Auxiliary obstacle crossing device for wheelchair

Abstract

The invention belongs to the technical field of wheelchair accessories, and discloses a wheelchair auxiliary obstacle crossing device which comprises a front torsion beam, a rear torsion beam is fixedly mounted at the rear end of the front torsion beam, a locking frame is fixedly mounted in the middle of the top end of the front torsion beam, and a linkage assembly fixedly sleeves the inner side face of the locking frame. The positions, close to the left side and the right side, of the top end of the front torsion beam are movably sleeved with linkage frames, and the bottom ends of the linkage frames penetrate through the bottom end of the front torsion beam and are fixedly connected with a front mounting frame. According to the invention, through the cooperation between the auxiliary wheel on the L-shaped frame and the second lug plate and the cooperation between the first lug plate and the self-adaptive assembly, it is ensured that the rear driving wheel shell is always in contact with the ground during obstacle crossing, and the contact area can be increased through the auxiliary wheel, so that the problem that part of tires are suspended during obstacle crossing of a traditional wheelchair is avoided; the stability during obstacle crossing can be kept, and the safety of the handicapped during traveling is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of wheelchair accessories, and in particular relates to a wheelchair auxiliary obstacle crossing device. Background Art

[0002] Conventional wheelchairs are mainly divided into manual wheelchairs and electric wheelchairs. Electric wheelchairs are a new generation of intelligent wheelchairs that are upgraded from traditional manual wheelchairs by adding high-performance power drive devices, intelligent control devices, batteries and other components. Since wheelchairs are mainly used to assist people with limited mobility to walk and need to cover a variety of usage scenarios, how to overcome obstacles will affect the absolute performance of the wheelchair.

[0003] Conventional wheelchair-assisted obstacle crossing devices are mainly installed on the chassis of the wheelchair, which are mainly composed of drive wheels, springs and suspensions. When encountering an obstacle, the drive wheels can move up and down under the action of the springs to overcome the obstacle, thereby achieving obstacle crossing. However, this obstacle crossing method will cause the drive wheels to be partially suspended in the air when crossing obstacles, which will cause the stability of the entire wheelchair to decrease, and it is in urgent need of improvement.

[0004] Since conventional wheelchairs mainly use a large and a small drive wheel configuration, the front drive wheel is usually smaller than the rear drive wheel. When crossing an obstacle, due to the different sizes of the tires, when the rear tire crosses the obstacle, the front drive wheel will not be able to touch the ground. At this time, the entire wheelchair may roll over and has poor stability. Summary of the invention

[0005] The purpose of the present invention is to provide a wheelchair auxiliary obstacle crossing device to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wheelchair-assisted obstacle-crossing device, comprising a front torsion beam, a rear torsion beam is fixedly installed at the rear end of the front torsion beam, a locking frame is fixedly installed at the middle of the top end of the front torsion beam, a linkage component is fixedly sleeved on the inner side surface of the locking frame, a linkage frame is movably sleeved on the top end of the front torsion beam near the left and right sides, the bottom end of the linkage frame passes through the bottom end of the front torsion beam and is fixedly connected to the front mounting frame, the inner side surface of the front mounting frame is movably connected to the front driving wheel, and the linkage The top of the frame passes through the top of the front torsion beam, and the middle part of the top of the linkage frame is connected to the bottom end of the linkage component. The top of the rear torsion beam is fixedly installed with a support frame, and the top of the support frame is fixedly sleeved with an adaptive component. The left and right ends of the rear torsion beam are provided with rear mounting frames, and the inner sides of the rear mounting frames are movably connected with rear driving wheels. Auxiliary mounting frames are installed at the relatively close ends of the two rear mounting frames, and auxiliary wheels are movably connected inside the auxiliary mounting frames. The rear end of the linkage component is communicated with the front end of the adaptive component.

[0007] Before use, the hydraulic oil inside the adaptive component must be kept at a constant state, the front and rear drive wheels must be reset, and the device must be connected to the bottom of the wheelchair to ensure that both the front and rear drive wheels can touch the ground, that is, the bottom ends of the front and rear drive wheels are on the same horizontal plane.

[0008] As a further technical solution of the present invention, second ear plates are fixedly installed on both left and right ends of the rear torsion beam, an L-shaped frame is fixedly installed on the inner side of the rear mounting frame, and a first mounting seat is fixedly installed on the bottom end of the inner side of the L-shaped frame.

[0009] As a further technical solution of the present invention, a first ear plate is fixedly installed on the top of the inner side of the L-shaped frame, the first mounting seat is movably connected to the second ear plate through a rotating shaft, and the first ear plate is connected to the left and right sides of the adaptive component through the rotating shaft.

[0010] When the wheelchair encounters an obstacle, that is, the rear drive wheel encounters an obstacle, and the obstacle cannot be avoided and must be crossed from above, the rear drive wheel can contact the obstacle and apply an upward thrust to the rear drive wheel. At this time, the rear mounting frame is subjected to force and transmitted to the L-shaped frame, and drives the first mounting seat to rotate relative to the second ear plate. At this time, the first ear plate rotates relative to the adaptive component and applies thrust to the adaptive component. At this time, the rear drive wheel deflects toward the outer side, that is, the outward expansion is completed. At this time, the inner side of the rear drive wheel can contact the ground, and the auxiliary wheel deflects with the rear drive wheel until the outer side of the auxiliary wheel contacts the ground and maintains the ground contact state.

[0011] By changing the traditional installation method in which the rear drive wheel can only move up and down, and instead using the cooperation between the auxiliary wheel on the L-shaped frame and the second ear plate, and the cooperation between the first ear plate and the adaptive component, it is ensured that the rear drive wheel housing always keeps in contact with the ground when traversing obstacles, and its contact area can be increased by the auxiliary wheelchair, avoiding the problem of part of the tire hanging in the air when traversing obstacles in traditional wheelchairs, maintaining stability when traversing obstacles, and improving the safety of disabled people when traveling.

[0012] As a further technical solution of the present invention, the adaptive component includes an oil storage pipe, the outer side surface of the oil storage pipe is fixedly sleeved with the support frame, the middle part of the front end of the oil storage pipe is fixedly connected with an oil delivery valve, the oil delivery valve is connected with the linkage component, and the interior of the oil storage pipe is filled with hydraulic oil.

[0013] As a further technical solution of the present invention, second piston plates are movably sleeved on the left and right sides of the inner cavity of the oil storage tube, and second piston rods are fixedly installed on the relatively distant ends of the two second piston plates, and the other end of the second piston rod passes through one end of the oil storage tube and is fixedly connected to a second mounting seat.

[0014] As a further technical solution of the present invention, the second mounting seat is movably connected to the first ear plate through a rotating shaft, and a return spring is movably sleeved on the outer side of the second piston rod. The left and right sides of the return spring are respectively connected to one end of the second mounting seat and one end of the oil storage pipe.

[0015] When the rear drive wheel is overcoming an obstacle, the first ear plate rotates relative to the second mounting seat and applies a thrust to the second mounting seat. At this time, the second mounting seat is then subjected to an inward thrust. At this time, the return spring is compressed and drives the two second piston plates to move closer to the middle of the oil storage pipe. At this time, the hydraulic oil in the oil storage pipe is subjected to pressure and is automatically discharged through the oil delivery valve and enters the interior of the linkage assembly. When the obstacle surmounting stops, the rear drive wheel returns to its initial state, and the reset spring automatically resets, driving the second piston plate to automatically reset. At this time, negative pressure can be generated inside the oil storage pipe, and the hydraulic oil can flow back to the inside of the oil storage pipe to complete the reset process.

[0016] As a further technical solution of the present invention, the linkage assembly includes a temporary storage tube, the outer side surface of the temporary storage tube is fixedly sleeved with the locking frame, a connecting tube is fixedly connected to the rear side position of the temporary storage tube near the top, the rear end of the connecting tube is connected to the oil delivery valve, and a first piston plate is movably sleeved inside the temporary storage tube.

[0017] As a further technical solution of the present invention, the bottom end of the first piston plate is fixedly connected to a first piston rod located inside the temporary storage tube, the bottom end of the first piston rod passes through the bottom end of the temporary storage tube and is connected to the middle part of the top end of the linkage frame, and the outer side surface of the first piston rod is movably sleeved with a limit spring, and the upper and lower ends of the limit spring are respectively connected to the bottom end of the first piston plate and the bottom end of the inner cavity of the temporary storage tube.

[0018] When the rear drive wheel is overcoming an obstacle, the hydraulic oil inside the oil storage pipe can be discharged through the oil delivery valve and enter the temporary storage pipe through the connecting pipe. At this time, the input hydraulic oil can exert pressure on the first piston plate. At this time, the first piston plate and the first piston rod move downward accordingly and compress the limit spring. At this time, the first piston plate and the first piston rod move downward accordingly and exert a downward thrust on the linkage frame, and drive the front mounting frame and the front drive wheel at the bottom to move downward until the bottom end of the front drive wheel contacts the ground, completing the ground contact compensation process.

[0019] When overcoming obstacles, the pressure provided by the deflection of the rear drive wheel cooperates with the action of the adaptive component to complete the deflection of the hydraulic oil, and the hydraulic oil is connected to the linkage component to finally realize the automatic downward movement of the front drive wheel. The whole process is completed automatically, and the automatic adjustment and automatic compensation of the upper and lower positions of the front drive wheel when overcoming obstacles can be automatically realized to ensure that the front drive wheel can touch the ground, avoiding the problem that the front tire of the traditional device cannot touch the ground when overcoming obstacles, thereby improving the overall stability of the wheelchair.

[0020] The beneficial effects of the present invention are as follows: 1. The present invention changes the traditional installation mode in which the rear drive wheel can only move up and down, and adopts the cooperation between the auxiliary wheel on the L-shaped frame and the second ear plate, and the cooperation between the first ear plate and the adaptive component to ensure that the rear drive wheel shell always keeps in contact with the ground when overcoming obstacles, and the auxiliary wheel can increase its contact area, thereby avoiding the problem of part of the tire hanging in the air when the traditional wheelchair overcomes obstacles, maintaining stability when overcoming obstacles, and improving the safety of disabled people when traveling.

[0021] 2. The present invention utilizes the pressure provided by the deflection of the rear drive wheel when overcoming obstacles in conjunction with the action of the adaptive component to complete the deflection of the hydraulic oil, and combines the action of the hydraulic oil with the linkage component to ultimately achieve the automatic downward movement of the front drive wheel. The entire process is completed automatically, and the automatic adjustment and automatic compensation of the upper and lower positions of the front drive wheel when overcoming obstacles can be automatically achieved, ensuring that the front drive wheel can touch the ground, avoiding the problem of the front tire of the traditional device failing to touch the ground when overcoming obstacles, and improving the overall stability of the wheelchair. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2It is an exploded schematic diagram of the front torsion beam and linkage frame structure of the present invention; Figure 3 It is a separate cross-sectional schematic diagram of the linkage assembly structure of the present invention; Figure 4 It is a schematic diagram of the coordination of the rear torsion beam, L-shaped frame and adaptive component structure of the present invention; Figure 5 It is an exploded schematic diagram of the rear torsion beam and the rear mounting frame structure of the present invention; Figure 6 It is a schematic diagram of the coordination of the rear mounting frame, the L-shaped frame and the auxiliary mounting frame structure of the present invention; Figure 7 It is a cross-sectional schematic diagram of the internal structure of the adaptive component of the present invention.

[0023] In the figure: 1. front torsion beam; 2. rear torsion beam; 3. locking frame; 4. linkage frame; 5. front mounting frame; 6. front drive wheel; 7. linkage assembly; 701. temporary storage tube; 702. connecting tube; 703. first piston plate; 704. first piston rod; 705. limit spring; 8. rear mounting frame; 9. L-shaped frame; 10. rear drive wheel; 11. auxiliary mounting frame; 12. auxiliary wheel; 13. first mounting seat; 14. first ear plate; 15. second ear plate; 16. support frame; 17. adaptive assembly; 171. oil storage pipe; 172. oil delivery valve; 173. second piston plate; 174. second piston rod; 175. second mounting seat; 176. return spring. DETAILED DESCRIPTION

[0024] 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.

[0025] like Figures 1 to 7As shown, in the embodiment of the present invention, a wheelchair-assisted obstacle-crossing device comprises a front torsion beam 1, a rear torsion beam 2 is fixedly mounted on the rear end of the front torsion beam 1, a locking frame 3 is fixedly mounted on the middle part of the top end of the front torsion beam 1, a linkage assembly 7 is fixedly sleeved on the inner side surface of the locking frame 3, a linkage frame 4 is movably sleeved on the top end of the front torsion beam 1 near the left and right sides, the bottom end of the linkage frame 4 passes through the bottom end of the front torsion beam 1 and is fixedly connected to a front mounting frame 5, a front driving wheel 6 is movably connected to the inner side surface of the front mounting frame 5, and the top end of the linkage frame 4 passes through the front torsion beam 1. The top of the beam 1 is connected to the middle of the top of the linkage frame 4 and the bottom of the linkage component 7. The top of the rear torsion beam 2 is fixedly installed with a support frame 16, and the top of the support frame 16 is fixedly sleeved with an adaptive component 17. The left and right ends of the rear torsion beam 2 are provided with rear mounting frames 8, and the inner sides of the rear mounting frames 8 are movably connected with rear drive wheels 10. Auxiliary mounting frames 11 are installed at the relatively close ends of the two rear mounting frames 8, and the auxiliary mounting frames 11 are movably connected with auxiliary wheels 12 inside. The rear end of the linkage component 7 is connected to the front end of the adaptive component 17.

[0026] Before use, the hydraulic oil inside the adaptive component 17 needs to be kept in a constant state, the front drive wheel 6 and the rear drive wheel 10 need to be reset, and the device needs to be connected to the bottom end of the wheelchair to ensure that the front drive wheel 6 and the rear drive wheel 10 can both touch the ground, that is, the bottom ends of the front drive wheel 6 and the rear drive wheel 10 are on the same horizontal plane.

[0027] like Figure 1 and Figure 4 as well as Figure 5 and Figure 6 As shown, the left and right ends of the rear torsion beam 2 are fixedly installed with second ear plates 15, the inner side of the rear mounting frame 8 is fixedly installed with an L-shaped frame 9, the bottom end of the inner side of the L-shaped frame 9 is fixedly installed with a first mounting seat 13, the top end of the inner side of the L-shaped frame 9 is fixedly installed with a first ear plate 14, the first mounting seat 13 is movably connected to the second ear plate 15 through a rotating shaft, and the first ear plate 14 is connected to the left and right sides of the adaptive component 17 through a rotating shaft.

[0028] Embodiment: When the wheelchair encounters an obstacle, that is, the rear drive wheel 10 encounters an obstacle, and the obstacle cannot be avoided and must be crossed from above, the rear drive wheel 10 can contact the obstacle and apply an upward thrust to the rear drive wheel 10. At this time, the rear mounting frame 8 is subjected to force and transmitted to the L-shaped frame 9, and drives the first mounting seat 13 to rotate relative to the second ear plate 15. At this time, the first ear plate 14 rotates relative to the adaptive component 17 and applies a thrust to the adaptive component 17. At this time, the rear drive wheel 10 deflects toward the outer side, that is, the outward expansion is completed. At this time, the inner side of the rear drive wheel 10 can contact the ground, and the auxiliary wheel 12 deflects with the rear drive wheel 10 until the outer side of the auxiliary wheel 12 contacts the ground and maintains the ground contact state.

[0029] By changing the traditional installation mode in which the rear drive wheel 10 can only move up and down, the cooperation between the auxiliary wheel 12 and the second ear plate 15 on the L-shaped frame 9, and the cooperation between the first ear plate 14 and the adaptive component 17 are adopted to ensure that the shell of the rear drive wheel 10 always keeps in contact with the ground when overcoming obstacles, and the auxiliary wheel 12 can be used to increase its contact area, thereby avoiding the problem of part of the tire hanging in the air when the traditional wheelchair overcomes obstacles, maintaining stability when overcoming obstacles, and improving the safety of disabled people when traveling.

[0030] like Figure 1 and Figure 4 as well as Figure 5 and Figure 7 As shown, the adaptive component 17 includes an oil storage pipe 171, the outer side surface of the oil storage pipe 171 is fixedly sleeved with the support frame 16, the middle part of the front end of the oil storage pipe 171 is fixedly connected with an oil delivery valve 172, the oil delivery valve 172 is connected with the linkage component 7, the interior of the oil storage pipe 171 is filled with hydraulic oil, the left and right sides of the inner cavity of the oil storage pipe 171 are movably sleeved with second piston plates 173, the two second piston plates 173 are fixedly installed with second piston rods 174 at the ends relatively far away, the other end of the second piston rod 174 passes through one end of the oil storage pipe 171 and is fixedly connected with a second mounting seat 175, the second mounting seat 175 is movably connected to the first ear plate 14 through a rotating shaft, the outer side surface of the second piston rod 174 is movably sleeved with a return spring 176, and the left and right sides of the return spring 176 are respectively connected to one end of the second mounting seat 175 and one end of the oil storage pipe 171.

[0031] When the rear drive wheel 10 is overcoming an obstacle, the first ear plate 14 rotates relative to the second mounting seat 175 and applies a thrust to the second mounting seat 175. At this time, the second mounting seat 175 is thrust inward, and the return spring 176 is compressed, and drives the two second piston plates 173 to move toward the middle of the oil storage pipe 171. At this time, the hydraulic oil in the oil storage pipe 171 is pressurized and automatically discharged through the oil delivery valve 172 and enters the interior of the linkage assembly 7. When the obstacle crossing stops, the rear drive wheel 10 returns to its initial state, and the reset spring 176 automatically resets, driving the second piston plate 173 to automatically reset. At this time, negative pressure can be generated inside the oil storage pipe 171, and the hydraulic oil can flow back to the inside of the oil storage pipe 171 to complete the reset process.

[0032] like Figure 1 and Figure 2 as well as Figure 3 As shown, the linkage assembly 7 includes a temporary storage tube 701, the outer side surface of the temporary storage tube 701 is fixedly sleeved with the locking frame 3, a connecting tube 702 is fixedly connected to the rear side position near the top of the temporary storage tube 701, the rear end of the connecting tube 702 is connected to the oil delivery valve 172, the interior of the temporary storage tube 701 is movably sleeved with a first piston plate 703, the bottom end of the first piston plate 703 is fixedly connected with a first piston rod 704 located inside the temporary storage tube 701, the bottom end of the first piston rod 704 passes through the bottom end of the temporary storage tube 701 and is connected to the middle part of the top of the linkage frame 4, the outer side surface of the first piston rod 704 is movably sleeved with a limit spring 705, and the upper and lower ends of the limit spring 705 are respectively connected to the bottom end of the first piston plate 703 and the bottom end of the inner cavity of the temporary storage tube 701.

[0033] Embodiment: When the rear drive wheel 10 is overcoming an obstacle, the hydraulic oil in the oil storage pipe 171 can be discharged through the oil delivery valve 172 and enter the interior of the temporary storage pipe 701 through the connecting pipe 702. At this time, the input hydraulic oil can apply pressure to the first piston plate 703. At this time, the first piston plate 703 and the first piston rod 704 move downward and compress the limit spring 705. At this time, the first piston plate 703 and the first piston rod 704 move downward and apply a downward thrust to the linkage frame 4, and drive the front mounting frame 5 and the front drive wheel 6 at the bottom to move downward until the bottom end of the front drive wheel 6 contacts the ground, completing the ground contact compensation process.

[0034] When overcoming obstacles, the pressure provided by the deflection of the rear drive wheel 10 cooperates with the action of the adaptive component 17 to complete the extraction of hydraulic oil, and the hydraulic oil is combined with the linkage component 7 to finally realize the automatic downward movement of the front drive wheel 6. The whole process is completed automatically, and the automatic adjustment and automatic compensation of the upper and lower positions of the front drive wheel 6 when overcoming obstacles can be automatically realized, ensuring that the front drive wheel 6 can touch the ground, avoiding the problem that the front tire of the traditional device cannot touch the ground when overcoming obstacles, and improving the overall stability of the wheelchair.

[0035] Working principle and usage process: Before use, the hydraulic oil in the adaptive component 17 must be kept in a constant state, the front drive wheel 6 and the rear drive wheel 10 must be reset, and the device must be connected to the bottom of the wheelchair to ensure that the front drive wheel 6 and the rear drive wheel 10 can touch the ground, that is, the bottom ends of the front drive wheel 6 and the rear drive wheel 10 are on the same horizontal plane; When the wheelchair encounters an obstacle, that is, the rear drive wheel 10 encounters an obstacle, and the obstacle cannot be avoided and must be crossed from above, the rear drive wheel 10 can contact the obstacle and apply an upward thrust to the rear drive wheel 10. At this time, the rear mounting frame 8 is subjected to force and transmitted to the L-shaped frame 9, and drives the first mounting seat 13 to rotate relative to the second ear plate 15. At this time, the first ear plate 14 rotates relative to the adaptive component 17 and applies a thrust to the adaptive component 17. At this time, the rear drive wheel 10 deflects toward the outer side, that is, the outward expansion is completed. At this time, the inner side of the rear drive wheel 10 can contact the ground, and the auxiliary wheel 12 deflects with the rear drive wheel 10 until the outer side of the auxiliary wheel 12 contacts the ground and maintains the ground contact state; When the rear drive wheel 10 is overcoming an obstacle, the first ear plate 14 rotates relative to the second mounting seat 175 and applies a thrust to the second mounting seat 175. At this time, the second mounting seat 175 is thrust inward, and the return spring 176 is compressed, and drives the two second piston plates 173 to move toward the middle of the oil storage pipe 171. At this time, the hydraulic oil in the oil storage pipe 171 is pressurized and automatically discharged through the oil delivery valve 172 and enters the interior of the linkage assembly 7. When the obstacle crossing stops, the rear drive wheel 10 returns to the initial state, and the reset spring 176 automatically resets, driving the second piston plate 173 to automatically reset. At this time, negative pressure is generated inside the oil storage pipe 171, and the hydraulic oil flows back to the inside of the oil storage pipe 171, completing the reset process; When the rear drive wheel 10 is overcoming an obstacle, the hydraulic oil in the oil storage pipe 171 can be discharged through the oil delivery valve 172 and enter the interior of the temporary storage pipe 701 through the connecting pipe 702. At this time, the input hydraulic oil can apply pressure to the first piston plate 703. At this time, the first piston plate 703 and the first piston rod 704 move downward accordingly and compress the limit spring 705. At this time, the first piston plate 703 and the first piston rod 704 move downward accordingly and apply a downward thrust to the linkage frame 4, and drive the front mounting frame 5 and the front drive wheel 6 at the bottom to move downward until the bottom end of the front drive wheel 6 contacts the ground, completing the ground contact compensation process.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wheelchair-assisted obstacle-crossing device, comprising a front torsion beam (1), characterized in that: The rear end of the front torsion beam (1) is fixedly mounted with a rear torsion beam (2); a locking frame (3) is fixedly mounted in the middle of the top end of the front torsion beam (1); a linkage assembly (7) is fixedly sleeved on the inner side surface of the locking frame (3); a linkage frame (4) is movably sleeved on the top end of the front torsion beam (1) near the left and right sides; the bottom end of the linkage frame (4) passes through the bottom end of the front torsion beam (1) and is fixedly connected to a front mounting frame (5); the inner side surface of the front mounting frame (5) is movably connected to a front drive wheel (6); the top end of the linkage frame (4) passes through the top end of the front torsion beam (1), and the middle of the top end of the linkage frame (4) is fixedly sleeved on the inner side surface of the front torsion beam (1); The rear torsion beam (2) is connected to the bottom end of the linkage component (7); a support frame (16) is fixedly mounted on the top end of the rear torsion beam (2); an adaptive component (17) is fixedly sleeved on the top end of the support frame (16); rear mounting frames (8) are provided at both left and right ends of the rear torsion beam (2); the inner side surfaces of the rear mounting frames (8) are movably connected to rear drive wheels (10); auxiliary mounting frames (11) are mounted on relatively close ends of the two rear mounting frames (8); auxiliary wheels (12) are movably connected inside the auxiliary mounting frames (11); and the rear end of the linkage component (7) is connected to the front end of the adaptive component (17).

2. The wheelchair-assisted obstacle-crossing device according to claim 1, characterized in that: The left and right ends of the rear torsion beam (2) are both fixedly mounted with second ear plates (15), the inner side surfaces of the rear mounting frame (8) are both fixedly mounted with L-shaped frames (9), and the bottom ends of the inner side surfaces of the L-shaped frames (9) are both fixedly mounted with first mounting seats (13).

3. The wheelchair-assisted obstacle-crossing device according to claim 2, characterized in that: A first ear plate (14) is fixedly mounted on the top end of the inner side surface of the L-shaped frame (9); the first mounting seat (13) is movably connected to the second ear plate (15) via a rotating shaft; and the first ear plate (14) is connected to the left and right sides of the adaptive component (17) via the rotating shaft.

4. The wheelchair-assisted obstacle-crossing device according to claim 3, characterized in that: The adaptive component (17) comprises an oil storage pipe (171), the outer side surface of the oil storage pipe (171) is fixedly sleeved with the support frame (16), the middle part of the front end of the oil storage pipe (171) is fixedly connected to an oil delivery valve (172), the oil delivery valve (172) is connected to the linkage component (7), and the interior of the oil storage pipe (171) is filled with hydraulic oil.

5. The wheelchair-assisted obstacle-crossing device according to claim 4, characterized in that: Second piston plates (173) are movably sleeved on both left and right sides of the inner cavity of the oil storage pipe (171); second piston rods (174) are fixedly mounted on the relatively distant ends of the two second piston plates (173); the other end of the second piston rod (174) passes through one end of the oil storage pipe (171) and is fixedly connected to a second mounting seat (175).

6. The wheelchair-assisted obstacle-crossing device according to claim 5, characterized in that: The second mounting seat (175) is movably connected to the first ear plate (14) via a rotating shaft, and a return spring (176) is movably sleeved on the outer side surface of the second piston rod (174), and the left and right sides of the return spring (176) are respectively connected to one end of the second mounting seat (175) and one end of the oil storage pipe (171).

7. The wheelchair-assisted obstacle-crossing device according to claim 6, characterized in that: The linkage assembly (7) comprises a temporary storage tube (701), the outer side surface of the temporary storage tube (701) is fixedly sleeved with the locking frame (3), a connecting tube (702) is fixedly connected to the rear side of the temporary storage tube (701) near the top, the rear end of the connecting tube (702) is connected to the oil delivery valve (172), and a first piston plate (703) is movably sleeved inside the temporary storage tube (701).

8. The wheelchair-assisted obstacle-crossing device according to claim 7, characterized in that: The bottom end of the first piston plate (703) is fixedly connected to a first piston rod (704) located inside the temporary storage tube (701); the bottom end of the first piston rod (704) passes through the bottom end of the temporary storage tube (701) and is connected to the middle part of the top end of the linkage frame (4); the outer side surface of the first piston rod (704) is movably sleeved with a limit spring (705); the upper and lower ends of the limit spring (705) are respectively connected to the bottom end of the first piston plate (703) and the bottom end of the inner cavity of the temporary storage tube (701).

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