Six-legged stair climbing wheelchair

Abstract

The invention discloses a six-legged stair climbing wheelchair which belongs to the field of elder and disabled assisting service robots. The six-legged stair climbing wheelchair comprises a wheelchair, three front side legs, three back side legs and a power supply controller box, wherein the power supply control box is arranged below a seat of the wheelchair and a power supply and a controller are arranged therein; the three front side legs are linearly and uniformly arranged at the front side where the power supply control box is close to the wheelchair, and respectively comprise a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot part, and the thigh and the shank comprise telescopic joints realized by ball screw nut mechanisms; and the three back side legs are linearly and uniformly arranged at the back side where the power supply control box is close to the wheelchair, and respectively comprise a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot part. Through the six-legged stair climbing wheelchair, the seat of the wheelchair is always in a horizontal state in the whole stair climbing process, so that the sitting comfort and safety of the passengers are ensured and walking on rough roads can be realized conveniently.

Description

Technical field: [0001] The invention relates to a wheelchair for helping the elderly and the disabled, in particular to a wheelchair capable of climbing stairs and crossing obstacles, and belongs to the field of service robots for helping the elderly and the disabled. Background technique: [0002] At present, the commonly known wheelchair devices use wheeled motion, which can only walk on flat ground, but cannot cross obstacles such as steps and thresholds, and cannot climb stairs. Therefore, the range of activities of wheelchair users is greatly limited. At present, there are four kinds of special wheelchair devices with stair climbing ability: wheel set type, track type, track type and legged type (walking type). Wheel wheelchairs (such as IBOT3000 in the United States) use a star wheel mechanism, which can climb stairs and climb over curbs. The disadvantage is that the width and height of the stairs must be suitable for the size of the wheels, so there are certain requi...

AI Technical Summary

Problems solved by technology

The wheel-set wheelchair (such as IBOT3000 in the United States) adopts a star-shaped wheel mechanism and can climb stairs and climb over curbs. The limitation of crawler wheelchairs is that the crawler walks on the stairs through the crawlers. The disadvantage is that the crawlers are easy to damage the stairs when climbing the stairs and anti-skid measures are required, so its application is limited; the track type needs to install a special track mechanism on the stairs. Due to the track mechanism It cannot be freely moved to different occasions with the wheelchair, and its application is also limited; legged wheelchairs, such as The hybrid all-terrain wheelchair researched by the University of Pennsylvania in the United States, add two legs to the wheelchair, which can climb steps and climb over Obstacles, but in the process of climbing steps and over obstacles, the seat tilts severely, causing great discomfort to the occupants

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