Wheelchair and stair-going and downstairs assisting device thereof

Abstract

The present invention discloses a wheelchair and a stair-going and climbing assisting device thereof, wherein the stair-going and climbing assisting device comprises an annular frame, a plurality of radial clamps radially distributed at one end of the annular frame, running wheels radially liftably embedded at the bottom of the annular frame, and two sets of auxiliary legs disposed in the annular frame and symmetrically distributed on both sides of the running wheels. Before climbing stairs, the hand wheel rims of the wheelchair are clamped radially telescopically so that the whole device can be conveniently fixed on both sides of the wheelchair. When climbing stairs, when one of the two auxiliary legs and the running wheels steps onto the next step, the other two simultaneously touch the ground for support, and the whole device always maintains two supporting points, with a good anti-rollover effect and more stable support. Therefore, the stair-going and climbing assisting device provided by the present invention is more convenient to use and has better stability.

Description

Technical Field

[0001] The present invention relates to the field of assistive devices for the disabled, and in particular to a wheelchair and a stair-going and -going assistive device thereof. Background Art

[0002] As a means of transportation for people with lower limb disabilities, wheelchairs are increasingly being paid attention to for their role and functions. Whether in buildings or other public places, stairs are already associated with people's lives. Ordinary wheelchairs cannot safely carry people up and down stairs without help, which greatly restricts the travel of wheelchair users and brings many inconveniences.

[0003] Based on this, many stair-climbing wheelchairs and auxiliary wheelchair stair-climbing devices have been born, but stair-climbing wheelchairs are still limited in their application scenarios. They are expensive and relatively large in size. They cannot adapt to smaller-sized stairs and damaged stairs in some areas, and are difficult to promote and apply. Limited by existing technologies, the structure of existing auxiliary wheelchair stair-climbing devices is relatively complex and the overall size is large. It is difficult for users to easily install them on the wheelchair, which is extremely inconvenient to use. In addition, the structure of existing auxiliary wheelchair stair-climbing devices still has shortcomings, and there are still major safety hazards when climbing stairs, and their stability still needs to be improved. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a wheelchair and a stair climbing assist device thereof, wherein all radial clamping claws clamp the hand wheel rim radially, so that the entire device can be fixed on the wheelchair, making it more convenient to use; two sets of auxiliary legs are symmetrically distributed on both sides of the walking wheels, which can ensure that two of the three always maintain ground support when climbing stairs, and the support is more stable.

[0005] The stair-going and -going assistive device for a wheelchair provided by the present invention comprises:

[0006] Ring frame;

[0007] A plurality of radial clamping claws radially distributed at one end of the annular frame and used for clamping the hand wheel rim of the wheelchair in a radially telescopic manner;

[0008] A traveling wheel which is radially liftably embedded in the bottom of the annular frame;

[0009] Two sets of auxiliary legs are arranged in the annular frame and symmetrically distributed on both sides of the running wheels;

[0010] When one of the two auxiliary legs and the walking wheel steps onto the next step, the other two simultaneously touch the ground for support.

[0011] Preferably, any radial clamp comprises:

[0012] A sliding clamp block with a circular arc clamp groove;

[0013] A fixed anti-sliding block axially embedded in the center of the sliding clamping block;

[0014] A floating anti-slip block axially stacked on the fixed anti-slip block;

[0015] At least one positioning connecting rod passing between the fixed anti-sliding block and the floating anti-sliding block;

[0016] A stop fastener detachably connected to one end of the positioning connecting rod embedded in the floating anti-sliding block;

[0017] An elastic member abutting between the stop fastener and the adjustment groove provided on the floating anti-sliding block;

[0018] The fixed anti-skid groove of the fixed anti-sliding block and the floating anti-skid groove of the floating anti-sliding block are combined to form an anti-skid clamping groove for cooperating with the arc clamping groove to clamp the hand wheel rim.

[0019] Preferably, any radial clamp further comprises a radial driving member and a radial sliding block fixed between the radial driving member and the sliding clamp block, and the radial sliding block cooperates with a radial sliding groove provided on the end surface of the annular frame.

[0020] Preferably, it also includes a lifting assembly fixedly connected to the running wheel, and the lifting assembly includes:

[0021] A guide sliding frame fixedly arranged on the top of the running wheel and slidably arranged in the annular frame;

[0022] A lifting drive member fixedly connected to the guide slide frame.

[0023] Preferably, a guide rail matched with the guide slide frame is provided in the annular frame, and a guide roller is provided between the guide slide frame and the guide rail.

[0024] Preferably, a shock-absorbing base is fixedly provided at the bottom of the guide slide frame, the shock-absorbing base is connected to the walking wheel via a telescopic push rod, and a shock-absorbing spring is provided between the fixed sleeve and the movable rod of the telescopic push rod.

[0025] Preferably, any group of auxiliary legs comprises:

[0026] Fixed-set telescopic arm;

[0027] A boom fixedly connected to the telescopic arm;

[0028] Triangular cam;

[0029] A small arm articulated with a triangular cam;

[0030] An intermediate arm hinged between the upper arm and the lower arm.

[0031] Preferably, any group of auxiliary legs further comprises a T-shaped wheel frame fixedly mounted on the free end of the forearm; ratchets for limiting the unidirectional rotation of the triangular cam are provided on the two symmetrically arranged cam shafts of the T-shaped wheel frame.

[0032] Preferably, it also includes a planetary gear assembly and a brake assembly arranged on the planetary gear assembly, the sun gear of the planetary gear assembly is meshed with the hand wheel ring and one of the planetary gears is connected to the travel wheel through a transmission belt;

[0033] When the hand wheel ring is manually rotated, the brake assembly brakes the planet carrier of the planetary gear assembly, and the hand wheel ring drives the travel wheel to rotate;

[0034] When the travel wheel is raised or lowered, the brake assembly brakes the outer gear ring of the planetary gear assembly, and the transmission belt maintains a preset tension.

[0035] Preferably, two avoidance grooves for avoiding the auxiliary legs are symmetrically provided on the outer side surface of the annular frame, and each avoidance groove is hingedly connected with an arc-shaped cover.

[0036] Preferably, it also includes a control component and a clamping force detection component for detecting the current clamping force of the radial clamping jaws. The control component includes a clamping force judgment module for judging whether the current clamping force reaches the preset clamping force. If so, the radial clamping jaws stop moving; if not, the radial clamping jaws continue to slide radially.

[0037] Preferably, it also includes a lighting component and a light detection component for detecting the current light intensity of the surrounding environment. The control component includes a light intensity judgment module for judging whether the current light intensity reaches the preset light intensity. If so, the lighting component does not emit light; if not, the lighting component is started.

[0038] Preferably, it also includes an end cover plate fixedly arranged at one end of the annular frame away from the hand wheel ring, and a detection shell which is axially telescopically arranged and hinged to the center of the end cover plate, and the lighting component is arranged in the detection shell.

[0039] Preferably, it also includes an environmental detection component for detecting stairs, and the control component includes a stair judgment module for judging whether there are stairs. If so, the walking wheels and two sets of auxiliary legs are adjusted to a climbing posture; if not, the walking wheels and two sets of auxiliary legs maintain the initial posture.

[0040] Preferably, it also includes an alarm component, a battery fixed in the annular frame, and a power detection component for detecting the current remaining power of the battery after detecting the stairs. The control component includes a remaining power judgment module for judging whether the current remaining power is lower than the preset remaining power. If so, the alarm component is activated; if not, the walking wheels and two sets of auxiliary legs climb the stairs in a stair climbing posture.

[0041] Preferably, the remaining power judgment module is also used to judge whether the remaining power of the battery is lower than the minimum remaining power, and if so, start the brake assembly to brake the planetary carrier.

[0042] The wheelchair provided by the present invention comprises a hand wheel rim and a stair climbing and descending assisting device as described in any one of the above items, wherein the stair climbing and descending assisting device is detachably fixed to the hand wheel rim.

[0043] Compared with the background technology, the wheelchair stair going up and down assistance device provided by the present invention includes an annular frame, a plurality of radial clamps, running wheels and two sets of auxiliary legs. The plurality of radial clamps are radially distributed at one end of the annular frame, the running wheels are radially embedded in the bottom of the annular frame and can be raised and lowered, and the two sets of auxiliary legs are arranged in the annular frame.

[0044] Before climbing stairs, all radial clamps extend radially until they clamp the hand wheel ring of the wheelchair, so that the whole set of devices can be conveniently fixed on both sides of the wheelchair. When climbing stairs, one of the auxiliary legs first steps to the next step, and the walking wheel and the other auxiliary leg touch the ground at the same time. The stepped auxiliary leg continues to step from the next step to the second step. After the walking wheel is adjusted to an appropriate height by lifting, it rolls along the stair surface to the next step. At this time, the two auxiliary legs symmetrically distributed on both sides of the walking wheel are supported by one high and one low on the ground; the first stepped auxiliary leg continues to step from the second step to the third step, and the walking wheel steps from the next step to the second step. When the walking wheel climbs up the next step, the unmoved auxiliary leg is lifted and steps to the next step. At this time, the first stepped auxiliary leg and the walking wheel touch the ground at the same time for support. It can be seen from this that no matter what kind of climbing posture is in, when one of the two auxiliary legs and the walking wheel steps to the next step, the other two touch the ground at the same time for support. The whole set of devices always maintains two support points, with good anti-rollover effect and more stable support. Therefore, the stair climbing auxiliary device provided by the present invention is more convenient to use and has better stability.

[0045] The wheelchair provided by the present invention, including the aforementioned stair-going and stair-going assisting device, has the same beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0047] Figure 1 This is an isometric view of a wheelchair stair-climbing assisting device provided by a specific embodiment of the present invention in a stair-climbing posture;

[0048] Figure 2 for Figure 1 Another axonometric view of

[0049] Figure 3 for Figure 2 The main view;

[0050] Figure 4 for Figure 2 Side view of

[0051] Figure 5 for Figure 2 A top view of

[0052] Figure 6 for Figure 1 The state diagram after the upper cover is opened;

[0053] Figure 7 for Figure 1 Assembly diagram after opening the end cover;

[0054] Figure 8 for Figure 7 Exploded view between the detection housing and the end cover;

[0055] Fig. 9 This is an isometric view of a wheelchair stair-climbing assistive device provided by a specific embodiment of the present invention in an initial posture;

[0056] Fig.10 for Fig. 9 Exploded diagram of

[0057] Fig.11 for Fig. 9 Assembly diagram with the upper cover removed;

[0058] Fig.12 for Fig.11 Top view after removing the carrying box and the ring frame;

[0059] Fig.13 for Fig. 9 Axonometric view without the ring frame and its accessories;

[0060] Fig.14 for Fig.13 Another axonometric view of

[0061] Fig.15 for Figure 1 The assembly diagram between each radial clamping jaw and the hand wheel ring;

[0062] Fig.16 for Fig.15 Exploded diagram of

[0063] Fig.17 for Fig.15 The structural diagram of the middle hand wheel rim;

[0064] Fig.18 for Fig.15 Assembly drawing of the middle cylindrical oil tank and hand wheel ring;

[0065] Fig.19 for Fig.15 Exploded diagram of each radial drive member and cylindrical oil tank;

[0066] Fig. 20 for Fig.15 An exploded view of one set of radial grippers;

[0067] Fig.21 for Fig.15 Assembly diagram of the middle sliding clamp, fixed anti-sliding block and floating anti-sliding block;

[0068] Fig. 22 for Fig.21 A partial cross-sectional view of

[0069] Fig.23 for Figure 1 Assembly diagram between the middle traveling wheel and the lifting assembly;

[0070] Fig.24 for Figure 1 Exploded view between the middle guide slide frame and the guide slide rail;

[0071] Fig.25 for Figure 1 The structural diagram of the middle auxiliary leg;

[0072] Fig.26 for Fig.25 Exploded view between the middle T-type wheel carrier and the triangular cam;

[0073] Fig. 27 for Figure 1 Assembly diagram of the planetary gear assembly, lifting assembly and travel wheel;

[0074] Fig.28 for Fig. 27 Assembly diagram of the middle planetary gear assembly and the travel wheel;

[0075] Fig.29 for Fig.28 Another view of;

[0076] Fig.30 for Fig.29 The structure of the planetary gear assembly;

[0077] Fig.31 for Fig.29 Exploded view of the planetary gear assembly;

[0078] Figures 32a to 32f A diagram of various crawling states of a wheelchair stair-climbing assistive device provided in a specific embodiment of the present invention;

[0079] Fig.33 An axonometric view of a wheelchair provided in accordance with a specific embodiment of the present invention;

[0080] Fig.34 for Fig.33 Another axonometric view of .

[0081] The reference numerals are as follows:

[0082] Hand wheel ring 11, annular frame 12, radial clamping claw 13, walking wheel 14, lifting assembly 15, auxiliary leg 16, planetary gear assembly 17, transmission belt 18, brake assembly 19, control assembly 20 and battery 21;

[0083] A clamping ring 111, a supporting ring 112, a central disc 113 and a connecting sleeve 114;

[0084] Meshing teeth 1141;

[0085] Arc plate 121, vertical partition 122, polygonal frame 123, object box 124, end cover 125, circular end cover 126, radial slide 127, arc cover 128 and detection housing 129;

[0086] Lighting assembly 1291 and camera 1292;

[0087] An upper cover plate 1251 and a lower cover plate 1252;

[0088] Display screen 1231, display screen bracket 1232 and fixed base 1233;

[0089] A sliding clamp block 130, a fixed anti-sliding block 131, a floating anti-sliding block 132, a flexible anti-slip pad 133, a positioning connecting rod 134, a stop fastener 135, an elastic member 136, a radial sliding block 137, a radial driving member 138 and a cylindrical oil tank 139;

[0090] Arc clamping groove 1301;

[0091] Fixed anti-skid groove 1311;

[0092] Floating anti-skid groove 1321;

[0093] Fastening screw 1341;

[0094] Hydraulic valve 1391;

[0095] Fixed slide plate 1381;

[0096] A driving motor 141, a protective end cover 142, a telescopic push rod 143, a shock absorbing spring 144 and a shock absorbing base 145;

[0097] U-shaped oil tank 150, guide slide frame 151, lifting drive member 152, guide slide rail 153, guide roller 154 and pulley bracket 155;

[0098] A square oil tank 160, a telescopic arm 161, a large arm 162, an intermediate arm 163, a small arm 164, a triangular cam 165, a hydraulic pipe 166, a T-wheel frame 167 and a ratchet 168;

[0099] Front auxiliary leg 1611 and rear auxiliary leg 1622

[0100] Sun gear 171, planet gears 172, outer ring gear 173 and planet carrier 174;

[0101] Engaging groove 1711;

[0102] Transmission shaft 1721;

[0103] Brake 191 and bidirectional brake pad 192 . DETAILED DESCRIPTION

[0104] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0105] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0106] Please refer to Figures 1 to 31 , Figure 1 This is an isometric view of a wheelchair stair-climbing assisting device provided by a specific embodiment of the present invention in a stair-climbing posture; Figure 2 for Figure 1 Another axonometric view of Figure 3 for Figure 2 The main view;

[0107] Figure 4 for Figure 2 Side view of Figure 5 for Figure 2 A top view of Figure 6 for Figure 1 The state diagram after the upper cover is opened;

[0108] Figure 7 for Figure 1 Assembly diagram after opening the end cover; Figure 8 for Figure 7 Exploded view between the detection housing and the end cover; Fig. 9 This is an isometric view of a wheelchair stair-climbing assistive device provided by a specific embodiment of the present invention in an initial posture; Fig.10 for Fig. 9 Exploded diagram of Fig.11 for Fig. 9 Assembly diagram with the upper cover removed; Fig.12 for Fig.11 Top view after removing the carrying box and the ring frame; Fig.13 for Fig. 9 Axonometric view without the ring frame and its accessories; Fig.14 for Fig.13 Another axonometric view of Fig.15 for Figure 1 The assembly diagram between each radial clamping jaw and the hand wheel ring; Fig.16 for Fig.15 Exploded diagram of Fig.17 for Fig.15 The structural diagram of the middle hand wheel rim; Fig.18 for Fig.15 Assembly drawing of the middle cylindrical oil tank and hand wheel ring; Fig.19 for Fig.15 Exploded diagram of each radial drive member and cylindrical oil tank; Fig. 20 for Fig.15 An exploded view of one set of radial grippers; Fig.21 for Fig.15 Assembly diagram of the middle sliding clamp, fixed anti-sliding block and floating anti-sliding block; Fig. 22 for Fig.21 A partial cross-sectional view of Fig.23 for Figure 1 Assembly diagram between the middle traveling wheel and the lifting assembly; Fig.24 for Figure 1 Exploded view between the middle guide slide frame and the guide slide rail; Fig.25 for Figure 1 The structural diagram of the middle auxiliary leg; Fig.26 for Fig.25 Exploded view between the middle T-type wheel carrier and the triangular cam; Fig. 27 for Figure 1 Assembly diagram of the planetary gear assembly, lifting assembly and travel wheel; Fig.28 for Fig. 27 Assembly diagram of the middle planetary gear assembly and the travel wheel; Fig.29 for Fig.28 Another view of; Fig.30 for Fig.29 The structure of the planetary gear assembly; Fig.31 for Fig.29 Exploded view of the planetary gear assembly;

[0109] The embodiment of the present invention discloses a wheelchair stair climbing assist device, which is suitable for an ordinary wheelchair with hand wheel rims 11 on both sides. The device is fixed on the hand wheel rims 11 of the wheelchair by radial clamps 13 which are radially retractable, so as to facilitate loading and unloading. Moreover, when climbing stairs, two of the walking wheels 14 and two auxiliary legs 16 always touch the ground to form a stable support, so that the support is more stable.

[0110] The stair-going / downstairs assisting device of the present invention comprises an annular frame 12 , a plurality of radial clamping claws 13 , running wheels 14 and two sets of assisting legs 16 .

[0111] The top of the annular frame 12 is provided with a rectangular opening, and two arc plates 121 are symmetrically fixed on the outer side, and the two arc plates 121 mainly play a shielding role. A storage box 124 is fixed at the rectangular opening, which can be used to hold chargers, umbrellas and other sundries. The storage box 124 can be welded between the two arc plates 121, and its opening is covered by a rotatable flip cover.

[0112] Two vertical partitions 122 are fixedly provided in the annular frame 12, and the running wheel 14 is located between the two vertical partitions 122. The two vertical partitions 122 are used to separate the running wheel 14 and the two auxiliary legs 16 to prevent the auxiliary legs 16 from colliding with the running wheel 14 when adjusting their postures, thereby ensuring that the running wheel 14 and the two sets of auxiliary legs 16 work together without interfering with each other.

[0113] A polygonal frame 123 is provided between the object box 124, the two arc plates 121 and the two vertical partitions 122. Each side of the polygonal frame 123 is formed by two parallel inclined beams, so that the polygonal frame 123 is hollowed out, which can not only improve the anti-deformation strength of the annular frame 12, but also facilitate the compact and reasonable arrangement of various components. A horizontal frame is integrally fixed on the horizontal diagonal line of the polygonal frame 123, and two sets of auxiliary legs 16 are symmetrically suspended on both sides of the support frame.

[0114] The top side plate of the polygonal frame 123 is also provided with a display screen 1231, a display screen bracket 1232 and a fixed base 1233. The display screen bracket 1232 is fixed to the display screen 1231 and the fixed base 1233 bracket to support the display screen 1231. A ball-shaped hinge can be used between the display screen 1231 and the display screen bracket 1232 to facilitate adjustment of the angle of the display screen 1231 and facilitate observation. The display screen 1231 can be connected to the control component 20 to display information such as power, crawling speed or pictures according to the signal fed back by the control component 20, so that the user can observe the working status of the whole device in real time.

[0115] Two avoidance grooves are symmetrically arranged at the bottom of the outer side surface of the annular frame 12 to avoid the two groups of auxiliary legs 16 and ensure that the auxiliary legs 16 can adjust their posture freely. Each avoidance groove is hinged with an arc cover 128 to protect and shield the auxiliary legs 16 when they are retracted into the annular frame 12, reduce the risk of the auxiliary legs 16 accidentally falling to the ground, and prevent foreign objects from hindering the normal movement of the auxiliary legs 16. Both arc covers 128 are arc-shaped, consistent with the curvature of the arc plate 121. Both arc covers 128 are provided with penetrating heat dissipation holes to facilitate the heat dissipation of the auxiliary legs 16. Specifically, a hinge shaft is arranged on the upper groove edge of each avoidance groove, and the arc cover 128 is hingedly connected to the hinge shaft so that the arc cover 128 can be turned around the hinge shaft. A steering gear can be added to the end of the hinge shaft. When receiving a signal that the auxiliary leg 16 is retracted into the annular frame 12, the steering gear drives the arc cover 128 to automatically turn around the hinge shaft to block the avoidance groove.

[0116] One end of the annular frame 12 is integrally fixed with a circular end cap 126, and all radial clamps 13 are radially distributed on the circular end cap 126. When all radial clamps 13 are extended radially, all radial clamps 13 clamp the hand wheel rim 11 of the wheelchair, so that the stair climbing and descending auxiliary device can be coaxially fixed on both sides of the wheelchair as a whole; when all radial clamps 13 are retracted radially, the whole device can be easily oriented from under the hand wheel rim 11, and the disassembly and assembly are easy and convenient to use. Specifically, six groups of radial clamps 13 are specifically arranged on the circular end cap 126, and all radial clamps 13 are evenly distributed. The specific structure of each group of radial clamps 13 can refer to the following content.

[0117] The running wheel 14 is radially liftably embedded in the bottom of the annular frame 12, and includes a wheel hub and an anti-skid tire. The specific installation method of the running wheel 14 can refer to the following content.

[0118] The two sets of auxiliary legs 16 are both arranged in the annular frame 12 and symmetrically distributed on both sides of the running wheel 14, and are used to assist the running wheel 14 when climbing stairs to prevent the wheelchair from tipping over due to unstable center of gravity. The two sets of auxiliary legs 16 specifically include a front auxiliary leg 161 and a rear auxiliary leg 162 of the same structure. The specific structure of the auxiliary legs 16 can be referred to the following content.

[0119] Please see Figures 32a to 32f This is a diagram of various crawling states of a wheelchair stair climbing assist device provided in a specific embodiment of the present invention.

[0120] When climbing stairs, the front auxiliary leg 161 collides with the next step, and the front auxiliary leg 161 is lifted up to the next step. During the lifting process of the front auxiliary leg 161, the walking wheel 14 and the other auxiliary leg 16 touch the ground at the same time, and the front auxiliary leg 161 continues to move from the next step to the second step. After the walking wheel 14 is adjusted to an appropriate height by lifting, it rolls along the stair surface to the next step. The front auxiliary leg 161 and the rear auxiliary leg 162 support the entire device on different steps, one high and one low; the front auxiliary leg 161 continues to move from the second step to the third step, the walking wheel 14 moves from the next step to the second step, and the rear auxiliary leg 162 is lifted up to the next step. At this time, the front auxiliary leg 161 and the walking wheel 14 touch the ground and support at the same time.

[0121] No matter what climbing posture the whole device is in, when one of the two auxiliary legs 16 and the walking wheel 14 steps onto the next step, the other two simultaneously touch the ground for support, and the whole device always maintains two support points, with good anti-rollover effect and more stable support.

[0122] In summary, the stair going up and down assisting device provided by the present invention is convenient for assembly and disassembly and can always maintain two-point support, so it is more convenient to use and has better stability.

[0123] Any radial clamping jaw 13 includes a sliding clamping block 130, a fixed anti-sliding block 131, a floating anti-sliding block 132, a positioning connecting rod 134, a stop fastener 135 and an elastic member 136. The sliding clamping block 130 has an arc clamping groove 1301. The arc of the arc clamping groove 1301 is consistent with the arc of the hand wheel ring 11, so that the arc clamping groove 1301 and the hand wheel ring 11 are completely fitted, ensuring that all the sliding clamping blocks 130 firmly support the hand wheel ring 11. The bottom of the arc clamping groove 1301 is provided with an anti-skid protrusion to prevent the sliding clamping block 130 from slipping relative to the hand wheel ring 11, so that the radial clamping jaw 13 reliably clamps the hand wheel ring 11.

[0124] The fixed anti-slip block 131 is embedded in the center of the sliding clamp block 130 along the axial direction, and an interference fit can be used between the fixed anti-slip block 131 and the sliding clamp block 130. The floating anti-slip block 132 is stacked on the top of the fixed anti-slip block 131 along the axial direction. The fixed anti-slip block 131 has a fixed anti-slip groove 1311, and the floating anti-slip block 132 has a floating anti-slip groove 1321. After the fixed anti-slip block 131 and the floating anti-slip block 132 are combined together, the fixed anti-slip groove 1311 and the floating anti-slip groove 1321 are combined to form an anti-slip clamping groove, which is used to cooperate with the arc clamping groove 1301 to clamp the hand wheel rim 11 together.

[0125] To further improve reliability, both the fixed anti-skid groove 1311 and the floating anti-skid groove 1321 are provided with flexible anti-skid pads 133, and the flexible anti-skid pads 133 are integrally provided with anti-skid bumps to further increase the friction between the radial clamping jaws 13 and the hand wheel ring 11, making the clamping more secure. The flexible anti-skid pads 133 can be a rubber pad that is fixed by clamping, but its material is not limited thereto.

[0126] Both the fixed anti-skid groove 1311 and the floating anti-skid groove 1321 are arc grooves, and the curvature is consistent with the curvature of the arc clamping groove 1301. The top of the floating anti-slip block 132 is higher than the sliding clamp block 130, that is, the sum of the heights of the fixed anti-slip block 131 and the floating anti-slip block 132 after stacking is greater than the depth of the U-shaped clamping groove set by the sliding clamp block 130. In this way, the arc length of the anti-skid clamping groove is greater than the arc length of the arc clamping groove 1301, which can effectively increase the contact area between the radial clamping jaws 13 and the hand wheel ring 11, and still facilitate the radial clamping jaws 13 to clamp the hand wheel ring 11.

[0127] At least one positioning connecting rod 134 is provided between the fixed anti-sliding block 131 and the floating anti-sliding block 132 to connect the two. Specifically, one end of the positioning connecting rod 134 close to the fixed anti-sliding block 131 is fixed to the fixed anti-sliding block 131 by means of a fastening screw 1341, and the other end of the positioning connecting rod 134 can be slidably inserted into the floating anti-sliding block 132. One end of the positioning connecting rod 134 embedded in the floating anti-sliding block 132 is provided with a stop fastener 135, and the stop fastener 135 is threadedly connected to the positioning connecting rod 134 to prevent the floating anti-sliding block 132 from detaching from the positioning connecting rod 134 when moving upward. The floating anti-sliding block 132 is provided with an adjustment groove, and an elastic member 136 is sleeved on the positioning connecting rod 134, and the two ends of the elastic member 136 are respectively against the stop flange of the stop fastener 135 and the groove bottom of the adjustment groove. The elastic member 136 can be specifically a common cylindrical spring.

[0128] When the outer diameter of the hand wheel 11 is large, the floating anti-sliding block 132 moves upward along the positioning connecting rod 134 relative to the fixed anti-sliding block 131, squeezing the elastic member 136, and the distance between the floating anti-sliding block 132 and the fixed anti-sliding block 131 increases, so that it can adapt to hand wheel 11 with different outer diameters, and the adaptability is better. When the hand wheel 11 is released, the elastic member 136 restores its elastic deformation, and the elastic member 136 pushes the floating anti-sliding block 132 downward until the floating anti-sliding block 132 falls on the fixed protection block under the guidance of the positioning connecting rod 134.

[0129] Any radial clamp 13 also includes a radial drive member 138, which can be a hydraulic rod. The radial drive member 138 is fixedly connected to the sliding clamp 130 through a fixed slide 1381. Any radial clamp 13 also includes a cylindrical oil tank 139 and a hydraulic valve 1391. The hydraulic valve 1391 is arranged in the main channel of the cylindrical oil tank 139. The cylindrical oil tank 139 is coaxially fixed to the center of the circular end cover 126 and is cylindrical. Each hydraulic rod is connected to the side channel of the cylindrical oil tank 139, so that each hydraulic rod can synchronously feed or return oil, and each hydraulic rod can synchronously achieve extension and retraction, thereby ensuring that each radial clamp 13 simultaneously clamps the hand wheel ring 11, or simultaneously releases the hand wheel ring 11.

[0130] Any radial clamping jaw 13 also includes a radial slider 137 fixed between the radial driving member 138 and the sliding clamp block 130. The end surface of the annular frame 12 is correspondingly provided with a radial slide groove 127. The radial slider 137 cooperates with the radial slide groove 127 to guide the sliding clamp block 130 to slide linearly in the radial direction. The radial slider 137 can be a T-shaped slider, and the radial slide groove 127 corresponds to a T-shaped slide groove. Of course, the structures of the radial slider 137 and the radial slide groove 127 are not limited to the T-shaped, but can also be dovetail or rectangular, etc., and the purpose of the present invention can still be achieved.

[0131] The stair climbing assisting device provided by the present invention further comprises a lifting assembly 15 fixedly connected to the running wheel 14, which is used to drive the running wheel 14 to be lifted or lowered, thereby providing conditions for the running wheel 14 to climb stairs.

[0132] The lifting assembly 15 includes a guide slide frame 151 and a lifting drive 152. The travel wheel 14 is fixedly arranged at the bottom of the guide slide frame 151, and the guide slide frame 151 can be slidably arranged in the annular frame 12. The guide slide frame 151 is a hollow frame, which makes the whole device lighter. An arc groove is provided on the top side of the guide slide frame 151 to provide an installation space for the steering engine used to drive the detection housing 129 to rotate. A U-shaped oil tank 150 is fixedly arranged on the top of the lifting drive 152, and the U-shaped oil tank 150 can be specifically fixed on the horizontal frame. The lifting drive 152 can be specifically a hydraulic rod, whose cylinder is vertically fixed on the U-shaped oil tank 150, and whose piston rod is fixedly connected to the guide slide frame 151, and is used to drive the travel wheel 14 to rise and fall through the guide slide frame 151.

[0133] A guide rail 153 is provided in the annular frame 12. Specifically, a guide rail 153 is fixed on each of the opposite sides of the two vertical partitions 122. The two sides of the guide slide frame 151 are slidably matched with the two guide rails 153 in a one-to-one correspondence to guide the linear sliding of the guide slide frame 151. In order to reduce the friction between the guide slide frame 151 and the guide rail 153 and slow down the wear of the two, a guide roller 154 is provided between the guide slide frame 151 and the guide rail 153. Specifically, a pulley bracket 155 is fixed on both sides of the guide slide frame 151. The guide roller 154 can be rotatably mounted on the pulley bracket 155. Accordingly, the guide slide rail 153 is specifically a U-shaped slide rail. Each guide roller 154 is against the U-shaped slide rail, which can effectively block the guide roller 154 and prevent foreign objects from getting stuck in the guide slide rail 153.

[0134] A shock-absorbing base 145 is fixedly provided at the bottom of the guide slide frame 151, so that the running wheel 14 can achieve shock absorption, which is conducive to improving comfort. The shock-absorbing base 145 and the guide slide frame 151 are matched in a concave-convex manner, and the two can be connected by interference. Furthermore, the shock-absorbing base 145 is connected to the running wheel 14 through a telescopic push rod 143, one end of the telescopic push rod 143 is embedded in the rectangular groove of the shock-absorbing base 145, and the other end is sleeved on the rotating shaft of the running wheel 14. The telescopic push rod 143 includes a fixed sleeve and a movable rod that are slidably connected. The movable rod is sleeved with a shock-absorbing spring 144 that is against the fixed sleeve, so that the running wheel 14 can further achieve vibration absorption and better comfort.

[0135] The two groups of auxiliary legs 16 have the same structure, wherein any group of auxiliary legs 16 comprises a square oil tank 160, a telescopic arm 161, a boom 162, an intermediate arm 163, a small arm 164 and a triangular cam 165. The telescopic arm 161 can be a two-stage hydraulic rod with a longer telescopic length. One end of the telescopic arm 161 is fixed to the square oil tank 160 and the other end is fixed to the boom 162. The intermediate arm 163 is hinged between the boom 162 and the small arm 164, so that the auxiliary leg 16 can be folded or unfolded. The intermediate arm 163 and the boom 162 and the intermediate arm 163 and the small arm 164 are driven by a steering gear, and the rotation angle of the steering gear can be set in advance. The free end of the small arm 164 is hinged to the triangular cam 165, which can rotate along the stairs and achieve stable support with the help of its own plane.

[0136] Each set of auxiliary legs 16 further includes a T-shaped wheel frame 167 fixed to the free end of the small arm 164, and the T-shaped wheel frame 167 can be welded to the free end of the small arm 164. Camshafts are symmetrically arranged on both sides of the T-shaped wheel frame 167, and each camshaft is sleeved with a triangular cam 165. The key is that each camshaft is provided with a ratchet 168, so that the triangular cam 165 can only rotate in one direction around the camshaft, thereby avoiding the triangular cam 165 from accidentally reversing during the climbing process and causing a serious rollover accident, which has a positive significance for improving safety.

[0137] The two sets of square oil tanks 160 can be connected via a hydraulic pipe 166 so that the two sets of auxiliary legs 16 can move in coordination.

[0138] The stair going up and down assisting device provided by the present invention also includes a planetary gear assembly 17 and a brake assembly 19 arranged on the planetary gear assembly 17. The planetary gear assembly 17 includes a sun gear 171, three planetary gears 172, an outer gear ring 173 and a planet carrier 174. The side wall of the center hole of the sun gear 171 is provided with at least two meshing grooves 1711. The connecting sleeve 11 arranged at the center of the hand wheel ring 11 is provided with at least two meshing teeth 1141, so that the sun gear 171 is meshed with the hand wheel ring 11, so that the hand wheel ring 11 drives the sun gear 171 to rotate.

[0139] Specifically, the hand wheel ring 11 includes a coaxially arranged clamping ring 111, a supporting ring 112 and a center disk 113. The outer diameter of the clamping ring 111 is larger than the outer diameter of the supporting ring 112, and the two are integrally connected through a T-block. The supporting ring 112 and the center disk 113 are integrally connected through a plurality of radially distributed connecting ribs. The connecting sleeve 11 is integrally arranged at the center of the center disk 113.

[0140] One of the planetary wheels 172 is integrally provided with a transmission shaft 1721, which is connected to the travel wheel 14 via a transmission belt 18, so that the sun gear 171 drives the travel wheel 14 to rotate through the planetary wheel 172 and the transmission belt 18, providing conditions for manually driving the travel wheel 14 to rotate.

[0141] The brake assembly 19 includes a brake 191 and a bidirectional brake pad 192. The brake 191 is used to drive the bidirectional brake pad 192 to operate. The structure and working principle of the brake 191 can be specifically referred to the prior art. The bidirectional brake pad 192 is located between the outer gear ring 173 and the planet carrier 174, and is used to brake the outer gear ring 173 and the planet carrier 174 selectively.

[0142] When the hand wheel 11 is manually rotated, the brake assembly 19 brakes the planetary carrier 174, and the power of the hand wheel 11 is transmitted to the running wheel 14 through the sun gear 171, the planetary gear 172 and the transmission belt 18 in sequence, and the running wheel 14 rotates, which can ensure that the running wheel 14 is more stable.

[0143] When the travel wheel 14 is raised or lowered, the brake assembly 19 brakes the outer gear ring 173, the sun gear 171 drives the planetary gear 172 to rotate, and the transmission belt 18 rotates with the planetary gear 172 to adjust the tightness of the transmission belt 18 so that the transmission belt 18 maintains a preset tension, thereby ensuring that no squeezing occurs when the travel wheel 14 is raised or lowered. The preset tension in this article refers to the optimal tension of the transmission belt 18. In addition, after the tension of the transmission belt 18 is adjusted, the brake assembly 19 can switch the brake planet carrier 174.

[0144] It should be noted that the rotation of the running wheel 14 can be driven by a motor in addition to being driven manually by the planetary wheel assembly 17. Specifically, a driving motor 141 is fixedly provided at one end of the rotating shaft of the running wheel 14 away from the hand wheel ring 11, and the driving motor 141 is covered with a protective end cover 142, which are coaxially arranged to protect the driving motor 141.

[0145] The stair climbing and descending assisting device provided by the present invention further comprises a control component 20 and a clamping force detection component, wherein the clamping force detection component is used to detect the current clamping force of the radial clamping jaws 13, and specifically can be a force detection sensor arranged on the sliding clamp block 130. The control component 20 comprises a clamping force judgment module, which is used to judge whether the current clamping force reaches the preset clamping force. If so, the control component 20 controls all radial driving members 138 to maintain the current extension length, and all radial clamping jaws 13 stop moving, and firmly support the hand wheel ring 11; if not, the control component 20 controls all radial driving members 138 to continue to extend outwards until the current clamping force of all radial clamping jaws 13 reaches the preset clamping force.

[0146] The stair-going / downstairs assisting device provided by the present invention further includes a lighting component 1291 and a light detection component. The lighting component 1291 may be an LED lamp. The light detection component is used to detect the current light intensity of the surrounding environment, and may specifically be a light intensity detection sensor. The control component 20 includes a light intensity determination module, which is used to determine whether the current light intensity reaches a preset light intensity. If so, the control component 20 controls the lighting component 1291 to remain off; if not, the control component 20 starts the lighting component 1291 to achieve automatic lighting, which provides a better experience.

[0147] The stair climbing and descending assisting device provided by the present invention further comprises an end cover plate 125 fixedly mounted on the end of the annular frame 12 away from the hand wheel ring 11. The end cover plate 125 is a split structure, comprising an upper cover plate 1251 and a lower cover plate 1252, which can be hingedly connected or snap-connected, so as to facilitate partial maintenance of the components in the annular frame 12. The lower cover plate 1252 is provided with a U-shaped protrusion to avoid the protective end cover 142.

[0148] The stair-going / falling-up assisting device provided by the present invention further comprises a detection housing 129, and a lighting assembly 1291 is arranged on the detection housing 129. A steering gear is arranged between the detection housing 129 and the center of the end face cover plate 125, and the steering gear can drive the detection housing 129 to rotate relative to the end face cover plate 125, and can also drive the detection housing 129 to extend and retract relative to the end face cover plate 125 along the axial direction, thereby realizing flexible adjustment of the illumination range of the lighting assembly 1291. Of course, the detection housing 129 can also be provided with an image recognition device such as a camera 1292.

[0149] The stair going up and down assistance device provided by the present invention also includes an environment detection component for detecting stairs. The control component 20 includes a stair judgment module for judging whether there are stairs. If so, the control component 20 first controls the auxiliary legs 16 and the driving wheels to extend a specified length, and then controls the walking wheels 14 and the auxiliary legs 16 to rotate, so that the walking wheels 14 and the two groups of auxiliary legs 16 are adjusted to a climbing posture for climbing stairs; if not, the control component 20 controls the two auxiliary legs 16 and the walking wheels 14 to continue to shrink in the annular frame 12, so that the walking wheels 14 and the two groups of auxiliary legs 16 continue to maintain the initial posture.

[0150] The stair-climbing auxiliary device provided by the present invention also includes an alarm component, a battery 21 and a power detection component. The alarm component can be an audible and visual alarm, or an indicator light alarm prompt. The battery 21 is fixed in the annular frame 12. Specifically, the battery 21 is located below the cargo box 124 and fixed on the top of the U-shaped oil tank 150 for easy charging. The power detection component is used to detect the current remaining power of the battery 21 after detecting the stairs. The type of the power detection component can refer to the prior art. The control component 20 includes a remaining power judgment module, which is used to judge whether the current remaining power is lower than the preset remaining power. If so, the alarm component is activated to remind the user not to perform the climbing action, avoid climbing smoothly, and help improve the experience; if not, the walking wheels 14 and the two sets of auxiliary legs 16 climb the stairs in a climbing posture.

[0151] The remaining power judgment module is also used to judge whether the remaining power of the battery 21 is lower than the minimum remaining power. If so, the brake assembly 19 is started to brake the planetary carrier 174, and the hand wheel ring 11 indirectly drives the running wheel 14 to rotate. Among them, the minimum remaining power can be 5% of the total power.

[0152] Please refer to Fig.33 and 34 , Fig.33 An axonometric view of a wheelchair provided in accordance with a specific embodiment of the present invention;

[0153] Fig.34 for Fig.33 Another axonometric view of .

[0154] The present invention also discloses a wheelchair, comprising a hand wheel rim 11 and the above-mentioned stair climbing and descending assisting device, wherein the stair climbing and descending assisting device can be detachably fixed on the hand wheel rim 11, and has the same beneficial effects.

[0155] The wheelchair and stair-going and stair-going assistive device provided by the present invention are introduced in detail above. Specific examples are used herein to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A wheelchair stair-climbing assistive device, characterized in that: include: Ring frame (12); A plurality of radial clamping claws (13) radially distributed at one end of the annular frame (12) and used to clamp the hand wheel rim (11) of the wheelchair in a radially telescopic manner; A running wheel (14) radially liftably embedded in the bottom of the annular frame (12); Two groups of auxiliary legs (16) are arranged in the annular frame (12) and symmetrically distributed on both sides of the walking wheel (14); When one of the two auxiliary legs (16) and the walking wheel (14) steps onto the next step, the other two simultaneously touch the ground for support; Any of the radial clamping jaws (13) comprises: A sliding clamp block (130) having a circular arc clamp groove (1301); A fixed anti-sliding block (131) axially embedded in the center of the sliding clamping block (130); A floating anti-sliding block (132) axially stacked on the fixed anti-sliding block (131); At least one positioning connecting rod (134) passing between the fixed anti-sliding block (131) and the floating anti-sliding block (132); A stop fastener (135) detachably connected to one end of the positioning connecting rod (134) embedded in the floating anti-sliding block (132); An elastic member (136) abutting between the stop fastener (135) and an adjustment groove provided on the floating anti-sliding block (132); The fixed anti-skid groove (1311) of the fixed anti-skid slide block (131) and the floating anti-skid groove (1321) of the floating anti-skid slide block (132) are combined to form an anti-skid clamping groove for cooperating with the circular arc clamping groove (1301) to clamp the hand wheel rim (11).

2. The stair-climbing assistive device for a wheelchair according to claim 1, characterized in that: Any of the radial clamps (13) further comprises a radial driving member (138) and a radial sliding block (137) fixed between the radial driving member (138) and the sliding clamp block (130), wherein the radial sliding block (137) cooperates with a radial sliding groove (127) provided on the end surface of the annular frame (12).

3. The stair-climbing assistive device for a wheelchair according to claim 1 or 2, characterized in that: It also includes a lifting assembly (15) fixedly connected to the running wheel (14), and the lifting assembly (15) includes: A guide sliding frame (151) fixedly arranged on the top of the running wheel (14) and slidably arranged in the annular frame (12); A lifting drive member (152) fixedly connected to the guide slide frame (151).

4. The stair-climbing assistive device for a wheelchair according to claim 3, characterized in that: A guide rail (153) matching the guide rail (151) is arranged in the annular frame (12), and a guide roller (154) is arranged between the guide rail (153) and the guide rail (153).

5. The stair-climbing assistive device for a wheelchair according to claim 3, characterized in that: A shock absorbing base (145) is fixedly provided at the bottom of the guide sliding frame (151); the shock absorbing base (145) is connected to the walking wheel (14) via a telescopic push rod (143); a shock absorbing spring (144) is provided between the fixed sleeve and the movable rod of the telescopic push rod (143).

6. The stair-climbing assistive device for a wheelchair according to claim 1 or 2, characterized in that: Any group of the auxiliary legs (16) comprises: A fixedly arranged telescopic arm (161); A large arm (16) fixedly connected to the telescopic arm (161); Triangular cam (165); A small arm (164) hinged to the triangular cam (165); A middle arm (163) is hinged between the upper arm (16) and the lower arm (164).

7. The stair-climbing assistive device for a wheelchair according to claim 6, characterized in that: Any group of the auxiliary legs (16) further comprises a T-shaped wheel frame (167) fixedly mounted on the free end of the small arm (164); ratchets (168) for limiting the unidirectional rotation of the triangular cam (165) are provided on two symmetrically arranged cam shafts of the T-shaped wheel frame (167).

8. The stair-climbing assistive device for a wheelchair according to claim 1 or 2, characterized in that: It also includes a planetary gear assembly (17) and a brake assembly (19) arranged on the planetary gear assembly (17), wherein the sun gear (171) of the planetary gear assembly (17) is meshed with the hand wheel rim (11) and one of the planetary gears (172) is connected to the travel wheel (14) via a transmission belt (18); When the hand wheel ring (11) is manually rotated, the brake assembly (19) brakes the planet carrier (174) of the planetary wheel assembly (17), and the hand wheel ring (11) drives the running wheel (14) to rotate; When the traveling wheel (14) is raised or lowered, the brake assembly (19) brakes the outer gear ring (173) of the planetary wheel assembly (17), and the transmission belt (18) maintains a preset tension.

9. The stair-climbing assistive device for a wheelchair according to claim 1 or 2, characterized in that: Two avoidance grooves for avoiding the auxiliary legs (16) are symmetrically arranged on the outer side surface of the annular frame (12), and each of the avoidance grooves is hingedly connected with an arc-shaped cover (128).

10. The stair-climbing assistive device for a wheelchair according to claim 8, characterized in that: It also includes a control component (20) and a clamping force detection component for detecting the current clamping force of the radial clamping jaw (13). The control component (20) includes a clamping force judgment module for judging whether the current clamping force reaches a preset clamping force. If so, the radial clamping jaw (13) stops moving; if not, the radial clamping jaw (13) continues to slide radially.

11. The stair-climbing assistive device for a wheelchair according to claim 10, characterized in that: It also includes a lighting component (1291) and a light detection component for detecting the current light intensity of the surrounding environment. The control component (20) includes a light intensity judgment module for judging whether the current light intensity reaches a preset light intensity. If so, the lighting component (1291) does not emit light; if not, the lighting component (1291) is started.

12. The stair-climbing assistive device for a wheelchair according to claim 11, characterized in that: It also includes an end cover plate (125) fixedly mounted on one end of the annular frame (12) away from the hand wheel ring (11), and a detection shell (129) which is axially telescopically arranged and hinged to the center of the end cover plate (125), and the lighting component (1291) is arranged on the detection shell (129).

13. The stair-climbing assistive device for a wheelchair according to claim 10, characterized in that: It also includes an environmental detection component for detecting stairs, and the control component (20) includes a stair judgment module for judging whether stairs exist. If so, the walking wheel (14) and the two sets of auxiliary legs (16) are adjusted to a climbing posture; if not, the walking wheel (14) and the two sets of auxiliary legs (16) maintain an initial posture.

14. The stair-climbing assistive device for a wheelchair according to claim 13, characterized in that: It also comprises an alarm component, a storage battery (21) fixed in the annular frame (12), and a power detection component for detecting the current remaining power of the storage battery (21) after detecting stairs. The control component (20) comprises a remaining power judgment module for judging whether the current remaining power is lower than a preset remaining power. If so, the alarm component is activated; if not, the walking wheels (14) and the two sets of auxiliary legs (16) climb stairs in a stair climbing posture.

15. The stair-climbing assistive device for a wheelchair according to claim 14, characterized in that: The remaining power judgment module is also used to judge whether the remaining power of the storage battery (21) is lower than the minimum remaining power, and if so, to start the braking component (19) to brake the planet carrier (174).

16. A wheelchair, characterized in that: It comprises the hand wheel ring (11) and the stair going up and down assisting device according to any one of claims 1 to 15, wherein the stair going up and down assisting device is detachably fixed to the hand wheel ring (11).

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