Self-balancing stair climbing wheelchair

Abstract

The invention discloses a self-balancing stair-climbing wheelchair, which comprises a crawler stair-climbing mechanism, a universal wheel rocker mechanism, a directional wheel rocker mechanism and a control system, wherein the universal wheel rocker mechanism is provided with two universal wheels, and the directional wheel rocker mechanism is provided with two directional wheels, and when climbing stairs, the universal wheels and the directional wheels are folded up to make the crawler stair-climbing mechanism touch the ground and drive the wheelchair to move forward; the directional wheel rocker mechanism can be automatically adjusted by the control system, and the position of the directional wheels is adjusted to adapt to the terrain, so that the seat is automatically kept horizontal; the invention has a simple structure and therefore has a low cost; the crawler stair-climbing mechanism is tilted and fixed under the seat, so that the sitting posture of the passenger is close to horizontal when the wheelchair climbs stairs, and the overall center of gravity is low and not easy to tip over; the self-balancing function reduces manual operation, avoids a part of the risk of manual operation, reduces the operating threshold and improves safety at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of stair-climbing wheelchairs, and in particular to a wheel-track composite stair-climbing wheelchair. Background Art

[0002] As people's living standards improve, the travel problems of people with limited mobility, such as the elderly and the disabled, have received more and more attention. Many residents' self-built houses and old-style apartments do not have elevators. People with limited mobility living there are often blocked by stairs and cannot travel. For this reason, people have invented a variety of stair climbing wheelchairs:

[0003] The stair-climbing wheelchair disclosed in Chinese patent CN201821505875.7 has stair-climbing tracks arranged on the back of the wheelchair, and the occupant needs to lie down to go up and down the stairs. When the wheelchair moves from the ground to the stairs and from the stairs to the stairs, the operator needs to manually adjust the wheelchair posture at the right time. This operation has certain risks, which requires the operator to have strong psychological qualities and good operating skills. Therefore, its safety is poor and the operating threshold is high.

[0004] A Swiss wheel-track composite stair-climbing wheelchair called "Scewo" has multiple sensors, is highly intelligent, and is easy to operate, but it is expensive.

[0005] An American star-shaped wheeled stair-climbing wheelchair called "iBot" has an excellent balance algorithm and can cross stairs with the help of its star-shaped wheels, but its center of gravity is very high when climbing stairs, and the wheelchair still has a great risk of overturning, making it unsafe.

[0006] In addition, there are many types of stair climbing wheelchairs, but none of them can meet the requirements of high safety, low operating threshold, and comfortable and secure riding at a low cost, so they have been difficult to promote on a large scale. Summary of the invention

[0007] In order to overcome the deficiencies in the background technology, the present invention provides a self-balancing stair climbing wheelchair.

[0008] The objective of the present invention is achieved through the following technical solutions:

[0009] A self-balancing stair climbing wheelchair comprises a shock-absorbing seat, a crawler stair climbing mechanism, a battery and a control system; it is characterized in that it has a universal wheel rocker mechanism and a directional wheel rocker mechanism, wherein:

[0010] The crawler climbing mechanism is a single-section double-crawler structure, including a crawler frame, crawler tracks, driving wheels, tensioning wheels, idler wheels, driving wheel shafts, crawler drive motors and a secondary chain transmission mechanism. The crawler climbing mechanism is arranged with the front lower and the rear higher, and the rear end thereof is folded upward for a short section, and an idler wheel is installed at the folded portion;

[0011] The crawler frame is rigidly connected with three steel pipes in the middle, namely the front steel pipe, the middle steel pipe and the rear steel pipe. The front steel pipe is provided with a crawler drive motor mounting frame and an oblique upward seat support frame. The middle of the middle steel pipe is provided with an electric push rod end hinge support, and the middle of the rear steel pipe is provided with an electric slider end hinge support and a shock-absorbing spring hinge support. The crawler drive motor drives the crawler to rotate through a secondary chain transmission mechanism to realize the stair climbing function.

[0012] The universal wheel rocker mechanism consists of a front rocker arm, an electric push rod and two universal wheels, the front rocker arm is a left-right symmetrical double rocker arm structure, the double rocker arms are rigidly connected together through a front crossbeam that crosses the crawler climbing mechanism from above, a front end hinge support of an electric push rod is provided in the middle of the front crossbeam, and two symmetrical gas spring hinge supports are provided on both sides, the front rocker arm is symmetrically hinged to the front outer side of the crawler climbing mechanism, the two ends of the electric push rod are respectively hinged to the end hinge support of the electric push rod and the front end hinge support of the electric push rod, the universal wheel is installed at the end of the front rocker arm, the length change of the electric push rod will pull the front rocker arm to swing, the electric push rod has two states, the longest and the shortest, when in the shortest state, the universal wheel installed at the end of the front rocker arm is off the ground, and the front end of the crawler climbing mechanism is on the ground, when in the longest state, the universal wheel is on the ground, and the front end of the crawler climbing mechanism is off the ground;

[0013] The directional wheel rocker mechanism consists of a rear rocker arm, an electric slider and two directional wheels, the rear rocker arm is a double rocker arm structure that is symmetrical on both sides, and the double rockers are rigidly connected together through a rear crossbeam that crosses the crawler climbing mechanism from above, a front hinge support of an electric slider is provided in the middle of the rear crossbeam, and two symmetrical gas spring U-groove supports are provided on both sides, the rear rocker arm is symmetrically hinged at the front outer side of the crawler climbing mechanism and the rear upper position of the front rocker arm, the slider end of the electric slider is hinged to the front hinge support of the electric slider, and the other end is hinged to the hinge support at the end of the electric slider, the directional wheel is installed at the end of the rear rocker arm, and the stroke change of the electric slider will pull the rear rocker arm to swing, and the electric slider has two states of maximum stroke and minimum stroke. When in the maximum stroke state, the directional wheel installed at the end of the rear rocker arm is off the ground, and the rear end of the crawler climbing mechanism touches the ground, and when the electric slider is in the minimum stroke state, the directional wheel touches the ground, and the rear end of the crawler climbing mechanism is off the ground;

[0014] The control system includes an operation panel, a seat posture monitoring sensor, a single-chip minimum system, and a motor drive module. The crawler climbing mechanism, the universal wheel rocker mechanism, and the directional wheel rocker mechanism are all electrically connected to and controlled by the control system.

[0015] Preferably, the shock-absorbing seat comprises a seat and a shock-absorbing spring, the front end of the seat is hinged to the seat support frame, and the rear end is connected to the track frame through the shock-absorbing spring.

[0016] Preferably, an anti-skid device is installed on a small section at the rear end of the crawler climbing mechanism that is folded upward, including two one-way damping rocker arms, two rollers, two elastic blocks and a connecting rod. A one-way rotation damping is provided at the center of the rocker arm of the one-way damping rocker arm, and the roller is installed at the end of the one-way damping rocker arm. The two one-way damping rocker arms are symmetrically hinged on the inner side of the crawler frame and are rigidly connected through the connecting rod. The one-way damping rocker arm can rotate in all directions around the hinge point, and the elastic block can position the one-way damping rocker arm in the working position. When in the working position, the one-way damping rocker arm is perpendicular to the small section at the rear end of the crawler climbing mechanism that is folded upward, and the roller protrudes outward. At this time, the one-way damping rocker arm has a very large resistance to upward rotation and a very small resistance to downward rotation.

[0017] Preferably, a rocker arm tensioning device is installed between the universal wheel rocker arm mechanism and the directional wheel rocker arm mechanism, which includes two symmetrically installed gas spring kits, the gas spring kits including a gas spring and a sleeve, the gas spring can be divided into a cylinder body and a piston rod, the cylinder body and the end of the piston rod are respectively provided with a hinge point for installation, the gas spring cylinder body is nested in the sleeve, two symmetrical cylinders are welded to the front end of the outer circle of the sleeve as hinge points on the cylinder body, the two ends of the gas spring kit are respectively hinged to the gas spring hinge support and the gas spring U-slot support, and the rocker arm tensioning function is realized by utilizing the elastic force of the gas spring.

[0018] Preferably, a foot pedal is provided at the front lower part of the seat support frame, a battery mounting frame is provided at the left side, and a battery is mounted on the frame, and an electric control box mounting frame is provided at the right side, and an electric control box is mounted on the frame.

[0019] Preferably, the control system includes an operating panel fixed on the top of the seat back, a posture monitoring sensor fixed under the seat, a single-chip microcomputer minimum system and a motor drive module installed in an electronic control box, wherein the operating panel includes an emergency stop switch, a mode selection switch, a rear rocker arm control switch, and a speed control knob.

[0020] Preferably, the mode selection switch has three gears, namely, the descending gear, the flat ground gear, and the ascending gear. When in the descending gear, the front rocker arm is retracted, the universal wheel is off the ground, and the front end of the track-climbing mechanism is on the ground. At this time, the speed regulating knob is rotated to cause the track-climbing mechanism to drive the wheelchair forward; when in the flat ground gear, the front rocker arm is lowered, the universal wheel is on the ground, and the front end of the track-climbing mechanism is off the ground; when in the ascending gear, the front rocker arm is retracted, the universal wheel is off the ground, and the front end of the track-climbing mechanism is on the ground. At this time, the speed regulating knob is rotated to cause the track-climbing mechanism to drive the wheelchair backward.

[0021] Preferably, the rear rocker arm control switch has three gears, namely, the folding gear, the self-balancing gear, and the lowering gear. When in the folding gear, the electric slider of the directional wheel rocker arm mechanism is in the maximum stroke state, the rear rocker arm is folded, the directional wheels are off the ground, the seat tilts backward, and the rear end of the crawler climbing mechanism is on the ground; when in the self-balancing gear, the single-chip computer minimum system analyzes the seat posture information transmitted by the seat posture monitoring sensor and issues a control instruction to the motor drive module, so that the motor drive module controls the movement of the electric slider and adjusts the directional wheel rocker arm mechanism to keep the seat in a horizontal posture; when in the lowering gear, the electric slider of the directional wheel rocker arm mechanism is in the minimum stroke state, the rear rocker arm is folded, the directional wheels are on the ground, and the rear end of the crawler climbing mechanism is off the ground.

[0022] Preferably, a manual brake device is provided on the rear swing arm, which directly acts on the outer edge of the tire of the directional wheel to realize the braking parking function.

[0023] Positive effects of the present invention:

[0024] 1. The present invention realizes the wheel-track switching and self-balancing functions of the wheelchair with a simple rocker arm mechanism, and uses a track frame as the main body to connect other components, thereby simplifying the wheelchair structure. Therefore, the manufacturing difficulty is low, the production cycle is short, the cost is low, and it is easy to realize mass production.

[0025] 2. The present invention adds a shock-absorbing spring to the seat, which can reduce the bumpy feeling of passengers when climbing uneven stairs and improve comfort.

[0026] 3. The crawler stair climbing mechanism of the present invention is tilted and fixed under the seat, so that the seat can be kept in a nearly horizontal state when traveling on the stairs of most residential buildings, while meeting the requirement of a low overall center of gravity. In addition, the passengers are closer to the stairs, which can effectively reduce their fear of climbing stairs in a wheelchair.

[0027] 4. The operation of the present invention is simple. Since the control system can monitor the seat posture at all times, the control signal can be blocked before the wheelchair seat tilts to a dangerous angle by limiting the program parameters, thereby preventing the current operation. Therefore, the fault tolerance rate for manual operation is high. The operator only needs simple training to operate this product, and the operation threshold is low.

[0028] 5. The present invention has a self-balancing function, which can automatically keep the seat level when the wheelchair goes down the stairs and goes up the stairs, avoiding some risks of manual operation and improving the safety of the wheelchair.

[0029] 6. In addition to being suitable for climbing stairs, the present invention can also be used for passing other obstacle environments. After the universal wheels are folded off the ground, the rear rocker arm control switch is turned to the self-balancing gear. The wheelchair can pass through bumpy roads under the drive of the crawler tracks, and can also provide assistance for the wheelchair to go up and down slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0031] Figure 2 It is a three-dimensional structural schematic diagram of the motion mechanism part of the present invention;

[0032] Figure 3 It is a schematic diagram of the installation positions of the driving wheel, the tensioning wheel and the idler wheel of the crawler mechanism of the present invention;

[0033] Figure 4 It is a three-dimensional structural schematic diagram of the crawler stair climbing mechanism and the seat support frame of the present invention;

[0034] Figure 5 It is a three-dimensional structural schematic diagram of the universal wheel rocker arm mechanism of the present invention;

[0035] Figure 6 It is a three-dimensional structural schematic diagram of the directional wheel rocker arm mechanism of the present invention;

[0036] Figure 7 It is a three-dimensional structural schematic diagram of the rocker arm tensioning mechanism of the present invention;

[0037] Figure 8 It is a schematic diagram of the three-dimensional structure of the control panel of the present invention;

[0038] Fig. 9 It is a schematic diagram of the installation of the shock-absorbing seat of the present invention;

[0039] Fig.10 It is a schematic diagram of the state when the universal wheel and the directional wheel of the present invention are on the ground;

[0040] Fig.11 It is a schematic diagram of the state when the universal wheel and the directional wheel of the present invention are off the ground;

[0041] Fig.12 It is a state schematic diagram of the flat ground mode of the present invention;

[0042] Fig.13 It is a state schematic diagram of the stair climbing mode of the present invention;

[0043] Fig.14 It is a schematic diagram of the state of the present invention on uneven ground;

[0044] Fig.15 It is a schematic diagram of the stair climbing process state of the present invention.

[0045] Reference numerals:

[0046] 1. Operation panel; 1-1. Speed ​​knob; 1-2. Emergency stop switch; 1-3. Mode selection switch; 1-4. Rear swing arm control switch; 2. Seat; 2-1. Headrest; 3. Electric control box; 4. Track frame; 4-1. Shock absorber spring hinge support; 4-2. Electric slider end hinge support; 4-3. Middle steel pipe; 4-4. Electric push rod end hinge support; 4-5. Track drive motor mounting bracket; 4-6. Front steel pipe; 4-7. Rear steel pipe; 5. Rear swing arm; 5-1. Electric slider front hinge support; 5-2. Gas spring U-slot support; 5-3. Rear crossbeam; 6. Hand brake device; 7. Fixed wheel; 8. Front rocker arm; 8-1. Front hinge support of electric push rod; 8-2. Gas spring hinge support; 8-3. Front crossbeam; 9. Universal wheel; 10. Track drive motor; 11. Foot pedal; 12. Electric push rod; 13. Electric slider; 14. Battery; 15. Track; 16. Idle wheel; 17. One-way damping rocker arm; 18. Roller; 19. Connecting rod; 20. Sleeve; 21. Seat support frame; 21-1. Electric control box mounting frame; 21-2. Battery mounting frame; 22. Gas spring; 23. Driving wheel; 24. Tensioning wheel; 25. Driving wheel shaft; 26. Handle; 27. Shock-absorbing spring. DETAILED DESCRIPTION

[0047] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0048] In the description of the present invention, it is necessary to understand that the terms "center", "middle", "front end", "rear end", "symmetrical", "horizontal", "up", "down", "front", "back", "left", "right", "high", "low", "top", "bottom", "inside", "outside", "oblique", "side", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "provided with", "equipped with", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] like Figure 1-13 Shown is a self-balancing stair-climbing wheelchair, which includes a shock-absorbing seat, a crawler stair-climbing mechanism, a universal wheel rocker mechanism, a directional wheel rocker mechanism and a control system.

[0051] like Fig. 9 As shown, the shock-absorbing seat includes a seat 2 and a shock-absorbing spring 27; wherein the front end of the seat 2 is hinged on the seat support frame 21, and the rear end is connected to the shock-absorbing spring hinge support 4-1 through the shock-absorbing spring 27; the top of the backrest of the seat 2 is bent backward for a short distance, and a headrest 2-1 is provided at the bending part, as shown in FIG. Figure 8 As shown, the back of the seat is provided with a handle 26 for pushing.

[0052] like Figure 3 and Figure 4 As shown, the crawler climbing mechanism is a single-section double-track structure, including a crawler frame 4, a crawler 15, a driving wheel 23, a tensioning wheel 24, an idler wheel 16, a driving wheel shaft 25, a crawler drive motor 10 and a secondary chain transmission mechanism; Fig.12 As shown, the crawler climbing mechanism is arranged with the front low and the rear high. In the flat ground mode, the angle between the bottom surface of the crawler and the ground is 35°, and the rear end is folded upward for a small section. An idler wheel 16 is installed at the folded part. The crawler 15 uses a 162-tooth thickened H-type double-sided toothed synchronous belt, and the driving wheel 23, the tensioning wheel 24, and the idler wheel 16 are all H-type synchronous wheels.

[0053] like Figure 4As shown, three steel pipes are welded in the middle of the crawler frame, namely the front end steel pipe 4-6, the middle steel pipe 4-3 and the rear end steel pipe 4-7. The front end steel pipe 4-6 is rigidly connected with a crawler drive motor mounting frame 4-5 and an obliquely upward seat support frame 21. The middle part of the middle steel pipe 4-3 is provided with an electric push rod end hinge support 4-4, and the middle part of the rear end steel pipe 4-7 is provided with an electric slider end hinge support 4-2 and a shock-absorbing spring hinge support 4-1; the seat support frame 21 is provided with a foot pedal 11 at the front lower part, a battery mounting frame 21-2 is provided on the left side, and a battery 14 is installed on the frame, and an electric control box mounting frame 21-1 is provided on the right side, and an electric control box 3 is installed on the frame; the crawler drive motor 10 drives the crawler 15 to rotate through a secondary chain transmission mechanism to realize the stair climbing function.

[0054] like Figure 5 As shown, the universal wheel rocker mechanism consists of a front rocker arm 8, an electric push rod 12 and two universal wheels 9. The front rocker arm 8 is a double rocker arm structure that is symmetrical on both sides. The double rockers are rigidly connected together through a front crossbeam 8-3 that crosses the crawler climbing mechanism from above. The middle part of the front crossbeam 8-3 is provided with an electric push rod front end hinge support 8-1, and two symmetrical gas spring hinge supports 8-2 are provided on both sides. The front rocker arm 8 is symmetrically hinged to the front outer side of the crawler climbing mechanism. The two ends of the electric push rod 12 are respectively hinged to the electric push rod end hinge support 4-2 and the electric push rod front end hinge support 8-1. The universal wheel 9 is installed at the end of the front rocker arm 8. The length change of the electric push rod 12 will pull the front rocker arm 8 to swing. The electric push rod 12 has two states, the longest and the shortest. When it is in the shortest state, the universal wheel 9 installed at the end of the front rocker arm 8 is off the ground, and the front end of the crawler climbing mechanism is on the ground. Fig.11 or Fig.13 When it is in the longest state, the universal wheel 9 is on the ground, and the front end of the crawler climbing mechanism is off the ground, as shown in FIG. Fig.10 or Fig.12 shown.

[0055] like Figure 6As shown, the directional wheel rocker mechanism consists of a rear rocker arm 5, an electric slider 13 and two directional wheels 7. The rear rocker arm 5 is a double rocker arm structure that is symmetrical on both sides. The double rockers are rigidly connected together through a rear crossbeam 5-3 that crosses the crawler climbing mechanism from above. The middle part of the rear crossbeam 5-3 is provided with an electric slider front end hinge support 5-1, and two symmetrical gas spring U-groove supports 5-2 are provided on both sides. The rear rocker arm 5 is symmetrically hinged at the front end outer side of the crawler climbing mechanism and the rear upper position of the front rocker arm 8. The slider end of the electric slider 13 is hinged to the front end hinge support 5-1 of the electric slider, and the other end is hinged to the end hinge support 4-2 of the electric slider. The directional wheel 7 is installed at the end of the rear rocker arm 5. The stroke change of the electric slider 13 will pull the rear rocker arm 5 to swing. The electric slider 13 has two states of maximum stroke and minimum stroke. When it is in the maximum stroke state, the directional wheel 7 installed at the end of the rear rocker arm 5 is off the ground, and the rear end of the crawler climbing mechanism is on the ground. Fig.11 or Fig.13 When it is in the minimum stroke state, the directional wheel 7 touches the ground, and the rear end of the crawler climbing mechanism leaves the ground, as shown in FIG. Fig.10 or Fig.12 shown.

[0056] The control system includes an operation panel 1, a seat posture monitoring sensor, a single-chip minimum system, and a motor drive module; Figure 8 As shown, a control panel 1 is installed on the top of the seat; wherein, a speed control knob 1-1, an emergency stop switch 1-2, a mode selection switch 1-3 and a rear rocker arm control switch 1-4 are installed on the control panel 1; the seat posture monitoring sensor adopts an MPU6050 module, the minimum single-chip microcomputer system adopts an arduion UNO R3 development board, the motor drive module adopts a BTS7960 motor drive module, and the self-balancing program is obtained by modifying the parameters of the self-balancing car program; the mode selection switch 1-3 and the rear rocker arm control switch 1-4 are three-position rocker switches.

[0057] The crawler climbing mechanism, the universal wheel rocker arm mechanism and the directional wheel rocker arm mechanism are all electrically connected to and controlled by the control system.

[0058] like Figure 2 As shown, an anti-skid device is installed on a small section of the crawler climbing mechanism that is folded upward at the rear end, including two one-way damping rocker arms 17, two rollers 18, two elastic blocks and a connecting rod 19. The rocker center of the one-way damping rocker arm 17 is provided with a one-way rotation damper. The roller 18 is installed at the end of the one-way damping rocker arm 17. The two one-way damping rocker arms 17 are symmetrically hinged on the inner side of the crawler frame 4 and are rigidly connected through the connecting rod 19. The one-way damping rocker arm 17 can rotate in all directions around the hinge point, and the elastic block can position the one-way damping rocker arm 17 as shown in FIG. Figure 2 or Fig.12 In the working position shown in the figure, when in the working position, the one-way damping rocker arm 17 is perpendicular to a small section at the rear end of the crawler climbing mechanism that is folded upward, and the roller 18 protrudes outward. At this time, the one-way damping rocker arm 17 has great resistance to upward rotation and very little resistance to downward rotation. The anti-skid device can provide a part of the grip for the wheelchair when the small section at the rear end of the crawler climbing mechanism that is folded upward contacts the stairs when the wheelchair is moving down the stairs, thereby preventing the crawler 15 from slipping and damaging the stairs.

[0059] like Figure 7 As shown, a rocker arm tensioning device is installed between the universal wheel rocker arm mechanism and the directional wheel rocker arm mechanism, which includes two symmetrically installed gas spring kits, the gas spring kit includes a gas spring 22 and a sleeve 20, the gas spring 22 can be divided into a cylinder body and a piston rod, and the cylinder body and the end of the piston rod are respectively provided with a hinge point for installation, the cylinder body is nested in the sleeve 20, and two symmetrical cylinders are welded to the front end of the outer circle of the sleeve 20 as hinge points on the cylinder body of the gas spring 22, and the two ends of the gas spring kit are respectively hinged on the gas spring hinge support 8-2 and the gas spring U-slot support 5-2, and the rocker arm tensioning function is realized by using the elastic force of the gas spring.

[0060] The mode selection switch 1-3 has three gears, namely, downstairs gear, flat ground gear, and upstairs gear. In the downstairs gear, the electric push rod 12 of the universal wheel rocker mechanism is in the shortest state, the front rocker arm 8 is retracted, the universal wheel 9 is off the ground, and the front end of the crawler climbing mechanism is on the ground. Fig.11 or Fig.13 As shown, at this time, the speed knob 1-1 is rotated, and the crawler climbing mechanism drives the wheelchair to move forward; when it is in the flat ground gear, the electric push rod 12 of the universal wheel rocker mechanism is in the longest state, the front rocker arm 8 is lowered, the universal wheel 9 is on the ground, and the front end of the crawler climbing mechanism is off the ground, as shown in FIG. Fig.10 or Fig.12 As shown, the crawler climbing mechanism does not move when the speed knob 1-1 is turned; when in the upstairs gear, the electric push rod 12 of the universal wheel rocker mechanism is in the shortest state, the front rocker arm 8 is retracted, the universal wheel 9 is off the ground, and the front end of the crawler climbing mechanism is on the ground, as shown in FIG. Fig.11 or Fig.13 As shown, at this time, the speed regulating knob 1-1 is rotated, and the crawler climbing mechanism drives the wheelchair to move backward.

[0061] The rear rocker arm control switch 1-4 has three gears, namely, the stowed gear, the self-balancing gear, and the lowered gear. When in the stowed gear, the electric slider 13 of the directional wheel rocker arm mechanism is in the maximum stroke state, the rear rocker arm 5 is stowed, the directional wheel 7 is off the ground, the seat 2 is tilted backward, and the rear end of the crawler climbing mechanism is on the ground. Fig.13As shown; when in the self-balancing gear, the single-chip minimum system analyzes the seat posture information transmitted by the seat posture monitoring sensor and issues a control instruction to the motor drive module, so that the motor drive module controls the movement of the electric slider 13, adjusts the directional wheel rocker mechanism, and changes the position of the directional wheel 7 to adapt to the terrain, so that the seat 2 maintains a horizontal posture, as shown in FIG. Fig.14 When the gear is lowered, the electric slider 13 of the directional wheel rocker mechanism is in the minimum stroke state, the rear rocker arm 5 is lowered, the directional wheel 7 is on the ground, and the rear end of the crawler climbing mechanism is off the ground, such as Fig.12 shown.

[0062] like Figure 1 and Figure 2 As shown, a manual brake device 6 is provided beside the directional wheel 7, which directly acts on the outer edge of the tire of the directional wheel 7 to realize the braking parking function.

[0063] The working method of the present invention is (see Fig.15 ):

[0064] 1. Walking on flat ground:

[0065] The mode selection switch 1-3 is kept in the flat ground gear, the rear rocker control switch 1-4 is in the self-balancing or lowered gear, at this time, the universal wheel 9 and the directional wheel 7 are on the ground, the emergency stop switch 1-2 is pressed down and the power is cut off, and the wheelchair enters the state as shown in the figure. Fig.12 The flat-terrain mode shown is where the operator pushes the wheelchair from behind.

[0066] 2. Going downstairs:

[0067] 1. The operator pushes the wheelchair to the front of the stairs, adjusts the front end of the wheelchair to be roughly flush with the stairs, adjusts the anti-skid device to the working position, turns on the emergency stop switch 1-2, turns the mode selection switch 1-3 to the downstairs gear, keeps the rear rocker control switch 1-4 in the self-balancing gear, waits for the front rocker 8 to be retracted to make the universal wheel 9 leave the ground and the crawler climbing mechanism touch the ground, turns the speed knob 1-1, and the wheelchair moves downward under the drive of the crawler climbing mechanism and gradually enters the stairs. At the same time, the rear rocker 5 will automatically retract with the directional wheel 7 to keep the passenger sitting horizontal at all times. After the overall center of gravity enters the stairs, turn the rear rocker control switch 1-4 to the retracted gear, and the wheelchair enters as shown in the figure. Fig.13 The stair climbing pattern shown continues downward.

[0068] 2. When the crawler climbing mechanism of the wheelchair is about to leave the last step, turn the speed knob 1-1 to the initial position. After the wheelchair stops moving, turn the rear rocker control switch 1-4 to the self-balancing gear. At this time, under the control of the self-balancing function, the directional wheel rocker mechanism will automatically adjust the position of the directional wheel 7 to restore the seat 2 to a horizontal state. Then turn the mode selection switch 1-3 to the flat ground gear, lower the front rocker 8, and the universal wheel 9 touches the ground. At the same time, the directional wheel 7 also moves to the initial position under the action of the self-balancing function. At this time, the wheelchair switches to the flat ground mode.

[0069] 3. Continue to repeat the above steps 1 and 2 until you reach the required floor.

[0070] 3. Going upstairs:

[0071] 1. Place the wheelchair against the stairs, with the directional wheels 7 on the first step, turn on the emergency stop switch 1-2, and first turn the rear rocker arm control switch 1-4 to the retracted position. At this time, the rear rocker arm 5 will be retracted, and the wheelchair will tilt backwards. After the rear end of the crawler climbing mechanism is on the first step, turn the mode selection switch 1-3 to the upstairs position, and the front rocker arm 8 will be retracted. The wheelchair will enter the Fig.13 In the stair climbing mode shown, by rotating the speed control knob 1-1, the wheelchair moves upwards and gradually enters the stairs driven by the crawler stair climbing mechanism.

[0072] 2. After the directional wheel 7 drives out of the last step, the rear rocker arm control switch 1-4 is turned to the self-balancing gear. Under the control of the self-balancing function, the rear rocker arm 5 is lowered, the directional wheel 7 touches the ground, and the rear end of the crawler climbing mechanism is off the ground. While the wheelchair gradually drives out of the stairs, the passenger's sitting posture always remains horizontal; after the wheelchair completely drives out of the stairs, the speed knob 1-1 is turned to the initial position. After the wheelchair stops moving, the mode selection switch 1-3 is turned to the flat ground gear, the front rocker arm 8 is lowered, the universal wheel 9 touches the ground, and the directional wheel 7 also moves to the initial position under the action of the self-balancing function. At this time, the wheelchair switches to the flat ground mode.

[0073] 3. Continue to repeat the above steps 1 and 2 until you reach the required floor.

Claims

1. A self-balancing stair climbing wheelchair, comprising a shock-absorbing seat, a crawler stair climbing mechanism, a battery and a control system; characterized in that: It has a universal wheel rocker arm mechanism and a directional wheel rocker arm mechanism, wherein: the crawler climbing mechanism is a single-section double-crawler structure, including a crawler frame, crawlers, driving wheels, tensioning wheels, idler wheels, driving wheel shafts, crawler drive motors and a secondary chain transmission mechanism; the crawler climbing mechanism is arranged with a low front and a high rear, and its rear end is folded upward for a small section, and an idler wheel is installed at the folded part; three steel pipes are rigidly connected in the middle of the crawler frame, namely a front end steel pipe, a middle steel pipe and a rear end steel pipe, and a crawler drive motor mounting frame and an oblique upward seat support frame are rigidly connected to the front end steel pipe, an electric push rod end hinge support is provided in the middle of the middle steel pipe, and an electric slider end hinge support and a shock-absorbing spring hinge support are provided in the middle of the rear end steel pipe; the crawler drive The motor drives the crawler track to rotate through a secondary chain transmission mechanism to achieve the stair climbing function; the universal wheel rocker arm mechanism is composed of a front rocker arm, an electric push rod and two universal wheels, the front rocker arm is a left-right symmetrical double rocker arm structure, the double rockers are rigidly connected together through a front crossbeam that crosses the crawler track climbing mechanism from above, a front end hinge support of an electric push rod is provided in the middle of the front crossbeam, and two symmetrical gas spring hinge supports are provided on both sides, the front rocker arm is symmetrically hinged to the front outer side of the crawler track climbing mechanism, the two ends of the electric push rod are respectively hinged to the end hinge support of the electric push rod and the front end hinge support of the electric push rod, the universal wheel is installed at the end of the front rocker arm, the length change of the electric push rod will pull the front rocker arm to swing, and the electric push rod There are two states, the longest and the shortest. When in the shortest state, the universal wheel installed at the end of the front rocker arm is off the ground, and the front end of the crawler climbing mechanism is on the ground. When in the longest state, the universal wheel is on the ground, and the front end of the crawler climbing mechanism is off the ground. The directional wheel rocker arm mechanism consists of a rear rocker arm, an electric slider and two directional wheels. The rear rocker arm is a left-right symmetrical double rocker arm structure, and the double rockers are rigidly connected together through a rear crossbeam that crosses the crawler climbing mechanism from above. A front end hinge support of an electric slider is provided in the middle of the rear crossbeam, and two symmetrical gas spring U-groove supports are provided on both sides. The rear rocker arm is symmetrically hinged at the front end outer side of the crawler climbing mechanism and the rear upper position of the front rocker arm. The slider end of the electric slider It is hinged to the front end hinge support of the electric slider, and the other end is hinged to the end hinge support of the electric slider. The directional wheel is installed at the end of the rear rocker arm. The stroke change of the electric slider will pull the rear rocker arm to swing. The electric slider has two states of maximum stroke and minimum stroke. When it is in the maximum stroke state, the directional wheel installed at the end of the rear rocker arm is off the ground, and the rear end of the crawler climbing mechanism is on the ground. When it is in the minimum stroke state, the directional wheel is on the ground, and the rear end of the crawler climbing mechanism is off the ground; the control system includes an operation panel, a seat posture monitoring sensor, a single-chip minimum system, and a motor drive module. The crawler climbing mechanism, the universal wheel rocker arm mechanism, and the directional wheel rocker arm mechanism are all electrically connected to and controlled by the control system; The anti-skid device is installed on a small section that is folded upward at the rear end of the crawler climbing mechanism, including two one-way damping rocker arms, two rollers, two elastic blocks and a connecting rod. A one-way rotation damping is provided at the rocker center of the one-way damping rocker arm, and the roller is installed at the end of the one-way damping rocker arm. The two one-way damping rocker arms are symmetrically hinged on the inner side of the crawler frame and are rigidly connected through the connecting rod. The one-way damping rocker arm can rotate in all directions around the hinge point, and the elastic block can position the one-way damping rocker arm in the working position. When in the working position, the one-way damping rocker arm is perpendicular to the small section that is folded upward at the rear end of the crawler climbing mechanism, and the roller protrudes outward. At this time, the one-way damping rocker arm has a very large resistance to upward rotation and a very small resistance to downward rotation.

2. A self-balancing stair climbing wheelchair according to claim 1, characterized in that: The shock-absorbing seat comprises a seat and a shock-absorbing spring. The front end of the seat is hinged to the seat support frame, and the rear end is connected to the track frame through the shock-absorbing spring.

3. The self-balancing stair climbing wheelchair according to claim 1, characterized in that: A rocker arm tensioning device is installed between the universal wheel rocker arm mechanism and the directional wheel rocker arm mechanism, which includes two symmetrically installed gas spring kits, the gas spring kit includes a gas spring and a sleeve, the gas spring can be divided into a cylinder body and a piston rod, the cylinder body and the end of the piston rod are respectively provided with a hinge point for installation, the gas spring cylinder body is nested in the sleeve, and two symmetrical cylinders are welded to the front end of the outer circle of the sleeve as hinge points on the cylinder body, and the two ends of the gas spring kit are respectively hinged to the gas spring hinge support and the gas spring U-slot support, and the rocker arm tensioning function is realized by using the elastic force of the gas spring.

4. The self-balancing stair climbing wheelchair according to claim 1, characterized in that: A foot pedal is arranged at the front lower part of the seat support frame, a battery mounting frame is arranged at the left side, on which a battery is mounted; and an electric control box mounting frame is arranged at the right side, on which an electric control box is mounted.

5. The self-balancing stair climbing wheelchair according to claim 1, characterized in that: The control system includes an operating panel fixed on the top of the seat back, a posture monitoring sensor fixed under the seat, a single-chip microcomputer minimum system and a motor drive module installed in an electronic control box, wherein the operating panel includes an emergency stop switch, a mode selection switch, a rear rocker arm control switch, and a speed control knob.

6. The self-balancing stair climbing wheelchair according to claim 1, characterized in that: The rear swing arm is provided with a manual brake device, which directly acts on the outer edge of the tire of the directional wheel to realize the braking parking function.

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