A standing stair climbing wheelchair

Abstract

The present invention provides a stand-up stair-climbing wheelchair including two front wheels and two rear wheels; two sets of left-right symmetrically arranged connecting rod groups, including: a first connecting rod, whose lower end is hinged on the front wheels; a second connecting rod, whose lower end is hinged on the rear wheels, so that the rear wheels can rotate relative to the second connecting rod; the upper end of the second connecting rod and the upper end of the first connecting rod are hinged at a first hinge point; a third connecting rod, whose lower end is hinged on the front wheels; a fourth connecting rod, whose lower end is hinged on the rear wheels, so that the rear wheels can rotate relative to the fourth connecting rod; the upper end of the third connecting rod and the upper end of the fourth connecting rod are hinged at the second hinge point. A seat plate, whose left and right sides of the rear end are respectively hinged on two second hinge points, a support shaft is provided on the first hinge point, and the front end of the seat plate is supported on the support shaft. The stand-up stair-climbing wheelchair provided by the present invention can realize the functions of walking and climbing stairs.

Description

Technical Field

[0001] The invention belongs to the technical field of wheelchairs, and in particular relates to a wheelchair that can be transformed into a standing type and can climb stairs. Background Art

[0002] Wheelchairs are an indispensable means of transportation for the elderly and the infirm as well as those with lower limb disabilities. With the increase in barrier-free facilities, the range of activities of wheelchair users has gradually expanded, but stairs have greatly restricted wheelchairs, and it is very inconvenient to sit on a wheelchair and go up and down stairs. Therefore, it has become a practical need to enable wheelchairs to have the function of climbing stairs. Existing wheelchairs can achieve the function of climbing stairs by adding electric mechanical devices, but the structure is often complex and bulky, and the center of gravity is backward when climbing stairs, which is prone to danger. Therefore, it is necessary to design a stair-climbing wheelchair with a simple structure, easy to use and safe. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the existing stair climbing wheelchairs, such as complex structure and backward center of gravity, and to provide a deformable standing stair climbing wheelchair.

[0004] The technical solution provided by the present invention is:

[0005] A stand-up stair-climbing wheelchair, characterized by comprising:

[0006] Two front wheels and two rear wheels, the front wheels and the rear wheels are connected to a driving motor to drive the front wheels and the rear wheels to rotate;

[0007] Two sets of connecting rod groups arranged symmetrically on both sides, including:

[0008] A first connecting rod, the lower end of which is hinged on the front wheel so that the front wheel can rotate relative to the first connecting rod;

[0009] A second connecting rod, the lower end of which is hinged on the rear wheel so that the rear wheel can rotate relative to the second connecting rod; the upper end of the second connecting rod is hinged to the upper end of the first connecting rod at a first hinge point;

[0010] A third link, the lower end of which is hinged to the front wheel so that the front wheel can rotate relative to the third link;

[0011] A fourth connecting rod, the lower end of which is hinged on the rear wheel, so that the rear wheel can rotate relative to the fourth connecting rod; the upper end of the third connecting rod and the upper end of the fourth connecting rod are hinged at the second hinge point; the left and right sides of the rear end of the seat plate are respectively hinged on the two second hinge points, the first hinge point is provided with a support shaft, and the front end of the seat plate is supported on the support shaft;

[0012] The second connecting rod and the third connecting rod are both two-section types, including an upper connecting rod and a lower connecting rod, and a climbing mechanism is provided between the upper connecting rod and the lower connecting rod, which is used to drive the second connecting rod and the third connecting rod to extend, retract and bend.

[0013] Preferably, the climbing mechanism includes: a linear hydraulic cylinder and a rotary hydraulic cylinder, the linear hydraulic cylinder includes a linear hydraulic cylinder housing and a piston rod, the rotary hydraulic cylinder includes a rotary hydraulic cylinder housing and a rotary rod, the linear hydraulic cylinder housing is fixedly connected to an upper connecting rod, the front end of the piston rod is fixedly connected to the rotary hydraulic cylinder housing, and the front end of the rotary rod is fixed to a lower connecting rod.

[0014] Preferably, the first connecting rod and the fourth connecting rod are telescopic structures.

[0015] Preferably, the fourth connecting rod comprises an upper connecting rod and a lower connecting rod, and the upper connecting rod and the lower connecting rod are connected via a linear hydraulic cylinder.

[0016] Preferably, a leg support frame is connected to the front end of the seat plate.

[0017] Preferably, the connecting rod assembly further comprises:

[0018] a fifth connecting rod, the lower end of which is hinged on the first hinge point;

[0019] The sixth connecting rod has a lower end hinged on the second hinge point, and the upper end of the fifth connecting rod is hinged to the upper end of the sixth connecting rod.

[0020] Preferably, the connecting rod assembly further comprises:

[0021] a seventh connecting rod, the lower end of which is hinged on the first hinge point;

[0022] The lower end of the eighth connecting rod is hinged on the second hinge point, and the upper end of the seventh connecting rod is hinged to the upper end of the eighth connecting rod.

[0023] Preferably, a shoulder strap is provided on the eighth connecting rod, and a safety belt is provided on the seat plate.

[0024] The beneficial effects of the present invention are as follows: the stand-up stair-climbing wheelchair provided by the present invention can be used as an electric-driven wheelchair at ordinary times, and can move forward under the drive of a motor to help the user sitting in the wheelchair move on the road. When climbing stairs, it can be deformed, and the user is in a semi-standing state with the center of gravity leaning forward, which ensures the stability and safety of the stair-climbing process. The action of climbing stairs can be achieved by telescoping and rotating the connecting rod on the base. When climbing stairs, the user always faces the stairs, which can reduce the fear of climbing stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the stand-up stair-climbing wheelchair described in the present invention.

[0026] Figure 2 It is a schematic diagram of the lower structure of the stand-up stair-climbing wheelchair described in the present invention.

[0027] Figure 3 This is a schematic diagram of the upper structure of the stand-up stair-climbing wheelchair of the present invention.

[0028] Figure 4 This is a schematic diagram of the seat board structure of the present invention.

[0029] Figure 5 This is a schematic diagram of the fourth connecting rod structure of the present invention.

[0030] Figure 6 This is a schematic diagram of the third connecting rod structure of the present invention.

[0031] Figure 7 It is a structural schematic diagram of the stair climbing mechanism described in the present invention.

[0032] Figure 8 The figure is a schematic diagram of the upper structure of the wheelchair after deformation according to the present invention.

[0033] Fig. 9 The figure is a schematic diagram of the lower structure of the wheelchair after deformation according to the present invention.

[0034] Fig.10 It is a left side view of the wheelchair of the present invention before deformation.

[0035] Fig.11 It is a left side view of the wheelchair after deformation according to the present invention. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0037] like Figure 1 As shown, the present invention provides a stand-up stair climbing wheelchair, comprising two front wheels 110 at the front end and two rear wheels 120 at the rear end. A set of symmetrically arranged connecting rod groups are respectively provided on both sides of the wheelchair, and the connecting rod groups include a first connecting rod 210, a second connecting rod 220, a third connecting rod 230, a fourth connecting rod 240, a fifth connecting rod 250, a sixth connecting rod 260, a seventh connecting rod 270, and an eighth connecting rod 280.

[0038] like Figure 2As shown, the lower end of the first link 210 is hinged to the outside of the front wheel 110, so that the front wheel 110 can rotate relative to the first link 210. The lower end of the second link 220 is hinged to the inside of the rear wheel 120, so that the rear wheel 120 can rotate relative to the second link 220. The upper end of the first link 210 and the upper end of the second link 220 are hinged at the first hinge point 211.

[0039] The lower end of the third link 230 is hinged to the inner side of the front wheel 110, so that the front wheel 110 can rotate relative to the third link 230. The lower end of the fourth link 240 is hinged to the outer side of the rear wheel 120, so that the rear wheel 120 can rotate relative to the fourth link 240. The upper end of the third link 230 and the upper end of the fourth link 240 are hinged at a second hinge point 241.

[0040] The first hinge point 211 is located in front of the second hinge point 241, and the front wheel 110, the rear wheel 120, the first connecting rod 210, the second connecting rod 220, the third connecting rod 230 and the fourth connecting rod 240 constitute the base of the wheelchair.

[0041] like Figure 3 As shown, the lower end of the fifth link 250 is hinged on the first hinge point 211, the lower end of the sixth link 260 is hinged on the second hinge point 241, and the upper end of the fifth link 250 is hinged to the upper end of the sixth link 260. The sixth link 260 serves as an armrest of the wheelchair.

[0042] The lower end of the seventh connecting rod 270 is hinged on the first hinge point 211, the lower end of the eighth connecting rod 280 is hinged on the second hinge point 241, and the upper end of the seventh connecting rod 270 is hinged to the upper end of the eighth connecting rod 280. The two eighth connecting rods 280 constitute the backrest of the wheelchair.

[0043] Figure 4 As shown, the wheelchair further includes a seat plate 310, the left and right sides of the rear end of which are respectively hinged on two second hinge points 241. A support shaft is provided on the first hinge point 211, and the front end of the seat plate 310 is supported on the support shaft. The seat plate 310 can rotate around an axis formed by a line connecting the two second hinge points 241. The front end of the seat plate 310 is connected to a leg support frame 320.

[0044] like Figure 1 As shown, a shoulder strap 281 is installed on the eighth connecting rod 280, and the upper body of the human body can be fixed on the backrest of the wheelchair through the shoulder strap 281. A safety belt is installed on the seat plate 310, and the thigh of the human body can be fixed on the seat plate 310 through the safety belt.

[0045] The front wheel 110 and the rear wheel 120 are respectively provided with driving motors for driving the front wheel 110 and the rear wheel 120 to rotate. The rotating shaft of the driving motor for driving the front wheel 110 is coaxially fixedly connected with the front wheel 110, and the housing of the driving motor is fixedly connected with the first connecting rod 210 or the third connecting rod 230; the rotating shaft of the driving motor for driving the rear wheel 120 is coaxially fixedly connected with the rear wheel 120, and the housing of the driving motor is fixedly connected with the second connecting rod 220 or the fourth connecting rod 240.

[0046] like Fig.10 As shown, in the initial state, the seat plate 310 is in a horizontal position, and the backrest formed by the two eighth connecting rods 280 is in a vertical position. The drive motor has a locking function, and the shaft of the drive motor cannot rotate in the power-off state. When a person sits on the wheelchair, the seat plate 310 is subjected to a certain pressure, and the front wheel 110 and the rear wheel 120 cannot rotate. When the drive motor is powered on and drives the front wheel 110 and the rear wheel 120 to rotate forward or backward at the same speed relative to the ground, the wheelchair can move forward or backward, so that the wheelchair has the function of automatic movement. A control rod 261 is provided on the sixth connecting rod 260, i.e., the armrest, to control the movement of the wheelchair through the control rod 261. A battery pack is provided at the rear of the backrest and the bottom of the seat plate 310 to provide power for the drive motor.

[0047] like Figure 8 , Fig. 9 , Fig.11 As shown, when it is necessary to climb stairs, the wheelchair needs to be deformed, and the front wheel 110 and the rear wheel 120 move toward each other, that is, the front wheel 110 rotates backward, and the rear wheel 120 rotates forward, so that the front wheel 110 and the rear wheel 120 are close to each other, and the shape of the wheelchair is deformed. The first hinge point 211 and the second hinge point 241 both have an upward position change. At the same time, the second hinge point 241 moves upward relative to the first hinge point 211, so that the rear part of the seat plate 310 becomes higher relative to the front part thereof, and the seat plate 310 tilts forward. At the same time, the backrest formed by the two eighth connecting rods 280 also tilts forward. A person sitting on the wheelchair will form a semi-standing state. At this time, the center of gravity of the human body will tilt slightly forward to prepare for climbing stairs.

[0048] like Figure 5 As shown, the fourth connecting rod 240 is a telescopic structure. By extending or shortening the fourth connecting rod 240, the upper and lower positions of the second hinge point 241 can be changed, thereby adjusting the standing angle. The fourth connecting rod 240 is set in two sections, and the extension and shortening of the fourth connecting rod 240 are achieved by setting a linear hydraulic cylinder in the middle.

[0049] The structure of the first connecting rod 210 is the same as that of the fourth connecting rod 240 , both of which are two-section types, so that the first connecting rod 210 can be extended or shortened.

[0050] like Figure 6 As shown, the third connecting rod 230 is a two-stage type, including an upper connecting rod 231 and a lower connecting rod 232, and the upper connecting rod 231 and the lower connecting rod 232 are connected by a climbing mechanism. The climbing mechanism can drive the upper connecting rod 231 to move linearly relative to the lower connecting rod 232, and can also drive the upper connecting rod 231 to rotate relative to the lower connecting rod 232.

[0051] like Figure 7 As shown, the stair climbing mechanism includes a linear hydraulic cylinder 410 and a rotary hydraulic cylinder 420. The linear hydraulic cylinder 410 includes a linear hydraulic cylinder housing 411 and a piston rod 412, and the piston rod 412 can move linearly relative to the linear hydraulic cylinder housing 411. The rotary hydraulic cylinder 420 includes a rotary hydraulic cylinder housing 421 and a rotary rod 422, and the rotary rod 422 can rotate relative to the rotary hydraulic cylinder housing 421.

[0052] The linear hydraulic cylinder housing 411 is fixed to the upper connecting rod 231, the front end of the piston rod 412 is fixed to the rotating hydraulic cylinder housing 421, and the front end of the rotating rod 422 is fixed to the lower connecting rod 232. The axis of the piston rod 412 is perpendicular to the axis of the rotating rod 422. When the piston rod 412 of the linear hydraulic cylinder 410 is extended and retracted relative to the linear hydraulic cylinder housing 411, the lower connecting rod 232 can be driven to move linearly relative to the upper connecting rod 231, so that the third connecting rod 230 is extended or shortened. When the rotating rod 422 rotates relative to the rotating hydraulic cylinder housing 421, the lower connecting rod 232 can be driven to rotate relative to the upper connecting rod 231.

[0053] The structure of the second connecting rod 220 is the same as that of the third connecting rod 230. The second connecting rod 220 is also a two-section type, which is connected by a climbing mechanism in the middle, so that the second connecting rod 220 can be extended and bent.

[0054] When the wheelchair is completely deformed and the human body is in a semi-standing state and ready to climb stairs, the wheelchair can complete the stair climbing action by setting four sets of stair climbing mechanisms on the second link 220 and the third link 230, and the extension and retraction of the first link 210 and the fourth link 240.

[0055] When climbing stairs, the two rear wheels 120 and the left front wheel 110 serve as support points, the right third link 230 extends and bends upward, driving the right front wheel 110 to rotate upward to above the step surface, and then the right first link 210 extends, driving the right front wheel 110 to climb to the previous stair step. Then the two rear wheels 120 and the right front wheel 110 serve as support points, the left third link 230 extends and bends upward, driving the right front wheel 110 to rotate upward to above the step surface, and then the left first link 210 extends, driving the left front wheel 110 to climb to the previous stair step. At this time, the two front wheels have completed the climbing of one stair step. Then the two third links 230 simultaneously bend in the opposite direction and shorten, and will reach the position in the climbing preparation state, preparing for the rear wheels 120 to climb the stairs.

[0056] Similarly, the two front wheels 110 and the left rear wheel 120 serve as support points, the right second link 220 contracts and bends upward, and the right fourth link 240 contracts at the same time, driving the right rear wheel 120 to the previous stair step. Then the two front wheels 110 and the right rear wheel 120 serve as support points, the left second link 220 contracts and bends upward, and the left fourth link 240 contracts at the same time, driving the left rear wheel 120 to climb to the previous stair step. At this point, all four wheels have completed the climbing of one stair step. Then the two second links 220 are bent in the opposite direction and stretched appropriately, and the two fourth links 240 return to the initial position to prepare for the next step climbing.

[0057] The above process is repeated, and the wheelchair can continuously climb the stairs through the coordinated movement of the four sets of stair climbing mechanisms.

[0058] During the process of climbing stairs, three wheels are always in contact with the ground, which ensures the stability and safety of the process of climbing stairs. The stand-up stair-climbing wheelchair provided by the present invention has the functions of walking and climbing stairs at the same time, and can help the user to go up and down stairs independently without help.

[0059] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A standing stair climbing wheelchair, characterized in that: include: Two front wheels and two rear wheels, the front wheels and the rear wheels are connected to a driving motor to drive the front wheels and the rear wheels to rotate; Two sets of connecting rod groups arranged symmetrically on both sides, including: A first connecting rod, the lower end of which is hinged on the front wheel so that the front wheel can rotate relative to the first connecting rod; A second connecting rod, the lower end of which is hinged on the rear wheel so that the rear wheel can rotate relative to the second connecting rod; the upper end of the second connecting rod is hinged to the upper end of the first connecting rod at a first hinge point; A third link, the lower end of which is hinged to the front wheel so that the front wheel can rotate relative to the third link; A fourth connecting rod, the lower end of which is hinged on the rear wheel, so that the rear wheel can rotate relative to the fourth connecting rod; the upper end of the third connecting rod and the upper end of the fourth connecting rod are hinged at a second hinge point; A seat plate, the left and right sides of the rear end of which are respectively hinged on two second hinge points, the first hinge point is provided with a support shaft, and the front end of the seat plate is supported on the support shaft; The seat plate can rotate around an axis formed by a line connecting two second hinge points; The second connecting rod and the third connecting rod are both two-stage, including an upper connecting rod and a lower connecting rod, and a climbing mechanism is provided between the upper connecting rod and the lower connecting rod, which is used to drive the second connecting rod and the third connecting rod to extend and bend; The rotating shaft of the driving motor driving the front wheel is coaxially fixedly connected to the front wheel, and the housing of the driving motor is fixedly connected to the first connecting rod or the third connecting rod; the rotating shaft of the driving motor driving the rear wheel is coaxially fixedly connected to the rear wheel, and the housing of the driving motor is fixedly connected to the second connecting rod or the fourth connecting rod; The drive motor has a locking function; A battery pack is arranged at the rear of the backrest and the bottom of the seat panel to provide power for the drive motor.

2. The stand-up stair climbing wheelchair according to claim 1, characterized in that: The climbing mechanism includes a linear hydraulic cylinder and a rotary hydraulic cylinder. The linear hydraulic cylinder includes a linear hydraulic cylinder housing and a piston rod. The rotary hydraulic cylinder includes a rotary hydraulic cylinder housing and a rotary rod. The linear hydraulic cylinder housing is fixedly connected to an upper connecting rod. The front end of the piston rod is fixedly connected to the rotary hydraulic cylinder housing. The front end of the rotary rod is fixed to a lower connecting rod.

3. The stand-up stair climbing wheelchair according to claim 1 or 2, characterized in that: The first connecting rod and the fourth connecting rod are telescopic structures.

4. The stand-up stair climbing wheelchair according to claim 3, characterized in that: The fourth connecting rod comprises an upper connecting rod and a lower connecting rod, and the upper connecting rod and the lower connecting rod are connected via a linear hydraulic cylinder.

5. The stand-up stair-climbing wheelchair according to claim 4, characterized in that: The front end of the seat plate is connected with a leg support frame.

6. The stand-up stair-climbing wheelchair according to claim 5, characterized in that: The connecting rod assembly also includes: a fifth connecting rod, the lower end of which is hinged on the first hinge point; The sixth connecting rod has a lower end hinged on the second hinge point, and the upper end of the fifth connecting rod is hinged to the upper end of the sixth connecting rod.

7. The stand-up stair-climbing wheelchair according to claim 6, characterized in that: The connecting rod assembly also includes: a seventh connecting rod, the lower end of which is hinged on the first hinge point; The lower end of the eighth connecting rod is hinged on the second hinge point, and the upper end of the seventh connecting rod is hinged to the upper end of the eighth connecting rod.

8. The stand-up stair-climbing wheelchair according to claim 7, characterized in that: The eighth connecting rod is provided with a shoulder strap, and the seat plate is provided with a safety belt.

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