary to design a fully automatic step-up wheelchair with low cost, relatively simple structure and convenient maintenance. .
  • the purpose of the present invention is to disclose a wheelchair, which is realized by adopting the following technical solutions.
  • a wheelchair includes a seat, a walking wheel mechanism, a first support, and a support wheel mechanism, wherein two symmetrically distributed walking wheel mechanisms are respectively installed on the lower side of the seat through a first support, and two of the four support wheel mechanisms.
  • Two groups are symmetrically installed at the front and rear ends of the underside of the seat, and the two supporting wheel mechanisms located on the same side of the front and rear are symmetrical to each other; when walking on a flat road, the universal wheels at the lower end of the four supporting wheel mechanisms are connected to the ground.
  • the contact plays a supporting role on the seat. When going up the stairs, the universal wheel at the lower end of the four supporting wheel mechanism is lifted up and separated from the ground.
  • the above-mentioned walking wheel mechanism includes a ring motor, a mounting shell, a screw, a wheel surface, a first gear, a mounting shaft, a servo motor, a fixed support, a second gear, and a threaded sleeve, wherein the mounting shell is mounted on the lower side of the seat through the first support.
  • the ring motor is fixedly installed on one side of the first support, and the output end of the ring motor is fixedly connected to the installation shell;
  • the servo motor is fixedly installed at one end of the installation shell, and one end of the installation shaft is fixedly connected to the output shaft of the servo motor, the first Both ends of a gear are bevel ends, the first gear is fixedly installed on the installation shaft, and the first gear is located at the other end of the installation shell;
  • the wheel surface is composed of a plurality of wheel unit blocks evenly distributed in the circumferential direction.
  • Two threaded rods are installed symmetrically on the inner arc surface of the unit block, and the two threaded rods are installed on the installation shell through the sliding fit of the guide slider and the guide chute, and the wheel unit block is located outside the installation shell.
  • the inner side of the unit block corresponds to two threaded sleeves, and the two threaded sleeves are rotatably installed in the installation shell through a fixed support.
  • a second gear is respectively fixedly mounted on each of the threaded sleeves, the second gear is a bevel gear, and the second gear meshes with the bevel gear at the corresponding end of the first gear.
  • a battery is installed on the rear side of the seat, and both the ring motor and the servo motor are connected to the battery through wires.
  • the above-mentioned support wheel mechanism includes a fixed rod, a telescopic rod, a universal wheel, an electric push rod, and a return spring, wherein the upper end of the fixed rod is fixedly installed on the lower side of the seat, and the telescopic rod has a return spring,
  • the upper end of the telescopic rod is hingedly installed on the lower end of the fixed rod, and the lower end of the telescopic rod is equipped with a universal wheel; an electric push rod is installed between the telescopic rod and the seat seat, and one end of the electric push rod is hingedly installed on the lower side of the seat seat, and the electric push rod is mounted on the lower side of the seat seat.
  • the other end of the push rod is hingedly mounted on the telescopic rod.
  • the above-mentioned return spring is a compression spring, and has a pre-pressure.
  • one side of the two mounting shells in the two above-mentioned walking wheel mechanisms is respectively installed with a rotary electric connection device B, and the rotary electric connection device B is fixedly installed on the lower side of the seat through the second support;
  • the electrical connecting device A is installed in the rotating electrical connecting device B, and the electric wire connected to the servo motor is connected to the battery through the rotating power supply mode of the rotating electrical connecting device A and the rotating electrical connecting device B.
  • the inner sides of the two mounting shells in the two above-mentioned traveling wheel mechanisms respectively have a fixed bushing, and one end of the two mounting shafts is rotatably mounted in the two fixed bushings.
  • the outer surface of one end of the above-mentioned mounting shell is provided with a plurality of axial holes uniformly in the circumferential direction, and two guide sliders are symmetrically installed in each of the shaft holes.
  • Two guide chutes are opened symmetrically on the surface, and the screw rods are installed in the corresponding shaft holes through the sliding cooperation of the two guide chutes and the corresponding guide sliders.
  • both ends of the outer arc surface of each wheel unit block are provided with two installation notches, and a friction plate is respectively installed on the two installation notches.
  • each of the above wheel unit blocks is provided with a mounting hole, and a plurality of friction arc plates are respectively installed on the outer circular surfaces of the two mounting shells through the connecting blocks evenly in the circumferential direction, and the friction arc plates correspond to the corresponding Fit the mounting holes opened on the wheel unit block.
  • a mounting ring is fixedly mounted on the two mounting shells, respectively, and one end of the connecting block is fixedly mounted on the outer circular surface of the mounting ring.
  • the above-mentioned mounting ring is fixedly mounted on the corresponding mounting shell by welding.
  • the beneficial effects of the present invention are as follows: 1.
  • the present invention firstly controls the opening of the wheel unit blocks on the two wheel surfaces, so that the two adjacent wheel unit blocks appear between the two adjacent wheel unit blocks. Clearance, in the process of going up the stairs, if the gap between the two adjacent wheel unit blocks on both sides of the wheel surface is so good that it can be stuck on the corresponding step surface, face the wheel on the upper side in the rotation direction of the wheel through the step.
  • the support force of the unit block enables the wheelchair to climb the stairs smoothly.
  • the wheelchair when walking on a normal flat road, the wheelchair is supported and balanced by the four supporting wheel mechanisms; at this time, the balance program in the wheelchair is closed; The wheel is lifted to prevent the four supporting wheel mechanisms from interfering with the stairs during the process of going up the stairs. At the same time, the balance of the wheelchair on the stairs is artificially assisted by the built-in balance program.
  • the present invention designs the friction plate, which plays an anti-slip effect on the wheelchair going up and down the stairs and ensures the relative safety of the wheelchair going up and down the stairs; it makes the contact area with the stair step surface, that is, the front and rear ends of the wheel unit block, have greater frictional resistance .
  • the friction arc plate is designed in the present invention. During the normal walking process, the friction sliding plate is matched with the mounting hole on the corresponding wheel unit block to ensure that there is sufficient friction between the wheel surface and the ground when walking on a flat road. normal walking on the face.
  • the wheel unit block moves a certain distance relative to the friction arc plate along the radial direction, and the friction arc plate does not contact the stair step surface, so as to ensure that the wheelchair relies on the wheel when in contact with the steps.
  • the smooth surface in the middle area of the unit keeps the wheelchair facing the steps.
  • Figure 1 is a schematic diagram of the appearance of the overall components.
  • Figure 2 is a schematic diagram of the structure of the seat.
  • Figure 3 is a schematic diagram of the installation of the traveling wheel mechanism and the supporting wheel mechanism.
  • Figure 4 is a schematic structural diagram of the support wheel mechanism.
  • Figure 5 is a schematic diagram of the structure of the traveling wheel mechanism.
  • Figure 6 is a schematic diagram of the internal structure of the traveling wheel mechanism.
  • FIG. 7 is a schematic diagram of the installation of the rotary electrical connection device A.
  • FIG. 8 is a schematic diagram of the structure of the installation shell.
  • FIG. 9 is a schematic diagram of the installation of the first gear.
  • Figure 10 is a schematic diagram of the installation of the friction arc plate.
  • Figure 11 is a schematic diagram of the installation of the second gear.
  • Figure 12 is a schematic diagram of the structure of the wheel unit block.
  • Figure 13 is a schematic diagram of the cooperation between the screw and the threaded sleeve.
  • FIG. 1 it includes a seat 1, a traveling wheel mechanism 4, a first support 10, and a supporting wheel mechanism 3.
  • two symmetrically distributed traveling wheel mechanisms 4 are respectively supported by a first support 10 is installed on the lower side of the seat 1
  • four supporting wheel mechanisms 3 are symmetrically installed on the front and rear ends of the lower side of the seat 1 in pairs, and the two supporting wheel mechanisms 3 located on the same side of the front and rear are symmetrical to each other;
  • the universal wheel 7 at the lower end of the four supporting wheel mechanisms 3 contacts the ground to support the seat 1.
  • the universal wheel 7 at the lower end of the four supporting wheel mechanisms 3 lifts up and off the ground.
  • the steering of the traveling wheel mechanism 4 designed in the present invention realizes the steering function by controlling the speed difference of the wheel surfaces 11 in the two traveling wheel mechanisms 4 .
  • the walking wheel mechanism 4 is composed of two parts.
  • the balance of the wheelchair adopts the existing technology, such as the balance technology of the balance car. Because the balance when going up the stairs is not the same as the balance of the ordinary balance car, the balance of the wheelchair can be adopted. Human-assisted balance to improve the safety of stairs.
  • the wheelchair when walking on a normal flat road, the wheelchair is supported and balanced by the four supporting wheel mechanisms 3; at this time, the balance program in the wheelchair is closed, and steering is realized through the speed difference of the walking wheel mechanisms 4 on both sides;
  • the balance program in the wheelchair When going up the stairs, lift the universal wheel 7 at the lower end of the four supporting wheel mechanisms 3 to prevent the four supporting wheel mechanisms 3 from interfering with the stairs during the process of going up the stairs.
  • the balance procedure used for climbing stairs is rare, and the balance effect is not good, so the wheelchair needs additional manual assistance when climbing stairs to ensure balance, and is a semi-automatic wheelchair.
  • the above-mentioned traveling wheel mechanism 4 includes a ring motor 14 , a mounting shell 15 , a screw 17 , a wheel surface 11 , a first gear 19 , a mounting shaft 23 , a servo motor 24 , a fixed support 28 , and a second gear 29 3 and 6,
  • the mounting shell 15 is installed on the lower side of the seat 1 through the first support 10
  • the ring motor 14 is fixedly installed on one side of the first support 10
  • the ring motor 14 The output end is fixedly connected to the mounting shell 15; as shown in Figures 6 and 9, the servo motor 24 is fixedly mounted on one end of the mounting shell 15, and one end of the mounting shaft 23 is fixedly connected to the output shaft of the servo motor 24, as shown in Figures 6 and 9
  • both ends of the first gear 19 are bevel ends
  • the first gear 19 is fixedly installed on the installation shaft 23, and the first gear 19 is located at the other end of the installation shell 15; as shown in FIG.
  • the wheel surface 11 is It is composed of a plurality of wheel unit blocks 27 evenly distributed in the circumferential direction.
  • the inner arc surface of each wheel unit block 27 is symmetrically and fixedly installed with two screws 17. As shown in Figure 11, the two screws 17 pass through the guide slider. 22 and the guide chute 33 are installed on the mounting shell 15 in a sliding fit, and the wheel unit block 27 is located on the outside of the mounting shell 15.
  • each wheel unit block 27 corresponds to two threaded sleeves 34, and the two threaded sleeves 34 pass through a
  • the fixed support 28 is rotatably installed in the installation shell 15, the two threaded sleeves 34 are matched with the two screws 17 in one-to-one correspondence, and the rotation directions of the inner and outer screws 17 are opposite;
  • the two sets of screws 17 and threaded sleeves 34 driven by the two second gears 29 on both sides of the first gear 19 can drive the corresponding wheel unit blocks 27 to move in the same direction;
  • Two gears 29 , the second gear 29 is a bevel gear, and the second gear 29 meshes with the bevel teeth on the corresponding end of the first gear 19 .
  • the ring motor 14 works to drive the installation shell 15 to rotate, and the rotation of the installation shell 15 drives the wheel surface 11 to rotate through the screw 17 that is slidably installed on it, so as to realize the walking function;
  • the rotation of the shaft 23 drives the first gear 19 to rotate, the rotation of the first gear 19 drives the rotation of the second gear 29 meshing with it, and the rotation of the second gear 29 drives the corresponding threaded sleeve 34 to rotate.
  • the screw 17 can only slide along the corresponding shaft hole 21 opened on the mounting shell 15, and cannot rotate, so the rotation of the threaded sleeve 34 will drive the screw 17 matched with its thread along the As the corresponding shaft hole 21 slides, the screw 17 slides and drives the corresponding wheel unit block 27 to move, separating the originally combined wheel unit blocks 27 in a single form, so that a gap appears between two adjacent wheel unit blocks 27 , when going up the stairs, the sharp corners of the upper and lower steps will be stuck in the gap between the two wheel unit blocks 27 to ensure that the upper step surface can be the wheel unit block 27 that is in contact with the upper step surface in the rotation direction. Sufficient supporting force is provided so that the wheel unit block 27 can drive the wheelchair to walk upward when the ring motor 14 drives it to rotate.
  • the use range of the wheelchair designed by the present invention must be specified, and the height of the stairs must match the wheelchair. For example, when building a nursing home, the stairs are built to match the wheelchair.
  • the main torque error of the two wheel surfaces 11 of the wheelchair designed by the present invention is within 5%.
  • the present invention When going up the stairs, the present invention first controls the wheel unit blocks 27 on the two wheel surfaces 11 to open, so that there is a gap between the two adjacent wheel unit blocks 27.
  • the gap between two adjacent wheel unit blocks 27 is so good that it can be stuck on the corresponding step surface, the wheelchair can climb the stairs smoothly through the support force of the wheel unit block 27 located on the upper side in the direction of wheel rotation through the step facing the wheel. .
  • the wheel unit on the other running wheel mechanism 4 If two running mechanisms touch the step surface at the same time when going up the stairs, but the gap between the wheel unit blocks 27 on one of the running wheels is stuck on the stepped surface, the wheel unit on the other running wheel mechanism 4 The clearance of the block 27 is not stuck on the step surface, the torque required for the rotation of the wheel surface 11 on the stuck side is relatively large, while the torque on the other side is relatively small. Fifth, the two traveling wheel mechanisms 4 are driven by the driving torque required by the side with the smaller driving torque. At this time, the side with the relatively small torque required will slip and rotate, while the driving torque of the other side will be far away.
  • the side running wheel mechanism 4 will be relatively static because the wheel surface 11 is stuck at the sharp corner of the step and will not rotate, and the wheel surface 11 on the side that is not stuck rotates to the sharp corner of the stuck step At this time, the torque required for the subsequent rotation of the walking wheel mechanisms 4 on both sides can be used to drive the two wheel surfaces 11 to rotate with a large torque. Under the action of the step surface, the wheelchair can continue to go up the stairs normally.
  • the torque required by the wheel surface 11 also far away from the step surface is much smaller than the torque of the wheel surface 11 on the other side;
  • the torque required by the wheel surface 11 on the side surface drives the two traveling wheel mechanisms 4. Because the torque required by the wheel surface 11 stuck on the step surface is large, it will not rotate, and the wheel surface 11 away from the step surface will rotate and drive
  • the side of the wheelchair away from the step surface gradually approaches the step surface with the walking wheel mechanism 4 stuck on the step surface as the fulcrum.
  • the gap between the wheel surface 11 does not match the sharp corners of the step surface, continue to rotate until it matches the step surface.
  • the sharp corners of the face are matched, and finally they are rotated together.
  • a battery 2 is installed on the rear side of the seat 1 , and both the ring motor 14 and the servo motor 24 are connected to the battery 2 through wires.
  • the motor for controlling the opening of the wheel unit block 27 adopts the servo motor 24 , and the opening angle of the wheel unit block 27 is precisely controlled by the servo motor 24 .
  • the above-mentioned supporting wheel mechanism 3 includes a fixed rod 5, a telescopic rod 6, a universal wheel 7, an electric push rod 8, and a return spring 9, wherein the upper end of the fixed rod 5 is fixedly installed on the lower side of the seat 1, There is a return spring 9 in the telescopic rod 6, the upper end of the telescopic rod 6 is hingedly installed on the lower end of the fixed rod 5, the lower end of the telescopic rod 6 is installed with a universal wheel 7; between the telescopic rod 6 and the seat 1, an electric push rod 8 is installed , one end of the electric push rod 8 is hingedly installed on the lower side of the seat 1 , and the other end of the electric push rod 8 is hingedly installed on the telescopic rod 6 .
  • the telescopic rod 6 and the fixed rod 5 are in a collinear state; when the wheelchair is suspended, the telescopic rods 6 at the lower ends of the four supporting wheel mechanisms 3 are in an extended state, and the lowest point of the universal wheel 7 The point is lower than the lowest point of the combined wheel surface 11; after the wheelchair touches the ground, the telescopic rods 6 in the four support wheel mechanisms 3 are compressed short, and the internal return spring 9 is compressed.
  • the four support wheel mechanisms 3 share the burden Bearing a part of the supporting force of the wheelchair, even if there is no balance device, the balance of the wheelchair can be ensured through the four supporting wheel mechanisms 3, and the wheelchair will not fall over;
  • the rod 6 is basically in the shortest state, but there is still expansion and contraction, and the amount of expansion is relatively small.
  • the reason for this design is to prevent people from leaning forward or backward after sitting in a wheelchair, corresponding to the two support wheels on the front or rear side.
  • the mechanism 3 is greatly compressed again, causing the person and the wheelchair to overturn; the design with a small amount of expansion and contraction is to ensure that the wheelchair encounters bumps or pits during the walking process, and the wheelchair also has a certain shock absorption and buffering effect. It looks more comfortable.
  • the above-mentioned return spring 9 is a compression spring and has a preload.
  • one side of the two mounting shells 15 in the two above-mentioned running wheel mechanisms 4 is respectively installed with a rotary electric connection device B13 , and the rotary electric connection device B13 is fixedly installed under the seat 1 through the second support 12 .
  • the rotary electric connection device A16 is installed in the rotary electric connection device B13, and the wires connected to the servo motor 24 are connected to the battery 2 through the rotary power supply mode of the rotary electric connection device A16 and the rotary electric connection device B13.
  • the servo motor 24 since the servo motor 24 is fixedly installed in the mounting shell 15, the mounting shell 15 will be driven to rotate when the wheelchair is walking, and the wire connected to the battery 2 is in a static state, so in the present invention, in order to prevent the connection between the servo motor 24 and the The wire between the batteries 2 is torn off during the rotation of the servo motor 24, so the electrical connection and rotation of the rotary electrical connection device A16 and the rotary electrical connection device B13 are designed to be matched for rotation; Part of it is connected to the brush in a ring shape, such as the carbon brush electrical connection technology in the brush motor.
  • the specific rotary electrical connection device A16 has three copper rings connected to the three wires of the servo motor 24 respectively, and the three copper rings are connected with the servo motor 24 shell. Once rotated, the rotating electrical connection device has three brushes, which are statically distributed, and each brush is always in pressure contact with the corresponding rotating copper sheet.
  • the inner sides of the two mounting shells 15 of the two traveling wheel mechanisms 4 are respectively provided with a fixed bushing 20 , and one end of the two mounting shafts is rotatably mounted in the two fixed bushings 20 .
  • a plurality of shaft holes 21 are uniformly opened on the outer surface of one end of the above-mentioned mounting shell 15 in the circumferential direction, and two guide sliders 22 are symmetrically installed in each shaft hole 21 , as shown in FIG. 13 .
  • two guide chutes 33 are symmetrically opened on the outer circular surface of each screw 17, and the screw 17 is installed in the corresponding shaft hole 21 through the sliding fit of the two guide chutes 33 and the corresponding guide sliders 22. .
  • both ends of the outer arc surface of each wheel unit block 27 are provided with two installation notches 32 , and a friction plate 30 is respectively installed on the two installation notches 32 .
  • the function of the designed friction plate 30 is to prevent the wheelchair from going up and down the stairs, so as to ensure the relative safety of the wheelchair going up and down the stairs.
  • each of the above wheel unit blocks 27 has a mounting hole 31 , and a plurality of friction arc plates 26 are installed on the outer circular surfaces of the two mounting shells 15 evenly in the circumferential direction through the connecting block 25 .
  • the arc plate 26 is matched with the mounting hole 31 opened on the corresponding wheel unit block 27 .
  • the function of the friction arc plate 26 designed in the present invention is to cooperate with the mounting hole 31 on the corresponding wheel unit block 27 during the normal walking process, so as to ensure sufficient friction between the wheel surface 11 and the ground when walking on a flat road force to ensure the normal running of the wheel surface 11 .
  • a mounting ring 18 is fixedly mounted on the two mounting shells 15 respectively.
  • one end of the connecting block 25 is fixedly mounted on the outer circular surface of the mounting ring 18 .
  • the above-mentioned mounting rings 18 are fixedly mounted on the corresponding mounting shells 15 by welding.
  • the installation shaft 23 rotates to drive the first gear 19 to rotate
  • the first gear 19 rotates to drive the second gear 29 meshed with it to rotate
  • the second gear 29 rotates to drive the corresponding
  • the threaded sleeve 34 rotates, because the screw 17 and the mounting shell 15 are connected in a sliding fit through the guide chute 33 and the guide slider 22, the screw 17 can only slide along the corresponding shaft hole 21 opened on the mounting shell 15, and cannot rotate.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Handcart (AREA)

Abstract

一种轮椅，包括椅座（1）、行走轮机构（4）、第一支撑（10）、支撑轮机构（3），两个对称分布的行走轮机构（4）分别通过一个第一支撑（10）安装在椅座（1）的下侧，四个支撑轮机构（3）两两一组对称的安装在椅座（1）下侧的前后两端，且位于前后同侧的两个支撑轮机构（3）左右相互对称；在平路行走的时候，四个支撑轮机构（3）下端的万向轮（7）与地面接触对椅座（1）起到支撑作用，在上楼梯的时候，四个支撑轮机构（3）下端的万向轮（7）抬起，与地面脱离。在正常平路上行走的时候，通过四个支撑轮机构（3）对轮椅起到支撑平衡作用；此时轮椅内的平衡程序关闭；在上台阶的时候将四个支撑轮机构（3）下端的万向轮（7）抬起，防止在上楼梯过程中，四个支撑轮机构（3）与楼梯发生干涉，同时轮椅上楼梯的平衡通过自带的平衡程序人为辅助平衡。

Description

一种轮椅 技术领域
本发明属于轮椅技术领域，尤其涉及一种轮椅。
 背景技术
轮椅上台阶是一个早已针对性设计的产品，但是还存在以下问题：具有能够独立的依靠轮椅本身上台阶的全自动轮椅，虽然能够解决上台阶问题，但是普及度不高，市场中基本见不到，原因是成本太高，即价格高；另外因为其结构复杂，维修难度及成本也高；所以设计一种成本低、结构相对简单，且维修方便的全自动上台阶轮椅是很有必要的。
 技术问题
但是就目前科技发展而言，很难实现一种成本低、结构相对简单，且维修方便的全自动的轮椅，而半自动上台阶，同时兼顾成本维修难度低的情况是可以实现的，而且半自动指的是上台阶动力靠电力，人为的辅助，不需费力的去保证轮椅的平衡，这样半自动且成本低的轮椅是人们能够接受的。
 技术解决方案
为了解决上述问题，本发明的目的是揭示一种轮椅，它是采用以下技术方案来实现的。
一种轮椅，它包括椅座、行走轮机构、第一支撑、支撑轮机构，其中两个对称分布的行走轮机构分别通过一个第一支撑安装在椅座的下侧，四个支撑轮机构两两一组对称的安装在椅座下侧的前后两端，且位于前后同侧的两个支撑轮机构左右相互对称；在平路行走的时候，四个支撑轮机构下端的万向轮与地面接触对椅座起到支撑作用，在上楼梯的时候，四个支撑轮机构下端的万向轮抬起，与地面脱离。
上述行走轮机构包括环形电机、安装壳、螺杆、轮面、第一齿轮、安装转轴、伺服电机、固定支撑、第二齿轮、螺纹套，其中安装壳通过第一支撑安装在椅座的下侧，环形电机固定安装在第一支撑的一侧，且环形电机的输出端与安装壳固定连接；伺服电机固定安装在安装壳内的一端，安装转轴的一端与伺服电机的输出轴固定连接，第一齿轮的两端均为锥齿端，第一齿轮固定安装在安装转轴上，第一齿轮位于安装壳的另一端；轮面是由多个周向均匀分布的车轮单元块组成，每个车轮单元块的内弧面上均对称的固定安装有两个螺杆，两个螺杆通过导向滑块与导向滑槽的滑动配合安装在安装壳上，且车轮单元块位于安装壳的外侧，每个车轮单元块的内侧对应两个螺纹套，两个螺纹套通过一个固定支撑旋转安装在安装壳内，两个螺纹套与两个螺杆一一对应螺纹配合，且内外两个螺杆的旋向相反；每个螺纹套的上分别固定安装有一个第二齿轮，第二齿轮为锥齿轮，第二齿轮与第一齿轮上对应一端的锥齿啮合。
上述椅座的后侧安装有电池，环形电机和伺服电机均通过电线与电池连接。
作为本技术的进一步改进，上述支撑轮机构包括固定杆、伸缩杆、万向轮、电动推杆、复位弹簧，其中固定杆的上端固定安装在椅座的下侧，伸缩杆内具有复位弹簧，伸缩杆的上端铰接安装在固定杆的下端，伸缩杆的下端安装有万向轮；伸缩杆与椅座之间安装有电动推杆，电动推杆的一端铰接安装在椅座的下侧，电动推杆的另一端铰接安装在伸缩杆上。 [0010] 作为本技术的进一步改进，上述复位弹簧为压缩弹簧，且具有预压力。
作为本技术的进一步改进，两个上述行走轮机构中两个安装壳的一侧分别安装有一个旋转电连接装置B，旋转电连接装置B通过第二支撑固定安装在椅座的下侧；旋转电连接装置A安装在旋转电连接装置B内，伺服电机接入的电线通过旋转电连接装置A和旋转电连接装置B的旋转供电方式与电池连接。
作为本技术的进一步改进，两个上述行走轮机构中两个安装壳的内侧分别具有一个固定轴套，两个安装轴的一端旋转安装在两个固定轴套内。
作为本技术的进一步改进，上述安装壳一端的外圆面上周向均匀的开有多个轴孔，每个轴孔内均对称的安装有两个导向滑块，上述每个螺杆的外圆面上均对称的开有两个导向滑槽，螺杆通过两个导向滑槽与对应导向滑块的滑动配合安装在对应的轴孔内。
作为本技术的进一步改进，上述每个车轮单元块外弧面的两端均开有两个安装缺口，两个安装缺口上分别安装有一个摩擦片。
作为本技术的进一步改进，上述每个车轮单元块均开有一个安装孔，两个安装壳的外圆面上分别周向均匀的通过连接块安装有多个摩擦弧板，摩擦弧板与对应车轮单元块上所开的安装孔配合。
作为本技术的进一步改进，上述两个安装壳上分别固定安装有一个安装环，连接块的一端固定安装在安装环的外圆面上。
作为本技术的进一步改进，上述安装环通过焊接的方式固定安装在对应的安装壳上。
 有益效果
相对于传统的轮椅技术，本发明设计的有益效果如下：1、本发明在上楼梯时，首先会控制两个轮面上的车轮单元块打开，使得相邻的两个车轮单元块之间出现间隙，在上楼梯过程中如果两侧轮面上相邻两个车轮单元块之间的间隙真好能够卡在对应的台阶面上的时候，通过台阶面对车轮旋转方向上位于上侧的车轮单元块的支撑力使得轮椅顺利爬上楼梯。
2、本发明中在正常平路上行走的时候，通过四个支撑轮机构对轮椅起到支撑平衡作用；此时轮椅内的平衡程序关闭；在上台阶的时候将四个支撑轮机构下端的万向轮抬起，防止在上楼梯过程中，四个支撑轮机构与楼梯发生干涉，同时轮椅上楼梯的平衡通过自带的平衡程序人为辅助平衡。
3、本发明设计了设计摩擦片，对轮椅上下楼梯过程中起到防滑的作用，保证轮椅上下楼梯的相对安全；使得与楼梯台阶面接触区域即车轮单元块前后两端具有较大的摩擦阻力。
4、本发明中设计了摩擦弧板，在正常行走过程中，摩擦滑板与对应车轮单元块上安装孔配合，保证在平路行走的时候轮面与地面之间具有足够的摩擦力，保证轮面的正常行走。
5、本发明中设计的摩擦弧板在上楼梯时，车轮单元块相对于摩擦弧板沿着径向方向移动一段距离，摩擦弧板不与楼梯台阶面接触，保证轮椅与台阶接触时依靠车轮单元中间区域的光滑表面使轮椅与台阶正对。
 附图说明
图1是整体部件外观示意图。
图2是椅座结构示意图。
图3是行走轮机构和支撑轮机构安装示意图。
图4是支撑轮机构结构示意图。
图5是行走轮机构结构示意图。
图6是行走轮机构内部结构示意图。
图7是旋转电连接装置A安装示意图。
图8是安装壳结构示意图。
图9是第一齿轮安装示意图。
图10是摩擦弧板安装示意图。
图11是第二齿轮安装示意图。
图12是车轮单元块结构示意图。
图13是螺杆和螺纹套配合示意图。
图中标号名称：1、椅座；2、电池；3、支撑轮机构；4、行走轮机构；5、固定杆；6、伸缩杆；7、万向轮；8、电动推杆；9、复位弹簧；10、第一支撑；11、轮面；12、第二支撑；13、旋转电连接装置B；14、环形电机；15、安装壳；16、旋转电连接装置A；17、螺杆；18、安装环；19、第一齿轮；20、固定轴套；21、轴孔；22、导向滑块；23、安装转轴；24、伺服电机；25、连接块；26、摩擦弧板；27、车轮单元块；28、固定支撑；29、第二齿轮；30、摩擦片；31、安装孔；32、安装缺口；33、导向滑槽；34、螺纹套。
 本发明的最佳实施方式
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例或者附图用于说明本发明，但不用来限制本发明的范围。
如图1所示，包括椅座1、行走轮机构4、第一支撑10、支撑轮机构3，其中如图1、3所示，两个对称分布的行走轮机构4分别通过一个第一支撑10安装在椅座1的下侧，四个支撑轮机构3两两一组对称的安装在椅座1下侧的前后两端，且位于前后同侧的两个支撑轮机构3左右相互对称；在平路行走的时候，四个支撑轮机构3下端的万向轮7与地面接触对椅座1起到支撑作用，在上楼梯的时候，四个支撑轮机构3下端的万向轮7抬起，与地面脱离。
本发明设计的行走轮机构4的转向通过控制两个行走轮机构4中轮面11的速度差来实现转向功能。本发明中行走轮机构4为两部分，在上楼梯的过程中轮椅的平衡采用现有技术，如平衡车的平衡技术，因上楼梯时的平衡与普通平衡车的平衡不太一样，可采用人为辅助平衡，提高上楼梯的安全性。
本发明中在正常平路上行走的时候，通过四个支撑轮机构3对轮椅起到支撑平衡作用；此时轮椅内的平衡程序关闭，并通过两侧行走轮机构4的速度差实现转向；在上台阶的时候将四个支撑轮机构3下端的万向轮7抬起，防止在上楼梯过程中，四个支撑轮机构3与楼梯发生干涉，同时轮椅的平衡通过自带的平衡程序平衡，但是现有技术中上楼梯使用的平衡程序很少见，平衡效果不佳，所以该轮椅在上楼梯的时候还需要额外的人工辅助，保证平衡，为半自动轮椅。
如图5、6所示，上述行走轮机构4包括环形电机14、安装壳15、螺杆17、轮面11、第一齿轮19、安装转轴23、伺服电机24、固定支撑28、第二齿轮29、螺纹套34，其中如图3、6所示，安装壳15通过第一支撑10安装在椅座1的下侧，环形电机14固定安装在第一支撑10的一侧，且环形电机14的输出端与安装壳15固定连接；如图6、9所示，伺服电机24固定安装在安装壳15内的一端，安装转轴23的一端与伺服电机24的输出轴固定连接，如图6、9所示，第一齿轮19的两端均为锥齿端，第一齿轮19固定安装在安装转轴23上，第一齿轮19位于安装壳15的另一端；如图6所示，轮面11是由多个周向均匀分布的车轮单元块27组成，每个车轮单元块27的内弧面上均对称的固定安装有两个螺杆17，如图11所示，两个螺杆17通过导向滑块22与导向滑槽33的滑动配合安装在安装壳15上，且车轮单元块27位于安装壳15的外侧，每个车轮单元块27的内侧对应两个螺纹套34，两个螺纹套34通过一个固定支撑28旋转安装在安装壳15内，两个螺纹套34与两个螺杆17一一对应螺纹配合，且内外两个螺杆17的旋向相反；保证在第一齿轮19在旋转的时候，被第一齿轮19两侧两个第二齿轮29分别驱动的两套螺杆17和螺纹套34能够以相同的方向驱动对应的车轮单元块27移动；每个螺纹套34的上分别固定安装有一个第二齿轮29，第二齿轮29为锥齿轮，第二齿轮29与第一齿轮19上对应一端的锥齿啮合。
环形电机14工作带动安装壳15旋转，安装壳15旋转通过其上滑动安装的螺杆17带动轮面11旋转，实现行走功能；在上台阶的时候，通过控制伺服电机24驱动安装转轴23旋转，安装转轴23旋转带动第一齿轮19旋转，第一齿轮19旋转带动与其啮合的第二齿轮29旋转，第二齿轮29旋转驱动对应的螺纹套34旋转，因螺杆17与安装壳15通过导向滑槽33和导向滑块22滑动配合连接，螺杆17只能沿着安装壳15上所开的与其对应的轴孔21滑动，不能旋转，所以在螺纹套34的旋转就会驱动与其螺纹配合的螺杆17沿着对应的轴孔21滑动，螺杆17滑动带动对应的车轮单元块27移动，将原本合在一起的车轮单元块27以单个的形式分开，使得相邻的两个车轮单元块27之间出现间隙，在上楼梯的时候，上下两层台阶的尖角会卡在两个车轮单元块27之间的间隙内，保证上层台阶面能够为在旋转方向上与上层台阶面接触配合的车轮单元块27提供足够的支撑力，使得该车轮单元块27在环形电机14驱动其旋转时能够带动轮椅向上行走。
本发明设计的轮椅使用范围必须为指定好的，楼梯台阶高度必须与该轮椅匹配，如在建筑敬老院时将楼梯建造成与该轮椅匹配的楼梯。
本发明设计的轮椅设计的两个轮面11的主扭矩误差在百分之五以内。
本发明在上楼梯时，首先会控制两个轮面11上的车轮单元块27打开，使得相邻的两个车轮单元块27之间出现间隙，在上楼梯过程中如果两侧轮面11上相邻两个车轮单元块27之间的间隙真好能够卡在对应的台阶面上的时候，通过台阶面对车轮旋转方向上位于上侧的车轮单元块27的支撑力使得轮椅顺利爬上楼梯。
如果在上楼梯的时候，两个行走机构同时碰在台阶面上，但其中一个行走轮上的车轮单元块27之间的间隙卡在了台阶面上，另一个行走轮机构4上的车轮单元块27间隙未能卡在台阶面上，被卡住一侧的轮面11旋转所需要的扭矩相对较大，而另一侧则相对较小，此时两侧所需扭矩差值大于百分之五，则以所驱动扭矩小的一侧所需要的驱动扭矩去驱动两个行走轮机构4，此时所需要扭矩相对较小的一侧就会打滑旋转，而另一侧的驱动扭矩远小于其旋转所需要的扭矩，该侧行走轮机构4因为轮面11卡在台阶的尖角不会旋转则会相对静止，在未卡住一侧的轮面11旋转到卡住台阶的尖角的时候，两侧的行走轮机构4后续旋转所需扭矩此时可用大扭矩驱动两个轮面11旋转，在台阶面的作用下，轮椅就可以继续正常上楼梯。
当上楼梯的时候，如果轮椅行走方向与楼梯的方向不在同一方向，有较大偏差的时候，就会出现一侧的轮面11间隙能够斜向卡在台阶面上，而另一侧车轮面11不与台阶面接触，此时轮椅就有可能发生侧翻，轮椅自带的平衡装置不能有效的起作用，所以该轮椅在上楼梯的时候需要一定的人为辅助；此时一侧的轮面11斜向卡在台阶面上，而另一侧车轮面11远离台阶面上，同样远离台阶面的轮面11所需要的扭矩远小于另一侧轮面11的扭矩；轮椅将会以远离台阶面的轮面11所需要的扭矩驱动两个行走轮机构4，因为卡在台阶面上的轮面11所需要的扭矩大，所以不会旋转，远离台阶面的轮面11会旋转，并驱动轮椅远离台阶面的一侧以卡在台阶面的行走轮机构4为支点逐渐靠近台阶面，当靠近台阶面后若该轮面11的间隙没有与台阶面尖角配合，则继续旋转直到与台阶面尖角配合，最后在一起旋转。
如图2所示，上述椅座1的后侧安装有电池2，环形电机14和伺服电机24均通过电线与电池2连接。
本发明中控制车轮单元块27打开的电机采用伺服电机24，通过伺服电机24精确控制车轮单元块27打开的角度。
如图4所示，上述支撑轮机构3包括固定杆5、伸缩杆6、万向轮7、电动推杆8、复位弹簧9，其中固定杆5的上端固定安装在椅座1的下侧，伸缩杆6内具有复位弹簧9，伸缩杆6的上端铰接安装在固定杆5的下端，伸缩杆6的下端安装有万向轮7；伸缩杆6与椅座1之间安装有电动推杆8，电动推杆8的一端铰接安装在椅座1的下侧，电动推杆8的另一端铰接安装在伸缩杆6上。
本发明中在平路上行走的时候，伸缩杆6与固定杆5处于共线状态；在轮椅悬空的时候，四个支撑轮机构3下端的伸缩杆6处于伸长状态，万向轮7的最低点低于合并的轮面11的最低点；在轮椅着地后，四个支撑轮机构3中的伸缩杆6受压缩短，内部复位弹簧9压缩，这种状态下，四个支撑轮机构3分担承受一部分轮椅的支撑力，即使没有平衡装置，通过四个支撑轮机构3也可以保证轮椅的平衡，轮椅不会倾倒；本发明中在人坐上轮椅后，四个支撑轮机构3中的伸缩杆6基本处于最短状态，但还留有伸缩，伸缩量相对较小，这样设计的原因是防止人在坐上轮椅后，如果前倾或者后倾，对应前侧或者后侧的两个支撑轮机构3再次大压缩的化，导致人和轮椅翻倒；而留有小量伸缩的设计是保证轮椅在行走过程中，碰到凸起或者凹坑，轮椅还具有一定的减震缓冲作用，坐起来比较舒服。
上述复位弹簧9为压缩弹簧，且具有预压力。
如图7所示，两个上述行走轮机构4中两个安装壳15的一侧分别安装有一个旋转电连接装置B13，旋转电连接装置B13通过第二支撑12固定安装在椅座1的下侧；旋转电连接装置A16安装在旋转电连接装置B13内，伺服电机24接入的电线通过旋转电连接装置A16和旋转电连接装置B13的旋转供电方式与电池2连接。本发明中因伺服电机24固定安装在安装壳15内，安装壳15在轮椅行走的时候会被驱动旋转，而与电池2连接的电线处于静止状态，所以本发明中为了防止连接伺服电机24与电池2之间的电线在伺服电机24旋转过程中被扯断，所以设计了旋转电连接装置A16和旋转电连接装置B13的电连接旋转配合；使电连接采用现有技术，两部分的导电连接部分采用环形与刷片连接如有刷电机中的碳刷电连接技术，具体的旋转电连接装置A16中具有三个铜环分别与伺服电机24的三线连接，三个铜环随伺服电机24外壳起一旋转，旋转电连接装置具有三个刷片，且静止分布，每个刷片与相应旋转的铜片始终压力接触。
如图8所示，两个上述行走轮机构4中两个安装壳15的内侧分别具有一个固定轴套20，两个安装轴的一端旋转安装在两个固定轴套20内。
如图8所示，上述安装壳15一端的外圆面上周向均匀的开有多个轴孔21，每个轴孔21内均对称的安装有两个导向滑块22，如图13所示，上述每个螺杆17的外圆面上均对称的开有两个导向滑槽33，螺杆17通过两个导向滑槽33与对应导向滑块22的滑动配合安装在对应的轴孔21内。
如图12所示，上述每个车轮单元块27外弧面的两端均开有两个安装缺口32，两个安装缺口32上分别安装有一个摩擦片30。设计摩擦片30的作用是对轮椅上下楼梯过程中起到防滑的作用，保证轮椅上下楼梯的相对安全；使得与楼梯台阶面接触区域即车轮单元块27前后两端具有较大的摩擦阻力。
如图12所示，上述每个车轮单元块27均开有一个安装孔31，两个安装壳15的外圆面上分别周向均匀的通过连接块25安装有多个摩擦弧板26，摩擦弧板26与对应车轮单元块27上所开的安装孔31配合。
本发明中设计的摩擦弧板26的作用是在正常行走过程中，摩擦滑板与对应车轮单元块27上安装孔31配合，保证在平路行走的时候轮面11与地面之间具有足够的摩擦力，保证轮面11的正常行走。
如图6所示，上述两个安装壳15上分别固定安装有一个安装环18，如图10所示，连接块25的一端固定安装在安装环18的外圆面上。
上述安装环18通过焊接的方式固定安装在对应的安装壳15上。
具体工作流程：当使用本发明设计的轮椅，在正常行走过程中，通过四个支撑轮机构3对轮椅起到支撑平衡作用；此时轮椅内的平衡程序关闭；环形电机14控制两个安装壳15旋转，两个安装壳15旋转通过对应的螺杆17带动两侧的轮面11旋转，实现行走功能。
在上楼梯的时候，通过控制伺服电机24驱动安装转轴23旋转，安装转轴23旋转带动第一齿轮19旋转，第一齿轮19旋转带动与其啮合的第二齿轮29旋转，第二齿轮29旋转驱动对应的螺纹套34旋转，因螺杆17与安装壳15通过导向滑槽33和导向滑块22滑动配合连接，螺杆17只能沿着安装壳15上所开的与其对应的轴孔21滑动，不能旋转，所以在螺纹套34的旋转就会驱动与其螺纹配合的螺杆17沿着对应的轴孔21滑动，螺杆17滑动带动对应的车轮单元块27移动，将原本合在一起的车轮单元块27以单个的形式分开，使得相邻的两个车轮单元块27之间出现间隙，在上楼梯的时候，上下两层台阶的尖角会卡在两个车轮单元块27之间的间隙内，保证上层台阶面能够为在旋转方向上与上层台阶面接触配合的车轮单元块27提供足够的支撑力，使得该车轮单元块27在环形电机14驱动其旋转时能够带动轮椅向上行走。
 工业实用性
本申请已制造成产品。上述的实施例仅为本发明的优选技术方案，而不应视为对于本发明的限制。本发明的保护范围应以权利要求记载的技术方案，包括权利要求记载的技术方案中技术特征的等同替换方案为保护范围。即在此范围内的等同替换改进，也在本发明的保护范围之内。

Claims (10)

  1. 一种轮椅，其特征在于：它包括椅座、行走轮机构、第一支撑、支撑轮机构，其中两个对称分布的行走轮机构分别通过一个第一支撑安装在椅座的下侧，四个支撑轮机构两两一组对称的安装在椅座下侧的前后两端，且位于前后同侧的两个支撑轮机构左右相互对称；在平路行走的时候，四个支撑轮机构下端的万向轮与地面接触对椅座起到支撑作用，在上楼梯的时候，四个支撑轮机构下端的万向轮抬起，与地面脱离；所述行走轮机构包括环形电机、安装壳、螺杆、轮面、第一齿轮、安装转轴、伺服电机、固定支撑、第二齿轮、螺纹套，其中安装壳通过第一支撑安装在椅座的下侧，环形电机固定安装在第一支撑的一侧，且环形电机的输出端与安装壳固定连接；伺服电机固定安装在安装壳内的一端，安装转轴的一端与伺服电机的输出轴固定连接，第一齿轮的两端均为锥齿端，第一齿轮固定安装在安装转轴上，第一齿轮位于安装壳的另一端；轮面是由多个周向均匀分布的车轮单元块组成，每个车轮单元块的内弧面上均对称的固定安装有两个螺杆，两个螺杆通过导向滑块与导向滑槽的滑动配合安装在安装壳上，且车轮单元块位于安装壳的外侧，每个车轮单元块的内侧对应两个螺纹套，两个螺纹套通过一个固定支撑旋转安装在安装壳内，两个螺纹套与两个螺杆一一对应螺纹配合，且内外两个螺杆的旋向相反；每个螺纹套的上分别固定安装有一个第二齿轮，第二齿轮为锥齿轮，第二齿轮与第一齿轮上对应一端的锥齿啮合；所述椅座的后侧安装有电池，环形电机和伺服电机均通过电线与电池连接。
  2. 根据权利要求1所述的一种轮椅，其特征在于：所述支撑轮机构包括固定杆、伸缩杆、万向轮、电动推杆、复位弹簧，其中固定杆的上端固定安装在椅座的下侧，伸缩杆内具有复位弹簧，伸缩杆的上端铰接安装在固定杆的下端，伸缩杆的下端安装有万向轮；伸缩杆与椅座之间安装有电动推杆，电动推杆的一端铰接安装在椅座的下侧，电动推杆的另一端铰接安装在伸缩杆上。
  3. 根据权利要求2所述的一种轮椅，其特征在于：所述复位弹簧为压缩弹簧，且具有预压力。
  4. 根据权利要求1所述的一种轮椅，其特征在于：两个所述行走轮机构中两个安装壳的一侧分别安装有一个旋转电连接装置B，旋转电连接装置B通过第二支撑固定安装在椅座的下侧；旋转电连接装置A安装在旋转电连接装置B内，伺服电机接入的电线通过旋转电连接装置A和旋转电连接装置B的旋转供电方式与电池连接。
  5. 根据权利要求1所述的一种轮椅，其特征在于：两个所述行走轮机构中两个安装壳的内侧分别具有一个固定轴套，两个安装轴的一端旋转安装在两个固定轴套内。
  6. 根据权利要求1所述的一种轮椅，其特征在于：所述安装壳一端的外圆面上周向均匀的开有多个轴孔，每个轴孔内均对称的安装有两个导向滑块，所述每个螺杆的外圆面上均对称的开有两个导向滑槽，螺杆通过两个导向滑槽与对应导向滑块的滑动配合安装在对应的轴孔内。
  7. 根据权利要求1所述的一种轮椅，其特征在于：所述每个车轮单元块外弧面的两端均开有两个安装缺口，两个安装缺口上分别安装有一个摩擦片。
  8. 根据权利要求7所述的一种轮椅，其特征在于：所述每个车轮单元块均开有一个安装孔，两个安装壳的外圆面上分别周向均匀的通过连接块安装有多个摩擦弧板，摩擦弧板与对应车轮单元块上所开的安装孔配合。
  9. 根据权利要求8所述的一种轮椅，其特征在于：所述两个安装壳上分别固定安装有一个安装环，连接块的一端固定安装在安装环的外圆面上。
  10. 根据权利要求9所述的一种轮椅，其特征在于：所述安装环通过焊接的方式固定安装在对应的安装壳上。
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