A wheelchair-assisted obstacle-crossing device

Abstract

The present invention belongs to the technical field of wheelchair accessories, and discloses a wheelchair auxiliary obstacle-crossing device, which includes 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 in the middle of the top of the front torsion beam. A linkage assembly is fixedly sleeved on the inner side surface of the locking frame. Linkage frames are movably sleeved at positions near the left and right sides of the top of the front torsion beam. The bottom end of the linkage frame penetrates through the bottom end of the front torsion beam and is fixedly connected to a front mounting frame. By adopting 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 assembly, the present invention ensures that the rear drive wheel housing always remains in contact with the ground during obstacle crossing, and the contact area can be increased through the auxiliary wheel, avoiding the problem that some tires are suspended during obstacle crossing of traditional wheelchairs, maintaining the stability during obstacle crossing, and improving the safety of disabled people when traveling.

Description

Technical Field

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

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

[0003] Conventional wheelchair auxiliary obstacle-crossing devices are mainly installed on the chassis of the wheelchair, which mainly consists of drive wheels, springs and suspensions. When encountering obstacles, the drive wheels can move up and down under the action of the springs to cross the obstacles, thus achieving obstacle crossing. However, in this obstacle-crossing method, since the drive wheels can only move up and down, they will be partially suspended, resulting in a decrease in the stability of the entire wheelchair, which urgently needs to be improved.

[0004] Since conventional wheelchair devices mainly use a drive wheel configuration with one large and one small drive wheel, generally speaking, the front drive wheel is smaller than the rear drive wheel. When crossing obstacles, 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, and at this time, the entire wheelchair may overturn, with 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 art.

[0006] To achieve the above object, the present invention provides the following technical solution: a wheelchair auxiliary obstacle-crossing device, including 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 in the middle of the top end of the front torsion beam, a linkage assembly is fixedly sleeved on the inner side surface of the locking frame, linkage frames are movably sleeved at positions near the left and right sides of the top end of the front torsion beam, the bottom end of the linkage frame penetrates through the bottom end of the front torsion beam and is fixedly connected with a front mounting frame, a front driving wheel is movably connected to the inner side surface of the front mounting frame, the top end of the linkage frame penetrates through the top end of the front torsion beam, and the middle of the top end of the linkage frame is connected to the bottom end of the linkage assembly. A support frame is fixedly installed at the top end of the rear torsion beam, an adaptive assembly is fixedly sleeved on the top end of the support frame, rear mounting frames are provided at both the left and right ends of the rear torsion beam, rear driving wheels are movably connected to the inner side surfaces of the rear mounting frames, auxiliary mounting frames are installed at the relatively close ends of the two rear mounting frames, auxiliary wheels are movably connected to the interiors of the auxiliary mounting frames, and the rear end of the linkage assembly is communicated with the front end of the adaptive assembly.

[0007] Before use, it is necessary to keep the hydraulic oil inside the adaptive assembly in a constant state. At the same time, reset the front driving wheel and the rear driving wheel, and connect the device to the bottom end of the wheelchair to ensure that both the front driving wheel and the rear driving wheel can touch the ground, that is, the bottom ends of the front driving wheel and the rear driving wheel are on the same horizontal plane.

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

[0009] As a further technical solution of the present invention, first ear plates are fixedly installed at the top ends of the inner side surfaces of the L-shaped frames. 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 assembly through a rotating shaft.

[0010] When the wheelchair encounters an obstacle, that is, when the rear driving wheel encounters an obstacle and the obstacle cannot be avoided and must be crossed from above, at this time, the rear driving wheel can contact the obstacle and apply an upward thrust to the rear driving wheel. At this time, the rear mounting frame is stressed 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 assembly and applies a thrust to the adaptive assembly. At this time, the rear driving wheel deflects towards the outer side, that is, the outward expansion is completed. At this time, the inner side of the rear driving wheel can contact the ground, and at the same time, the auxiliary wheel follows the rear driving wheel to deflect until the outer side of the auxiliary wheel contacts the ground and maintains the state of touching the ground.

[0011] By changing the installation method of the traditional rear drive wheel that can only move up and down, and instead adopting the cooperation between the auxiliary wheel on the L-shaped frame and the second ear plate, as well as the cooperation between the first ear plate and the adaptive component, it is ensured that when crossing an obstacle, the rear drive wheel housing always remains in contact with the ground, and the contact area can be increased through the auxiliary wheel, avoiding the problem that some tires are suspended when a traditional wheelchair crosses an obstacle, maintaining the stability during obstacle crossing, 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 communicated with an oil delivery valve, the oil delivery valve is communicated with the linkage component, and the inside 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 both the left and right sides of the inner cavity of the oil storage pipe, second piston rods are fixedly installed at the relatively far ends of the two second piston plates, and the other ends of the second piston rods penetrate through one end of the oil storage pipe and are fixedly connected with a second mounting seat.

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

[0015] When the rear drive wheel is crossing an obstacle, since the first ear plate rotates relative to the second mounting seat and also applies a thrust to the second mounting seat, at this time, the second mounting seat is subjected to a thrust force towards the inside, and at this time, the return spring is compressed accordingly, driving the two second piston plates to approach the middle of the oil storage pipe. At this time, the hydraulic oil inside the oil storage pipe is subjected to pressure and is automatically exported through the oil delivery valve and enters the inside of the linkage component;

[0016] When the obstacle crossing stops, at this time, the rear drive wheel returns to its initial state, and the return spring automatically resets, driving the second piston plate to automatically reset. At this time, a negative pressure can be generated inside the oil storage pipe to reflow the hydraulic oil back into the inside of the oil storage pipe to complete the reset process.

[0017] As a further technical solution of the present invention, the linkage component includes a temporary storage pipe, the outer side surface of the temporary storage pipe is fixedly sleeved with the locking frame, a communication pipe is fixedly communicated at the rear side position near the top of the temporary storage pipe, the rear end of the communication pipe is communicated with the oil delivery valve, and a first piston plate is movably sleeved inside the temporary storage pipe.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] The beneficial effects of the present invention are as follows:

[0022] 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.

[0023] 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

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is an exploded view of the front torsion beam and linkage structure of the present invention;

[0026] Figure 3 This is a separate sectional view of the linkage component structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the cooperation of the rear torsion beam, L-shaped frame and adaptive component structure of the present invention;

[0028] Figure 5 This is an exploded view of the rear torsion beam and rear mounting frame structure of the present invention;

[0029] Figure 6 This is a schematic diagram of the cooperation of the rear mounting frame, L-shaped frame and auxiliary mounting frame structure of the present invention;

[0030] Figure 7 This is a sectional view of the internal structure of the adaptive component of the present invention.

[0031] In the figure: 1. Front torsion beam; 2. Rear torsion beam; 3. Locking frame; 4. Linkage; 5. Front mounting frame; 6. Front drive wheel; 7. Linkage component; 701. Temporary storage pipe; 702. Connecting pipe; 703. First piston plate; 704. First piston rod; 705. Limiting 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 component; 171. Oil storage pipe; 172. Oil delivery valve; 173. Second piston plate; 174. Second piston rod; 175. Second mounting seat; 176. Return spring. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Such as Figures 1 to 7As shown in the figure, in an embodiment of the present invention, a wheelchair auxiliary obstacle-crossing device includes a front torsion beam 1. A rear torsion beam 2 is fixedly installed at the rear end of the front torsion beam 1. A locking frame 3 is fixedly installed 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. Linkage frames 4 are movably sleeved at positions near the left and right sides of the top end of the front torsion beam 1. The bottom end of the linkage frame 4 penetrates 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. The top end of the linkage frame 4 penetrates through the top end of the front torsion beam 1, and the middle of the top end of the linkage frame 4 is connected to the bottom end of the linkage assembly 7. A support frame 16 is fixedly installed at the top end of the rear torsion beam 2. An adaptive assembly 17 is fixedly sleeved on the top end of the support frame 16. Rear mounting frames 8 are provided at both the left and right ends of the rear torsion beam 2. Rear driving wheels 10 are movably connected to the inner side surfaces of the rear mounting frames 8. Auxiliary mounting frames 11 are installed at the relatively close ends of the two rear mounting frames 8. Auxiliary wheels 12 are movably connected to the interiors of the auxiliary mounting frames 11. The rear end of the linkage assembly 7 communicates with the front end of the adaptive assembly 17.

[0034] Before use, it is necessary to keep the hydraulic oil inside the adaptive assembly 17 in a constant state. At the same time, reset the front driving wheel 6 and the rear driving wheel 10, and connect the device to the bottom end of the wheelchair to ensure that both the front driving wheel 6 and the rear driving wheel 10 can touch the ground, that is, the bottom ends of the front driving wheel 6 and the rear driving wheel 10 are on the same horizontal plane.

[0035] As Figure 1 and Figure 4 as well as Figure 5 and Figure 6 As shown in the figure, second ear plates 15 are fixedly installed at both the left and right ends of the rear torsion beam 2. L-shaped frames 9 are fixedly installed on the inner side surfaces of the rear mounting frames 8. First mounting seats 13 are fixedly installed at the bottom ends of the inner side surfaces of the L-shaped frames 9. First ear plates 14 are fixedly installed at the top ends of the inner side surfaces of the L-shaped frames 9. The first mounting seats 13 are movably connected to the second ear plates 15 through rotating shafts. The first ear plates 14 are connected to the left and right sides of the adaptive assembly 17 through rotating shafts.

[0036] Embodiment: When the wheelchair encounters an obstacle, that is, when the rear drive wheel 10 encounters an obstacle and the obstacle cannot be avoided and must be crossed from above, at this time, the rear drive wheel 10 can come into contact with the obstacle and apply an upward thrust to the rear drive wheel 10. At this time, the rear mounting bracket 8 is stressed accordingly and transmitted to the L-shaped bracket 9, driving 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 accordingly and applies a thrust to the adaptive component 17. At this time, the rear drive wheel 10 deflects towards the outer side, that is, the outward expansion is completed. At this time, the inner side of the rear drive wheel 10 can come into contact with the ground, and at the same time, the auxiliary wheel 12 follows the rear drive wheel 10 to deflect until the outer side of the auxiliary wheel 12 comes into contact with the ground and maintains the grounded state.

[0037] By changing the installation method of the traditional rear drive wheel 10 that can only move up and down, instead adopting the cooperation between the auxiliary wheel 12 on the L-shaped bracket 9 and the second ear plate 15, and the cooperation between the first ear plate 14 and the adaptive component 17, it is ensured that when crossing an obstacle, the rear drive wheel 10 can always remain in contact with the ground, and the contact area can be increased through the auxiliary wheel 12, avoiding the problem that some tires are suspended when the traditional wheelchair crosses an obstacle, maintaining the stability when crossing an obstacle, and improving the safety of disabled people when traveling.

[0038] As Figure 1 and Figure 4 and Figure 5 and Figure 7 As shown, the adaptive component 17 includes an oil storage pipe 171. The outer side of the oil storage pipe 171 is fixedly sleeved with the support frame 16. The middle of the front end of the oil storage pipe 171 is fixedly communicated with an oil delivery valve 172. The oil delivery valve 172 is communicated with the linkage component 7. The inside 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 both movably sleeved with second piston plates 173. The relatively far ends of the two second piston plates 173 are both fixedly installed with second piston rods 174. The other end of the second piston rod 174 penetrates 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 with the first ear plate 14 through a rotating shaft. The outer side of the second piston rod 174 is movably sleeved with a return spring 176. The left and right sides of the return spring 176 are respectively connected with one end of the second mounting seat 175 and one end of the oil storage pipe 171.

[0039] When the rear drive wheel 10 is crossing an obstacle, since the first ear plate 14 rotates relative to the second mounting seat 175 and at the same time applies a thrust force to the second mounting seat 175, the second mounting seat 175 is then subjected to an inward thrust force. At this time, the return spring 176 is compressed accordingly, and drives the two second piston plates 173 to approach the middle of the oil storage pipe 171. At this time, the hydraulic oil inside the oil storage pipe 171 is subjected to a pressure effect, and is automatically led out through the oil delivery valve 172 and enters the inside of the linkage assembly 7;

[0040] When the obstacle crossing stops, the rear drive wheel 10 returns to its initial state at this time, and the return spring 176 automatically resets, driving the second piston plate 173 to automatically reset. At this time, a negative pressure can be generated inside the oil storage pipe 171 to reflow the hydraulic oil back into the inside of the oil storage pipe 171, completing the reset process.

[0041] Such as Figure 1 and Figure 2 as well as Figure 3 shown, the linkage assembly 7 includes a temporary storage pipe 701. The outer side of the temporary storage pipe 701 is fixedly sleeved with the locking frame 3. A communicating pipe 702 is fixedly communicated at the rear position near the top end of the temporary storage pipe 701. The rear end of the communicating pipe 702 is communicated with the oil delivery valve 172. A first piston plate 703 is movably sleeved inside the temporary storage pipe 701. The bottom end of the first piston plate 703 is fixedly connected with a first piston rod 704 located inside the temporary storage pipe 701. The bottom end of the first piston rod 704 penetrates the bottom end of the temporary storage pipe 701 and is connected to the middle of the top end of the linkage frame 4. The outer side of the first piston rod 704 is movably sleeved with a limiting spring 705. The upper and lower ends of the limiting 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 pipe 701.

[0042] Embodiment: When the rear drive wheel 10 is crossing an obstacle, the hydraulic oil inside the oil storage pipe 171 can be led out through the oil delivery valve 172 and enter the inside of the temporary storage pipe 701 through the communicating pipe 702. At this time, the input hydraulic oil can apply a pressure to the first piston plate 703. At this time, the first piston plate 703 and the first piston rod 704 move downward accordingly, compressing the limiting spring 705. At this time, the first piston plate 703 and the first piston rod 704 move downward accordingly, and apply a downward thrust force to the linkage frame 4, and drive the front mounting frame 5 and the front drive wheel 6 at the bottom end to move downward until the bottom end of the front drive wheel 6 contacts the ground, completing the ground contact compensation process.

[0043] By utilizing the pressure effect provided by the deflection of the rear drive wheel 10 during obstacle crossing and coordinating with the function of the adaptive component 17, the hydraulic oil is discharged, and the hydraulic oil acts on the linkage component 7. Finally, the automatic downward movement of the front drive wheel 6 is realized. The whole process is completed automatically, and the automatic adjustment and automatic compensation of the vertical position of the front drive wheel 6 during obstacle crossing can be automatically achieved, ensuring that the front drive wheel 6 can touch the ground and avoiding the problem that the front tires of traditional devices cannot touch the ground during obstacle crossing, thereby improving the overall stability of the wheelchair.

[0044] Working principle and usage process:

[0045] Before use, it is necessary to keep the hydraulic oil inside the adaptive component 17 in a constant state. At the same time, reset the front drive wheel 6 and the rear drive wheel 10, and connect the device to the bottom end of the wheelchair to ensure that both the front drive wheel 6 and the rear drive wheel 10 can touch the ground, that is, the bottoms of the front drive wheel 6 and the rear drive wheel 10 are on the same horizontal plane;

[0046] When the wheelchair encounters an obstacle, that is, when the rear drive wheel 10 encounters an obstacle and the obstacle cannot be avoided and must be crossed from above, at this time, the rear drive wheel 10 can come into contact with the obstacle and apply an upward thrust to the rear drive wheel 10. At this time, the rear mounting bracket 8 is stressed accordingly and transmitted to the L-shaped bracket 9, driving 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 accordingly and applies a thrust to the adaptive component 17. At this time, the rear drive wheel 10 deflects towards the outer side, that is, the expansion is completed. At this time, the inner side of the rear drive wheel 10 can come into contact with the ground, and at the same time, the auxiliary wheel 12 follows the deflection of the rear drive wheel 10 until the outer side of the auxiliary wheel 12 comes into contact with the ground and maintains the contact state;

[0047] When the rear drive wheel 10 is crossing an obstacle, since the first ear plate 14 rotates relative to the second mounting seat 175 and at the same time applies a thrust to the second mounting seat 175, at this time, the second mounting seat 175 is subjected to a thrust acting towards the inside. At this time, the return spring 176 is compressed accordingly, driving the two second piston plates 173 to approach the middle of the oil storage pipe 171. At this time, the hydraulic oil inside the oil storage pipe 171 is subjected to pressure and is automatically discharged through the oil delivery valve 172 and enters the inside of the linkage component 7;

[0048] When the obstacle crossing stops, at this time, the rear drive wheel 10 returns to its initial state, and the return spring 176 automatically resets, driving the second piston plate 173 to automatically reset. At this time, a negative pressure can be generated inside the oil storage pipe 171 to reflow the hydraulic oil back into the inside of the oil storage pipe 171, completing the reset process;

[0049] When the rear drive wheel 10 climbs over an obstacle, the hydraulic oil inside the oil storage pipe 171 can be exported through the oil delivery valve 172 and enter the inside of the temporary storage pipe 701 through the connecting pipe 702. At this time, the input hydraulic oil can exert pressure on 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 exert a downward thrust on the linkage 4, and drive the front mounting bracket 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.

[0050] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. 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: A rear torsion beam (2) is fixedly installed at the rear end of the front torsion beam (1). A locking frame (3) is fixedly installed 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). Linkage frames (4) are movably sleeved at positions near the left and right sides of the top end of the front torsion beam (1). The bottom end of the linkage frame (4) penetrates through the bottom end of the front torsion beam (1) and is fixedly connected to a front mounting frame (5). A front drive wheel (6) is movably connected to the inner side surface of the front mounting frame (5). The top end of the linkage frame (4) penetrates through the top end of the front torsion beam (1), and the middle part of the top end of the linkage frame (4) is connected to the bottom end of the linkage assembly (7). A support frame (16) is fixedly installed at the top end of the rear torsion beam (2). An adaptive assembly (17) is fixedly sleeved on the top end of the support frame (16). Rear mounting frames (8) are arranged at the left and right ends of the rear torsion beam (2). Rear drive wheels (10) are movably connected to the inner side surfaces of the rear mounting frames (8). Auxiliary mounting frames (11) are installed at the relatively close ends of the two rear mounting frames (8). Auxiliary wheels (12) are movably connected to the interiors of the auxiliary mounting frames (11). The rear end of the linkage assembly (7) communicates with the front end of the adaptive assembly (17); The adaptive assembly (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). An oil delivery valve (172) is fixedly communicated with the middle of the front end of the oil storage pipe (171). The oil delivery valve (172) is communicated with the linkage assembly (7). The interior of the oil storage pipe (171) is filled with hydraulic oil; Second piston plates (173) are movably sleeved on the left and right sides of the inner cavity of the oil storage pipe (171). Second piston rods (174) are fixedly installed at the relatively far ends of the two second piston plates (173). The other end of the second piston rod (174) penetrates through one end of the oil storage pipe (171) and is fixedly connected to a second mounting seat (175); The second mounting seat (175) is movably connected with a first ear plate (14) through a rotating shaft. A return spring (176) is movably sleeved on the outer side surface of the second piston rod (174). 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); The linkage assembly (7) includes a temporary storage pipe (701). The outer side surface of the temporary storage pipe (701) is fixedly sleeved with the locking frame (3). A communicating pipe (702) is fixedly communicated with the rear side position near the top end of the temporary storage pipe (701). The rear end of the communicating pipe (702) is communicated with the oil delivery valve (172). A first piston plate (703) is movably sleeved in the temporary storage pipe (701); The bottom end of the first piston plate (703) is fixedly connected to a first piston rod (704) located inside the temporary storage pipe (701). The bottom end of the first piston rod (704) penetrates through the bottom end of the temporary storage pipe (701) and is connected to the middle of the top end of the linkage frame (4). The outer side surface of the first piston rod (704) is movably sleeved with a limiting spring (705). The upper and lower ends of the limiting 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 pipe (701).

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

3. The wheelchair-assisted obstacle-crossing device according to claim 2, wherein: The top ends of the inner side surfaces of the L-shaped frames (9) are fixedly installed with first ear plates (14). The first mounting seats (13) are movably connected to the second ear plates (15) through a rotating shaft. The first ear plates (14) are connected to the left and right sides of the adaptive component (17) through a rotating shaft.

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