Automatic balance stair-climbing wheelchair capable of electrically walking on flat ground

Abstract

The utility model relates to the technical field of wheelchairs, and provides an automatic balance stair-climbing wheelchair capable of electrically walking on the flat ground, which comprises a chair frame, and two groups of track frames are arranged at the side rear part of the chair frame; a track is mounted on the track frame; walking wheels are installed on the lateral lower portions of the two track frames. Front wheels are mounted at the front end of the chair frame; the stair climbing wheelchair has a flat ground walking posture and a step walking posture; the two walking wheels rotate relative to the track frame, so that the stair-climbing wheelchair can switch the walking posture; the stair-climbing wheelchair is switched from a flat ground walking posture to a step walking posture, the track frame inclines backwards, and the tracks make contact with the flat ground, so that the front wheels are separated from the flat ground; when the stair-climbing wheelchair is switched from the step walking posture to the flat ground walking posture, the track frame resets, and the front wheels make contact with the flat ground. Therefore, the walking posture can be adjusted and switched only by controlling the walking wheels to rotate relative to the track frame. A front wheel swinging part is omitted, the overall structure of the wheelchair is optimized, and meanwhile the control difficulty of posture switching is lowered.

Description

Technical Field

[0001] The utility model belongs to the technical field of wheelchairs, and particularly relates to an automatic balancing stair-climbing wheelchair capable of electrically walking on flat ground. Background Art

[0002] It is quite difficult and dangerous for a wheelchair to go up and down stairs. Chinese patent CN202310172396 discloses a self-balancing stair climbing wheelchair, which can walk on the stairs through two tracks under the wheelchair. However, when the wheelchair climbs up the stairs from the flat ground, it is necessary to first lift and retract the universal wheels in front of it, so that the front end of the track can touch the ground, and then walk along the stairs.

[0003] A transmission structure that drives the universal wheels to be retracted and extended needs to be set on the wheelchair, which complicates the structure of the wheelchair. At the same time, when on flat ground, the fixed wheels at the rear and the universal wheels at the front of the wheelchair are lowered at the same time to prop up the wheelchair so that the tracks are out of contact with the ground. During the process of lowering the fixed wheels and the universal wheels, the actions of the two need to be coordinated to raise the wheelchair and ensure the safety of the passengers. This is difficult to control and places high demands on the control unit. If there is a problem with the control unit, the lowering actions of the two will be out of sync, causing the wheelchair to tilt too much, causing shock to the passengers, and even the risk of people falling.

[0004] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Utility Model Content

[0005] In view of the above-mentioned defects, the utility model mainly provides an automatic balancing stair-climbing wheelchair with electric walking on flat ground, which solves the technical problems of complex structure and difficult control of stair-climbing wheelchairs.

[0006] In order to solve the above problems, the utility model provides an automatic balancing stair-climbing wheelchair with electric walking on flat ground, comprising a chair frame, the chair frame having a seat plate and a backrest; two sets of inclined track frames are fixedly installed on the side and rear of the chair frame; tracks are installed on the track frames; and a stair-climbing motor for driving the two tracks to rotate synchronously is also installed on the chair frame;

[0007] A rotating shaft is connected between the two crawler frames; the two ends of the rotating shaft are respectively connected to a wheel frame, and the wheel frame is equipped with a walking wheel; the chair frame is also equipped with a tilting drive assembly for driving the two walking wheels to rotate relative to the crawler frame; the front end of the chair frame is equipped with a front wheel;

[0008] The stair climbing wheelchair has a walking posture on flat ground and a walking posture on stairs;

[0009] In the flat ground walking posture, the front wheels and the running wheels are in contact with the flat ground, and together support the stair climbing wheelchair to walk on the flat ground;

[0010] In the stair-walking posture, the crawler belt contacts the stair steps, driving the stair-climbing wheelchair to walk along the stair steps;

[0011] The two running wheels rotate relative to the track frame, so that the stair climbing wheelchair can switch the walking posture; specifically:

[0012] The stair climbing wheelchair switches from the flat ground walking posture to the step walking posture, the track frame tilts backward, the track contacts the flat ground, and the front wheels are out of contact with the flat ground;

[0013] The stair climbing wheelchair switches from the step walking posture to the flat ground walking posture, and the track frame is reset so that the front wheels touch the flat ground.

[0014] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, the front wheel is a universal wheel; the chair frame includes a vertical support rod, the vertical support rod is provided with a front wheel seat, and the universal wheel is installed on the front wheel seat.

[0015] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, the front wheel seat can adjust the height position on the vertical support rod.

[0016] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, a connecting rod is connected between the two wheel frames; the tilting drive assembly includes a tilting slider rotatably sleeved on the connecting rod, and also includes a tilting electric cylinder installed on the chair frame; the tilting slider is transmission-connected to the tilting electric cylinder.

[0017] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, the rotating shaft is rotatably connected between the two track frames, and the wheel frame is fixedly connected to the rotating shaft.

[0018] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, the rotating shaft is fixedly connected between the two track frames, and the wheel frame is rotatably connected to the rotating shaft.

[0019] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, the rearward end of the track frame has an upwardly bent structure; and a track pressing wheel for pressing the track is also installed on the track frame.

[0020] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, a battery box is also installed on the chair frame.

[0021] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, the battery box is arranged at the bottom of the seat plate or the rear part of the backrest.

[0022] According to the automatic balancing stair-climbing wheelchair with electric walking on flat ground of the utility model, a headrest is also installed on the top of the backrest.

[0023] In summary, the utility model fixes the front wheel on the chair frame, and only needs to control the rotation of the walking wheel relative to the track frame to complete the adjustment and switching of the walking posture. Compared with the prior art, the utility model omits the structure of the front wheel swing, optimizes the overall structure of the wheelchair, and reduces the control difficulty of posture switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the utility model;

[0025] Figure 2 yes Figure 1 Schematic diagram of the internal structure;

[0026] Figure 3 It is a front view of the utility model in a working state;

[0027] Figure 4 It is a front view of the utility model in a working state;

[0028] Figure 5 It is a structural schematic diagram of the climbing preparation posture of the utility model;

[0029] Figure 6 It is a structural schematic diagram of the utility model at the initial stage of stair climbing;

[0030] Figure 7 It is a structural schematic diagram of walking along stair steps of the utility model;

[0031] Figure 8 It is a structural schematic diagram of the utility model at the stage of climbing stairs and reaching;

[0032] Fig. 9 It is a structural schematic diagram of the reset stage of the utility model;

[0033] Fig.10 It is a structural schematic diagram of the utility model in a flat ground walking posture;

[0034] In the figure: 1-chair frame, 11-vertical support rod, 12-front wheel seat, 13-seat plate, 14-backrest, 15-headrest; 2-front wheel, 3-travel wheel, 31-wheel frame, 32-rotating shaft, 33-connecting rod; 4-track frame, 41-track, 42-pressing wheel, 43-climbing motor; 5-battery box, 6-tilt electric cylinder, 61-tilt slider; 100-flat ground, 200-contact line. DETAILED DESCRIPTION

[0035] See also Figure 1The utility model provides an automatic balancing stair climbing wheelchair with electric walking on flat ground, comprising a chair frame 1, the chair frame 1 having a seat plate 13 and a backrest 14; two sets of inclined track frames 4 are fixedly installed on the side and rear of the chair frame 1; the track frames 4 are installed with tracks 41; the chair frame 1 is also installed with a stair climbing motor 43 for driving the two tracks 41 to rotate synchronously;

[0036] See also Figure 2 A rotating shaft 32 is connected between the two crawler frames 4; the two ends of the rotating shaft 32 are respectively connected to a wheel frame 31, and the wheel frame 31 is equipped with a walking wheel 3; the chair frame 1 is also equipped with a tilting drive component for driving the two walking wheels 3 to rotate relative to the crawler frames 4; the front end of the chair frame 1 is equipped with a front wheel 2;

[0037] The stair climbing wheelchair has a walking posture on flat ground and a walking posture on stairs;

[0038] Combination Figure 3 , flat ground walking posture, the front wheel 2 and the running wheel 3 are both in contact with the flat ground 100, and together support the stair climbing wheelchair to walk on the flat ground 100; in this walking posture, the crawler track 41 is out of contact with the flat ground 100.

[0039] Optionally, the running wheel 3 of the utility model has power and can drive the wheelchair to walk on flat ground. The running wheel 3 of the utility model can be equipped with applicable known structural products, such as the structure disclosed in Chinese patent CN100545029C.

[0040] See also Figure 7 , the crawler 41 contacts the stair steps, driving the stair climbing wheelchair to walk along the stair steps; in this walking posture, the front wheel 2 and the running wheel 3 are out of contact with the stair steps;

[0041] The two running wheels 3 rotate relative to the track frame 4, so that the stair climbing wheelchair can switch the walking posture; specifically:

[0042] Combination Figure 5 The stair-climbing wheelchair switches from a flat ground walking posture to a stair-climbing walking posture, the track frame 4 tilts backward, the track 41 contacts the flat ground 100, and the front wheel 2 tilts up and breaks contact with the flat ground 100; the track 41 drives the stair-climbing wheelchair to move.

[0043] Combination Fig.10 The stair-climbing wheelchair switches from the step-walking posture to the flat-ground walking posture, and the track frame 4 is reset, so that the front wheel 2 contacts the flat ground 100, and then the track 41 is out of contact with the flat ground 100.

[0044] The utility model fixes the front wheel 2 on the chair frame 1, and the front wheel 2 does not need to move. The walking posture can be adjusted and switched by controlling the walking wheel to rotate relative to the track frame 4. Compared with the prior art, the utility model eliminates the structure of the front wheel 2 swinging, optimizes the overall structure of the wheelchair, and reduces the control difficulty of posture switching.

[0045] The front wheel 2 of the present invention is preferably a universal wheel; as an embodiment, the chair frame 1 includes a vertical support rod 11, a front wheel seat 12 is provided on the vertical support rod 11, and the universal wheel is installed on the front wheel seat 12;

[0046] Combination Figure 3 and Figure 4 To ensure that the aforementioned posture switching can be completed smoothly, the utility model sets the position on the track 41 closest to the lower side as the contact line 200; the position of the front wheel 2 does not exceed the contact line 200, which can ensure that the track 41 can contact the flat ground 100 during the backward tilting process.

[0047] Recombination Figure 4 When the universal wheel faces backward, it is the state closest to the crawler 41. The utility model ensures that in this state, the universal wheel does not exceed the contact line 200, which can ensure that it does not cross the contact line 200 in any state. This avoids the situation where the front wheel 2 touches the stair steps due to the backward rotation during the subsequent walking along the stair steps.

[0048] Optionally, the height position of the front wheel seat 12 can be adjusted on the vertical support rod 11, thereby adjusting the height difference between the lowest point of the front wheel 2 and the lowest point of the track 41, thereby ensuring that the track 41 does not contact the flat ground 100 when walking on flat ground; at the same time, when switching postures, the front wheel 2 can smoothly disengage from the flat ground 100.

[0049] As an implementation mode, a connecting rod 33 is connected between the two wheel frames 31; the tilting drive assembly includes a tilting slider 61 rotatably sleeved on the connecting rod 33, and also includes a tilting electric cylinder 6 installed on the chair frame 1; the tilting slider 61 is transmission-connected to the tilting electric cylinder 6; the tilting electric cylinder 6 controls the reciprocating motion of the tilting slider 61, thereby driving the two walking wheels 3 to swing back and forth.

[0050] As an embodiment, the rotating shaft 32 is rotatably connected between the two track frames 4, and the wheel frame 31 is fixedly connected to the rotating shaft 32;

[0051] As an embodiment, the rotating shaft 32 is fixedly connected between the two track frames 4, and the wheel frame 31 is rotatably connected to the rotating shaft 32;

[0052] Combination Figure 6As a preferred solution, the rear end of the track frame 4 has an upwardly bent structure; better yet, the track frame 4 is also equipped with a belt pressing wheel 42 for pressing the track 41; the belt pressing wheel 42 is arranged at the bending transition position so that the track 41 can complete the bending transition smoothly.

[0053] Recombination Figure 7 When the stair climbing wheelchair switches from a walking posture on the ground to a walking posture on the stairs, the front end of the track frame 4 tilts upward to ensure that the track 41 can be pressed on the stair steps; thereby smoothly realizing the movement of the track 41 walking along the stair steps.

[0054] See also Figure 8 When the stair climbing wheelchair reaches the end of the steps, the running wheels 3 are lowered and contact the flat ground 100, so as to prevent the wheelchair from tipping backwards and startling the passengers when it reaches the top of the steps. Fig. 9 In the process of the stair climbing wheelchair moving toward the flat ground 100, the running wheels 3 are gradually lowered, so that the wheelchair rises steadily to ensure the safety of the passengers; at the same time, the running wheels 3 provide power to pull the wheelchair toward the flat ground 100, reducing the load of the stair climbing motor 43.

[0055] See also Fig.10 When the stair climbing wheelchair is completely moved to the flat ground 100, the running wheels 3 continue to be lowered, so that the front wheels 2 contact the flat ground 100 again, and the walking posture on the flat ground is restored.

[0056] Optionally, a battery box 5 is also installed on the chair frame 1; in order to place the center of gravity of the stair-climbing wheelchair in a reasonable position and ensure safety during the stair-climbing process, the battery box 5 of the utility model can be set at the bottom of the seat plate 13 or the rear of the backrest 14.

[0057] Optionally, a headrest 15 is also installed on the top of the backrest 14.

[0058] In summary, the utility model provides an automatic balancing stair climbing wheelchair with electric walking on flat ground. By fixing the front wheels on the chair frame, the walking posture can be adjusted and switched by simply controlling the walking wheels to rotate relative to the track frame. Compared with the prior art, the utility model omits the structure of the front wheel swinging, optimizes the overall structure of the wheelchair, and reduces the control difficulty of posture switching.

[0059] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An automatic balancing stair climbing wheelchair with electric walking on flat ground, characterized in that: The chair frame comprises a seat plate and a backrest; two sets of inclined crawler frames are fixedly installed on the side and rear of the chair frame; crawlers are installed on the crawler frames; and a stair climbing motor for driving the two crawlers to rotate synchronously is also installed on the chair frame; A rotating shaft is connected between the two crawler frames; the two ends of the rotating shaft are respectively connected to a wheel frame, and the wheel frame is equipped with a walking wheel; the chair frame is also equipped with a tilting drive assembly for driving the two walking wheels to rotate relative to the crawler frame; the front end of the chair frame is equipped with a front wheel; The stair climbing wheelchair has a walking posture on flat ground and a walking posture on stairs; In the flat ground walking posture, the front wheels and the running wheels are in contact with the flat ground, and together support the stair climbing wheelchair to walk on the flat ground; In the stair-walking posture, the crawler belt contacts the stair steps, driving the stair-climbing wheelchair to walk along the stair steps; The two running wheels rotate relative to the track frame, so that the stair climbing wheelchair can switch the walking posture; specifically: The stair climbing wheelchair switches from the flat ground walking posture to the step walking posture, the track frame tilts backward, the track contacts the flat ground, and the front wheels are out of contact with the flat ground; The stair climbing wheelchair switches from the step walking posture to the flat ground walking posture, and the track frame is reset so that the front wheels touch the flat ground.

2. The self-balancing stair-climbing wheelchair with electric walking on flat ground as claimed in claim 1, characterized in that: The front wheel is a universal wheel; the chair frame comprises a vertical support rod, a front wheel seat is arranged on the vertical support rod, and the universal wheel is installed on the front wheel seat.

3. The self-balancing stair climbing wheelchair with electric walking on flat ground as claimed in claim 2, characterized in that: The front wheel seat can be adjusted in height on the vertical support rod.

4. The self-balancing stair climbing wheelchair with electric walking on flat ground as claimed in claim 1, characterized in that: A connecting rod is connected between the two wheel frames; the tilting drive assembly includes a tilting slider rotatably sleeved on the connecting rod, and also includes a tilting electric cylinder installed on the chair frame; the tilting slider is transmission-connected to the tilting electric cylinder.

5. The self-balancing stair-climbing wheelchair with electric walking on flat ground as claimed in claim 1, characterized in that: The rotating shaft is rotatably connected between the two crawler frames, and the wheel frame is fixedly connected to the rotating shaft.

6. The self-balancing stair climbing wheelchair with electric walking on flat ground as claimed in claim 1, characterized in that: The rotating shaft is fixedly connected between the two crawler frames, and the wheel frame is rotatably connected to the rotating shaft.

7. The self-balancing stair-climbing wheelchair with electric walking on flat ground as claimed in claim 1, characterized in that: The rear end of the crawler frame has an upwardly bent structure; a belt pressing wheel for pressing the crawler track is also installed on the crawler frame.

8. The self-balancing stair-climbing wheelchair with electric travel on flat ground according to any one of claims 1 to 7, characterized in that: A battery box is also installed on the chair frame.

9. The self-balancing stair-climbing wheelchair with electric walking on flat ground as claimed in claim 8, characterized in that: The battery box is arranged at the bottom of the seat plate or the rear of the backrest.

10. The self-balancing stair-climbing wheelchair with electric travel on flat ground as claimed in claim 8, characterized in that: A headrest is also installed on the top of the backrest.

Images