Intelligent wheelchair for elderly people to climb stairs

Abstract

The present application discloses an intelligent wheelchair for assisting the elderly in climbing stairs, comprising a support frame, a lifting device, a screw horizontal moving device, and a screw lifting device. The support frame is in a square frame structure, and a screw lifting device is respectively arranged at the four corners of the square frame of the support frame, and the two screw lifting devices on the front side move up and down synchronously, and the two screw lifting devices on the rear side move up and down synchronously. A track wheel is fixed to the lower end of each screw lifting device, and the screw horizontal moving device moves along the front and rear directions. An up and down lifting device is arranged at the diagonal edge position of the screw horizontal moving device. The heights of stairs in different places are different, and the wheelchair is automatically adjusted according to the stairs of different heights. When climbing the stairs, four track wheels are in contact with the ground, which increases the contact area between the machine and the steps and has high safety.

Description

Technical Field

[0001] The present invention relates to an intelligent wheelchair for assisting the elderly to climb stairs, belonging to the field of elderly assistance equipment. Background Art

[0002] In recent years, the problem of aging society in my country has become increasingly serious. According to the current development trend, it is predicted that the total number of elderly people in my country will increase to 270 million by 2023.

[0003] According to medical research, as the elderly age, they will experience adverse phenomena such as reduced flexibility of joints, decreased ability to stand and balance when moving, etc.

[0004] With the rapid development of my country's economy, people's living standards are constantly improving. Many people live in buildings with elevators, but in some places, there are still some buildings with a certain height but no elevators. Moreover, the stairs at overpasses and tourist attractions will cause great trouble to the elderly with inconvenient legs and feet.

[0005] At present, the intelligent and safe performance of the devices for assisting the elderly to climb stairs on the market is not high, and the operation is inconvenient, which has great limitations for the elderly. In view of this situation, we have invented an innovative structural design to assist the elderly to climb stairs. The machine can climb stairs of various sizes stably, efficiently and automatically under automatic control. Summary of the invention

[0006] The purpose of the present invention is to respectively lift or lower the machine by two scissor-type lifting devices and four screw lifting devices, and a screw horizontal moving device to horizontally move the two scissor-type lifting devices and the four screw lifting devices, thereby realizing the function of going up and down stairs.

[0007] The technical solution of the present invention is implemented as follows: an intelligent wheelchair for assisting the elderly in climbing stairs includes a support frame 13, a lifting device, a screw horizontal moving device 4, and a screw lifting device. The support frame 13 is a square frame structure, and a screw lifting device is respectively arranged at the four corners of the square frame of the support frame 13, and the two screw lifting devices on the front side move up and down synchronously, and the two screw lifting devices on the rear side move up and down synchronously. A track wheel is fixed at the lower end of each screw lifting device, and the screw horizontal moving device 4 moves along the front and rear directions, and an up and down lifting device is arranged at the diagonal edge position of the screw horizontal moving device 4.

[0008] The screw lifting device includes a screw lifting device 1 2, a screw lifting device 2 6, a screw lifting device 3 9, and a screw lifting device 4 11. The screw lifting device 4 11 includes a lifting frame 4 11-1, a lifting screw 4 11-2, a sliding rod 4 11-3, a lifting sprocket 4 11-4, and a lifting motor 4 11-5. The lifting screw 4 11-2 is arranged in the vertical direction, and the upper end of the lifting screw 4 11-2 is fixed with the lifting sprocket 4 11-4. After the upper end of the lifting screw 4 11-2 passes upward through the lifting sprocket 4 11-4, it is fixedly connected to the output shaft of the lifting motor 4 11-5. The lifting motor 4 11-5 is fixed to the upper end of the corner on the right rear side of the square frame structure of the support frame 13, and the lower end of the lifting screw 4 11-2 is rotatably installed on the square frame of the support frame 13. At the lower end of the right rear corner of the structure, the upper end of the lifting frame 4 11-1 and the lifting screw 4 11-2 form a spiral pair for rotation, the sliding rod 4 11-3 is arranged parallel to the lifting screw 4 11-2, and the upper and lower ends of the sliding rod 4 11-3 are respectively fixed to the upper and lower ends of the support frame 13, the upper end of the lifting frame 4 11-1 and the sliding rod 4 11-3 slide in the up and down directions, and the lower end of the lifting frame 4 11-1 is fixed to the track wheel 4 support frame of the track wheel 4 10, the screw lifting device 4 11 has the same structure as the screw lifting device 1 2, the screw lifting device 2 6 has the same structure as the screw lifting device 3 9, the screw lifting device 4 11 and the screw lifting device 2 6 are basically symmetrical in the left and right symmetry plane, and the upper end of the lifting screw 2 of the screw lifting device 2 6 is rotatably installed on the support frame 13;

[0009] The lifting sprocket four 11-4 forms a chain transmission with the lifting sprocket two of the lifting device two 6 through the chain one 12, and the lifting sprocket four of the screw lifting device one 2 forms a chain transmission with the lifting sprocket three of the lifting device three 9 through the chain two 14.

[0010] The screw horizontal moving device 4 includes a moving plate 4-1, a slide rod 1 4-2, a sliding screw 4-3, a large pulley 4-4, a synchronous belt 4-5, a translation motor 4-6, a small pulley 4-7, and a slide rod 2 4-8. The large pulley 4-4 is fixed to the rear of the sliding screw 4-3, and the large pulley 4-4 and the small pulley 4-7 form a belt drive through the synchronous belt 4-5. The translation motor 4-6 is fixed to the upper rear end of the support frame 13, and the output shaft of the translation motor 4-6 is fixed to the small pulley 4-7. The sliding screw 4-3 is horizontally arranged along the front and rear directions. The front and rear ends of the lead screw 4-3 are rotatably mounted on the front and rear ends of the middle upper part of the support frame 13, respectively. The sliding lead screw 4-3 and the upper end of the movable plate 4-1 form a spiral pair transmission. The left and right sides of the sliding lead screw 4-3 are respectively provided with a slide bar 2 4-8 and a slide bar 1 4-2. The front and rear ends of the slide bar 2 4-8 and the slide bar 1 4-2 are respectively fixed on the front and rear ends of the upper part of the support frame 13. The slide bar 1 4-2 and the slide bar 2 4-8 are arranged in parallel with the sliding lead screw 4-3. The slide bar 1 4-2 and the slide bar 2 4-8 are both slidably connected with the upper part of the movable plate 4-1.

[0011] The up and down lifting device includes a scissor-type lifting device 1 3 and a scissor-type lifting device 2 7. The scissor-type lifting device 1 3 is fixed on the right front side of the movable plate 4-1, and the scissor-type lifting device 2 7 is fixed on the left rear side of the movable plate 4-1. The scissor-type lifting device 1 3 and the scissor-type lifting device 2 7 have the same structure.

[0012] The track wheel comprises a track wheel 1, a track wheel 2 5, a track wheel 3 8, and a track wheel 4 10. The track wheel 1, the track wheel 2 5, the track wheel 3 8, and the track wheel 4 10 have the same structure. The track wheel 1 comprises a track wheel support frame 1-1, a track 1 1-2, a round rod 1-3, a round rod 2 1-4, a transmission belt 1-5, a large transmission pulley 1-6, a large track pulley 1-7, a small track pulley 1-8, a small track pulley 2 1-9, a track wheel motor 1-10, a track wheel motor shaft 1-11, a transmission small pulley 1-12, and a round rod 3 1-13. The track wheel motor 1-10 is fixed on the track wheel support frame 1-1. The track wheel motor 1-10 A small transmission pulley 1-12 is fixed on the crawler wheel motor shaft 1-11, and the small transmission pulley 1-12 and the large transmission pulley 1-6 form a belt drive through a transmission belt 1-5. The large transmission pulley 1-6 is rotatably installed on the upper part of the support frame 1-1. The large transmission pulley 1-6 and the large crawler pulley 1-7 are fixedly connected through round rod 1-3, round rod 2 1-4, and round rod 3 1-13. The large crawler pulley 1-7 and the small crawler pulley 2 1-9 and the small crawler pulley 1 1-8 form a belt drive through the crawler 1-2. The small crawler pulley 2 1-9 and the small crawler pulley 1 1-8 are rotatably installed on the front side and the rear side of the lower end of the support frame 1-1, and the crawler 1-2 is used for walking.

[0013] The support frame 13 is a square frame with a left front, left rear, right front and right rear corners respectively provided with a screw lifting device 3 9, a screw lifting device 2 6, a screw lifting device 1 2 and a screw lifting device 4 11. The lower ends of the screw lifting devices 3 9, 6, 1 2 and 1 1 are respectively fixed with a track wheel 3 support frame of track wheel 3 8, a track wheel 2 support frame of track wheel 2 5, a track wheel 1 support frame of track wheel 1 1 and a track wheel 4 support frame of track wheel 4 10.

[0014] The scissor lift device 3 includes a lower base plate 3-1, a sliding support 3-2, a scissor lift screw 3-4, a nut 3-5, an upper base plate 3-6, a scissor lift motor 3-7, a lower slide 3-9, a fixed support 3-10, and a telescopic mechanism. The telescopic mechanism includes two sets of identical and parallel multi-layer X-shaped scissor fork assemblies corresponding to the left and right sides of the lower base plate 3-1. The scissor fork assemblies on the same layer are composed of two connecting rods 3-8 hinged together at the middle to have a rotating pair. The adjacent two layers of scissor fork assemblies are hinged together by one end of a connecting rod 3-3 arranged at both ends of the connecting rod 3-8, and the other end of the connecting rod 3-3 is hinged to the two ends of the connecting rod 3-8 of the adjacent two layers of the scissor fork assemblies on the other side. A lower slide 3-9 along the front-to-back direction is respectively arranged at the left and right ends of the lower base plate 3-1. The left and right multi-layer X-shaped The rear end of the lower connecting rod 3-8 of the scissor assembly in the shape of a left and right multi-layer X is respectively hinged to the rear end of a lower slide 3-9, and the front end of the lower connecting rod 3-8 of the left and right multi-layer X-shaped scissor assembly is respectively slidably connected to a lower slide 3-9; the left and right ends of the lower side of the upper base plate 3-6 are respectively provided with an upper slide arranged along the front and rear direction, and the rear end of the upper connecting rod 3-8 of the left and right multi-layer X-shaped scissor assembly is respectively hinged to the rear end of an upper slide, and the left and right multi-layer X-shaped The front ends of the upper connecting rod 3-8 of the scissor-shaped fork assembly are respectively slidably connected to an upper slide; the scissor-type lifting device motor 3-7 is fixed on the upper base plate 3-6, and the output shaft of the scissor-type lifting device motor 3-7 fixes one end of the lifting device screw 3-4, and the other end of the lifting device screw 3-4 is rotatably installed on the upper base plate 3-6, and the nut 3-5 is screwed on the lifting device screw 3-4, and the nut 3-5 drives the end of the connecting rod 3-8 slidably connected to the upper slide to move forward and backward along the upper slide.

[0015] The seat 15 is fixed to the upper end of the support frame 13 .

[0016] The up and down lifting device is replaced by an electric lifting platform.

[0017] Compared with the prior art, the present invention has the following advantages: BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the overall structure of the intelligent wheelchair for elderly people to climb stairs. Figure 1 .

[0019] Figure 2 This is the overall structure of the intelligent wheelchair for elderly people to climb stairs. Figure 2 .

[0020] Figure 3 It is a schematic diagram of the overall structure of an intelligent stair-climbing wheelchair equipped with a seat.

[0021] Figure 4 This is a schematic diagram of the structure of track wheel 1 Figure 1 .

[0022] Figure 5 This is a schematic diagram of the structure of track wheel 1 Figure 2 .

[0023] Figure 6 It is a structural schematic diagram of a scissor lift device.

[0024] Figure 7 It is a structural schematic diagram of the screw horizontal moving device.

[0025] Figure 8 It is a structural schematic diagram of the lifting device four.

[0026] Fig. 9 This is a schematic diagram of the structure of the machine when assisting the elderly to take the first step up the stairs.

[0027] Fig.10 It is a structural diagram of the second step of the machine when assisting the elderly to climb stairs.

[0028] Fig.11 It is a structural diagram of the third step when the machine assists the elderly to climb stairs.

[0029] Fig.12 It is a structural diagram of the fourth step when the machine assists the elderly to climb stairs.

[0030] Fig.13 This is the structure diagram of the sixth step when the machine assists the elderly to climb stairs Figure 1 .

[0031] Fig.14 This is the structure diagram of the sixth step when the machine assists the elderly to climb stairs Figure 2 .

[0032] Fig.15 It is a schematic diagram of the structure of the second step when the machine assists the elderly to go down the stairs.

[0033] Fig.16It is a structural diagram of the fifth step when the machine assists the elderly to go down the stairs. DETAILED DESCRIPTION

[0034] The intelligent stair-climbing wheelchair for the elderly of the present invention comprises: a track wheel 1, a screw lifting device 2, a scissor-type lifting device 3, a screw horizontal moving device 4, a track wheel 2 5, a screw lifting device 2 6, a scissor-type lifting device 2 7, a track wheel 3 8, a screw lifting device 3 9, a track wheel 4 10, a screw lifting device 4 11, a chain 12, a support frame 13, a chain 2 14, and a seat 15. The front and back, up and down, left and right directions of the present application are defined by the user's front and back, up and down, left and right, so as to describe the present application.

[0035] The track wheel one comprises a track wheel one support frame 1-1, a track one 1-2, a round rod one 1-3, a round rod two 1-4, a transmission belt 1-5, a large transmission pulley 1-6, a large track pulley 1-7, a small track pulley one 1-8, a small track pulley two 1-9, a track wheel motor 1-10, a track wheel motor shaft 1-11, a small transmission pulley 1-12, and a round rod three 1-13. The track wheel motor 1-10 is fixed on the track wheel one support frame 1-1, and the transmission small pulley 1-12 is fixed on the track wheel motor shaft 1-11 of the track wheel motor 1-10. The transmission small pulley 1-12 is fixed on the track wheel motor shaft 1-11 of the track wheel motor 1-10. 12 and the large transmission pulley 1-6 form a belt drive through the transmission belt 1-5, the large transmission pulley 1-6 is rotatably installed on the upper part of the support frame 1-1, the large transmission pulley 1-6 and the large track pulley 1-7 are fixedly connected through round rod 1-3, round rod 2 1-4, and round rod 3 1-13, the large track pulley 1-7 and the small track pulley 2 1-9 and the small track pulley 1 1-8 form a belt drive through the crawler 1-2, the small track pulley 2 1-9 and the small track pulley 1 1-8 are rotatably installed on the front side and the rear side of the lower end of the support frame 1-1, and the crawler 1-2 is used for walking.

[0036] The track wheel 1, track wheel 2, track wheel 5, track wheel 3, track wheel 4, 10 have the same structure, and the support frame 13 is a square frame structure.

[0037] The scissor lift device 3 includes a lower base plate 3-1, a sliding support 3-2, a scissor lift screw 3-4, a nut 3-5, an upper base plate 3-6, a scissor lift motor 3-7, a lower slide 3-9, a fixed support 3-10, and a telescopic mechanism. The telescopic mechanism includes two sets of identical and parallel multi-layer X-shaped scissor fork assemblies corresponding to the left and right sides of the lower base plate 3-1. The scissor fork assemblies on the same layer are composed of two connecting rods 3-8 hinged together at the middle to have a rotating pair. The adjacent two layers of scissor fork assemblies are hinged together by one end of a connecting rod 3-3 arranged at both ends of the connecting rod 3-8, and the other end of the connecting rod 3-3 is hinged to the two ends of the connecting rod 3-8 of the adjacent two layers of the scissor fork assemblies on the other side. A lower slide 3-9 along the front-to-back direction is respectively arranged at the left and right ends of the lower base plate 3-1. The left and right multi-layer X-shaped The rear end of the lower connecting rod 3-8 of the scissor assembly in the shape of a left and right multi-layer X is respectively hinged to the rear end of a lower slide 3-9, and the front end of the lower connecting rod 3-8 of the left and right multi-layer X-shaped scissor assembly is respectively slidably connected to a lower slide 3-9; the left and right ends of the lower side of the upper base plate 3-6 are respectively provided with an upper slide arranged along the front and rear direction, and the rear end of the upper connecting rod 3-8 of the left and right multi-layer X-shaped scissor assembly is respectively hinged to the rear end of an upper slide, and the left and right multi-layer X-shaped The front ends of the upper connecting rods 3-8 of the scissor-shaped fork assembly are respectively connected to an upper slideway in a sliding manner; the upper base plate 3-6 is fixed with a scissor-type lifting device motor 3-7, the output shaft of the scissor-type lifting device motor 3-7 fixes one end of the lifting device lead screw 3-4, the other end of the lifting device lead screw 3-4 is rotatably mounted on the upper base plate 3-6, the lifting device lead screw 3-4 is screwed with a nut 3-5, and the nut 3-5 drives the end of the connecting rod 3-8 connected to the upper slideway to move forward and backward along the upper slideway. The scissor-type lifting device is a conventional design in the art and will not be described in detail here.

[0038] The screw horizontal moving device 4 includes a moving plate 4-1, a slide rod 1 4-2, a sliding screw 4-3, a large pulley 4-4, a synchronous belt 4-5, a translation motor 4-6, a small pulley 4-7, and a slide rod 2 4-8. A large pulley 4-4 is fixed at the rear of the sliding screw 4-3, and the large pulley 4-4 and the small pulley 4-7 form a belt drive through a synchronous belt 4-5. The translation motor 4-6 is fixed to the upper rear end of the support frame 13, and the output shaft of the translation motor 4-6 fixes the small pulley 4-7. The sliding screw 4-3 is horizontally arranged along the front and rear directions, and the front and rear ends of the sliding screw 4-3 are rotatably installed at the front and rear ends of the middle upper part of the support frame 13 respectively. The sliding screw 4-3 and the upper end of the movable plate 4-1 form a spiral pair transmission, and the left and right sides of the sliding screw 4-3 are respectively provided with a sliding rod 2 4-8 and a sliding rod 1 4-2, and the front and rear ends of the sliding rod 2 4-8 and the sliding rod 1 4-2 are respectively fixed at the front and rear ends of the upper part of the support frame 13, and the sliding rod 1 4-2 and the sliding rod 2 4-8 are arranged in parallel with the sliding screw 4-3, and the sliding rod 1 4-2 and the sliding rod 2 4-8 are both slidably connected with the upper part of the movable plate 4-1.

[0039] The screw lifting device 411 includes a lifting frame 411-1, a lifting screw 411-2, a sliding rod 411-3, a lifting sprocket 411-4, and a lifting motor 411-5. The lifting screw 411-2 is arranged in the vertical direction. The upper end of the lifting screw 411-2 is fixed with the lifting sprocket 411-4. After the upper end of the lifting screw 411-2 passes through the lifting sprocket 411-4 upward, it is fixedly connected with the output shaft of the lifting motor 411-5. The lifting motor 411-5 is fixed to the upper end of the corner on the right rear side of the square frame structure of the support frame 13. The lower end of the lifting screw 411-2 is rotatably installed at the lower end of the corner on the right rear side of the square frame structure of the support frame 13. The upper end of the lifting frame 411-1 It forms a spiral pair rotation with the lifting screw four 11-2, the sliding rod four 11-3 is arranged parallel to the lifting screw four 11-2, the upper and lower ends of the sliding rod four 11-3 are respectively fixed to the upper and lower ends of the support frame 13, the upper end of the lifting frame four 11-1 slides with the sliding rod four 11-3 along the up and down directions, the lower end of the lifting frame four 11-1 is fixed to the track wheel four support frame of the track wheel four 10, the screw lifting device four 11 has the same structure as the screw lifting device one 2, the screw lifting device two 6 has the same structure as the screw lifting device three 9, the screw lifting device four 11 and the screw lifting device two 6 are basically symmetrical in the left and right symmetry plane, the difference is that the upper end of the lifting screw two of the screw lifting device two 6 is rotatably installed on the support frame 13.

[0040] The lifting sprocket four 11-4 forms a chain transmission with the lifting sprocket two of the lifting device two 6 through the chain one 12, and the lifting sprocket four of the screw lifting device one 2 forms a chain transmission with the lifting sprocket three of the lifting device three 9 through the chain two 14.

[0041] A scissor-type lifting device 1 3 is fixed on the right front side of the movable plate 4 - 1 , and a scissor-type lifting device 2 7 is fixed on the left rear side of the movable plate 4 - 1 . The scissor-type lifting device 1 3 and the scissor-type lifting device 2 7 have the same structure.

[0042] The support frame 13 is a square frame with a left front, left rear, right front and right rear corners respectively provided with a screw lifting device 3 9, a screw lifting device 2 6, a screw lifting device 1 2 and a screw lifting device 4 11. The lower ends of the screw lifting devices 3 9, 6, 1 2 and 1 1 are respectively fixed with a track wheel 3 support frame of track wheel 3 8, a track wheel 2 support frame of track wheel 2 5, a track wheel 1 support frame of track wheel 1 1 and a track wheel 4 support frame of track wheel 4 10.

[0043] The seat 15 is fixed to the upper end of the support frame 13 .

[0044] When the machine assists elderly people to climb stairs:

[0045] Step 1: The sensor on the scissor lift 1 3 detects the step, and the sliding screw 4-3 rotates to make the scissor lift 1 3 and the scissor lift 2 7 move forward horizontally by a step width, as shown in FIG. Fig. 9 shown.

[0046] Step 2: The scissor lift screws on the scissor lift 1 3 and the scissor lift 2 7 rotate to lift the scissor lift 1 3 and the scissor lift 2 7 to a height higher than one step, and the lifting screws on the screw lift 2 6 and the screw lift 4 11 rotate to lower the track wheel 2 5 and the track wheel 4 10 to a height of one step, as shown in FIG. Fig.10 shown.

[0047] Step 3: The sliding screw 4-3 rotates to move the support frame 13 forward by a step width. Fig.11 shown.

[0048] Step 4: The scissor lift screws on the scissor lift 1 3 and the scissor lift 2 7 are rotated to reduce the height of the scissor lift 1 3 and the scissor lift 2 7 by more than one step, such as Fig.12 shown.

[0049] Step 5: Repeat steps 1 to 4, wherein in step 2, the lifting screws on the screw lifting device 2 6 and the screw lifting device 4 11 do not need to be rotated.

[0050] Step 6: When you reach the last step, Fig.13 The sliding screw 4-3 rotates to move the support frame forward by a step width, as shown in FIG. Fig.14The lead screws of the scissor lifts 1-3 and 2-7 rotate to lower the scissor lifts 1-3 and 2-7 to a height slightly higher than a step, and the sliding lead screw 4-3 rotates to move the scissor lifts 1-3 and 2-7 forward horizontally by a distance of a step width.

[0051] When the machine assists the elderly to go down stairs.

[0052] The first step: the sliding screw 4-3 rotates to make the scissor lift 1 3 and the scissor lift 2 7 move horizontally backward by a step width, and the lifting device screws on the scissor lift 1 3 and the scissor lift 2 7 rotate to make the scissor lift 1 3 and the scissor lift 2 7 rise to a height slightly higher than a step, such as Fig.14 shown.

[0053] Step 2: The sliding screw 4-3 rotates to move the support frame backward by a step width, and the lifting screws on the screw lifting device 2 6 and the screw lifting device 4 11 rotate to make the track wheel 2 5 and the track wheel 4 10 drop to a step height, such as Fig.15 shown.

[0054] Step 3: The lead screws of the scissor lifts 1 3 and 2 7 are rotated to reduce the height of the scissor lifts 1 3 and 2 7 by slightly more than one step.

[0055] Step 4: Repeat steps 1 to 3, wherein in step 2, the lifting screws on the screw lifting device 2 6 and the screw lifting device 4 11 do not need to be rotated.

[0056] Step 5: When you descend to only one step left, Fig.16 The lifting screws on the screw lifting device 2 6 and the screw lifting device 4 11 rotate, so that the track wheel 2 5 and the track wheel 4 10 rise to a step height, the scissor lifting device screws on the scissor lifting device 1 3 and the scissor lifting device 2 7 rotate, so that the scissor lifting device 1 3 and the scissor lifting device 2 7 lower the height slightly higher than the step, and the sliding screw 4-3 rotates so that the scissor lifting device 1 3 and the scissor lifting device 2 7 move horizontally backward by a step width.

[0057] When moving on the ground, the scissor lift 1 3 and the scissor lift 2 7 are in a retracted state.

Claims

1. Intelligent wheelchair for elderly people to climb stairs, characterized by: The invention comprises a support frame (13), a lifting device, a screw horizontal moving device (4), and a screw lifting device, wherein the support frame (13) is in a square frame structure, a screw lifting device is respectively arranged at the four corners of the square frame of the support frame (13), and the two screw lifting devices on the front side move up and down synchronously, and the two screw lifting devices on the rear side move up and down synchronously, a crawler wheel is fixed at the lower end of each screw lifting device, the screw horizontal moving device (4) moves along the front-back direction, and an up-and-down lifting device is arranged at the diagonal edge position of the screw horizontal moving device (4); The screw horizontal moving device (4) comprises a moving plate (4-1), a sliding rod 1 (4-2), a sliding screw (4-3), a large pulley (4-4), a synchronous belt (4-5), a translation motor (4-6), a small pulley (4-7), and a sliding rod 2 (4-8). The large pulley (4-4) is fixed at the rear of the sliding screw (4-3). The large pulley (4-4) and the small pulley (4-7) form a belt transmission through the synchronous belt (4-5). The translation motor (4-6) is fixed at the upper rear end of the support frame (13). The output shaft of the translation motor (4-6) is fixed to the small pulley (4-7). The sliding screw (4-3) is horizontally arranged along the front-rear direction. The front and rear ends of the sliding screw (4-3) are rotatably mounted on the front and rear ends of the middle upper part of the support frame (13), respectively; the sliding screw (4-3) and the upper end of the movable plate (4-1) form a spiral pair transmission; the left and right sides of the sliding screw (4-3) are respectively provided with a second sliding rod (4-8) and a first sliding rod (4-2); the front and rear ends of the second sliding rod (4-8) and the first sliding rod (4-2) are respectively fixed on the front and rear ends of the upper part of the support frame (13); the first sliding rod (4-2) and the second sliding rod (4-8) are arranged in parallel with the sliding screw (4-3); the first sliding rod (4-2) and the second sliding rod (4-8) are both slidably connected with the upper part of the movable plate (4-1); The up-and-down lifting device comprises a scissor-type lifting device 1 (3) and a scissor-type lifting device 2 (7); the scissor-type lifting device 1 (3) is fixed on the right front side of the movable plate (4-1), and the scissor-type lifting device 2 (7) is fixed on the left rear side of the movable plate (4-1); the scissor-type lifting device 1 (3) and the scissor-type lifting device 2 (7) have the same structure; The scissor lift device (3) comprises a lower base plate (3-1), a sliding support (3-2), a scissor lift device screw (3-4), a nut (3-5), an upper base plate (3-6), a scissor lift device motor (3-7), a lower slide (3-9), a fixed support (3-10), and a telescopic mechanism. The telescopic mechanism comprises two sets of identical and mutually parallel multi-layer X-shaped scissor fork assemblies correspondingly arranged on the left and right sides of the lower base plate (3-1). The scissor fork assemblies on the same layer are composed of two connecting rods (3-8) whose middle parts are hinged together to have a rotating pair. The scissor fork assemblies on two adjacent layers are hinged together through one end of a connecting rod (3-3) arranged at both ends of the connecting rod (3-8). The other end of the connecting rod (3-3) is hinged to the two ends of the connecting rod (3-8) of the adjacent two layers of the scissor fork assembly on the other side; the left and right ends of the lower base plate (3-1) are respectively provided with a lower slideway (3-9) along the front-to-back direction; the rear ends of the lower connecting rods (3-8) of the left and right multi-layer X-shaped scissor fork assemblies are respectively hinged to the rear end of a lower slideway (3-9); the front ends of the lower connecting rods (3-8) of the left and right multi-layer X-shaped scissor fork assemblies are respectively slidably connected to a lower slideway (3-9); the left and right ends of the lower side of the upper base plate (3-6) are respectively provided with an upper slideway arranged along the front-to-back direction; the left and right multi-layer X-shaped The rear end of the upper connecting rod (3-8) of the X-shaped scissor assembly is hinged to the rear end of an upper slide, and the front end of the upper connecting rod (3-8) of the left and right multi-layer X-shaped scissor assemblies is slidably connected to an upper slide; the scissor lift motor (3-7) is fixed on the upper base plate (3-6), the output shaft of the scissor lift motor (3-7) fixes one end of the lift screw (3-4), the other end of the lift screw (3-4) is rotatably mounted on the upper base plate (3-6), the nut (3-5) is screwed on the lift screw (3-4), and the nut (3-5) drives the end of the connecting rod (3-8) slidably connected to the upper slide to move forward and backward along the upper slide.

2. The intelligent stair-climbing wheelchair for the elderly according to claim 1 is characterized in that: The screw lifting device comprises a screw lifting device 1 (2), a screw lifting device 2 (6), a screw lifting device 3 (9), and a screw lifting device 4 (11). The screw lifting device 4 (11) comprises a lifting frame 4 (11-1), a lifting screw 4 (11-2), a sliding rod 4 (11-3), a lifting sprocket 4 (11-4), and a lifting motor 4 (11-5). The lifting screw 4 (11-2) is arranged along the vertical direction. The upper end of the lifting screw 4 (11-2) is fixed with the lifting sprocket 4 (11-4). After the upper end of the lifting screw 4 (11-2) passes through the lifting sprocket 4 (11-4) upward, it is fixedly connected with the output shaft of the lifting motor 4 (11-5). The lifting motor 4 (11-5) is fixed at the upper end of the corner on the right rear side of the square frame structure of the support frame (13). The lower end of the lifting screw 4 (11-2) is rotatably mounted on the square frame structure of the support frame (13). At the lower end of the right rear corner of the frame structure, the upper end of the lifting frame four (11-1) and the lifting screw four (11-2) form a spiral pair for rotation, the sliding rod four (11-3) and the lifting screw four (11-2) are arranged in parallel, the upper and lower ends of the sliding rod four (11-3) are respectively fixed to the upper and lower ends of the support frame (13), the upper end of the lifting frame four (11-1) and the sliding rod four (11-3) slide in the up and down directions, the lower end of the lifting frame four (11-1) is fixed to the track wheel four support frame of the track wheel four (10), the screw lifting device four (11) has the same structure as the screw lifting device one (2), the screw lifting device two (6) has the same structure as the screw lifting device three (9), the screw lifting device four (11) and the screw lifting device two (6) are basically symmetrical in the left and right symmetry plane, and the upper end of the lifting screw two of the screw lifting device two (6) is rotatably installed on the support frame (13); The lifting sprocket four (11-4) forms a chain transmission with the lifting sprocket two of the lifting device two (6) through the chain one (12), and the lifting sprocket four of the screw lifting device one (2) forms a chain transmission with the lifting sprocket three of the lifting device three (9) through the chain two (14).

3. The intelligent stair-climbing wheelchair according to claim 2 is characterized in that: The track wheel comprises a track wheel 1 (1), a track wheel 2 (5), a track wheel 3 (8), and a track wheel 4 (10). The track wheel 1 (1), the track wheel 2 (5), the track wheel 3 (8), and the track wheel 4 (10) have the same structure. The track wheel 1 comprises a track wheel 1 support frame (1-1), a track 1 (1-2), a round rod 1 (1-3), a round rod 2 (1-4), a transmission belt (1-5), a large transmission belt wheel (1-6), a large track belt wheel (1-7), a small track belt wheel 1 (1-8), a small track belt wheel 2 (1-9), a track wheel motor (1-10), a track wheel motor shaft (1-11), a transmission small belt wheel (1-12), and a round rod 3 (1-13). The track wheel motor (1-10) is fixed on the track wheel 1 support frame (1-1). The track wheel motor (1-10) is fixed on the track wheel 1 support frame (1-1). A transmission small pulley (1-12) is fixed on a crawler wheel motor shaft (1-11) of a support frame (10); the transmission small pulley (1-12) and the transmission large pulley (1-6) form a belt drive through a transmission belt (1-5); the transmission large pulley (1-6) is rotatably mounted on the upper part of the support frame (1-1); the transmission large pulley (1-6) and the crawler large pulley (1-7) are fixedly connected through round rod one (1-3), round rod two (1-4) and round rod three (1-13); the crawler large pulley (1-7) and the crawler small pulley two (1-9) and the crawler small pulley one (1-8) form a belt drive through crawler one (1-2); the crawler small pulley two (1-9) and the crawler small pulley one (1-8) are rotatably mounted on the front side and the rear side of the lower end of the support frame (1-1) respectively; and the crawler one (1-2) is used for walking.

4. The intelligent stair-climbing wheelchair according to claim 3 is characterized in that: The support frame (13) is a square frame, and screw lifting device 3 (9), screw lifting device 2 (6), screw lifting device 1 (2), and screw lifting device 4 (11) are respectively arranged at the left front, left rear, right front, and right rear corners of the frame. The lower ends of the screw lifting device 3 (9), screw lifting device 2 (6), screw lifting device 1 (2), and screw lifting device 4 (11) are respectively fixed with the track wheel 3 support frame of the track wheel 3 (8), the track wheel 2 support frame of the track wheel 2 (5), the track wheel 1 support frame of the track wheel 1 (1), and the track wheel 4 support frame of the track wheel 4 (10).

5. The intelligent stair-climbing wheelchair for the elderly according to any one of claims 1 to 4, characterized in that: The seat (15) is fixed to the upper end of the support frame (13).

6. The intelligent stair-climbing wheelchair for the elderly according to any one of claims 1 to 4, characterized in that: The up and down lifting device is replaced by an electric lifting platform.

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