Four-wheel-drive electric wheelchair with doublet wheels capable of going up / down stairs

Abstract

Provided is a four-wheel-drive electric wheelchair with doublet wheels capable of going up / down stairs. By axially moving a first shaft sleeve (19) to secure a first rotating wheel (12), a first motor (13) drives a first wheel (11) to rotate coaxially with respect to the first rotating wheel (12), such that the first wheel (11) and the first rotating wheel (12) transform from a circular doublet-wheel configuration to a step doublet-wheel configuration. Similarly, the other three doublet wheels also transform. As such, the circular doublet-wheel combination is used on level ground, and the doublet wheels transform into the step doublet-wheel combination when going up / down stairs. When going downstairs, a fifth motor (51) drives a seat (1) to move along arc-shaped first guide rail (58) and second guide rail (59) to adjust the tilt angle of the seat (1) and meanwhile, the gravity center position, so as to keep the gravity center at the center between the front doublet wheels and the rear doublet wheels in the vertical direction. The four doublet wheels are driven by individual motors to move independently, such that the wheelchair can move forwards and backwards, turn left and right, and turn around in situ. The four-wheel-drive electric wheelchair capable of going up / down stairs solves the problem that wheelchairs can only run on level ground and cannot go up / down stairs.

Description

A two-wheeled, four-wheel drive electric wheelchair capable of climbing stairs Technical Field

[0001] The invention belongs to the technical field of transportation tools, and in particular relates to a four-wheel drive electric wheelchair capable of climbing stairs. Background Art

[0002] Wheelchairs are a common means of transportation for people with limited mobility. They not only enable people with limited mobility to move around, but also increase their chances of participating in social activities.

[0003] Traditional wheelchairs are generally only usable on flat surfaces and lack the ability to climb stairs or traverse obstacles. However, in reality, wheelchairs often need to navigate stairs, steps, and other obstacles. While stair-climbing wheelchairs are currently available on the market, most currently use a chain-track structure, requiring custom-made stairs, making them impractical. To address this issue, a wheelchair that can navigate both flat surfaces and steps is needed. Summary of the Invention

[0004] 1. Solving technical problems

[0005] In response to the deficiencies in the prior art, a two-wheel, four-wheel drive, stair-climbing electric wheelchair is provided. The first shaft sleeve is moved axially to fix the first rotating wheel, and the first motor drives the first wheel to rotate coaxially relative to the first rotating wheel, so that the first wheel and the first rotating wheel are transformed from a two-wheel circular combination into a two-wheel step combination. Similarly, the other three wheels are deformed together, so that the two-wheel circular combination is used when driving on a flat road, and the wheels are transformed into a two-wheel step combination when climbing stairs; when going downstairs, the fifth motor drives the seat to move along the arc-shaped first guide rail and the second guide rail, adjusts the seat's tilt angle with the horizontal, and simultaneously adjusts the center of gravity position so that the center of gravity remains at the center position of the front and rear wheels in the vertical direction; a separate motor drives the four wheels to move independently, enabling the wheelchair to move forward, backward, turn left, turn right, and turn around on the spot; the four-wheel drive, stair-climbing electric wheelchair solves the problem that the wheelchair can be driven on a flat road as well as on steps and stairs.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a two-wheel four-wheel drive electric wheelchair capable of climbing stairs, characterized in that: a first motor drives a first worm to rotate, the first worm drives a first worm wheel to rotate, the first worm wheel drives a first wheel and a first rotating wheel to rotate coaxially, the worm and the worm wheel are mechanically reduced in speed, and a mechanical self-locking structure is provided, so that the wheels are self-locked and do not rotate when the motor does not rotate, thus saving the braking system;

[0008] Similarly, the second motor drives the second wheel and the second rotating wheel to rotate coaxially, the third motor drives the third wheel and the third rotating wheel to rotate coaxially, and the fourth motor drives the fourth wheel and the fourth rotating wheel to rotate coaxially. The four wheels are driven by separate motors to move independently, which is flexible to operate and enables the wheelchair to move forward, backward, turn left, turn right, and turn around on the spot.

[0009] The first external spline is radially engaged with the first internal spline, so that the first sleeve is radially linked with the first rotating wheel, the first spring presses the second plane teeth toward the first plane teeth, the second plane teeth are meshed and linked with the first plane teeth, so that the first wheel and the first rotating wheel are rotated in a linked manner;

[0010] The sixth motor drives the sixth worm to rotate, the sixth worm drives the first clutch to move, the first clutch drives the first sleeve to move axially toward the first positioning ring, so that the second plane tooth disengages from the first plane tooth, so that the first wheel and the first rotating wheel can rotate relative to each other, the third plane tooth engages with the fourth plane tooth, and the first positioning ring is fixed on the wheelchair, so that the first rotating wheel is radially fixed and cannot rotate, and the first motor drives the right first wheel and the first rotating wheel to rotate relative to each other, so that the first wheel and the first rotating wheel change from a double-wheel circular combination to a double-wheel step combination. After the deformation is completed, the sixth motor drives the first sleeve to move axially and reset, so that the second plane tooth engages with the first plane tooth, and the first wheel and the first rotating wheel rotate coaxially and synchronously. Similarly, the second wheel and the second rotating wheel, the third wheel and the third rotating wheel, the fourth wheel and the fourth rotating wheel are deformed together, so that round wheels are used when driving on flat roads, and stepped wheels are used when climbing stairs.

[0011] Preferably, the arc-shaped first guide rail and the second guide rail are fixed to the wheelchair, the front axle and the rear axle are radially fixed to the arc-shaped first guide rail and the second guide rail, the seat is fixed to the front axle and the rear axle, and the first gear, the second gear and the fifth worm gear are fixed to the rear axle; the fifth motor drives the fifth worm to rotate, and the fifth worm drives the fifth worm gear to rotate, and the fifth worm gear rotates synchronously with the rear axle, the first gear and the second gear, the first gear engages with the first rack, and the second gear engages with the second rack, driving the front axle and the rear axle to move axially along the arc-shaped track of the first guide rail and the second guide rail, driving the seat forward or backward, and rotating the angle at the same time, thereby adjusting the tilt angle of the seat to the horizontal, and adjusting the center of gravity at the same time, so that the center of gravity is maintained at the center position of the front wheel and the rear wheel in the vertical direction.

[0012] Preferably, the right armrest of the seat is equipped with an operating lever, a first button, a second button and a power switch. The operating lever controls the wheelchair to move forward, backward, turn left, turn right, and turn around on the spot. Pressing the first button changes it to stair mode, turning it into a combination of step-shaped wheels. Pressing the second button changes it to flat road mode, turning it into a combination of round wheels.

[0013] Preferably, an induction switch is installed on the limit block, the limit block limits the rotation angle of the wheel and the rotating wheel, and the induction switch outputs a signal indicating that the rotation is in place.

[0014] (3) Beneficial effects

[0015] The present invention provides a two-wheel four-wheel drive electric wheelchair capable of climbing stairs, which has the following beneficial effects:

[0016] (1) A separate motor drives the four wheels to move independently, which is flexible to operate and enables the wheelchair to move forward, backward, turn left, turn right, and turn around on the spot;

[0017] (2) The four wheels are driven by motors, and the worm and worm gear are mechanically reduced in speed. It is a mechanical self-locking structure, which can realize that when the motor does not rotate, the wheels will self-lock and not rotate, thus saving the braking system;

[0018] (3) By axially moving the first sleeve, the first rotating wheel is fixed, and the first motor drives the first wheel to rotate coaxially relative to the first rotating wheel, so that the first wheel and the first rotating wheel are transformed from a double-wheel circular combination to a double-wheel step combination. Similarly, the other three wheels are deformed together, so that the double-wheel circular combination is used when driving on a flat road, and the wheels are transformed into a double-wheel step combination when climbing stairs;

[0019] (4) When going downstairs, the fifth motor drives the seat to move along the arc-shaped first guide rail and the second guide rail, adjusts the seat's horizontal tilt angle, and adjusts the center of gravity position at the same time, so that the center of gravity is maintained at the center position of the front and rear wheels in the vertical direction, solving the problem that the wheelchair can be driven on flat roads or on steps and stairs.

[0020] BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a diagram showing the overall structure of the present invention for descending stairs;

[0022] FIG2 is a diagram showing the overall structure of the present invention for traveling on a flat road;

[0023] FIG3 is a diagram showing the overall structure of the stair climbing system of the present invention;

[0024] FIG4 is a partial structural diagram of the present invention;

[0025] Figures 5-7 are partial cross-sectional views of the present invention;

[0026] Figures 8-9 are partial structural diagrams of the present invention;

[0027] 10-12 are partial cross-sectional views of the present invention;

[0028] Figures 13-14 are partial structural diagrams of the present invention;

[0029] In the figure: 1. seat; 2. right baffle; 3. left baffle; 4. stairs; 5. power battery; 6. right pedal; 7. left pedal; 8. right handrail; 9. left handrail; 11. first wheel; 12. first rotating wheel; 13. first motor; 14. first worm; 15. first worm gear; 16. sixth motor; 17. sixth worm; 18. first clutch; 19. first bushing; 20. first positioning ring; 21. second wheel; 22. second rotating wheel; 23. second motor; 24. second worm; 25. second worm gear ; 26. Seventh motor; 27. Seventh worm; 28. Second clutch; 29. ​​Second bushing; 31. Third wheel; 32. Third rotating wheel; 33. Third motor; 34. Third worm; 35. Third worm gear; 36. Eighth motor; 37. Eighth worm; 38. Third clutch; 39. Third bushing; 41. Fourth wheel; 42. Fourth rotating wheel; 43. Fourth motor; 44. Fourth worm; 45. Fourth worm gear; 46. Ninth motor; 47. Ninth worm; 48. Fourth clutch; 49. Fourth bushing; 51. Fifth motor; 52. Fifth worm; 53. Fifth worm gear; 54. First gear; 55. Second gear; 56. First rack; 57. Second rack; 58. First guide rail; 59. Second guide rail; 60. Rear axle; 61. Front axle; 71. First plane gear; 72. Second plane gear; 73. Third plane gear; 74. Fourth plane gear; 75. First spring; 76. Limit block; 77. Induction switch; 78. First internal spline; 79. First external spline; 81. Operating lever; 82. Power switch; 83. Display screen; 84. First button; 84. Second button.

[0030] DETAILED DESCRIPTION

[0031] The following drawings in the examples of the present invention provide a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the implementation examples described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the implementation examples of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0032] As shown in Figures 1-14, the present invention provides a technical solution: a two-wheel, four-wheel drive electric wheelchair capable of climbing stairs, wherein a first motor 13 drives a first worm 14 to rotate, the first worm 14 drives a first worm gear 15 to rotate, and the first worm gear 15 drives a first wheel 11 and a first rotating wheel 12 to rotate coaxially. The worm and the worm gear are mechanically reduced in speed and have a mechanical self-locking structure, so that the wheels are self-locked and do not rotate when the motor does not rotate, thus saving the braking system.

[0033] Similarly, the second motor 23 drives the second wheel 21 and the second rotating wheel 22 to rotate coaxially, the third motor 33 drives the third wheel 31 and the third rotating wheel 32 to rotate coaxially, and the fourth motor 43 drives the fourth wheel 41 and the fourth rotating wheel 42 to rotate coaxially. The four wheels are driven by separate motors to move independently, which is flexible to operate and enables the wheelchair to move forward, backward, turn left, turn right, and turn around on the spot.

[0034] The first external spline 79 is radially engaged with the first internal spline 78, so that the first sleeve 19 is radially linked with the first rotating wheel 12. The first spring 75 presses the second flat teeth 72 toward the first flat teeth 71. The second flat teeth 72 and the first flat teeth 71 are meshed and linked, so that the first wheel 11 and the first rotating wheel 12 are rotated in a linked manner.

[0035] The sixth motor 16 drives the sixth worm 17 to rotate, the sixth worm 17 drives the first clutch 18 to move, the first clutch 18 drives the first sleeve 19 to move axially toward the first positioning ring 20, so that the second plane tooth 72 disengages from the first plane tooth 71, so that the first wheel 11 and the first rotating wheel 12 can rotate relative to each other, the third plane tooth 73 engages with the fourth plane tooth 74, and the first positioning ring 20 is fixed to the wheelchair, so that the first rotating wheel 12 is radially fixed and cannot rotate. The first motor 11 drives the right first wheel 11 relative to the first rotating wheel 12. The first wheel 11 and the first rotating wheel 12 rotate so that the first wheel 11 and the first rotating wheel 12 change from a double-wheel circular combination to a double-wheel stepped combination. After the deformation is completed, the sixth motor 16 drives the first shaft sleeve to move axially and reset, so that the second flat tooth 72 engages with the first flat tooth 71, and the first wheel 11 and the first rotating wheel 12 rotate coaxially and synchronously. Similarly, the second wheel 21 and the second rotating wheel 22, the third wheel 31 and the third rotating wheel 32, and the fourth wheel 41 and the fourth rotating wheel 42 are deformed together. As a result, round wheels are used when driving on flat roads, and stepped wheels are used when climbing stairs.

[0036] The arc-shaped first guide rail 58 and the second guide rail 59 are fixed to the wheelchair, the front shaft 61 and the rear shaft 60 are radially fixed on the arc-shaped first guide rail 58 and the second guide rail 59, the seat 1 is fixed on the front shaft 61 and the rear shaft 60, the first gear 54, the second gear 55 and the fifth worm gear 53 are fixed on the rear shaft 60; the fifth motor 15 drives the fifth worm 52 to rotate, the fifth worm 52 drives the fifth worm gear 53 to rotate, the fifth worm gear 53 rotates synchronously with the rear shaft 60, the first gear 54, and the second gear 55, the first gear 54 engages with the first rack 56, and the second gear 55 engages with the second rack 57, driving the front shaft 61 and the rear shaft 60 to move axially along the arc-shaped tracks of the first guide rail 58 and the second guide rail 59, driving the seat 1 forward or backward, and rotating the angle at the same time;

[0037] Thus, the tilt angle of the seat 1 relative to the horizontal is adjusted, and the center of gravity is adjusted at the same time so that the center of gravity is maintained at the center position of the front and rear wheels in the vertical direction;

[0038] The wheelchair moves down the stairs 4. When the electronic level senses that the seat 1 is tilted more than 3 degrees from the horizontal, the fifth motor 15 drives the seat 1 to move backward, adjusting the tilt of the seat 1 by 5 degrees.

[0039] The wheelchair goes up stairs 4. When the electronic level senses that the tilt angle of seat 1 to the horizontal is greater than 6 degrees, the fifth motor 15 drives seat 1 forward and adjusts the tilt of seat 1 by 3 degrees. For every 6-degree increase in the tilt angle of seat 1, the tilt of seat 1 is increased by 3 degrees.

[0040] The right armrest 8 of the seat 1 is equipped with an operating lever 81, a first button 84, a second button 85 and a power switch 82. The operating lever 81 controls the wheelchair to move forward, backward, turn left, turn right and turn around on the spot. Pressing the first button 84 changes it to stair mode, turning it into a combination of step-shaped wheels. Pressing the second button 85 changes it to flat road mode, turning it into a combination of round wheels.

[0041] The right armrest 8 of the seat 1 is provided with an operating lever 81, a first button 84, a second button 85, a power switch 82 and a display screen 83. A PCB circuit board is installed below the display screen 83, and the power battery 5 provides power. The operating lever 81 controls the wheelchair to move forward, backward, turn left, turn right and turn around on the spot. When the operating lever 81 is pushed forward, the four motors drive the four wheels to rotate forward at the same time, and the wheelchair moves forward. When the operating lever 81 is pulled back, the four motors drive the four wheels to rotate backward at the same time, and the wheelchair moves backward. When the wheelchair is moving, the operating lever 81 is pushed to the left, the left wheel slows down, and the wheelchair turns left. When the operating lever 81 is pushed to the right, the right wheel slows down, and the wheelchair turns right. When the wheelchair is parked, the operating lever 81 is pushed to the left, the left wheel moves backward, and the wheelchair turns left on the spot. When the operating lever 81 is pushed to the right, the right wheel moves backward, and the left wheel moves forward, and the wheelchair turns right on the spot. When the first button 84 is pressed, the mode is changed to stair mode, which becomes a combination of step-shaped wheels. When the second button 85 is pressed, the mode is changed to flat road mode, which becomes a combination of round wheels.

[0042] The above is only a preferred feasible implementation case of the present invention, and does not limit the scope of protection of the present invention. Various modifications or applications made according to the above examples are within the scope of protection of this technical solution.

Claims

1. An electric wheelchair with two wheels and four-wheel drive that can climb stairs, characterized in that: The first motor (13) drives the first worm (14) to rotate. The first worm (14) drives the first worm gear (15) to rotate. The first worm gear (15) drives the first wheel (11) and the first rotating wheel (12) to rotate coaxially. The worm and the worm gear are mechanically decelerated and transmitted, which is a mechanical self-locking structure, realizing that the motor does not rotate and the wheel is self-locked and does not rotate, saving the braking system; Similarly, the second motor (23) drives the second wheel (21) and the second rotating wheel (22) to rotate coaxially, the third motor (33) drives the third wheel (31) and the third rotating wheel (32) to rotate coaxially, and the fourth motor (43) drives the fourth wheel (41) and the fourth rotating wheel (42) to rotate coaxially. The separate motors drive the four wheels to move independently, with flexible operation, realizing the forward, backward, left turn, right turn, and in-place turning of the wheelchair; The first external spline (79) is radially engaged with the first internal spline (78), so that the first bushing (19) is radially linked with the first rotating wheel (12). The first spring (75) presses the second flat tooth (72) against the first flat tooth (71). The second flat tooth (72) and the first flat tooth (71) are meshed and linked, so that the first wheel (11) and the first rotating wheel (12) are rotationally linked; The sixth motor (16) drives the sixth worm (17) to rotate. The sixth worm (17) drives the first clutch (18) to move. The first clutch (18) drives the first bushing (19) to axially move towards the first positioning ring (20), so that the second flat tooth (72) disengages from the first flat tooth (71). Thus, the first wheel (11) and the first rotating wheel (12) can rotate relative to each other. The third flat tooth (73) meshes with the fourth flat tooth (74). The first positioning ring (20) is fixed on the wheelchair. Thus, the first rotating wheel (12) is radially fixed and cannot rotate. The first motor (11) drives the right first wheel (11) to rotate relative to the first rotating wheel (12), so that the first wheel (11) and the first rotating wheel (12) change from a double-wheel circular combination to a double-wheel stepped combination. After the deformation is completed, the sixth motor (16) drives the first bushing to axially move back to its original position, so that the second flat tooth (72) meshes with the first flat tooth (71), and the first wheel (11) and the first rotating wheel (12) rotate coaxially and synchronously. Similarly, the second wheel (21) and the second rotating wheel (22), the third wheel (31) and the third rotating wheel (32), and the fourth wheel (41) and the fourth rotating wheel (42) are deformed together. Thus, the round wheels are used for flat road driving, and the stepped wheels are used for climbing stairs.

2. The electric wheelchair with two-wheel drive and four-wheel drive that can climb stairs according to claim 1, characterized in that: The arc-shaped first guide rail (58) and the second guide rail (59) are fixed on the wheelchair. The front axle (61) and the rear axle (60) are radially fixed on the arc-shaped first guide rail (58) and the second guide rail (59). The seat (1) is fixed on the front axle (61) and the rear axle (60). The first gear (54), the second gear (55) and the fifth worm gear (53) are fixed on the rear axle (60) shaft. The fifth motor (15) drives the fifth worm (52) to rotate. The fifth worm (52) drives the fifth worm gear (53) to rotate. The fifth worm gear (53) rotates synchronously with the rear axle (60), the first gear (54) and the second gear (55). The first gear (54) meshes with the first rack (56), and the second gear (55) meshes with the second rack (57), driving the front axle (61) and the rear axle (60) to move axially along the arc-shaped tracks of the first guide rail (58) and the second guide rail (59), driving the seat (1) to move forward or backward and rotate at the same time, so as to adjust the horizontal tilt angle of the seat (1) and adjust the center of gravity at the same time, so that the center of gravity is maintained at the center position in the vertical direction of the front and rear wheels.

3. The electric wheelchair with two wheels and four-wheel drive capable of climbing stairs according to claim 2, characterized in that: The right armrest (8) of the seat (1) is equipped with an operating lever (81), a first button (84), a second button (85) and a power switch (82). The operating lever (81) controls the wheelchair to move forward, backward, turn left, turn right and turn around in place. Pressing the first button (84) changes it to the stair mode, turning it into a combined stepped wheel. Pressing the second button (85) changes it to the flat road mode, turning it into a combined round wheel.

4. A two-wheel drive four-wheel electric wheelchair capable of climbing stairs according to claim 1, characterized in that: The limit block (76) is equipped with an induction switch (77). The limit block (76) limits the rotation angle of the wheel and the rotating wheel, and the induction switch (77) outputs a signal indicating that the rotation is in place.

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