A method for controlling a wheelchair to go up and down stairs

Abstract

The present invention discloses a method for controlling a wheelchair to go up and down stairs, characterized in that a track device in the shape of an inverted triangle is arranged under the wheelchair, so that when the wheelchair goes up stairs, the front side of the track first contacts the stairs to form a support, and then the track device is adjusted to actively rotate forward and upward, so that the bottom edge of the track stops when the inclination angle of the stairs is consistent, and then the wheelchair can move upward on the stairs by relying on the track; when the wheelchair goes down stairs, after walking along the flat ground to reach the stairs, the wheelchair is first lifted up by controlling two pairs of running wheels to extend downward, so that the track device is in a suspended state, and then the track device is adjusted to rotate forward and downward, so that the bottom edge of the track contacts the stairs and stops when the inclination angle is consistent, and then the wheelchair can move downward on the stairs by relying on the track. The present invention has the advantages of being able to more conveniently control the wheelchair to go up and down stairs and being able to improve the smoothness of the wheelchair walking on the flat ground.

Description

Technical Field

[0001] The invention relates to a method for controlling a mobile wheelchair, and in particular to a method for controlling a wheelchair to go up and down stairs. Background Art

[0002] A wheelchair or electric wheelchair is a movable chair designed for the elderly or people with mobility problems. It has wheels at the bottom and is driven by a motor instead of walking. Generally speaking, a conventional wheelchair is more convenient for walking on flat ground, but not for climbing stairs.

[0003] In the prior art, there are some wheelchairs that use tracks instead of running wheels as the walking mechanism. For example, CN201420594373.1 once disclosed a tracked power-assisted wheelchair; CN201820333270.8 once disclosed a deformable tracked wheelchair; CN202021230877.7 disclosed a tracked wheelchair for orthopedic patients; and CN202021092616.3 disclosed a tracked wheelchair with a telescopic storage function, etc., all belong to this structural solution. This wheelchair that uses tracks as a walking mechanism is more convenient to use when going up and down stairs, and when walking on flat ground, the tracks can also be used to improve stability. However, when walking on a very flat ground, continuing to use tracks will reduce the walking speed of the wheelchair, accelerate the wear of the track mechanism, and shorten its life.

[0004] In order to solve the above problems, the applicant has applied for patent CN202121847959.0 for a double-track wheelchair, which includes a base frame, a seat installed on the base frame, and a track device installed under the base frame. The characteristics are that a pair of flat wheels are installed at the front and rear ends of the track device. In the normal driving state, the lower surface of the flat wheel is higher than the lower surface of the track. A track lifting control mechanism is also installed between the base frame and the track device. The track lifting control mechanism can control the track to rise upward and make its lower surface higher than the lower surface of the flat wheel. The utility model patent has the advantages of being able to better control the wheelchair to adapt to different flatness conditions to walk on the ground, reduce track loss, and extend service life. However, there are still the following defects: 1 The flat wheel is directly installed on the track device. When the ground is flat, it relies on controlling the lifting of the track device to achieve flat wheel support walking, which is difficult to control. 2 The track device of the wheelchair is a horizontally arranged long strip track, which is difficult to control when going up and down stairs, and the convenience of control needs to be further improved. 3 The wheelchair still has the defect of inconvenient control when going up and down stairs. Summary of the invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is: how to provide a method for controlling a wheelchair to go up and down stairs, which can better and more conveniently control the wheelchair to go up and down stairs and improve the smoothness of the wheelchair walking on flat ground.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A method for controlling a wheelchair to go up and down stairs, characterized in that a track device in the shape of an inverted triangle is arranged under the wheelchair, so that when the wheelchair goes up the stairs, the front side of the track first contacts the step to form a support, driving the wheelchair to continue forward, and the front end of the lower bottom edge of the track is lifted up and suspended in the air, at this time, the track device is adjusted to actively rotate forward and upward, so that the lower bottom edge of the track stops when the inclination angle of the step is consistent, and then the track is relied on to achieve upward movement on the stairs; when going down the stairs, after the wheelchair walks along the flat ground and reaches the step, the wheelchair is first lifted up by controlling two pairs of running wheels to extend downward, so that the track device is in a suspended state, and then the track device is adjusted to rotate forward and downward, so that the lower bottom edge of the track contacts the step and stops when the inclination angle is consistent, and then the track is relied on to achieve downward movement on the stairs.

[0008] Therefore, when going up the stairs, the front side of the inverted triangle track device is used to assist in supporting and adjusting the rotation angle of the track device so that the angle is consistent with the inclination angle of the step surface. When going down the stairs, the wheelchair is lifted up by the running wheels and then the rotation angle of the track device is adjusted so that the angle is consistent with the inclination angle of the step surface. In this way, when going up and down the stairs, the seat can maintain an inconvenient angle during the process, so the adjustment is convenient and quick, and the stability of the seat is greatly guaranteed.

[0009] Furthermore, the present method is implemented by the following dual-track electric wheelchair, which includes a base frame, a seat is installed on the upper end of the base frame, a seat adjustment device is also arranged between the seat and the base frame, and a track walking system is installed below the base frame. The track walking system includes two pairs of track devices that are symmetrical on the left and right and arranged along the front and back. The track devices include track wheels and track wound on the track wheels. The track is wound in an inverted triangle shape, so that it has a horizontal lower base, a front side edge located at the front end of the lower base edge and extending obliquely forward and upward, and an upper side edge connecting the front side edge and the lower base edge to form an inverted triangle.

[0010] In this way, the crawler track of the present invention is designed to be in the shape of an inverted triangle. During normal walking, the wheelchair walks by relying on the lower bottom surface to contact the road surface. When it is necessary to go up stairs, the front side of the crawler track first contacts the step to form support, and the wheelchair is guided to continue moving forward until the lower bottom edge of the crawler track contacts the step, and the wheelchair walks on the step relying on the support of the lower bottom edge of the crawler track, so it is more convenient for the wheelchair to go up stairs.

[0011] Furthermore, the base frame includes two front support arms and two rear support arms arranged in parallel on the left and right sides, the rear end of the front support arm and the front end of the rear support arm on the same side are inclined upward and connected to form a triangle, and there is also a horizontal connecting member between the two front support arms and / or between the two rear support arms (when implemented, the connecting member includes a rear support arm connecting plate and a front support arm connecting plate) and they are connected as a whole.

[0012] Such a base frame has the characteristics of simple structure and stable support.

[0013] Furthermore, a shock absorbing damper is installed on the front support arm.

[0014] This makes it easier to absorb shock and improves the comfort of the wheelchair.

[0015] Furthermore, the length of the front support arm is smaller than that of the rear support arm, and the seat is installed on the front half of the rear support arm.

[0016] This has the advantages of a stable center of gravity and convenient smooth adjustment and control of the seat.

[0017] Furthermore, the length of the lower bottom edge of the crawler track is greater than the length of the front side edge.

[0018] In this way, the stability and reliability of the bottom edge support under the track are improved.

[0019] Furthermore, the track device also includes a track wheel bracket, which is an inverted triangle consistent with the track. The track wheels include a first track wheel installed at the upper end of the front side of the track wheel bracket, a second track wheel installed at the front end of the lower bottom edge of the track wheel bracket, a third track wheel installed in the middle of the lower bottom edge of the track wheel bracket, and a fourth track wheel installed at the rear end of the lower bottom edge of the track wheel bracket.

[0020] In this way, three track wheel supports are arranged on the lower bottom edge, and the walking support of the track device structure is more stable and reliable.

[0021] Furthermore, the fourth track wheel is connected to the track wheel driving motor to form a driving wheel, and the track wheel driving motor is coaxially fixedly mounted on the track wheel bracket corresponding to the fourth track wheel.

[0022] In this way, driving is simpler and more convenient.

[0023] Furthermore, the middle position of the upper side of the track wheel bracket is rotatably connected to the lower ends of the front and rear arms of the base frame through a track device adjustment shaft, and the track device adjustment shaft is connected to a track device rotation adjustment motor.

[0024] In this way, the crawler device can be controlled to rotate as a whole by rotating the adjusting motor of the crawler device, so as to facilitate better adjustment and balance when the wheelchair goes up and down the stairs. Specifically, when going up the stairs, after the wheelchair walks along the flat ground and reaches the stairs, the front side of the crawler device of the crawler device first contacts the stairs and realizes auxiliary support, and the wheelchair continues to move forward, and the front end of the lower bottom edge of the crawler device is lifted upward. At this time, the crawler device can be adjusted by rotating the adjusting motor of the crawler device to actively rotate forward and upward, so that the lower bottom edge of the crawler device and the step are in the same inclination angle, and then the crawler device is relied on to move upward on the stairs, so as to better ensure the stability of the seat; when going down the stairs, after the wheelchair walks along the flat ground and reaches the stairs, the wheelchair can be lifted up by controlling the running wheels to extend downward, so that the crawler device is in a suspended state, and then the crawler device is adjusted by rotating the adjusting motor of the crawler device to actively rotate forward and downward, so that the lower bottom edge of the crawler device contacts the stairs and stops when the inclination angle is consistent, and then the crawler device is relied on to move downward on the stairs, so as to better ensure the stability of the seat.

[0025] Furthermore, the track device adjustment shaft and the track device rotation adjustment motor are coaxially connected.

[0026] In this way, the structure is simpler and more compact.

[0027] Furthermore, the track wheel bracket includes two track wheel mounting plates which are symmetrically arranged on the left and right. The track wheel mounting plates are hollowed out and have an inverted triangle shape consistent with the track. The first track wheel, the second track wheel, the third track wheel and the fourth track wheel are all installed between the two track wheel mounting plates.

[0028] This makes installation of the track wheel more convenient and the structure more stable and reliable.

[0029] Furthermore, the track wheel driving motor and the track device rotation adjustment motor are both installed at the inner side positions of their corresponding inner track wheel mounting plates.

[0030] In this way, the motor can be better protected and the overall appearance of the wheelchair is more beautiful.

[0031] Furthermore, a track baffle is provided above the upper side of the track in a semi-enclosed manner to better protect the track.

[0032] Furthermore, the crawler walking system also includes a flat ground walking device, which includes two pairs of walking wheels that are symmetrically arranged in the front and rear directions, and the two pairs of walking wheels are respectively installed between the two front pairs of crawler devices and the two rear pairs of crawler devices, and the walking wheels are respectively connected to the corresponding front support arms or rear support arms of the base frame through corresponding walking wheel lifting control mechanisms.

[0033] In this way, when there is a need to walk on flat ground, the four walking wheels can be controlled to be lowered through the walking wheel lifting control mechanism, the field can be propped up, the track device can be separated from the ground, and the walking wheels can be used to support the wheelchair to achieve walking on flat ground. More specifically, during walking on flat ground, when the road surface is uneven, the walking can be supported by the track device, which greatly improves the stability of the wheelchair and the comfort of the passengers. However, when the road surface is flat, the walking wheels can be controlled to be lowered and supported by the walking wheels to improve the portability of walking, better control the wheelchair forward, avoid the track from reducing the walking speed and wear, reduce the noise of the track, and extend the service life of the wheelchair. Whether the road surface is flat can be controlled by the passengers after observation and judgment, or it can be automatically controlled by the vibration sensor set on the wheelchair to detect feedback. The specific detection implementation method is consistent with the previous patent described in the background technology and will not be described in detail here. In this way, when the walking wheel supports the walking switch control, the crawler device is kept stationary and the walking wheel is controlled to extend downward to achieve support. Compared with the switching control method of the previous patent described in the background technology, the control is simpler, faster and more reliable. At the same time, when going up and down the stairs, the crawler device can be suspended in the air by relying on the support of the walking wheels, and the inclination angle of the crawler device can be adjusted by relying on the crawler device to rotate the adjusting motor to make it consistent with the angle of the steps. Then the walking wheels can be retracted and the crawler device can be relied on to go up and down the stairs. This makes it more convenient for the wheelchair to go up and down the stairs and improves the riding comfort of the wheelchair.

[0034] Furthermore, the walking wheel lifting control mechanism includes a first connecting rod, a second connecting rod and a third connecting rod which are rotatably connected in sequence, one end of the first connecting rod away from the second connecting rod is rotatably connected to the corresponding lower end position of the front support arm or the rear support arm, and one end of the third connecting rod away from the second connecting rod is rotatably connected to the corresponding middle position of the front support arm or the rear support arm; one end of the first connecting rod rotatably connected to the front support arm or the rear support arm is connected to a connecting rod motor and can be driven to rotate by the connecting rod motor; the walking wheel is installed at the position where the first connecting rod and the second connecting rod are connected.

[0035] In this way, the connecting rod motor drives the first connecting rod to rotate and drives the connecting rod mechanism to work together, thereby driving the traveling wheel up and down to realize lifting control, which has the advantages of simple structure, stability and reliability.

[0036] Furthermore, the two front end running wheels are each rotatably mounted on a running wheel mounting plate arranged along the left and right directions through a running wheel mounting seat. The upper end of the running wheel mounting plate is fixed to the lower side position where the first connecting rod and the second connecting rod are connected. The running wheel mounting plate is also equipped with a steering motor and a running wheel mounting seat for transmission connection.

[0037] In this way, it is convenient to control the rotation of the running wheel mounting seat through the steering motor, and realize the steering control of the wheelchair when the wheelchair relies on the running wheels. It has the advantages of simple structure and reliable control.

[0038] Furthermore, in the two left and right opposing walking wheel lifting control mechanisms, a first linkage rod is horizontally fixedly arranged between the connection positions of the two first linkage rods and the second linkage rod, and a second linkage rod is horizontally fixedly arranged between the connection positions of the two second linkage rods and the third linkage rod.

[0039] In this way, the linkage of the two left and right opposite traveling wheel lifting control mechanisms can be achieved, making the control more stable and reliable, and saving the connecting rod motor on one side.

[0040] Furthermore, a support rod is arranged vertically and obliquely upward on the upper edge of the first linkage rod, and the lower end of the support rod and the first linkage rod are rotatable. A support rod rotation control motor is also installed on the first linkage rod, and the support rod rotation control motor can control the support rod to rotate upward. The upper end of the support rod is provided with an abutment joint, and an abutment seat is correspondingly arranged on the base frame. When the walking wheel lifting control mechanism controls the walking wheel to extend downward to the walking state, the support rod rotates to a vertical state and the abutment joint can abut against the abutment seat to form support.

[0041] The yoke can then be used to lift the wheelchair and support the user by turning the control rod to the vertical position so that the yoke can move freely and stably without any loosening of the control rods.

[0042] As another way, a support rod is arranged vertically and obliquely upward along the upper edge of the first linkage rod, the lower end of the support rod and the first linkage rod are rotatably arranged, the upper end of the support rod has an abutment joint, and a corresponding abutment seat is also arranged on the base frame; a first lever seat is also fixedly arranged upward at the upper end of the middle part of the first linkage rod, and a fulcrum support is also fixedly arranged obliquely downward at the lower end of the front support arm or the rear support arm corresponding to the first linkage rod; a second lever seat is also fixedly arranged on the support rod, and a linkage lever is also arranged, and the linkage lever fulcrum is rotatably installed on the fulcrum support, one end of the linkage lever is rotatably connected to the first lever seat, and the other end is rotatably connected to the second lever seat.

[0043] In this way, when the running wheels are needed to support walking, the connecting rod motor of the running wheel lifting control mechanism drives the running wheels to be lowered to the walking station. While the first connecting rod rotates, the supporting rod can be driven to rotate upward synchronously through the linkage lever, so that when the running wheels are fully extended downward and converted into a walking state, the supporting rod just rotates to a vertical state, and the abutment head can abut against the abutment seat to form a vertical support. The connecting rod motor is protected from the gravity of the wheelchair and passengers, ensuring the stability of its control and extending its service life. At the same time, compared with the previous method of using a motor to control the rotation of the support rod, this method cleverly designs a purely mechanical linkage structure to control the rotation of the support rod, which is simpler and more reliable, saving motor costs.

[0044] In addition, during implementation, a seat adjustment device can be provided between the seat and the base frame, which can adjust the front and rear and rotation of the seat. The specific structural principle is consistent with the previous patent described in the background technology and is not described in detail here. At the same time, an automatic control system can be installed on the base frame, which can automatically control the above control process by detecting the state of the wheelchair. The specific structural principle is consistent with the previous patent described in the background technology and is not described in detail here.

[0045] In summary, the present invention has the advantages of being able to more conveniently control the wheelchair to go up and down stairs and being able to improve the smoothness of the wheelchair walking on flat ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the three-dimensional structure of a double-track electric wheelchair used in the implementation of the present invention.

[0047] Figure 2 for Figure 1 Schematic diagram of the structure from the bottom angle.

[0048] Figure 3 for Figure 1 Schematic diagram of the structure of a separate crawler device.

[0049] Figure 4 for Figure 1 Schematic diagram of the structure of the separate base frame and the flat ground walking device.

[0050] Figure 5 for Figure 4 Schematic diagram of the other direction.

[0051] Figure 6 For implementation, another structural schematic diagram of a flat ground walking device adopting the lever linkage principle is shown. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0053] When implemented specifically: A method for controlling a wheelchair to go up and down stairs, characterized in that a track device in the shape of an inverted triangle is arranged under the wheelchair, so that when going up the stairs, the front side of the track first contacts the stairs to form a support, driving the wheelchair to continue forward, and the front end of the lower bottom edge of the track is lifted up and suspended in the air, at this time, the track device is adjusted to actively rotate forward and upward, so that the lower bottom edge of the track stops when the inclination angle of the step is consistent, and then the track is relied on to move upward on the stairs; when going down the stairs, after the wheelchair walks along the flat ground and reaches the stairs, the wheelchair is first lifted up by controlling the two pairs of running wheels to extend downward, so that the track device is in a suspended state, and then the track device is adjusted to rotate forward and downward, so that the lower bottom edge of the track contacts the step and stops when the inclination angle is consistent, and then the track is relied on to move downward on the stairs.

[0054] Therefore, when going up the stairs, the front side of the inverted triangle track device is used to assist in supporting and adjusting the rotation angle of the track device so that the angle is consistent with the inclination angle of the step surface. When going down the stairs, the wheelchair is lifted up by the running wheels and then the rotation angle of the track device is adjusted so that the angle is consistent with the inclination angle of the step surface. In this way, when going up and down the stairs, the seat can maintain an inconvenient angle during the process, so the adjustment is convenient and quick, and the stability of the seat is greatly guaranteed.

[0055] Specifically, this method relies on Figure 1-5 The double-track electric wheelchair shown in the figure includes a base frame, a seat 1 is installed on the upper end of the base frame, a seat adjustment device is also arranged between the seat 1 and the base frame, and a track walking system is installed below the base frame. The track walking system includes two pairs of track devices that are symmetrical on the left and right and arranged along the front and back. The track device includes track wheels and track 2 wound on the track wheels, wherein the track 2 is wound in an inverted triangle shape so that it has a horizontal lower base, a front side edge located at the front end of the lower base edge and extending obliquely forward and upward, and an upper side edge connecting the front side edge and the lower base edge to form an inverted triangle.

[0056] In this way, the crawler track of the present invention is designed to be in the shape of an inverted triangle. During normal walking, the wheelchair walks by relying on the lower bottom surface to contact the road surface. When it is necessary to go up stairs, the front side of the crawler track first contacts the step to form support, and the wheelchair is guided to continue moving forward until the lower bottom edge of the crawler track contacts the step, and the wheelchair walks on the step by relying on the support of the lower bottom edge of the crawler track, so it is more convenient for the wheelchair to go up stairs.

[0057] Wherein, the base frame includes two front arms 3 and two rear arms 4 arranged in parallel on the left and right sides, the rear end of the front arm 3 and the front end of the rear arm 4 on the same side are inclined upward and connected to form a triangle, and there is also a horizontal connecting member between the two front arms and / or between the two rear arms (when implemented, the connecting member includes a rear arm connecting plate and a front arm connecting plate) and they are connected as a whole.

[0058] Such a base frame has the characteristics of simple structure and stable support.

[0059] A shock absorbing damper 5 is also installed on the front support arm 3 .

[0060] This makes it easier to absorb shock and improves the comfort of the wheelchair.

[0061] The length of the front support arm 3 is smaller than that of the rear support arm 4, and the seat 1 is installed on the front half of the rear support arm.

[0062] This has the advantages of a stable center of gravity and convenient smooth adjustment and control of the seat.

[0063] Wherein, the length of the lower bottom side of the crawler track 2 is greater than the length of the front side side.

[0064] In this way, the stability and reliability of the bottom edge support under the track are improved.

[0065] Among them, the crawler device also includes a track wheel bracket 6, the track wheel bracket is an inverted triangle consistent with the track, and the track wheel includes a first track wheel 7 installed at the upper end of the front side of the track wheel bracket, a second track wheel 8 installed at the front end of the lower bottom edge of the track wheel bracket, a third track wheel 9 installed in the middle of the lower bottom edge of the track wheel bracket, and a fourth track wheel 10 installed at the rear end of the lower bottom edge of the track wheel bracket.

[0066] In this way, three track wheel supports are arranged on the lower bottom edge, and the walking support of the track device structure is more stable and reliable.

[0067] The fourth track wheel 10 is connected to the track wheel driving motor 11 to form a driving wheel, and the track wheel driving motor 11 is coaxially fixedly mounted on the track wheel bracket 6 corresponding to the fourth track wheel.

[0068] In this way, driving is simpler and more convenient.

[0069] Among them, the middle position of the upper side of the track wheel bracket 6 is rotatably connected to the lower ends of the front and rear arms of the base frame through a track device adjustment shaft, and the track device adjustment shaft is connected to a track device rotation adjustment motor 12.

[0070] In this way, the crawler device can be controlled to rotate as a whole by rotating the adjusting motor of the crawler device, so as to facilitate better adjustment and balance when the wheelchair goes up and down the stairs. Specifically, when going up the stairs, after the wheelchair walks along the flat ground and reaches the stairs, the front side of the crawler device of the crawler device first contacts the stairs and realizes auxiliary support, and the wheelchair continues to move forward, and the front end of the lower bottom edge of the crawler device is lifted upward. At this time, the crawler device can be adjusted by rotating the adjusting motor of the crawler device to actively rotate forward and upward, so that the lower bottom edge of the crawler device and the step are in the same inclination angle, and then the crawler device is relied on to move upward on the stairs, so as to better ensure the stability of the seat; when going down the stairs, after the wheelchair walks along the flat ground and reaches the stairs, the wheelchair can be lifted up by controlling the running wheels to extend downward, so that the crawler device is in a suspended state, and then the crawler device is adjusted by rotating the adjusting motor of the crawler device to actively rotate forward and downward, so that the lower bottom edge of the crawler device contacts the stairs and stops when the inclination angle is consistent, and then the crawler device is relied on to move downward on the stairs, so as to better ensure the stability of the seat.

[0071] The track device adjusting shaft and the track device rotation adjusting motor 12 are coaxially connected.

[0072] In this way, the structure is simpler and more compact.

[0073] Among them, the track wheel bracket 6 includes two track wheel mounting plates arranged symmetrically on the left and right. The track wheel mounting plates are hollowed out and have an inverted triangle shape consistent with the track. The first track wheel 7, the second track wheel 8, the third track wheel 9 and the fourth track wheel 10 are all installed between the two track wheel mounting plates.

[0074] This makes installation of the track wheel more convenient and the structure more stable and reliable.

[0075] The track wheel driving motor 11 and the track device rotation adjustment motor 12 are both installed at the inner side of the corresponding inner track wheel mounting plates.

[0076] In this way, the motor can be better protected and the overall appearance of the wheelchair is more beautiful.

[0077] Among them, a track baffle 13 is also semi-enclosed and covered above the upper side of the crawler 2, and the track baffle is installed on the crawler wheel bracket to better protect the crawler.

[0078] Among them, the crawler walking system also includes a flat ground walking device, which includes two pairs of walking wheels 14 symmetrically arranged in the front and rear directions, and the two pairs of walking wheels 14 are respectively installed between the two front pairs of crawler devices and the two rear pairs of crawler devices. The walking wheels 14 are respectively connected to the corresponding front support arm 3 or rear support arm 4 of the base frame through the corresponding walking wheel lifting control mechanism.

[0079] In this way, when there is a need to walk on flat ground, the four walking wheels can be controlled to be lowered through the walking wheel lifting control mechanism, the field can be propped up, the track device can be separated from the ground, and the walking wheels can be used to support the wheelchair to achieve walking on flat ground. More specifically, during walking on flat ground, when the road surface is uneven, the walking can be supported by the track device, which greatly improves the stability of the wheelchair and the comfort of the passengers. However, when the road surface is flat, the walking wheels can be controlled to be lowered and supported by the walking wheels to improve the portability of walking, better control the wheelchair forward, avoid the track from reducing the walking speed and wear, reduce the noise of the track, and extend the service life of the wheelchair. Whether the road surface is flat can be controlled by the passengers after observation and judgment, or it can be automatically controlled by the vibration sensor set on the wheelchair to detect feedback. The specific detection implementation method is consistent with the previous patent described in the background technology and will not be described in detail here. In this way, when the walking wheel supports the walking switch control, the crawler device is kept stationary and the walking wheel is controlled to extend downward to achieve support. Compared with the switching control method of the previous patent described in the background technology, the control is simpler, faster and more reliable. At the same time, when going up and down the stairs, the crawler device can be suspended in the air by relying on the support of the walking wheels, and the inclination angle of the crawler device can be adjusted by relying on the crawler device to rotate the adjusting motor to make it consistent with the angle of the steps. Then the walking wheels can be retracted and the crawler device can be relied on to go up and down the stairs. This makes it more convenient for the wheelchair to go up and down the stairs and improves the riding comfort of the wheelchair.

[0080] Among them, the walking wheel lifting control mechanism includes a first connecting rod 15, a second connecting rod 16 and a third connecting rod 17 which are rotatably connected in sequence. The end of the first connecting rod 15 away from the second connecting rod 16 is rotatably connected to the lower end position of the corresponding front support arm or the rear support arm, and the end of the third connecting rod 17 away from the second connecting rod is rotatably connected to the middle position of the corresponding front support arm or the rear support arm; the end of the first connecting rod 15 rotatably connected to the front support arm or the rear support arm is connected to a connecting rod motor 18 and can be driven to rotate by the connecting rod motor 18; the walking wheel is installed at the position where the first connecting rod 15 and the second connecting rod 16 are connected.

[0081] In this way, the connecting rod motor drives the first connecting rod to rotate and drives the connecting rod mechanism to work together, thereby driving the traveling wheel up and down to realize lifting control, which has the advantages of simple structure, stability and reliability.

[0082] Among them, the two front-end running wheels are each rotatably mounted on a running wheel mounting plate 20 arranged along the left and right directions through a running wheel mounting seat 19, and the upper end of the running wheel mounting plate 20 is fixed on the lower side position where the first connecting rod 15 and the second connecting rod 16 are connected. A steering motor 21 is also installed on the running wheel mounting plate 20 and is transmission-connected with the running wheel mounting seat.

[0083] In this way, it is convenient to control the rotation of the running wheel mounting seat through the steering motor, and realize the steering control of the wheelchair when the wheelchair relies on the running wheels. It has the advantages of simple structure and reliable control.

[0084] Among them, in the two left and right opposite walking wheel lifting control mechanisms, a first linkage rod 22 is horizontally fixedly arranged between the positions where the two first links 15 and the second links 16 are connected, and a second linkage rod 23 is horizontally fixedly arranged between the positions where the two second links 16 and the third links 17 are connected.

[0085] In this way, the linkage of the two left and right opposite traveling wheel lifting control mechanisms can be achieved, making the control more stable and reliable, and saving the connecting rod motor on one side.

[0086] Among them, a support rod 25 is arranged vertically and obliquely upward on the first linkage rod 22, and the lower end of the support rod 25 and the first linkage rod 22 are rotatable. A support rod rotation control motor 26 is also installed on the first linkage rod, and the support rod rotation control motor 26 can control the support rod 25 to rotate upward. The upper end of the support rod has an abutment joint 27, and the base frame is also correspondingly provided with an abutment seat 28. When the walking wheel lifting control mechanism controls the walking wheel to extend downward to the walking state, the support rod rotates to the vertical state, and the abutment joint can abut against the abutment seat to form support. During implementation, the abutment joint 27 and the abutment seat 28 are abutted by a step surface, which is convenient for abutment and rotation limit.

[0087] The yoke can then be used to lift the wheelchair and support the user by turning the control rod to the vertical position so that the yoke can move freely and stably without any loosening of the control rods.

[0088] As another possible implementation method for controlling the rotation of the support rod, see Figure 6A support rod 25 is arranged vertically and obliquely upward along the upper edge of the first linkage rod 22, the lower end of the support rod 25 and the first linkage rod 22 are rotatably arranged, the upper end of the support rod 25 has an abutment joint, and a corresponding abutment seat is also arranged on the base frame; a first lever seat 30 is also fixedly arranged upward at the upper end of the middle part of the first linkage rod 15, and a fulcrum support 31 is also fixedly arranged obliquely downward at the lower end of the front support arm or the rear support arm corresponding to the first linkage rod; a second lever seat 32 is also fixedly arranged on the support rod 25, and a linkage lever 33 is also arranged, and the linkage lever 33 is rotatably installed on the fulcrum support, one end of the linkage lever 33 is rotatably connected to the first lever seat 30, and the other end is rotatably connected to the second lever seat 32.

[0089] In this way, when the running wheels are needed to support walking, the connecting rod motor of the running wheel lifting control mechanism drives the running wheels to be lowered to the walking station. While the first connecting rod rotates, the supporting rod can be driven to rotate upward synchronously through the linkage lever, so that when the running wheels are fully extended downward and converted into a walking state, the supporting rod just rotates to a vertical state, and the abutment head can abut against the abutment seat to form a vertical support. The connecting rod motor is protected from the gravity of the wheelchair and passengers, ensuring the stability of its control and extending its service life. At the same time, compared with the previous method of using a motor to control the rotation of the support rod, this method cleverly designs a purely mechanical linkage structure to control the rotation of the support rod, which is simpler and more reliable, saving motor costs.

[0090] In addition, during implementation, a seat adjustment device is also provided between the seat and the base frame, which can adjust the front and rear and rotation of the seat. The specific structural principle of the seat adjustment device is consistent with the previous patent described in the background technology, and will not be described in detail here. At the same time, an automatic control system is also installed on the base frame, which can automatically control the above control process by detecting the state of the wheelchair. The specific structural principle is consistent with the previous patent described in the background technology, and will not be described in detail here.

Claims

1. A method for controlling a wheelchair to go up and down stairs, characterized in that: A track device in the shape of an inverted triangle is arranged under the wheelchair, so that when the wheelchair goes up the steps, the front side of the track first contacts the steps to form support, driving the wheelchair to continue forward, and the front end of the lower bottom edge of the track is lifted up and suspended in the air. At this time, the track device is adjusted to actively rotate forward and upward, so that the lower bottom edge of the track stops when the inclination angle of the step is consistent, and then the wheelchair relies on the track to move upward on the steps; when going down the steps, after the wheelchair walks along the flat ground and reaches the steps, the wheelchair is first lifted up by controlling the two pairs of running wheels to extend downward, so that the track device is in a suspended state, and then the track device is adjusted to rotate forward and downward, so that the lower bottom edge of the track contacts the steps and stops when the inclination angle is consistent, and then the wheelchair relies on the track to move downward on the steps; The method is implemented by a double-track electric wheelchair, the double-track electric wheelchair comprises a base frame, a seat is installed on the upper end of the base frame, a seat adjustment device is also arranged between the seat and the base frame, a track walking system is installed below the base frame, the track walking system comprises two pairs of track devices which are symmetrical and arranged along the front and back, the track devices comprise track wheels and track wound on the track wheels, the track is wound in an inverted triangle shape, so that it has a horizontal lower bottom edge, a front side edge which is located at the front end of the lower bottom edge and extends obliquely forward and upward, and an upper side edge which connects the front side edge and the lower bottom edge to form an inverted triangle; The base frame comprises two front supporting arms and two rear supporting arms arranged side by side on the left and right sides, the rear end of the front supporting arm and the front end of the rear supporting arm on the same side are inclined upward and connected to form a triangle, and a horizontal connecting member is provided between the two front supporting arms and / or between the two rear supporting arms to form a whole; The crawler device also includes a crawler wheel bracket, which is in an inverted triangle shape consistent with the crawler track, and the crawler wheels include a first crawler wheel installed at the upper end of the front side of the crawler wheel bracket, a second crawler wheel installed at the front end of the lower bottom edge of the crawler wheel bracket, a third crawler wheel installed at the middle of the lower bottom edge of the crawler wheel bracket, and a fourth crawler wheel installed at the rear end of the lower bottom edge of the crawler wheel bracket; The crawler walking system also includes a flat ground walking device, which includes two pairs of walking wheels that are symmetrically arranged in the front and rear directions, and the two pairs of walking wheels are respectively installed between the two pairs of front crawler devices and the two pairs of rear crawler devices, and the walking wheels are respectively connected to the front support arm or the rear support arm of the corresponding base frame through the corresponding walking wheel lifting control mechanism; The walking wheel lifting control mechanism includes a first connecting rod, a second connecting rod and a third connecting rod which are rotatably connected in sequence, wherein one end of the first connecting rod away from the second connecting rod is rotatably connected to the lower end of the corresponding front supporting arm or the rear supporting arm, and one end of the third connecting rod away from the second connecting rod is rotatably connected to the middle position of the corresponding front supporting arm or the rear supporting arm; one end of the first connecting rod rotatably connected to the front supporting arm or the rear supporting arm is connected to a connecting rod motor and can be driven to rotate by the connecting rod motor; the walking wheel is installed at the position where the first connecting rod and the second connecting rod are connected.

2. The method for controlling a wheelchair to go up and down stairs as claimed in claim 1, characterized in that: Shock-absorbing dampers are also installed on the front support arms; The length of the front support arm is smaller than that of the rear support arm, and the seat is mounted on the front half of the rear support arm; The length of the lower bottom side of the crawler track is greater than the length of the front side side.

3. The method for controlling a wheelchair to go up and down stairs as claimed in claim 1, characterized in that: The fourth track wheel is connected to the track wheel driving motor to form a driving wheel, and the track wheel driving motor is coaxially fixedly mounted on a track wheel bracket corresponding to the fourth track wheel.

4. The method for controlling a wheelchair to go up and down stairs as claimed in claim 1, characterized in that: The middle part of the upper side of the track wheel bracket is rotatably connected to the lower ends of the front support arm and the rear support arm of the base frame through a track device adjustment shaft, and the track device adjustment shaft is connected to a track device rotation adjustment motor; The crawler device adjusting shaft and the crawler device rotation adjusting motor are coaxially connected.

5. The method for controlling a wheelchair to go up and down stairs as claimed in claim 1, characterized in that: The track wheel bracket includes two track wheel mounting plates that are symmetrically arranged on the left and right. The track wheel mounting plates are hollowed out and are in an inverted triangle shape consistent with the track. The first track wheel, the second track wheel, the third track wheel and the fourth track wheel are all installed between the two track wheel mounting plates. The crawler wheel driving motor and the crawler device rotation adjustment motor are both installed on the inner side of the corresponding inner crawler wheel mounting plate; A track baffle is provided above the upper side of the track in a semi-enclosed manner.

6. The method for controlling a wheelchair to go up and down stairs as claimed in claim 1, characterized in that: The two front-end running wheels are each rotatably mounted on a running wheel mounting plate arranged in the left-right direction through a running wheel mounting seat, the upper end of the running wheel mounting plate is fixed to the lower side position where the first connecting rod and the second connecting rod are connected, and the running wheel mounting plate is also equipped with a steering motor and a running wheel mounting seat for transmission connection; In the two opposite walking wheel lifting control mechanisms, a first linkage rod is fixedly arranged horizontally between the positions where the two first links and the second links are connected, and a second linkage rod is fixedly arranged horizontally between the positions where the two second links and the third link are connected; A support rod is arranged vertically and obliquely upward along the upper edge of the first linkage rod, and the lower end of the support rod and the first linkage rod are rotatable. A support rod rotation control motor is also installed on the first linkage rod, and the support rod rotation control motor can control the support rod to rotate upward. There is an abutment joint at the upper end of the support rod, and an abutment seat is correspondingly arranged on the base frame. When the walking wheel lifting control mechanism controls the walking wheel to extend downward to the walking state, the support rod rotates to a vertical state and the abutment joint can abut against the abutment seat to form support.

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