Mechanism for moving a ladder wheelchair

Abstract

The utility model discloses a kind of movement mechanisms of ladder wheelchair, to can switch ladder mode, more stronger applicability;It includes chassis, the chassis includes two supports arranged symmetrically, two the support is connected by support tube;Two crawler units, two walking wheels and drive unit are equipped on the support, two The crawler unit is arranged before and after;The crawler unit includes driving wheel, transmission wheel, driven wheel, ladder crawler and swing arm, the driving wheel the driven wheel and the swing arm rotation is arranged on the support, the driven wheel is arranged on the swing arm, the ladder crawler transmission connection driving wheel transmission wheel and the driven wheel, the ladder crawler is located between transmission wheel and the driven wheel and the part of lower portion as contact section;Two the driving wheel of the support, at least one the walking wheel is rotated under the drive of the drive unit;Belongs to the technical field of wheelchair.

Description

Technical Field

[0001] This utility model belongs to the field of wheelchair technology, and more specifically, relates to a motion mechanism for 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 wheel-type motion mechanism cannot climb stairs. Utility Model Content

[0004] The main purpose of this utility model is to provide a motion mechanism for a ladder-climbing wheelchair, which is designed to switch between ladder-climbing modes and has greater applicability.

[0005] According to a first aspect of the present invention, a motion mechanism for a ladder-climbing wheelchair is provided, including a chassis, the chassis including two symmetrically arranged supports, the two supports being connected by a support tube;

[0006] The support frame is equipped with two track units, two wheels and a drive unit, with the two track units arranged in a front-to-back configuration.

[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] In the aforementioned motion mechanism of the ladder-climbing wheelchair, the first swing mechanism includes a first rotating shaft and a first 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.

[0013] 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.

[0014] The first 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.

[0015] In the aforementioned movement mechanism of the ladder-climbing wheelchair, the first rotating shaft passes through the corresponding transmission wheels on the two brackets, and the first swing block is provided at both ends of the first rotating shaft.

[0016] In the aforementioned motion mechanism of the ladder-climbing wheelchair, the swing arm is rotatably mounted on the first sleeve;

[0017] The second swing mechanism includes a second sleeve, a connecting rod, and a second 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.

[0018] The second 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.

[0019] In the aforementioned motion mechanism of the ladder-climbing wheelchair, the connecting rod connects the corresponding swing arms on the two supports.

[0020] In the aforementioned movement mechanism of the ladder-climbing wheelchair, the support frame is equipped with auxiliary mechanisms that correspond one-to-one with the two track units;

[0021] 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.

[0022] 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.

[0023] In the aforementioned movement mechanism of the ladder-climbing 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.

[0024] 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.

[0025] 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.

[0026] In the aforementioned motion mechanism of the ladder-climbing 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.

[0027] In the aforementioned motion mechanism of the ladder-climbing wheelchair, the synchronization module includes a third gear, a fourth gear, and a second chain. The third gear and the fourth gear are respectively disposed on the 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 the outer diameter of the fourth gear.

[0028] In the aforementioned movement mechanism of the 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, and the sixth and seventh gears are rotatably mounted on the first rotating shaft. The sixth gear is fixedly connected to the seventh gear. A second rotating shaft is rotatably mounted on the first swing block. The walking wheel is fixedly connected to the second rotating shaft, and 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.

[0029] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0030] 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. Based on this, the motion mechanism can switch modes, making it more adaptable. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0032] Figure 1 This is a schematic diagram of the structure of the first embodiment of the present utility model;

[0033] Figure 2 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;

[0034] Figure 3 This is a side view of the first embodiment of the present invention;

[0035] Figure 4 This is the first embodiment of the present utility model. Figure 3 A magnified view of a portion of A;

[0036] Figure 5 This is an exploded view of the track unit and support frame according to the first embodiment of this utility model;

[0037] Figure 6 This is an exploded view of the deceleration module and transmission module of the first embodiment of this utility model.

[0038] The figure labels for each figure are as follows:

[0039] 1. Chassis; 2. Bracket; 3. Support tube;

[0040] 4. Track unit; 41. Drive sprocket; 42. Transmission sprocket; 43. Driven sprocket; 44. Climbing track; 441. Contact section; 45. Swing arm; 46. Tensioner;

[0041] 5. Wheels;

[0042] 6. Drive unit; 61. Motor; 62. First drive shaft; 63. Second drive shaft; 64. Reduction module; 641. First gear; 642. Second gear; 643. First chain; 65. Synchronization module; 651. Third gear; 652. Fourth gear; 653. Second chain; 66. Transmission module; 661. Fifth gear; 662. Sixth gear; 663. Seventh gear; 664. Eighth gear; 665. Third chain; 666. Fourth chain; 667. Second rotating shaft;

[0043] 7. First swing mechanism; 71. First rotating shaft; 72. First electric push rod; 73. First sleeve; 74. First swing block; 75. First support;

[0044] 8. Second swing mechanism; 81. Second sleeve; 82. Connecting rod; 83. Second electric push rod; 84. Connecting block; 85. Second support;

[0045] 9. Auxiliary mechanism; 91. Second swing block; 92. Auxiliary wheel; 93. Spring; 94. Push block; 95. Arc groove. Detailed Implementation

[0046] 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.

[0047] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0048] Reference Figures 1 to 6 As shown, a motion mechanism for a ladder-climbing wheelchair includes a chassis 1, which includes two symmetrically arranged supports 2 connected by support tubes 3. Multiple support tubes 3 are provided and supported between the two supports 2 to improve the strength of the chassis 1.

[0049] The support frame 2 is equipped with two track units 4, two wheels 5, and a drive unit 6. The two track units 4 are arranged front and rear. In this way, the two support frames 2 have four track units 4. When climbing ladders, the four track units 4 work together to support the chassis 1, allowing for stable climbing. The two support frames 2 have a total of four wheels 5. During normal driving, the four wheels 5 work together to support the chassis 1. The four track units 4 and the four wheels 5 are in one-to-one correspondence, making the chassis 1 sufficiently stable.

[0050] The track unit 4 includes a drive wheel 41, a transmission wheel 42, a driven wheel 43, a climbing track 44, and a swing arm 45. The drive wheel 41, driven wheel 43, and swing arm 45 are rotatably mounted on the support 2. The driven wheel 43 is mounted on the swing arm 45. The climbing track 44 is connected to the drive wheel 41, transmission wheel 42, and driven wheel 43. The lower part of the climbing track 44 between the transmission wheel 42 and the driven wheel 43 is the contact section 441. The two drive wheels 41 on the same support 2 are adjacent. The transmission wheel 42 is located on the side of the drive wheel 41 away from the other drive wheel 41, while the driven wheel 43 is located on the side of the transmission wheel 42 away from the drive wheel 41. Therefore, the rotation of the swing arm 45 can adjust the position of the driven wheel 43, thereby changing the posture of the part of the climbing track 44 located between the transmission wheel 42 and the driven wheel 43. The lower contact section 441 is used to contact the ground, that is, to contact the step.

[0051] Each track unit 4 also includes a tensioning wheel 46, which is mounted on the bracket 2 for adjusting the tension of the climbing track 44;

[0052] The bracket 2 includes two plates, and the two plates form an installation space. The drive wheel 41, transmission wheel 42 and tension wheel 46 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.

[0053] The two drive wheels 41 and at least one travel wheel 5 of the support 2 rotate under the drive of the drive unit 6, thereby allowing the climbing track 44 and the travel wheel 5 to move.

[0054] The chassis 1 is equipped with a first swing mechanism 7 and a second swing mechanism 8;

[0055] The second swing mechanism 8 is used to drive the swing arm 45 to rotate in order to adjust the posture of the contact section 441;

[0056] The first swing mechanism 7 is used to adjust the height of the walking wheel 5 so that the walking wheel 5 or the climbing track 44 can contact the ground;

[0057] In use, for daily driving, the first swing mechanism 7 lowers the height of the walking wheel 5 so that the walking wheel 5 contacts the ground, and the second swing mechanism 8 retracts the swing arm 45 so that the climbing track 44 does not contact the ground, thus allowing the walking wheel 5 to travel on the ground.

[0058] If it is a ladder, the first swing mechanism 7 raises the height of the walking wheel 5 so that the ladder track 44 contacts the ground. The second swing mechanism 8 adjusts the swing arm 45 so that the contact section 441 can adapt to the slope of the stairs and can contact the edge of the step. The swing arms 45 of the two track units 4 cooperate so that the ladder track 44 can climb the stairs.

[0059] Based on this, the motion mechanism can switch modes, making it more adaptable.

[0060] In this embodiment, the first swing mechanism 7 includes a first rotating shaft 71 and a first electric push rod 72. The first rotating shaft 71 passes through the transmission wheel 42 and is coaxial with the transmission wheel 42. The first rotating shaft 71 is rotatably connected to the bracket 2. A first sleeve 73 is sleeved on the first rotating shaft 71 and rotatably engages with the first sleeve 73. The first sleeve 73 is rotatably engaged with the bracket 2. The transmission wheel 42 is fixed on the first sleeve 73. Through this structural design, the transmission wheel 42 and the first rotating shaft 71 can rotate independently without interfering with each other.

[0061] A first swing block 74 is fixed on the first rotating shaft 71, and the walking wheel 5 is rotatably disposed at the end of the first swing block 74 away from the first rotating shaft 71. The rotation axis of the walking wheel 5 is parallel to the axis of the first rotating shaft 71.

[0062] The first electric push rod 72 is mounted on the bracket 2, and the first support 75 is fixed on the first rotating shaft 71. One end of the first electric push rod 72 is hinged to the bracket 2, and the other end of the first electric push rod 72 is hinged to the first support 75. When the first electric push rod 72 extends or retracts, it can drive the first rotating shaft 71 to rotate. The rotation of the first rotating shaft 71 can drive the first swing block 74 to swing. The swing of the first swing block 74 can drive the walking wheel 5 to move, thereby adjusting the height of the walking wheel 5.

[0063] In this embodiment, there are two first swing mechanisms 7 on the chassis 1. If the two traveling wheels 5 on the bracket 2 are divided into front wheels and rear wheels, one first swing mechanism 7 is used to control the two front wheels and the other first swing mechanism 7 is used to control the two rear wheels. Therefore, the first rotating shaft 71 will be inserted into the corresponding transmission wheels 42 on the two brackets 2. Both ends of the first rotating shaft 71 are provided with first swing blocks 74, so as to synchronously adjust the two traveling wheels 5.

[0064] Generally, the front wheel is a Mecanum wheel.

[0065] In this embodiment, the swing arm 45 is rotatably mounted on the first sleeve 73;

[0066] The second swing mechanism 8 includes a second sleeve 81, a connecting rod 82, and a second electric push rod 83. The second sleeve 81 is sleeved on the first rotating shaft 71 and rotatably connected to the first rotating shaft 71. Therefore, the first rotating shaft 71 and the second sleeve 81 can rotate independently without interfering with each other. The connecting rod 82 is set on the swing arm 45. Since the swing arm 45 is rotatably set on the first sleeve 73, the rotation axis of the swing arm 45 is coaxial with the rotation axis of the first sleeve 73. The connection between the connecting rod 82 and the swing arm 45 is not located on the rotation axis of the swing arm 45. The second sleeve 81 is connected to the connecting rod 82 through a connecting block 84.

[0067] The second electric push rod 83 is mounted on the bracket 2, and the second support 85 is fixed on the second sleeve 81. One end of the second electric push rod 83 is hinged to the bracket 2, and the other end of the second electric push rod 83 is hinged to the second support 85. The extension and retraction of the second electric push rod 83 drives the second sleeve 81 to rotate. The second sleeve 81 causes the connecting rod 82 to move around it, and the connecting rod 82 then drives the swing arm 45 to swing. The swing axis of the swing arm 45 is also coaxial with the axis of the transmission wheel 42, so the swing of the swing arm 45 will not affect the transmission connection of the climbing ladder track 44.

[0068] In this embodiment, there are two second swing mechanisms 8 on the chassis 1. If the two track units 4 on the support 2 are divided into front track units 4 and rear track units 4, one second swing mechanism 8 controls the swing arms 45 in the two front track units 4, and the other second swing mechanism 8 controls the swing arms 45 in the two rear track units 4. The connecting rod 82 connects the corresponding swing arms 45 on the two supports 2, so that the corresponding two swing arms 45 can swing synchronously.

[0069] In this embodiment, the support 2 is provided with auxiliary mechanisms 9 that correspond one-to-one with the two track units 4;

[0070] The auxiliary mechanism 9 includes a second swing block 91 rotatably mounted on the bracket 2. The second swing block 91 is provided with an auxiliary wheel 92. A spring 93 is connected between the bracket 2 and the second swing block 91. The spring 93 causes the second swing block 91 to have an upward swing tendency.

[0071] A push block 94 is fixed on the swing arm 45, and an arc-shaped groove 95 is provided on the bracket 2 for the push block 94 to pass through; the second swing block 91 is lower than the rotation axis of the transmission wheel 42, so the arc-shaped groove 95 is located between the rotation axis of the transmission wheel 42 and the second swing block 91, and the second swing block 91 is located on the side of the transmission wheel 42 away from the driven wheel 43. At the same time, there is a gap between the traveling wheel 5 and the bracket 2, and the second swing block 91 is located in the gap to avoid the swing interference between the second swing block 91 and the traveling wheel 5.

[0072] During normal operation, the swing arm 45 is retracted, and the second swing block 91 rests against the push block 94 under the action of the spring 93. At this time, the auxiliary wheel 92 does not contact the ground and does not provide support. When switching to the ladder mode, if the attitude of the swing arm 45 needs to be adjusted, the swing arm 45 will rotate downward. At this time, the push block 94 will gradually move upward along the arc groove 95. Then, the push block 94 will push the second swing block 91 to swing downward, allowing the auxiliary wheel 92 to contact the ground. The auxiliary wheel 92 can assist the climbing of the ladder track 44. The push block 94 is an arc-shaped block. After the auxiliary wheel 92 contacts the ground, even if the push block 94 continues to move upward, it will only maintain the attitude of the second swing block 91 and will not push the second swing block 91 to move further. When the swing arm 45 is retracted, the push block 94 returns to its original position, and the second swing block 91 rotates upward to return to its original position under the action of the spring 93. The auxiliary wheel 92 will no longer contact the ground. In practice, the swing amplitude of the second swing block 91 is very small. It is only necessary to control whether the auxiliary wheel 91 touches the ground or not.

[0073] In this embodiment, the drive unit 6 includes a motor 61, a first drive shaft 62 and a second drive shaft 63 mounted on the bracket 2. The rotation axis of the first drive shaft 62 is parallel to the rotation axis of the second drive shaft 63. Both the first drive shaft 62 and the second drive shaft 63 are rotatably connected to the bracket 2. The motor 61 drives the first drive shaft 62 to rotate.

[0074] The first drive shaft 62 passes through one of the drive wheels 41 of the bracket 2 and rotates with it, so the first drive shaft 62 and the drive wheel 41 can rotate independently without interfering with each other; the second drive shaft 63 passes through the other drive wheel 41 of the bracket 2 and is fixedly engaged with it.

[0075] The first drive shaft 62 and the second drive shaft 63 are connected by a reduction module 64. The reduction module 64 includes a first gear 641, a second gear 642, and a first chain 643. The first gear 641 is fixed on the first drive shaft 62, and the second gear 642 is fixed on the second drive shaft 63. The first chain 643 drives the first gear 641 and the second gear 642. The outer diameter of the first gear 641 is smaller than the outer diameter of the second gear 642. When the first drive shaft 62 rotates, it drives the first gear 641 to rotate. The first gear 641 drives the second gear 642 to rotate through the first chain 643. The second gear 642 then drives the second drive shaft 63 to rotate. The outer diameter of the gear is the tip circle diameter of the gear. Therefore, by using the first gear 641 to drive the second gear 642, the rotational speed can be reduced, so that the rotational speed of the second drive shaft 63 is lower than the speed of the first drive shaft 62.

[0076] The two drive wheels 41 of the support frame 2 are connected by a synchronization module 65. The synchronization module 65 includes a third gear 651, a fourth gear 652, and a second chain 653. The third gear 651 and the fourth gear 652 are respectively located on the two drive wheels 41. The second chain 653 drives the third gear 651 and the fourth gear 652. The outer diameter of the third gear 651 is the same as that of the fourth gear 652. The second drive shaft 63 drives the drive wheel 41 connected to it to rotate. Relying on the second chain 653, the third gear 651 and the fourth gear 652 rotate synchronously, thereby causing the other drive wheel 41 to rotate. Since the outer diameter of the third gear 651 is the same as that of the fourth gear 652, the speed of the two drive wheels 41 is the same, ensuring that the two climbing tracks 44 on the same support frame 2 run at the same speed.

[0077] The second drive shaft 63 is connected to one of the walking wheels 5 of the bracket 2 via a drive module 66. The drive module 66 includes a fifth gear 661, a sixth gear 662, a seventh gear 663, an eighth gear 664, a third chain 665, and a fourth chain 666. The fifth gear 661 is fixed on the second drive shaft 63. The sixth gear 662 and the seventh gear 663 are rotatably mounted on the first rotating shaft 71. The sixth gear 662 and the seventh gear 663 are fixedly connected. The first swing block 74 is rotatably mounted on the second rotating shaft 667. The walking wheel 5 is fixedly connected to the second rotating shaft 667. The eighth gear 664 is fixed on the second rotating shaft 667. The third chain 665 drives the fifth gear 661 and the sixth gear 662. The fourth chain 666 drives the seventh gear 663 and the eighth gear 664.

[0078] Specifically, the rear wheel is connected to the transmission module 66. The sixth gear 662 and the seventh gear 663 are mounted on the first shaft 71 connected to the rear wheel. The second transmission shaft 63 drives the fifth gear 661 to rotate. The fifth gear 661 drives the sixth gear 662 to rotate via the third chain 665. The sixth gear 662 drives the seventh gear 663 to rotate. The seventh gear 663 drives the eighth gear 664 to rotate via the fourth chain 666. The eighth gear 664 drives the second shaft 667 to rotate. The walking wheel 5 rotates together with the second shaft 667. Therefore, even if the walking wheel 5 needs to swing, it will not interfere with the rotation of the walking wheel 5.

[0079] Based on the design of the drive unit 6 in this application, only one motor 61 needs to be arranged on a bracket 2 to enable the two climbing ladder tracks 44 and one walking wheel 5 to run.

[0080] In some other embodiments, the drive unit 6 can be equipped with two motors 61, which correspond to two track units 4. In this way, not many transmission structures are needed, and the speeds of the two climbing track 44 can be different. One of the drive shafts can drive the walking wheel 5 to rotate through the transmission module 66.

[0081] 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 motion mechanism for a ladder-climbing wheelchair, characterized in that, Includes a chassis, the chassis comprising two symmetrically arranged supports connected by a support tube; The support frame is equipped with two track units, two wheels and a drive unit, with the two track units arranged in a front-to-back configuration. 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 motion mechanism of the ladder-climbing wheelchair according to claim 1, characterized in that, The first swing mechanism includes a first rotating shaft and a first 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 first 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.

3. The motion mechanism of the ladder-climbing wheelchair according to claim 2, characterized in that, The first rotating shaft passes through the corresponding transmission wheels on the two brackets, and the first swing block is provided at both ends of the first rotating shaft.

4. The motion mechanism of the ladder-climbing wheelchair according to claim 2, 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 second 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 second 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.

5. The motion mechanism of the ladder-climbing wheelchair according to claim 4, characterized in that, The connecting rod connects the corresponding swing arms on the two supports.

6. The motion mechanism of the ladder-climbing 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.

7. The motion mechanism of the ladder-climbing wheelchair according to claim 2, 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.

8. The motion mechanism of the ladder-climbing wheelchair according to claim 7, 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.

9. The motion mechanism of the ladder-climbing wheelchair according to claim 7, characterized in that, 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 motion mechanism of the ladder-climbing wheelchair according to claim 7, 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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