Crawler-type electric wheelchair with stair climbing function

Abstract

The crawler-type electric wheelchair with the stair climbing function comprises a seat, a bottom frame is arranged at the bottom of the seat, crawler frames are fixedly connected to the rear ends of the two sides of the bottom of the bottom frame, main crawlers are arranged outside the crawler frames, swing arms are rotationally connected to the front ends of the two sides of the bottom of the bottom frame, and the main crawlers are connected with the swing arms. An auxiliary crawler belt is arranged outside the swing arm, driving wheels are rotationally connected to one side of the crawler belt frame and one side of the swing arm, and driven wheels are rotationally connected to one side, away from the driving wheels, of the crawler belt frame and one side, away from the driving wheels, of the swing arm. The utility model relates to the technical field of electric wheelchairs, and solves the problems that in the prior art, a crawler-type electric wheelchair is driven by adopting a single group of crawler belts, and the inclination angle of the crawler belt at the front end cannot be flexibly adjusted during stair climbing, so that the crawler belts are easy to slip or stop, and the stability and the safety of stair climbing are influenced.

Description

A tracked electric wheelchair with stair-climbing function Technical Field

[0001] This utility model relates to the field of electric wheelchair technology, specifically a tracked electric wheelchair with a stair-climbing function. Background Technology

[0002] Electric wheelchairs are upgraded versions of traditional manual wheelchairs by incorporating high-performance power drive devices, intelligent control devices, batteries, and other components. They are a new generation of intelligent wheelchairs capable of performing multiple functions such as forward movement, backward movement, turning, and standing. They are high-tech products combining modern precision mechanics, intelligent numerical control, and engineering mechanics. Electric wheelchairs have become an indispensable mobility tool for patients with mobility impairments, the elderly, and the disabled, with a wide range of applications. In existing technology, tracked electric wheelchairs use a single set of tracks for drive. When climbing stairs, the tilt angle of the front track cannot be flexibly adjusted, causing the track to slip or get stuck, affecting the stability and safety of climbing stairs. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this utility model provides a tracked electric wheelchair with stair-climbing function. This solves the problem that existing tracked electric wheelchairs use a single set of tracks for drive, which cannot flexibly adjust the tilt angle of the front track when climbing stairs, causing the track to slip or get stuck, thus affecting the stability and safety of stair climbing.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a tracked electric wheelchair with stair-climbing function, comprising a seat, a base frame at the bottom of the seat, track frames fixedly connected to the rear ends of both sides of the base frame, a main track on the outside of the track frame, swing arms rotatably connected to the front ends of both sides of the base frame, auxiliary tracks on the outside of the swing arms, a drive wheel rotatably connected to one side of the track frame and the swing arms, and a driven wheel rotatably connected to the side of the track frame and the swing arms away from the drive wheel, with the base frame located on one side of the drive wheel. A first servo motor is installed, and its output is connected to the drive wheel. A servo motor is installed on one side of the driven wheel on the underframe, and its output is connected to the driven wheel located inside the main track. A first electric push rod is rotatably connected to the underframe above the auxiliary track, and its output is rotatably connected to the swing arm. A battery is installed on the back of the seat, and armrests are provided on both sides of the seat. A controller is installed on the top of one of the armrests. The first servo motor, the servo motor, the first electric push rod, and the battery are all electrically connected to the controller.

[0005] Preferably, the seat has underarm bars on both sides, a support frame at the bottom front and back, chain plates equidistantly connected to both sides of the support frame, a sponge pad on the top of the chain plates, magnets equidistantly arranged on the sides of the chain plates that are close to each other, sprockets rotatably connected to both sides of the support frame, the sprockets being driven by the chain plates, and a second servo motor installed on both sides of the back of the seat. The output end of the second servo motor is driven by the sprockets, and the second servo motor is electrically connected to the controller.

[0006] Preferably, a pedal is rotatably connected to the front of the base frame, and limit plates are fixedly connected to both sides of the bottom of the pedal on the base frame. The pedal is connected to the limit plates, and obstacle sensing modules are installed on both sides of the bottom of the pedal. The obstacle sensing modules are electrically connected to the controller.

[0007] Preferably, the front end of the seat is rotatably connected to the base frame, and the rear ends of the base frame are rotatably connected to the two sides of the base frame, with the output end of the second electric push rod rotatably connected to the seat.

[0008] Preferably, an auxiliary lighting module is provided at the bottom of the pedal, and the auxiliary lighting module is electrically connected to the controller.

[0009] This utility model provides a tracked electric wheelchair with stair-climbing function. It offers the following advantages: This tracked electric wheelchair with stair-climbing function utilizes the cooperation of a seat, base frame, track frame, main track, swing arm, auxiliary track, drive wheel, driven wheel, first servo motor, servo motor, first electric push rod, battery, armrests, and controller. The dual tracks provide propulsion for the electric wheelchair. When climbing stairs, the control system automatically adjusts the angle of the swing arm based on sensing signals, ensuring that the bottom front end of the auxiliary track contacts the front edge of the stair step. This adapts to the inclination angle and step height of the stairs. The system continuously adjusts the angle of the auxiliary track during climbing to maintain good contact with the stair steps, ensuring the electric wheelchair can stably ascend step by step in different stair environments, avoiding slippage or jamming. This contributes to improving the stability and safety of the electric wheelchair when climbing stairs.

[0010] Through the cooperation of the support frame, chain plate, magnet, sprocket, second servo motor, and underarm bar, the seat of the electric wheelchair adopts an openable design. When the user needs to relieve themselves, the underarm bar lifts the user up, separating the user's buttocks from the seat and opening the seat to the sides. This makes it easier for the elderly and disabled to use the toilet, avoiding the process of transferring the user from the wheelchair to the toilet, making it safer for the user to use the toilet. This helps to improve the practicality and convenience of the electric wheelchair. Attached Figure Description

[0011] Figure 1 is a schematic diagram of the structure of this utility model;

[0012] Figure 2 is a schematic diagram of the underframe, main track and auxiliary track of this utility model;

[0013] Figure 3 is a schematic diagram of the appearance of the support frame, chain plate and sprocket in this utility model;

[0014] Figure 4 is a schematic diagram of the appearance of the pedal, obstacle sensing module and auxiliary lighting component in this utility model.

[0015] In the diagram: 1. Seat; 2. Underframe; 3. Track frame; 4. Main track; 5. Swing arm; 6. Auxiliary track; 7. Drive wheel; 8. Driven wheel; 9. First servo motor; 10. Servo motor; 11. First electric push rod; 12. Battery; 13. Handrail; 14. Controller; 15. Support frame; 16. Chain plate; 17. Sponge pad; 18. Magnet; 19. Sprocket; 20. Second servo motor; 21. Pedal; 22. Limiting plate; 23. Obstacle sensing module; 24. Second electric push rod; 25. Auxiliary lighting module; 26. Underarm bar. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] In the existing technology, tracked electric wheelchairs are driven by a single set of tracks. When climbing stairs, the tilt angle of the front track cannot be flexibly adjusted, which makes the track prone to slipping or getting stuck, affecting the stability and safety of climbing stairs.

[0018] In view of this, the present invention provides a tracked electric wheelchair with stair-climbing function. Through the cooperation of the seat, base frame, track frame, main track, swing arm, auxiliary track, drive wheel, driven wheel, first servo motor, servo motor, first electric push rod, battery, armrest and controller, the electric wheelchair is driven by two sets of tracks. When climbing stairs, the control system automatically adjusts the angle of the swing arm according to the sensing signal, so that the bottom front end of the auxiliary track is in contact with the front edge of the stair step to adapt to the inclination angle and step height of the stairs. During the climbing process, the extension and retraction length of the first electric push rod is continuously adjusted to maintain good contact between the auxiliary track and the stair step, ensuring that the electric wheelchair can stably ascend step by step in different stair environments, avoiding slippage or jamming, and improving the stability and safety of the electric wheelchair when climbing stairs.

[0019] Those skilled in the art should connect all electrical components and their compatible power supplies in this case via wires. Appropriate controllers and encoders should be selected according to the actual situation to meet control requirements. The specific connection and control sequence should refer to the working principle described below, where the electrical components are connected in sequence. The detailed connection methods are well-known in the art. The following mainly introduces the working principle and process, and will not describe the electrical control further.

[0020] As shown in Figures 1-4, a tracked electric wheelchair with stair-climbing function includes a seat 1, which provides support for the user's body. A base frame 2 is located at the bottom of the seat 1. Track frames 3 are fixedly connected to the rear ends of both sides of the bottom of the base frame 2. Main tracks 4 are mounted on the outside of the track frames 3. Swing arms 5 are rotatably connected to the front ends of both sides of the bottom of the base frame 2. Auxiliary tracks 6 are mounted on the outside of the swing arms 5. Drive wheels 7 are rotatably connected to one side of both the track frames 3 and the swing arms 5. Driven wheels 8 are rotatably connected to the side of both the track frames 3 and the swing arms 5 away from the drive wheels 7. A first servo motor 9 is mounted on the side of the base frame 2 opposite to the drive wheels 7. The output of the first servo motor 9 is connected to the drive wheels 7. The chassis 2 is connected to the driven wheel 8 on one side of the driven wheel 8. The output end of the servo motor 10 is connected to the driven wheel 8 located inside the main track 4. The chassis 2 is rotatably connected to the first electric push rod 11 above the auxiliary track 6. The output end of the first electric push rod 11 is rotatably connected to the swing arm 5. The back of the seat 1 is equipped with a battery 12. The battery 12 adopts a combination of fuel cell and power battery to provide long-lasting and stable power support for the electric wheelchair. Both sides of the seat 1 are provided with armrests 13. A controller 14 is installed on the top of one armrest 13. The first servo motor 9, the servo motor 10, the first electric push rod 11 and the battery 12 are all electrically connected to the controller 14.

[0021] In the specific implementation process, it is worth noting that the seat 1 is used to provide support for the user's body. The main drive system of the electric wheelchair is formed through the cooperation of the seat 1, base frame 2, track frame 3, main track 4, drive wheel 7, driven wheel 8, first servo motor 9, and servo motor 10. The drive wheel 7 is driven by the first servo motor 9, which in turn drives the main track 4 to rotate, enabling the electric wheelchair to move forward and backward. When the electric seat is turning, the servo motor 10 drives the driven wheel 8 to adjust its angle, thereby providing auxiliary steering for the electric wheelchair. This allows the electric wheelchair to smoothly perform forward, backward, and turning operations. The main drive system consists of the base frame 2, swing arm 5, auxiliary track 6, drive wheel 7, driven wheel 8, first servo motor 9, and servo motor 10. The cooperation between the first electric push rods 11 forms the auxiliary drive system of the electric wheelchair. When the electric wheelchair travels on a level surface, the bottom of the auxiliary track 6 remains horizontal to the ground and maintains the same travel speed as the main track 4, improving the stability and load-bearing capacity of the electric wheelchair. When the electric wheelchair turns, by controlling the first electric push rod 11 located on the turning side, the auxiliary track 6 on the turning side reduces the contact area with the ground, improving the turning flexibility and stability of the electric wheelchair. When the electric wheelchair needs to climb stairs, the control system monitors the slope, height, and width of the stairs in real time through sensors, controls the first electric push rod 11 to extend and retract, driving the swing arm 5 to swing, so that the bottom of the auxiliary track 6 is in contact with the stairs. The system is designed to adapt to the inclination angle and step height of stairs, improving the stability of the electric wheelchair when climbing stairs. The battery 12 combines a fuel cell and a power battery to provide long-lasting and stable power support for the electric wheelchair. Through the cooperation between the seat 1, armrest 13, and controller 14, the electric wheelchair's controller 14, mounted on top of the armrest 13, allows the user to operate various functions of the wheelchair via buttons and levers on the controller 14, controlling its forward, backward, and turning movements. The system also integrates the seat 1, base frame 2, track frame 3, main track 4, swing arm 5, auxiliary track 6, drive wheel 7, driven wheel 8, first servo motor 9, servo motor 10, first electric push rod 11, battery 12, armrest 13, and controller 14. In conjunction with the dual sets of tracks, the electric wheelchair is driven. When climbing stairs, the control system automatically adjusts the angle of the swing arm 5 according to the sensing signal, so that the bottom front end of the auxiliary track 6 is in contact with the front edge of the stair step to adapt to the inclination angle and step height of the stairs. During the climbing process, the extension and retraction length of the first electric push rod 11 is continuously adjusted to maintain good contact between the auxiliary track 6 and the stair step, ensuring that the electric wheelchair can stably ascend step by step in different stair environments, avoiding slippage or jamming, and improving the stability and safety of the electric wheelchair when climbing stairs. The specific models of the first servo motor 9, servo motor 10, first electric push rod 11, battery 12 and controller 14 are not limited, as long as they meet the usage requirements.

[0022] Furthermore, armpit bars 26 are provided on both sides of seat 1, and support frames 15 are provided at the front and back of the bottom of seat 1. Chain plates 16 are equidistantly connected to both sides of support frames 15. A sponge pad 17 is provided on the top of chain plates 16 to improve the comfort of the seat. Magnets 18 are equidistantly provided on the side of chain plates 16 that are close to each other. Sprockets 19 are equidistantly rotatably connected to both sides of support frames 15. Sprockets 19 are connected to chain plates 16 through transmission. Second servo motors 20 are installed on both sides of the back of seat 1. The output end of the second servo motor 20 is connected to the sprocket 19 through transmission. The second servo motor 20 is electrically connected to controller 14.

[0023] In the specific implementation process, it is worth noting that the underarm bar 26 is installed in the grooves on both sides of the backrest of the seat 1. When not in use, the underarm bar 26 is stored in the groove. When the user needs to perform operations such as using the toilet, the controller 14 controls the built-in motor of the underarm bar 26 and the electric push rod that drives the underarm bar 26 to rotate and lift, so that the underarm bar 26 rotates out from the backrest groove and inserts under the user's armpit, simulating the lifting action of a caregiver, slowly lifting the user upward, so that the user changes from a sitting posture to a semi-standing posture, helping the user to use the toilet. Through the cooperation between the support frame 15, chain plate 16, magnet 18, sprocket 19 and the second servo motor 20, the seat plate of the electric wheelchair is composed of two sets of chain plates 16, which are installed on the top of the support frame 15. When the seat plate is closed, the two chain plates 16 are magnetically attracted to each other by the magnet 18 between them, so that the chain plates 16 are magnetically attracted to each other. 6. When closed, the seat is more stable. When the user needs to relieve themselves, the second servo motor 20 is controlled to drive the sprocket 19 to rotate, causing the two sets of chain plates 16 to move to the sides of the electric wheelchair, thereby opening the seat for the user to relieve themselves. The sponge pad 17 is used to improve the comfort of the seat. Through the cooperation between the support frame 15, chain plates 16, magnets 18, sprockets 19, second servo motor 20 and underarm bars 26, the seat of the electric wheelchair adopts an openable design. When the user needs to relieve themselves, the underarm bars 26 lift the user up, separating the user's buttocks from the seat and opening the seat to the sides, making it convenient for the elderly and disabled to use the toilet. This avoids the process of transferring the user from the wheelchair to the toilet, making the user safer when using the toilet and improving the practicality and convenience of the electric wheelchair. The specific model of the second servo motor 20 is not limited, as long as it meets the usage requirements.

[0024] Furthermore, a pedal 21 is rotatably connected to the front of the base frame 2. Limiting plates 22 are fixedly connected to both sides of the bottom of the pedal 21. The pedal 21 is connected to the limiting plates 22. Obstacle sensing modules 23 are installed on both sides of the bottom of the pedal 21. The obstacle sensing modules 23 are electrically connected to the controller 14.

[0025] In the specific implementation process, it is worth noting that through the cooperation between the base frame 2, the pedal 21, and the limiting plate 22, the pedal 21 can provide stable support for the user's feet and can be rotated upwards to retract, providing convenience for the user when getting on and off the wheelchair. Through the cooperation between the controller 14 and the obstacle sensing module 23, the obstacle sensing module 23, composed of an ultrasonic sensor, an inertial measurement unit, and an infrared / laser rangefinder, can detect obstacles on the wheelchair's path in real time and feed the detection data back to the controller 14. It can also accurately detect the angle of stairs and ramps, as well as the tilt angle and acceleration of the wheelchair, so that the wheelchair control system can dynamically adjust the wheelchair's speed and direction based on the detection data, in order to realize functions such as automatic leveling and obstacle avoidance, ensuring that the wheelchair can remain stable and safe when climbing stairs or encountering other obstacles. The specific model of the obstacle sensing module 23 is not limited, as long as it meets the usage requirements.

[0026] Furthermore, the front end of the seat 1 is rotatably connected to the base frame 2, and the rear ends of the base frame 2 are rotatably connected to the second electric push rods 24 on both sides, with the output end of the second electric push rods 24 rotatably connected to the seat 1.

[0027] In the specific implementation process, it is worth noting that the seat leveling system uses high-precision dual-axis sensors and gyroscopes to monitor the seat tilt information in real time. When the user is using the electric wheelchair to climb stairs or travel on a slope, the sensor data is transmitted to the control system. The control system calculates the adjustment amount of each support point and drive wheel according to a predetermined algorithm. By controlling the second electric push rod 24, the rear end of the seat 1 is lifted upward, so that the seat 1 rotates around the front connection point to keep the user's body in a relatively horizontal state. This effectively reduces the discomfort caused by the tilt angle of stairs or slopes and avoids safety problems caused by the center of gravity shift, thus improving the comfort and safety of riding. The specific model of the second electric push rod 24 is not limited, as long as it meets the usage requirements.

[0028] Furthermore, an auxiliary lighting module 25 is provided at the bottom of the pedal 21. The auxiliary lighting module 25 is electrically connected to the controller 14. The auxiliary lighting module 25 is used to provide lighting at night or in low light environments to ensure the safety of users when using electric wheelchairs to climb stairs or drive.

[0029] In the specific implementation process, it is worth noting that the auxiliary lighting module 25 is used to provide lighting at night or in low-light environments to ensure the safety of users when using electric wheelchairs to climb stairs or drive. The specific model of the auxiliary lighting module 25 is not limited, as long as it meets the usage requirements.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A caterpillar electric wheelchair with a stair climbing function, comprising a seat (1), characterized in that: The seat (1) has a base frame (2) at its bottom. Track frames (3) are fixedly connected to the rear ends of both sides of the bottom of the base frame (2). Main tracks (4) are provided on the outside of the track frames (3). Swing arms (5) are rotatably connected to the front ends of both sides of the bottom of the base frame (2). Auxiliary tracks (6) are provided on the outside of the swing arms (5). Drive wheels (7) are rotatably connected to one side of the track frames (3) and the swing arms (5). Driven wheels (8) are rotatably connected to the side of the track frames (3) and the swing arms (5) away from the drive wheels (7). A first servo motor (9) is installed on the side of the base frame (2) located on the drive wheel (7). The output end of the first servo motor (9) is connected to the drive wheel (7) for transmission. The base frame (2) is equipped with a servo motor (10) on one side of the driven wheel (8). The output end of the servo motor (10) is connected to the driven wheel (8) located inside the main track (4). The base frame (2) is rotatably connected to a first electric push rod (11) above the auxiliary track (6). The output end of the first electric push rod (11) is rotatably connected to the swing arm (5). A battery (12) is installed on the back of the seat (1). Armrests (13) are provided on both sides of the seat (1). A controller (14) is installed on the top of one of the armrests (13). The first servo motor (9), the servo motor (10), the first electric push rod (11) and the battery (12) are all electrically connected to the controller (14).

2. The caterpillar electric wheelchair with the stair climbing function according to claim 1, characterized in that: The seat (1) is provided with armpit bars (26) on both sides. The bottom of the seat (1) is provided with support frames (15) at the front and back. The support frames (15) are equidistantly connected with chain plates (16) on both sides. The top of the chain plates (16) is provided with sponge pads (17). The chain plates (16) are equidistantly provided with magnets (18) on the side of the chain plates (16) that are close to each other. The support frames (15) are equidistantly connected with sprockets (19). The sprockets (19) are connected to the chain plates (16) in a transmission connection. The back of the seat (1) is provided with second servo motors (20) on both sides. The output end of the second servo motors (20) is connected to the sprockets (19) in a transmission connection. The second servo motors (20) are electrically connected to the controller (14).

3. The caterpillar electric wheelchair with the stair climbing function according to claim 1, characterized in that: The base frame (2) is rotatably connected to a pedal (21) on the front. The base frame (2) is fixedly connected to two bottom sides of the pedal (21) by a limiting plate (22). The pedal (21) is connected to the limiting plate (22). An obstacle sensing module (23) is installed on both bottom sides of the pedal (21). The obstacle sensing module (23) is electrically connected to the controller (14).

4. The caterpillar electric wheelchair with the stair climbing function according to claim 1, characterized in that: The front end of the seat (1) is rotatably connected to the base frame (2), and the rear ends of the base frame (2) are rotatably connected to the second electric push rods (24). The output end of the second electric push rods (24) is rotatably connected to the seat (1).

5. The caterpillar electric wheelchair with the stair climbing function according to claim 3, characterized in that: An auxiliary lighting module (25) is provided at the bottom of the pedal (21), and the auxiliary lighting module (25) is electrically connected to the controller (14).

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