A stair climbing wheelchair

Abstract

The utility model discloses a kind of ladder wheelchair, to can switch ladder mode, climb stairs;It includes chassis and seat, seat is rotatably arranged on chassis;Chassis includes two supports arranged symmetrically, two supports are connected by support tube;Two crawler units, two walking wheels and drive unit are equipped on support, two crawler units are arranged front and back;Crawler unit includes driving wheel, transmission wheel, driven wheel, ladder crawler and swing arm, driving wheel, driven wheel and swing arm are rotatably arranged on support, driven wheel is arranged on swing arm, ladder crawler is transmission connected driving wheel, transmission wheel and driven wheel, the part of ladder crawler between transmission wheel and driven wheel and lower portion is contact section;Two driving wheels of support, at least one walking wheel rotate under the drive of drive unit;Belong to wheelchair technical field.

Description

Technical Field

[0001] This utility model belongs to the field of wheelchair technology, and more specifically, relates to a ladder-climbing wheelchair. Background Technology

[0002] A wheelchair is a seat device with wheels, primarily designed to provide mobility and support for people who have difficulty or are unable to walk due to illness, injury, old age, frailty, or other reasons.

[0003] With the development of technology, electric wheelchairs are becoming more and more common and more labor-saving, and can be used even by those with insufficient upper limb strength. However, electric wheelchairs are helpless when they encounter stairs, as their wheels cannot climb stairs. They generally need to use vertical elevators or barrier-free lifting platforms to transport the wheelchairs. Utility Model Content

[0004] The main purpose of this utility model is to provide a ladder-climbing wheelchair that can switch to ladder-climbing mode to climb stairs.

[0005] According to a first aspect of the present invention, a ladder wheelchair is provided, comprising a chassis and a seat, wherein the seat is rotatably mounted on the chassis;

[0006] The chassis includes two symmetrically arranged supports connected by a support tube; the supports are equipped with two track units, two wheels and a drive unit, with the two track units arranged front and rear.

[0007] The track unit includes a drive wheel, a transmission wheel, a driven wheel, a climbing track, and a swing arm. The drive wheel, the driven wheel, and the swing arm are rotatably mounted on the bracket. The driven wheel is mounted on the swing arm. The climbing track is drivingly connected to the drive wheel, the transmission wheel, and the driven wheel. The lower part of the climbing track between the transmission wheel and the driven wheel is the contact section.

[0008] The two drive wheels and at least one walking wheel of the bracket rotate under the drive of the drive unit;

[0009] The chassis is equipped with a first swing mechanism and a second swing mechanism;

[0010] The second swing mechanism is used to drive the swing arm to rotate in order to adjust the posture of the contact segment;

[0011] The first swing mechanism is used to adjust the height of the walking wheel so that the walking wheel or the ladder track contacts the ground.

[0012] The aforementioned ladder wheelchair includes a main frame, a subframe, a first electric push rod, a second electric push rod, and a seating assembly.

[0013] The main frame is rotatably mounted on the chassis. One end of the first electric push rod is hinged to the chassis, and the other end of the first electric push rod is hinged to the main frame. The first electric push rod is used to drive the main frame to rotate.

[0014] The subframe is rotatably mounted on the main frame. One end of the second electric push rod is hinged to the main frame, and the other end of the second electric push rod is hinged to the subframe. The second electric push rod is used to drive the subframe to rotate.

[0015] The seating assembly is fixed to the subframe.

[0016] In the aforementioned ladder wheelchair, the main frame includes two main frames arranged at intervals along a first direction. The main frame includes a main longitudinal beam and a main transverse beam. The main longitudinal beam and the main transverse beam form an inverted L-shape. The two main longitudinal beams are connected by a reinforcing tube. The end of the main longitudinal beam away from the main transverse beam is rotatably connected to the chassis. The sub-frame is rotatably connected to the end of the main transverse beam away from the main longitudinal beam.

[0017] The first electric push rod and the second electric push rod are respectively hinged to the reinforcing tube.

[0018] In the aforementioned ladder wheelchair, the subframe includes a base plate and two subframes spaced apart along the first direction. Each subframe includes a secondary longitudinal beam and a secondary transverse beam, which form an inverted L-shape. The base plate is mounted on the two secondary transverse beams, which are rotatably connected to the main transverse beam. The second electric push rod is hinged to the base plate. The seating assembly is fixed to the base plate.

[0019] In the aforementioned ladder wheelchair, the first swing mechanism includes a first rotating shaft and a third electric push rod. The first rotating shaft passes through the transmission wheel and is coaxial with the transmission wheel. The first rotating shaft is rotatably connected to the bracket. A first sleeve is sleeved on the first rotating shaft and rotatably engages with the first sleeve. The first sleeve is rotatably engaged with the bracket. The transmission wheel is fixed on the first sleeve.

[0020] A first swing block is fixed on the first rotating shaft, and the walking wheel is rotatably disposed at the end of the first swing block away from the first rotating shaft. The rotation axis of the walking wheel is parallel to the axis of the first rotating shaft.

[0021] The third electric push rod is mounted on the bracket and is connected to the first rotating shaft to drive the first rotating shaft to rotate, thereby causing the first swing block to swing.

[0022] In the aforementioned ladder wheelchair, the swing arm is rotatably mounted on the first sleeve;

[0023] The second swing mechanism includes a second sleeve, a connecting rod, and a fourth electric push rod. The second sleeve is sleeved on the first rotating shaft and rotatably connected to the first rotating shaft. The connecting rod is disposed on the swing arm. The second sleeve is connected to the connecting rod through a connecting block.

[0024] The fourth electric push rod is mounted on the bracket and is connected to the second sleeve to drive the second sleeve to rotate, thereby causing the connecting rod to drive the swing arm to swing.

[0025] In the aforementioned ladder wheelchair, the support frame is equipped with auxiliary mechanisms that correspond one-to-one with the two track units;

[0026] The auxiliary mechanism includes a second swing block rotatably mounted on the bracket, the second swing block having an auxiliary wheel, and a spring connecting the bracket and the second swing block, the spring causing the second swing block to swing upward.

[0027] A push block is fixed on the swing arm, and an arc-shaped groove is provided on the bracket for the push block to pass through; when the swing arm rotates downward, the push block will push the second swing block to rotate downward.

[0028] In the aforementioned ladder wheelchair, the drive unit includes a motor, a first drive shaft, and a second drive shaft mounted on the support frame. Both the first drive shaft and the second drive shaft are rotatably connected to the support frame, and the motor drives the first drive shaft to rotate.

[0029] The first drive shaft passes through one of the drive wheels of the bracket and is rotatably engaged with it, while the second drive shaft passes through the other drive wheel of the bracket and is fixedly engaged with it.

[0030] The first drive shaft and the second drive shaft are connected by a reduction module, the two drive wheels of the bracket are connected by a synchronization module, and the second drive shaft is connected to one of the walking wheels of the bracket by a transmission module.

[0031] In the aforementioned ladder wheelchair, the deceleration module includes a first gear, a second gear, and a first chain. The first gear is fixed on the first drive shaft, the second gear is fixed on the second drive shaft, and the first chain drives the first gear and the second gear. The outer diameter of the first gear is smaller than the outer diameter of the second gear.

[0032] The synchronization module includes a third gear, a fourth gear, and a second chain. The third gear and the fourth gear are respectively mounted on two drive wheels. The second chain drives and connects the third gear and the fourth gear. The outer diameter of the third gear is the same as that of the fourth gear.

[0033] In the aforementioned ladder-climbing wheelchair, the transmission module includes a fifth gear, a sixth gear, a seventh gear, an eighth gear, a third chain, and a fourth chain. The fifth gear is fixed on the second transmission shaft. The sixth and seventh gears are rotatably mounted on the first rotating shaft and are fixedly connected. A second rotating shaft is rotatably mounted on the first swing block. The walking wheel is fixedly connected to the second rotating shaft. The eighth gear is fixed on the second rotating shaft. The third chain drives the fifth and sixth gears, and the fourth chain drives the seventh and eighth gears.

[0034] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0035] In this invention, a walking wheel is provided for daily driving, and a climbing track is provided for climbing stairs. During daily driving, the first swing mechanism lowers the height of the walking wheel so that the walking wheel contacts the ground, and the second swing mechanism retracts the swing arm so that the climbing track does not contact the ground, thus allowing the walking wheel to travel on the ground. When climbing stairs, the first swing mechanism raises the height of the walking wheel so that the climbing track contacts the ground, and the second swing mechanism adjusts the swing arm so that the contact section contacts the edge of the step, allowing the climbing track to climb the stairs. At the same time, the seat can be rotated to adjust its posture, ensuring that the rider does not feel uncomfortable when climbing stairs. Attached Figure Description

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0037] Figure 1 This is a schematic diagram of the structure of the first embodiment of the present invention;

[0038] Figure 2 This is a structural schematic diagram of the seat according to the first embodiment of this utility model;

[0039] Figure 3 This is a schematic diagram of the structure of the seat after removing the protective panel and foot pedal according to the first embodiment of this utility model;

[0040] Figure 4 This is a schematic diagram of the chassis structure according to the first embodiment of this utility model;

[0041] Figure 5 This is a cross-sectional view of the structure of the transmission wheel and the first rotating shaft in the first embodiment of this utility model;

[0042] Figure 6 This is a side view of the first embodiment of the present invention;

[0043] Figure 7 This is the first embodiment of the present utility model. Figure 6 A magnified view of a portion of A;

[0044] Figure 8 This is an exploded view of the track unit and support frame according to the first embodiment of this utility model;

[0045] Figure 9 This is an exploded view of the deceleration module and transmission module of the first embodiment of this utility model.

[0046] The figure labels for each figure are as follows:

[0047] 1. Chassis;

[0048] 2. Seat; 21. Main frame; 211. Main structural frame; 2111. Main longitudinal beam; 2112. Main transverse beam; 212. Reinforcing tube; 22. Sub-frame; 221. Base plate; 222. Sub-structural frame; 2221. Sub-longitudinal beam; 2222. Sub-transverse beam; 223. Connecting rod; 23. First electric push rod; 24. Second electric push rod; 25. Seating assembly; 26. Protective plate; 261. Groove; 27. Footrest;

[0049] 3. Bracket;

[0050] 4. Support pipe;

[0051] 5. Track unit; 51. Drive wheel; 52. Transmission wheel; 53. Driven wheel; 54. Climbing track; 541. Contact section; 55. Swing arm; 56. Tensioner wheel;

[0052] 6. Wheels;

[0053] 7. Drive unit; 71. Motor; 72. First drive shaft; 73. Second drive shaft; 74. Reduction module; 741. First gear; 742. Second gear; 743. First chain; 75. Synchronization module; 751. Third gear; 752. Fourth gear; 753. Second chain; 76. Transmission module; 761. Fifth gear; 762. Sixth gear; 763. Seventh gear; 764. Eighth gear; 765. Third chain; 766. Fourth chain; 767. Second rotating shaft;

[0054] 8. First swing mechanism; 81. First rotating shaft; 82. Third electric push rod; 83. First sleeve; 84. First swing block; 85. First support;

[0055] 9. Second swing mechanism; 91. Second sleeve; 92. Connecting rod; 93. Fourth electric push rod; 94. Connecting block; 95. Second support;

[0056] 10. Auxiliary mechanism; 101. Second swing block; 102. Auxiliary wheel; 103. Spring; 104. Push block; 105. Arc groove. Detailed Implementation

[0057] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0058] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0059] Reference Figures 1 to 9 As shown, a ladder wheelchair includes a chassis 1 and a seat 2, the seat 2 being rotatably mounted on the chassis 1;

[0060] The chassis 1 includes two symmetrically arranged supports 3, which are spaced apart along a first direction and connected by support tubes 4. There are multiple support tubes 4, which are supported between the two supports 3 to improve the strength of the chassis 1.

[0061] The support frame 3 is equipped with two track units 5, two traveling wheels 6, and a drive unit 7. The two track units 5 are arranged front and rear. In this way, the two support frames 3 have four track units 5. When climbing ladders, the four track units 5 work together to support the chassis 1, allowing for stable climbing. The two support frames 3 have a total of four traveling wheels 6. During normal driving, the four traveling wheels 6 work together to support the chassis 1. The four track units 5 and the four traveling wheels 6 are in one-to-one correspondence, making the chassis 1 sufficiently stable.

[0062] The track unit 5 includes a drive wheel 51, a transmission wheel 52, a driven wheel 53, a climbing track 54, and a swing arm 55. The drive wheel 51, driven wheel 53, and swing arm 55 are rotatably mounted on the support 3. The driven wheel 53 is mounted on the swing arm 55. The climbing track 54 is connected to the drive wheel 51, transmission wheel 52, and driven wheel 53. The lower part of the climbing track 54 between the transmission wheel 52 and the driven wheel 53 is the contact section 541. The two drive wheels 51 on the same support 3 are adjacent. The transmission wheel 52 is located on the side of the drive wheel 51 away from the other drive wheel 51, while the driven wheel 53 is located on the side of the transmission wheel 52 away from the drive wheel 51. Therefore, the rotation of the swing arm 55 can adjust the position of the driven wheel 53, thereby changing the posture of the part of the climbing track 54 located between the transmission wheel 52 and the driven wheel 53. The lower contact section 541 is used to contact the ground, that is, to contact the step.

[0063] Each track unit 5 also includes a tensioning wheel 56, which is mounted on the bracket 3 for adjusting the tension of the climbing track 54;

[0064] The bracket 3 includes two plates, and the two plates form an installation space. The drive wheel 51, transmission wheel 52 and tension wheel 56 can be arranged in the installation space. During assembly, the parts can be arranged on one plate first, and then the other plate can be installed, which is convenient for assembly.

[0065] The two drive wheels 51 and at least one travel wheel 6 of the support 3 rotate under the drive of the drive unit 7, thereby allowing the climbing track 54 and the travel wheel 6 to move.

[0066] The chassis 1 is equipped with a first swing mechanism 8 and a second swing mechanism 9;

[0067] The second swing mechanism 9 is used to drive the swing arm 55 to rotate in order to adjust the posture of the contact section 541;

[0068] The first swing mechanism 8 is used to adjust the height of the walking wheel 6 so that the walking wheel 6 or the climbing track 54 can contact the ground;

[0069] In use, for daily driving, the first swing mechanism 8 lowers the height of the walking wheel 6 so that the walking wheel 6 contacts the ground, and the second swing mechanism 9 retracts the swing arm 55 so that the climbing track 54 will not contact the ground, thus allowing the walking wheel 6 to travel on the ground.

[0070] If it is a ladder, the first swing mechanism 8 raises the height of the traveling wheel 6 so that the ladder track 54 contacts the ground. The second swing mechanism 9 adjusts the swing arm 55 so that the contact section 541 can adapt to the slope of the stairs and can contact the edge of the step. The swing arms 55 of the two track units 5 cooperate, and the ladder track 54 can climb the stairs. At the same time, the seat 2 can be rotated to adjust its posture to ensure that the rider will not feel uncomfortable when climbing the stairs.

[0071] Based on this, the wheelchair can switch modes, making it more adaptable.

[0072] In this embodiment, it includes a main frame 21, a sub-frame 22, a first electric push rod 23, a second electric push rod 24, and a seating component 25;

[0073] The main frame 21 is rotatably mounted on the chassis 1. One end of the first electric push rod 23 is hinged to the chassis 1, and the other end of the first electric push rod 23 is hinged to the main frame 21. The first electric push rod 23 is used to drive the main frame 21 to rotate.

[0074] The sub-frame 22 is rotatably mounted on the main frame 21. One end of the second electric push rod 24 is hinged to the main frame 21, and the other end of the second electric push rod 24 is hinged to the sub-frame 22. The second electric push rod 24 is used to drive the sub-frame 22 to rotate.

[0075] The seating component 25 is fixed to the subframe 22; the seating component 25 includes a seat cushion, a backrest, and armrests, and the occupant generally sits on the seat cushion;

[0076] The first electric actuator 23 can adjust the angle of the main frame 21, while the second electric actuator 24 can adjust the angle of the subframe 22. The two can work together to adjust the angle of the seat. During normal driving, the first electric actuator 23 and the second electric actuator 24 can work together to adjust the height of the seat. When climbing stairs, since the chassis 1 will tilt, the first electric actuator 23 and the second electric actuator 24 can work together to adjust the angle of the seat so that the seat is still relatively horizontal. The passenger will not feel uncomfortable due to the tilt of the chassis 1, and the flexibility is better.

[0077] In this embodiment, the main frame 21 includes two main frames 211 arranged at intervals along a first direction. The main frame 211 includes a main longitudinal beam 2111 and a main transverse beam 2112. The main longitudinal beam 2111 and the main transverse beam 2112 form an inverted L-shape. The two main longitudinal beams 2111 are connected by a reinforcing tube 212. The end of the main longitudinal beam 2111 away from the main transverse beam 2112 is rotatably connected to the chassis 1. The sub-frame 22 is rotatably connected to the end of the main transverse beam 2112 away from the main longitudinal beam 2111. The main longitudinal beam 2111 is located at the end of the main transverse beam 2112 near the front side of the chassis 1.

[0078] Sub-frame 22 includes a base plate 221 and two sub-frames 222 arranged at intervals along the first direction. Sub-frame 222 includes a sub-longitudinal beam 2221 and a sub-cross beam 2222. The sub-longitudinal beam 2221 and the sub-cross beam 2222 form an inverted L-shape. The base plate 221 is mounted on the two sub-cross beams 2222. The sub-cross beams 2222 are rotatably connected to the main cross beam 2112. The second electric push rod 24 is hinged to the base plate 221. The sub-longitudinal beam 2221 is located at the end of the sub-cross beam 2222 near the front side of the chassis 1.

[0079] The end of the secondary crossbeam 2222 away from the secondary longitudinal beam 2221 is rotatably connected to the end of the main crossbeam 2112 away from the main longitudinal beam 2111. One end of the first electric push rod 23 is hinged to the chassis 1, and the other end of the first electric push rod 23 is hinged to the reinforcing tube 212. One end of the second electric push rod 24 is hinged to the reinforcing tube 212, and the other end of the second electric push rod 24 is hinged to the base plate 221. The riding assembly 25 is fixed to the base plate 221.

[0080] It also includes a connecting rod 223 extending along the first direction, the connecting rod 223 passing through two secondary crossbeams 2222, and the main crossbeam 2112 being rotatably connected to the connecting rod 223;

[0081] The first electric push rod 23 extends and retracts, which can drive the main frame 211 to rotate. The rotation of the main frame 211 will adjust the position of the connecting rod 223, and the connecting rod 223 will drive the secondary frame 222 to rotate. Then the second electric push rod 24 extends and retracts, and then rotates the secondary connecting rod 223 to adjust the posture of the seat cushion.

[0082] In this embodiment, the front of the base plate 221 is used to fix the seat cushion, and the back of the base plate 221 is fixedly connected to the secondary crossbeam 2222. Therefore, the base plate 221 can act as a limiting structure. After the secondary crossbeam 2222 rotates downward to a certain extent, the base plate 221 will contact the main crossbeam 2112, thereby limiting the position of the base plate 221 and preventing the base plate 221 from rotating too much.

[0083] In this embodiment, the main frame 211 is located between two sub-frames 222 and also includes a guard plate 26. The guard plate 26 is mounted on two secondary longitudinal beams 2221. When the guard plate 26 rotates with the sub-frames 222, it will not be interfered with by the main frame 211.

[0084] In this embodiment, a foot pedal 27 is also included. The foot pedal 27 is rotatably disposed at one end of the secondary longitudinal beam 2221 away from the secondary cross beam 2222. The guard plate 26 is provided with a groove 261 for accommodating the foot pedal 27. When not in use, the foot pedal 27 can be folded into the groove 261. When in use, the foot pedal 27 can be rotated out.

[0085] In practice, the foot pedal 27 can be connected to the secondary longitudinal beam 2221 by means of a damping pivot, so that the foot pedal 27 can be rotated to any position and stop.

[0086] In this embodiment, there are two first electric push rods 23 arranged at intervals along the first direction. The two first electric push rods 23 cooperate to support the main frame 21 and ensure the strength of the main frame 21.

[0087] Two second electric push rods 24 are arranged at intervals along the second direction. The two second electric push rods 24 cooperate to support the base plate 221, ensuring that the base plate 221 can support the passenger.

[0088] In this embodiment, the first swing mechanism 8 includes a first rotating shaft 81 and a third electric push rod 82. The first rotating shaft 81 passes through the transmission wheel 52 and is coaxial with the transmission wheel 52. The first rotating shaft 81 is rotatably connected to the bracket 3. A first sleeve 83 is sleeved on the first rotating shaft 81 and rotatably engages with the first sleeve 83. The first sleeve 83 is rotatably engaged with the bracket 3. The transmission wheel 52 is fixed on the first sleeve 83. Through this structural design, the transmission wheel 52 and the first rotating shaft 81 can rotate independently without interfering with each other.

[0089] A first swing block 84 is fixed on the first rotating shaft 81, and the walking wheel 6 is rotatably disposed at the end of the first swing block 84 away from the first rotating shaft 81. The rotation axis of the walking wheel 6 is parallel to the axis of the first rotating shaft 81.

[0090] The third electric push rod 82 is mounted on the bracket 3, and the first support 85 is fixed on the first rotating shaft 81. One end of the third electric push rod 82 is hinged to the bracket 3, and the other end of the third electric push rod 82 is hinged to the first support 85. When the third electric push rod 82 extends or retracts, it can drive the first rotating shaft 81 to rotate. The rotation of the first rotating shaft 81 can drive the first swing block 84 to swing. The swing of the first swing block 84 can drive the walking wheel 6 to move, thereby adjusting the height of the walking wheel 6.

[0091] In this embodiment, there are two first swing mechanisms 8 on the chassis 1. If the two traveling wheels 6 on the bracket 3 are divided into front wheels and rear wheels, one first swing mechanism 8 is used to control the two front wheels and the other first swing mechanism 8 is used to control the two rear wheels. Therefore, the first rotating shaft 81 will be installed in the corresponding transmission wheels 52 on the two brackets 3. The two ends of the first rotating shaft 81 are provided with first swing blocks 84, so as to synchronously adjust the two traveling wheels 6.

[0092] Generally, the front wheel is a Mecanum wheel.

[0093] In this embodiment, the swing arm 55 is rotatably mounted on the first sleeve 83;

[0094] The second swing mechanism 9 includes a second sleeve 91, a connecting rod 92, and a fourth electric push rod 93. The second sleeve 91 is sleeved on the first rotating shaft 81 and rotatably connected to the first rotating shaft 81. Therefore, the first rotating shaft 81 and the second sleeve 91 can rotate independently without interfering with each other. The connecting rod 92 is set on the swing arm 55. Since the swing arm 55 is rotatably set on the first sleeve 83, the rotation axis of the swing arm 55 is coaxial with the rotation axis of the first sleeve 83. The connection between the connecting rod 92 and the swing arm 55 is not located on the rotation axis of the swing arm 55. The second sleeve 91 is connected to the connecting rod 92 through a connecting block 94.

[0095] The fourth electric push rod 93 is mounted on the bracket 3, and the second support 95 is fixed on the second sleeve 91. One end of the fourth electric push rod 93 is hinged to the bracket 3, and the other end of the fourth electric push rod 93 is hinged to the second support 95. The extension and retraction of the fourth electric push rod 93 drives the second sleeve 91 to rotate. The second sleeve 91 causes the connecting rod 92 to move around it, and the connecting rod 92 then drives the swing arm 55 to swing. The swing axis of the swing arm 55 is also coaxial with the axis of the transmission wheel 52, so the swing of the swing arm 55 will not affect the transmission connection of the climbing ladder track 54.

[0096] In this embodiment, there are two second swing mechanisms 9 on the chassis 1. If the two track units 5 on the support 3 are divided into front track units 5 and rear track units 5, one second swing mechanism 9 controls the swing arms 55 in the two front track units 5, and the other second swing mechanism 9 controls the swing arms 55 in the two rear track units 5. The connecting rod 92 connects the corresponding swing arms 55 on the two supports 3, so that the corresponding two swing arms 55 can swing synchronously.

[0097] In this embodiment, the support 3 is provided with auxiliary mechanisms 10 corresponding to the two track units 5 one by one;

[0098] The auxiliary mechanism 10 includes a second swing block 101 rotatably mounted on the bracket 3. The second swing block 101 is provided with an auxiliary wheel 102. A spring 103 is connected between the bracket 3 and the second swing block 101. The spring 103 causes the second swing block 101 to swing upward.

[0099] A push block 104 is fixed on the swing arm 55, and an arc-shaped groove 105 is provided on the bracket 3 for the push block 104 to pass through. The second swing block 101 is lower than the rotation axis of the transmission wheel 52, so the arc-shaped groove 105 is located between the rotation axis of the transmission wheel 52 and the second swing block 101, and the second swing block 101 is located on the side of the transmission wheel 52 away from the driven wheel 53. At the same time, there is a gap between the traveling wheel 6 and the bracket 3, and the second swing block 101 is located in the gap to avoid the swing interference between the second swing block 101 and the traveling wheel 6.

[0100] During normal operation, the swing arm 55 is retracted, and the second swing block 101 rests against the push block 104 under the action of the spring 103. At this time, the auxiliary wheel 102 does not contact the ground and does not provide support. When switching to the ladder mode, if the attitude of the swing arm 55 needs to be adjusted, the swing arm 55 will rotate downward. At this time, the push block 104 will gradually move upward along the arc groove 105. The push block 104 will push the second swing block 101 to swing downward, allowing the auxiliary wheel 102 to contact the ground. The auxiliary wheel 102 can assist the climbing of the ladder track 54. The push block 104 is an arc-shaped block. After the auxiliary wheel 102 contacts the ground, even if the push block 104 continues to move upward, it will only maintain the attitude of the second swing block 101 and will not push the second swing block 101 to continue moving. When the swing arm 55 is retracted, the arc-shaped block returns to its original position, and the second swing block 101 rotates upward and returns to its original position under the action of the spring 103. The auxiliary wheel 102 will no longer contact the ground.

[0101] In this embodiment, the drive unit 7 includes a motor 71, a first drive shaft 72 and a second drive shaft 73 mounted on the bracket 3. The axis of the first drive shaft 72 is parallel to the axis of the second drive shaft 73. Both the first drive shaft 72 and the second drive shaft 73 are rotatably connected to the bracket 3. The motor 71 drives the first drive shaft 72 to rotate.

[0102] The first drive shaft 72 passes through one of the drive wheels 51 of the bracket 3 and rotates with it, so the first drive shaft 72 and the drive wheel 51 can rotate independently without interfering with each other; the second drive shaft 73 passes through the other drive wheel 51 of the bracket 3 and is fixedly engaged with it.

[0103] The first drive shaft 72 and the second drive shaft 73 are connected by a reduction module 74. The reduction module 74 includes a first gear 741, a second gear 742, and a first chain 743. The first gear 741 is fixed on the first drive shaft 72, and the second gear 742 is fixed on the second drive shaft 73. The first chain 743 drives the first gear 741 and the second gear 742. The outer diameter of the first gear 741 is smaller than the outer diameter of the second gear 742. When the first drive shaft 72 rotates, it drives the first gear 741 to rotate. The first gear 741 drives the second gear 742 to rotate through the first chain 743. The second gear 742 then drives the second drive shaft 73 to rotate. The outer diameter of the gear is the tip circle diameter of the gear. Therefore, by using the first gear 741 to drive the second gear 742, the rotational speed can be reduced, so that the rotational speed of the second drive shaft 73 is lower than the speed of the first drive shaft 72.

[0104] The two drive wheels 51 of the support frame 3 are connected by a synchronization module 75. The synchronization module 75 includes a third gear 751, a fourth gear 752, and a second chain 753. The third gear 751 and the fourth gear 752 are respectively located on the two drive wheels 51. The second chain 753 drives the third gear 751 and the fourth gear 752. The outer diameter of the third gear 751 is the same as that of the fourth gear 752. The second drive shaft 73 drives the drive wheel 51 connected to it to rotate. Relying on the second chain 753, the third gear 751 and the fourth gear 752 rotate synchronously, thereby causing the other drive wheel 51 to rotate. Since the outer diameter of the third gear 751 is the same as that of the fourth gear 752, the speed of the two drive wheels 51 is the same, ensuring that the two climbing tracks 54 on the same support frame 3 run at the same speed.

[0105] The second drive shaft 73 is connected to one of the walking wheels 6 of the bracket 3 via a drive module 76. The drive module 76 includes a fifth gear 761, a sixth gear 762, a seventh gear 763, an eighth gear 764, a third chain 765, and a fourth chain 766. The fifth gear 761 is fixed on the second drive shaft 73. The sixth gear 762 and the seventh gear 763 are rotatably mounted on the first rotating shaft 81. The sixth gear 762 and the seventh gear 763 are fixedly connected. The second rotating shaft 767 is rotatably mounted on the first swing block 84. The walking wheel 6 is fixedly connected to the second rotating shaft 767. The eighth gear 764 is fixed on the second rotating shaft 767. The third chain 765 drives the fifth gear 761 and the sixth gear 762. The fourth chain 766 drives the seventh gear 763 and the eighth gear 764.

[0106] Specifically, the rear wheel is connected to the transmission module 76. The sixth gear 762 and the seventh gear 763 are mounted on the first shaft 81 connected to the rear wheel. The second transmission shaft 73 drives the fifth gear 761 to rotate. The fifth gear 761 drives the sixth gear 762 to rotate through the third chain 765. The sixth gear 762 drives the seventh gear 763 to rotate. The seventh gear 763 drives the eighth gear 764 to rotate through the fourth chain 766. The eighth gear 764 drives the second shaft 767 to rotate. The walking wheel 6 rotates together with the second shaft 767. Therefore, even if the walking wheel 6 needs to swing, it will not interfere with the rotation of the walking wheel 6.

[0107] Based on the design of the drive unit 7 in this application, only one motor 71 needs to be arranged on a bracket 3 to enable the two climbing ladder tracks 54 and one walking wheel 6 to run.

[0108] In some other embodiments, the drive unit 7 can be equipped with two motors 71, which correspond to two track units 5. In this way, not many transmission structures are needed, and the speeds of the two climbing track 54 can be different. One of the drive shafts can drive the walking wheel 6 to rotate through the transmission module 76.

[0109] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A ladder-climbing wheelchair, characterized in that, It includes a chassis and a seat, the seat being rotatably mounted on the chassis; The chassis includes two symmetrically arranged supports connected by a support tube; the supports are equipped with two track units, two wheels and a drive unit, with the two track units arranged front and rear. The track unit includes a drive wheel, a transmission wheel, a driven wheel, a climbing track, and a swing arm. The drive wheel, the driven wheel, and the swing arm are rotatably mounted on the bracket. The driven wheel is mounted on the swing arm. The climbing track is drivingly connected to the drive wheel, the transmission wheel, and the driven wheel. The lower part of the climbing track between the transmission wheel and the driven wheel is the contact section. The two drive wheels and at least one walking wheel of the bracket rotate under the drive of the drive unit; The chassis is equipped with a first swing mechanism and a second swing mechanism; The second swing mechanism is used to drive the swing arm to rotate in order to adjust the posture of the contact segment; The first swing mechanism is used to adjust the height of the walking wheel so that the walking wheel or the ladder track contacts the ground.

2. The ladder wheelchair according to claim 1, characterized in that, It includes the main frame, sub-frame, first electric push rod, second electric push rod, and seating components; The main frame is rotatably mounted on the chassis. One end of the first electric push rod is hinged to the chassis, and the other end of the first electric push rod is hinged to the main frame. The first electric push rod is used to drive the main frame to rotate. The subframe is rotatably mounted on the main frame. One end of the second electric push rod is hinged to the main frame, and the other end of the second electric push rod is hinged to the subframe. The second electric push rod is used to drive the subframe to rotate. The seating assembly is fixed to the subframe.

3. The ladder wheelchair according to claim 2, characterized in that, The main frame includes two main frames arranged at intervals along a first direction. The main frame includes a main longitudinal beam and a main transverse beam. The main longitudinal beam and the main transverse beam form an inverted L-shape. The two main longitudinal beams are connected by a reinforcing tube. The end of the main longitudinal beam away from the main transverse beam is rotatably connected to the chassis. The sub-frame is rotatably connected to the end of the main transverse beam away from the main longitudinal beam. The first electric push rod and the second electric push rod are respectively hinged to the reinforced tube.

4. The ladder wheelchair according to claim 3, characterized in that, The subframe includes a base plate and two subframes spaced apart along the first direction. Each subframe includes a secondary longitudinal beam and a secondary transverse beam, which form an inverted L-shape. The base plate is mounted on the two secondary transverse beams, which are rotatably connected to the main transverse beam. The second electric push rod is hinged to the base plate. The seating assembly is fixed to the base plate.

5. The ladder wheelchair according to claim 1, characterized in that, The first swing mechanism includes a first rotating shaft and a third electric push rod. The first rotating shaft passes through the transmission wheel and is coaxial with the transmission wheel. The first rotating shaft is rotatably connected to the bracket. A first sleeve is sleeved on the first rotating shaft and rotatably engages with the first sleeve. The first sleeve is rotatably engaged with the bracket. The transmission wheel is fixed on the first sleeve. A first swing block is fixed on the first rotating shaft, and the walking wheel is rotatably disposed at the end of the first swing block away from the first rotating shaft. The rotation axis of the walking wheel is parallel to the axis of the first rotating shaft. The third electric push rod is mounted on the bracket and is connected to the first rotating shaft to drive the first rotating shaft to rotate, thereby causing the first swing block to swing.

6. The ladder wheelchair according to claim 5, characterized in that, The swing arm is rotatably mounted on the first sleeve; The second swing mechanism includes a second sleeve, a connecting rod, and a fourth electric push rod. The second sleeve is sleeved on the first rotating shaft and rotatably connected to the first rotating shaft. The connecting rod is disposed on the swing arm. The second sleeve is connected to the connecting rod through a connecting block. The fourth electric push rod is mounted on the bracket and is connected to the second sleeve to drive the second sleeve to rotate, thereby causing the connecting rod to drive the swing arm to swing.

7. The ladder wheelchair according to claim 1, characterized in that, The support frame is equipped with auxiliary mechanisms that correspond one-to-one with the two track units; The auxiliary mechanism includes a second swing block rotatably mounted on the bracket, the second swing block having an auxiliary wheel, and a spring connecting the bracket and the second swing block, the spring causing the second swing block to swing upward. A push block is fixed on the swing arm, and an arc-shaped groove is provided on the bracket for the push block to pass through; when the swing arm rotates downward, the push block will push the second swing block to rotate downward.

8. The ladder wheelchair according to claim 5, characterized in that, The drive unit includes a motor, a first drive shaft, and a second drive shaft mounted on the bracket. Both the first drive shaft and the second drive shaft are rotatably connected to the bracket, and the motor drives the first drive shaft to rotate. The first drive shaft passes through one of the drive wheels of the bracket and is rotatably engaged with it, while the second drive shaft passes through the other drive wheel of the bracket and is fixedly engaged with it. The first drive shaft and the second drive shaft are connected by a reduction module, the two drive wheels of the bracket are connected by a synchronization module, and the second drive shaft is connected to one of the walking wheels of the bracket by a transmission module.

9. The ladder wheelchair according to claim 8, characterized in that, The deceleration module includes a first gear, a second gear, and a first chain. The first gear is fixed on the first drive shaft, the second gear is fixed on the second drive shaft, and the first chain drives the first gear and the second gear. The outer diameter of the first gear is smaller than the outer diameter of the second gear. The synchronization module includes a third gear, a fourth gear, and a second chain. The third gear and the fourth gear are respectively mounted on two drive wheels. The second chain drives and connects the third gear and the fourth gear. The outer diameter of the third gear is the same as that of the fourth gear.

10. The ladder wheelchair according to claim 8, characterized in that, The transmission module includes a fifth gear, a sixth gear, a seventh gear, an eighth gear, a third chain, and a fourth chain. The fifth gear is fixed on the second transmission shaft. The sixth and seventh gears are rotatably mounted on the first rotating shaft and are fixedly connected. A second rotating shaft is rotatably mounted on the first swing block. The traveling wheel is fixedly connected to the second rotating shaft. The eighth gear is fixed on the second rotating shaft. The third chain drives the fifth and sixth gears, and the fourth chain drives the seventh and eighth gears.

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