Under-actuated self-adaptive type stair climbing wheelchair

Abstract

The invention belongs to the technical field of medical instruments, and provides an under-actuated self-adaptive type stair climbing wheelchair capable of automatically and stably climbing stairs. The wheelchair comprises a chair frame body, a battery, a balancing mechanism, an actuating system and a control system. The actuating system is a star-shaped under-actuated wheel train, a special mechanical intelligent part of the actuating system can be used for enabling the wheelchair to stably cross obstacles on a road and smoothly climb stairs and go down stairs, and the balancing mechanism can be used for regulating gravity center balance of the wheelchair in the process of climbing stairs and going down stairs to prevent the wheelchair from toppling due to unstable gravity center. Meanwhile, a one-way rotating support, a distance sensor and other safety protection means are adopted, and dangers which disabled people riding the wheelchair have are effectively avoided.

Description

Technical field: [0001] The invention belongs to the technical field of medical devices, and in particular relates to an underactuated self-adaptive stair-climbing wheelchair capable of automatically and steadily climbing stairs. Background technique: [0002] There are many types of wheelchairs on the market, all of which are equipped with large walking wheels, such as folding, electric, and stair-climbing, which provide convenience for people with limited mobility, but no matter what kind of wheelchair, it is impossible to cross the wheelchair. When crossing relatively high obstacles on the road, or maintaining balance on sloped roads, especially in complex situations such as climbing stairs and boarding buses, it is difficult for traditional wheelchairs to bring enough help to people with limited mobility. Some public places and residences have vertical elevators, and people with reduced mobility can take vertical elevators to go up and down, but there are still a large n...

AI Technical Summary

Problems solved by technology

[0002] There are many types of wheelchairs on the market, all of which are equipped with large walking wheels, such as folding, electric, and stair-climbing, which provide convenience for people with limited mobility, but no matter what kind of wheelchair, it is impossible to cross the wheelchair. When crossing relatively high obstacles on the road, or maintaining balance on sloped roads, especially in complex situations such as climbing stairs and boarding buses, it is difficult for traditional wheelchairs to bring enough help to people with physical disabilities

Some public places and residences have vertical elevators, and people with reduced mobility can take vertical elevators to go up and down, but there are still a large number of residential and public places with only step ladders or escalators. Unable to independently go up and down stairs

In addition, sometimes when people with physical disabilities walk on sloped roads in traditional wheelchairs, they may also encounter the danger of the wheelchair tipping over due to unstable center of gravity

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