WO2015196942A1 - Multifunctional electric wheelchair for travelling without boundaries - Google Patents

Abstract

Disclosed is a multifunctional electric wheelchair for travelling without boundaries, comprising a seat (1), a backrest (2), armrests (3) and a foot rest (4), wherein the bottom end of the backrest (2) is arranged on the back end of the upper surface of the seat (1); the backrest (2) is movably connected to the seat (1); there is a safety belt between the backrest (2) and the seat (1); a main frame (10) is arranged under the seat (1); the two sides of the seat (1) are connected to the main frame (10) by an automatic balancing device (31), respectively, and are used to ensure that the seat (1) remains horizontal when going up and down the stairs; two tracks (8) are symmetrically arranged on the bottom of the main frame (10); there is a front pushrod (5) arranged between the two tracks (8); the two sides of the main frame (10) near the back end are respectively provided with auxiliary telescopic support arms (9); an auxiliary wheelchair (28) is set inside the main frame (10); the foot pedal (4) is arranged on the auxiliary wheelchair (28); when climbing the stairs, going up/down or leaving the stairs are accomplished by mutually cooperating with intermesh stretching of the support arm and movement of the tracks (8); since the tracks (8) accomplish travelling on the stairs and slopes alone, when a user need to go to the toilet or get in and out of bed, he/she can sit in the auxiliary wheelchair (28) to accomplish same alone; the number of the armrests (3) is two, which are are respectively set at the left and right side of the main frame (10); the back end of the undersurface of the main frame (10) is symmetrically provided with two active wheels (6); and the front end of the undersurface of the main frame (10) is symmetrically provided with two driven wheels (7), and the diameter of the driven wheel (7) is less than or equal to the diameter of the active wheel (5).

Description

Multifunctional barrier-free travel electric wheelchair Technical field

The invention relates to the technical field of wheelchairs, and in particular to a multifunctional wheelchair-accessible electric wheelchair.

Background technique

Wheelchairs are an indispensable necessity for the elderly and the physically disabled, and with the maturity of electric bicycle technology, electric wheelchairs are gradually entering the field of vision, while climbing wheelchairs and crossing roadblocks in electric wheelchairs. Various designs have emerged, including star wheels, shoes, walks, etc., but these designs have largely not been popularized.

Even in developed countries, most of the current use is still ordinary manual wheelchairs. The main reason is that it is difficult to have a design that can achieve complete safety, less volatility, wide adaptability, smaller size, There are no more abrupt appearances, and the most important thing is that for those with lower limbs, these wheelchairs can't help them get rid of the caregiver to a large extent. So you can study, work and live relatively independently.

In view of the shortcomings in the background, the designer actively researched and innovated to create a multi-functional barrier-free electric wheelchair, in order to provide multi-faceted assistance for the disabled.

Summary of the invention

In order to solve the above technical problems, an object of the present invention is to provide a walk-through combination that uses a common wheel type and a support assist arm, and an wheelchair-accessible wheelchair is embedded in an auxiliary wheelchair, and as much as possible on the basis of ensuring safety and stability. Basic travel requirements for disabled people with lower limbs, including walking on flats, stairs, steps, and multi-functional barrier-free electric wheelchairs that help people with disabilities live.

The multifunctional wheelchair-accessible electric wheelchair of the present invention comprises a seat, a backrest, an armrest and a foot pedal. The bottom end of the backrest is arranged at the rear end of the top surface of the seat, and the backrest is movably connected with the seat, and the backrest is A seat belt is arranged between the seats, and a main frame is arranged under the seat. The two sides of the seat are respectively connected to the main frame by an automatic balancing device, and the automatic balancing device is used to ensure that the seat is always in the water when going up and down the stairs. In the flat state, two crawler belts are symmetrically disposed on the bottom surface of the main frame, and a front push rod is disposed between the two crawler belts, and auxiliary telescopic support arms are respectively disposed at two sides of the main frame near the rear end; the main frame An auxiliary wheelchair is disposed therein, and the foot pedal is disposed on the auxiliary wheelchair. When climbing the stairs, the telescopic and the crawler movement of the auxiliary telescopic support arm cooperate to complete the upper/lower or left step, and the crawler is independently completed. Walking on the stepped slope, when the user needs to go to the toilet or go to bed, can sit on the auxiliary wheelchair to complete independently. The number of the armrests is two, and is respectively disposed on the left and right sides of the main frame. The rear end of the bottom surface of the main frame is symmetrically disposed with two driving wheels, and the front end of the bottom surface of the main frame is symmetrically provided with two driven wheels. The diameter of the driven wheel is less than or equal to the diameter of the driving wheel.

Further, the main frame comprises four vertical bars and four cross beams and three cross bars, and the bottom ends of the four vertical bars are surrounded by two beams and two cross bars to form a rectangular structure, and the two beams are mutually connected Parallel, the two crossbars are parallel to each other, and the connected crossbar and the crossbar are perpendicular to each other; the top ends of the four vertical rods are surrounded by two beams and a crossbar to form a U-shaped structure, and the U-shaped structure hits two The beam brackets are provided with a U-shaped frame, the seat is arranged in the U-shaped frame, the two beams are parallel to each other, the cross bar and the connected beam are perpendicular to each other, and the two beams are in the same plane as the vertical plane. Between two support rods connected by two, the two cross bars at the bottom are connected by two support beams, the bottom of the main frame is provided with a bottom plate, and the bottom plate is fixedly disposed at two cross rails at the bottom In a square surrounded by two beams, the tracks are symmetrically disposed on the bottom surfaces of the two support beams, and the two crawlers are located below the bottom plate.

Further, the automatic balancing device includes a swinging beam and a slider disposed at two ends of the swinging beam, the slider is disposed in the curved sliding rail, the sliding block can slide in the curved sliding rail, and the curved sliding rail is disposed at the On the support rod, the swinging beam is fixed on the seat. When the invention is tilted, the oscillating beam oscillates within the curved rail. In order to keep the seat horizontal.

Further, the front end of the chair is provided with two armrests, the armrest is disposed at the top end of the armrest strut, and the top of the armrest strut is provided with a rotating strut, and the rotating strut is adjustable between Rotating, the rotating strut is in the same plane as the corresponding armrest, or the rotating strut is perpendicular to the corresponding armrest, and the armrest is provided with a controller.

Further, the number of the auxiliary telescopic support arms is two, and is symmetrically disposed on the outer side of one of the two support rods on the left and right sides of the main frame, and the top end of the auxiliary telescopic support arm is provided with balls The bearing, the ball bearing and the auxiliary telescopic support arm are an integral structure, and the bottom end of the auxiliary telescopic support arm is provided with a rotating wheel, and the ball bearing is disposed on the protrusion on the support rod, so that the auxiliary telescopic support arm can be along The projection swings. The auxiliary telescopic support arm is further provided with an auxiliary push rod for keeping the support arm vertically downward by controlling the swing of the support arm.

Further, a wheel push rod is disposed on the inner sides of the two driving wheels and the driven wheel on the main frame, and the top end of the wheel push rod is fixed on the outer side of the main frame through a connecting block, and the bottom end of the wheel push rod is connected with the telescopic rod The bottom end of the telescopic rod is connected to the bracket, and the end of the bracket is fixedly connected with the beam. The bracket is provided with an electromagnetic lock, and the electromagnetic lock extends into the bottom end of the telescopic rod. When the electromagnetic lock is separated from the telescopic rod, The telescopic rod is retracted into the push rod of the wheel, and at the same time, the driving wheel and the driven wheel are raised, and the track is brought into contact with the ground to work.

Further, the two crawlers are respectively disposed on the outer side of the two support beams on the main frame, and the two crawlers are respectively powered by two motors, and the motor is disposed between the two crawlers, and both crawlers are high-strength rubber. track. The front push rod is disposed on the main frame, and the front push rod extends between the two support beams.

Further, the auxiliary wheelchair comprises a front side panel, the front side panel is rectangular or square, and the four corners of the front side panel are respectively provided with a first horizontal bar perpendicular to the front side panel, and two at the top The end of a horizontal bar is connected by a second horizontal bar, and the two first horizontal bars on the left side and the two first horizontal bars on the right side are respectively connected by a third horizontal bar, and the third horizontal bar is disposed correspondingly The first horizontal bar and the middle of the second horizontal bar are not connected between the two horizontal bars at the bottom, and the two first cross bars at the top are provided with auxiliary seat brackets, and the auxiliary seat brackets are disposed at the Between the seat and the U-shaped frame, two auxiliary reclining plates are disposed in the auxiliary seat bracket, and the two seat cushions are symmetrically disposed in the auxiliary seat bracket, and the foot pedal is disposed in the The bottom of the front side panel.

Further, the auxiliary wheelchair and the main frame are connected by a buckle, and the seat is symmetrically disposed with a slide rail, and the cross section of the slide rail is two symmetrical L-shaped structures, and the slide rail is provided with a seat plate The seat plate can slide in the slide rail, and the two ends of the seat plate are respectively provided with racks, the rack sticks out the symmetric two L-shaped structures, the outer side of the rack is provided with gears, and the gears are completed by the manual clutch device. The rack engaging or disengaging action, the manual clutch device is disposed on the main frame, and the manual clutch device is connected to the buckle through a swing lever, and when the manual clutch device completes the pull-in action, the swing lever is locked The buckle completes the locking or loosening action.

Further, the bottom surface of the bottom plate is disposed between the two crawler belts with two distance sensors, and the two distance sensors are symmetrically disposed at the front end and the rear end of the bottom plate respectively, and a horizontal tilt sensor is disposed between the two distance sensors, and the horizontal tilt angle is The sensor is fixed on the bottom surface of the bottom plate, and the distance sensor can swing in a plane where the bottom plate is located and a plane perpendicular to the bottom plate, and the two distance sensors and the horizontal tilt sensor detect data transmission to the controller.

With the above solution, the present invention has at least the following advantages:

1. The present invention adopts a combined combination of an ordinary wheel type and a supporting power assisting arm. It runs freely on the ground. It is safe and stable when climbing stairs, compact in structure, small in size, and strong in obstacles. It can not only go up and down stairs, cross steps, but also get on and off buses. The most important thing is that the above operations can be done independently by the user, which greatly expands the living radius of people with physical disabilities.

2, embedded auxiliary wheelchair can help users easily and independently complete the basic life behaviors such as going to the toilet and even going to bed. For those with disabilities who have disabilities in the lower limbs but who wish to study independently, work and even live independently, they have created the most basic conditions. At the same time, it also alleviates the psychological pressure that they often need to be helped and held.

3. The strong adaptability of the present invention to various roads and obstacles can also alleviate the pressure on the government to increase the accessibility rate in this direction and urgently need to invest huge funds.

The above description is only an overview of the technical solutions of the present invention, and the technical means of the present invention can be more clearly understood, and can be implemented in accordance with the contents of the specification. Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

DRAWINGS

1 is a schematic structural view of a multifunctional wheelchair-accessible electric wheelchair according to the present invention;

Figure 2 is a rear elevational view of Figure 1;

Figure 3 is a side view of Figure 1;

Figure 4 is a schematic structural view of the main frame of Figure 1;

Figure 5 is a schematic view showing the connection structure of the main frame and the auxiliary support arm;

Figure 6 is a schematic view showing the connection structure of the wheel push rod, the telescopic rod and the main frame;

Figure 7 is a cross-sectional view of the telescopic rod and the bracket;

Figure 8 is a schematic view showing the connection structure of the auxiliary support arm and the support rod;

Figure 9 is a bottom view of the seat;

Figure 10 is a schematic view showing the connection structure of the crawler belt and the main frame;

Figure 11 is a schematic structural view of an auxiliary wheelchair;

Figure 12 is a schematic structural view of a seat support;

Figure 13 is a schematic view showing the structure of the auxiliary wheelchair and the main frame.

detailed description

The specific embodiments of the present invention are further described in detail below with reference to the drawings and embodiments. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Referring to FIG. 1-5, a multifunctional wheelchair-accessible electric wheelchair includes a seat 1, a backrest 2, an armrest 3, and a footboard 4. The bottom end of the backrest 2 is disposed on the top surface of the seat 1 At the end, the backrest 2 is movably connected with the seat 1, and a seat belt is disposed between the backrest 2 and the seat 1. The main frame 10 is disposed below the seat 1, and the two sides of the seat 1 are respectively connected by the automatic balancing device 31. The frame 10 and the automatic balancing device 31 ensure that the seat 1 is always in a horizontal state, and two crawler belts 8 are symmetrically disposed on the bottom surface of the main frame 10, and a front push rod 5 is disposed between the two crawler belts 8, and the main frame 10 is disposed. An auxiliary telescopic support arm 9 is disposed on each side near the rear end; an auxiliary wheelchair 28 is disposed in the main frame 10, and the foot board 4 is disposed on the auxiliary wheelchair 28, and assists when climbing stairs The expansion and contraction of the telescopic support arm 9 cooperates with the movement of the crawler belt 8 to complete the upper/lower or left step, and the crawler 8 independently completes the walking on the stepped slope. When the user needs to go to the toilet or get on and off the bed, the auxiliary wheelchair 28 can be seated. finish independently. The number of the armrests 3 is two, and is respectively disposed on the left and right sides of the backrest 2. The rear end of the bottom surface of the seat 1 is symmetrically disposed with two driving wheels 6, and the front end of the bottom surface of the seat 1 is symmetrically disposed. The two driven wheels 7, the diameter of the driven wheel 7 is less than or equal to the diameter of the driving wheel 6.

The main frame 10 includes four vertical bars 11 and four cross beams 12 and three cross bars 13. The bottom ends of the four vertical bars 11 are surrounded by two cross beams 12 and two cross bars 13 to form a rectangular structure, two The cross beams 12 are parallel to each other, the two cross bars 13 are parallel to each other, and the connected cross bars 13 and the cross beams 12 are perpendicular to each other; the top ends of the four vertical bars 11 are surrounded by two cross beams 12 and one cross bar 13 a U-shaped structure, the two beams 12 of the U-shaped structure are provided with a U-shaped frame 47. The seat 1 is disposed in the U-shaped frame 47. The two beams 12 are parallel to each other, and the cross bar 13 is connected to the U-shaped frame. The beams 12 are perpendicular to each other and are located in the same vertical The two horizontal beams 12 are connected by two support rods 14 , and the two horizontal rails 13 at the bottom are connected by two support beams 15 . The bottom of the main frame 11 is provided with a bottom plate 40 . Fixedly disposed in a square surrounded by two cross bars 13 and two cross members 12 at the bottom, the crawlers 8 are symmetrically disposed on the bottom surfaces of the two support beams 15, and the two crawlers 8 Located below the bottom plate 40.

The automatic balancing device 31 includes a swinging beam 30 and a slider 20 disposed at two ends of the swinging beam 30. The slider 20 is disposed in the curved sliding rail 21, and the slider 20 is slidable in the curved sliding rail 21, and is curved. A slide rail 21 is provided on the support rod 14, and the swing beam 30 is fixed to the seat 1. When the invention is tilted, the swing beam 30 swings within the curved slide rail 21. So that the seat 1 is always in a horizontal state.

The front end of the chair 1 is provided with two armrest poles 22, and the armrests 3 are disposed at the top end of the armrest poles 22. The top of the armrest poles 22 is provided with a rotating pole 32, and the rotating poles 32 are 22 can be rotated by 90 degrees, the rotating strut 32 is in the same plane as the corresponding armrest 3, or the rotating strut 32 is perpendicular to the corresponding armrest 3, and the armrest 3 is provided with a controller 27.

As shown in FIG. 8, the number of the auxiliary telescopic support arms 9 is two, and is symmetrically disposed on the outer side of one of the two support rods 14 on the left and right sides of the main frame 10, and the top end of the auxiliary telescopic support arm 9 is disposed. There is a ball bearing 23, the ball bearing 23 and the auxiliary telescopic support arm 9 are of an integral structure, and the bottom end of the auxiliary telescopic support arm 9 is provided with a runner 26, and the ball bearing 23 is disposed on the protrusion on the support rod 14, So that the auxiliary telescopic support arm 9 can swing along the projection. The auxiliary telescopic support arm 9 is further provided with an auxiliary push rod 24 for controlling the swing of the auxiliary telescopic support arm 9 by controlling the auxiliary telescopic support arm 9 to be vertically downward during the step climbing process, and assisting The push rod 24, the auxiliary telescopic support arm 9 and the bottom surface form a stable triangular support structure.

As shown in FIGS. 6-7, the inner sides of the two driving wheels 6 and the driven wheels 7 on the main frame 10 are provided with wheel pushers 16, and the top ends of the wheel pushers 16 are fixed to the outer side of the main frame 10 by connecting blocks. The bottom end of the wheel push rod 16 is connected to the telescopic rod 19, and the bottom end of the telescopic rod 19 is connected to the bracket 17. The end of the bracket 17 is fixedly connected with the beam 12, and the electromagnetic lock 18 is arranged in the bracket 17, and the electromagnetic lock 18 is provided. Extending into the bottom end of the telescopic rod 19, when the electromagnetic lock 18 is separated from the telescopic rod 19, the telescopic rod 19 is retracted into the wheel push rod 16, and at the same time, the driving wheel 6 and the driven wheel 7 are lifted, and the crawler belt is brought up. Work on the ground.

As shown in FIGS. 9-10, the two crawler belts 8 are respectively disposed on the main frame 10 and two support beams. On the outside of the 15th, the two crawlers 8 are respectively powered by two motors 25, and the motor 25 is disposed between the two crawlers 8, both of which are high-strength rubber tracks. The front push rod 5 is disposed on the main frame 10, and the front push rod 5 extends between the two support beams 15.

As shown in FIGS. 11-13, the auxiliary wheelchair 28 includes a front side panel 33 having a rectangular or square shape, and four corners of the front side panel 33 are respectively disposed perpendicular to the front side panel 33. a horizontal bar 34, the ends of the two first horizontal bars 34 at the top are connected by a second horizontal bar 35, between the two first horizontal bars 34 on the left side and between the two first horizontal bars 34 on the right side Connected by a third horizontal bar 36, the third horizontal bar 36 is disposed in the middle of the corresponding first horizontal bar 34 and the second horizontal bar 35, and is not connected between the two horizontal bars 34 at the bottom, the top two The first crossbar 34 is provided with an auxiliary seat bracket 37. The auxiliary seat bracket 37 is disposed between the seat 1 and the U-shaped bracket 47. The auxiliary seat bracket 37 is provided with two telescopic cushions. A plate 38, two cushion plates 38 are symmetrically disposed in the auxiliary seat bracket 37, and the footboard 4 is disposed at the bottom of the front side panel 33.

The auxiliary wheelchair 28 is connected to the main frame 10 by a latch 41. The seat 1 is symmetrically disposed with a slide rail 42. The cross section of the slide rail 42 is symmetrically two L-shaped structures, and the slide rail 42 is between A seat plate 43 is provided, and the seat plate 43 is slidable in the slide rail 42. The two ends of the seat plate 43 are respectively provided with racks 44, and the racks 44 extend out of the symmetric two L-shaped structures, and the outer sides of the racks 44 A gear 45 is provided. The gear 45 completes the engagement or disengagement of the rack 44 by a manual clutch device 46. The manual clutch device 46 is disposed on the main frame 10, and the manual clutch device 46 passes through the swing lever 47. The lock 41 is connected, and when the manual clutch device 46 completes the pull-in action, the lock 41 is driven by the swing lever 47 to complete the locking or releasing action.

As shown in FIG. 9, the bottom surface of the bottom plate 40 is disposed between the two crawler belts 8 with two distance sensors 29, and the two distance sensors 29 are symmetrically disposed at the front end and the rear end of the bottom plate 40, respectively. A horizontal inclination sensor 39 is disposed between the bottom surface 40 and the two distance sensors 29 are swingable in a plane in which the bottom plate 40 is located and a plane perpendicular to the bottom plate 40. The distance sensor 29 and the horizontal tilt sensor 39 detect that data is transmitted to the controller 27.

The invention can realize the basic switching of the wheel/fulfilling walking mode, and the driving wheel 6 and the driven wheel 7 are respectively provided with one wheel pushing rod 16 independently, and the wheel pushing rod 16 is used for completing the lifting movement of the driving wheel 6 or the driven wheel 7, and the wheel pushing rod 16 is a long cylinder, the bottom end of the telescopic rod 19 is a square body, and the square body is provided with a circular hole, when the telescopic rod 19 When extended into position, the circular hole of the square body is embedded in the bracket 17 and locked by the electromagnetic lock 18, so that the present invention can be driven on the bottom surface by the driving wheel 6 and the driven wheel 7, and when the above action is reversed, the driving wheel 6 and the driven wheel 7 are reversed. Collapse, the track 8 is in contact with the ground for walking.

During normal driving, a stable solid system is formed between the driving wheel 6, the driven wheel 7, the bracket 17, and the vertical rod 11. When the steps are up and down, the electromagnetic lock 18 is opened, and the telescopic rod 19 is contracted, and the present invention is slowly lowered, and the crawler 8 and the ground are contact.

The crawler belt 8 of the present invention does not undertake the obstacle-obstacle task, fully exerts the advantage of smooth walking on the stairs, and delivers the obstacle-obeying task to the auxiliary telescopic support arm 9 to complete, so that the crawler belt 9 system has a small volume and at the same time assists the telescopic support. With the assistance of the arm 9, the task of upper and lower steps can be completed.

Example 1

When going up the stairs, the driving wheel 6 and the driven wheel 7 are raised to bring the track 8 into contact with the bottom surface, and the direction is adjusted so that the rear end of the seat 1 is in the forward direction, and the distance sensor 29 at the rear end can detect the bottom plate 40. The distance from the rear end to the first step is detected, and the distance between each step and the ground is detected. The distance sensor 29 rotates in a plane of the vertical bottom plate 40 to rotate at a constant speed, so when the distance sensor 29 detects a change in the distance from the step Then, the angle of rotation can be calculated to calculate the height between the step and the step, and the distance sensor 29 rotates on the plane where the bottom plate 40 is located, and the distance of the end of the step is detected first, which is the vertical distance from the step to the step of the present invention. The plane continues to rotate the distance sensor 29 to measure whether the two distances of the symmetry and the vertical distance are the same. On the same side, the rear end surface of the present invention is parallel to the step, and the forward direction of the present invention is perpendicular to the step, and then the detected vertical distance and The angular value of the distance sensor 29 on the plane of the vertical bottom plate 40 is transmitted to the controller 27, and the auxiliary telescopic support arm is calculated by the controller 27. The height of the support 9 controls the extension of the auxiliary telescopic support arm 9 to a desired height. At this time, the auxiliary telescopic support arm 9 is perpendicular to the bottom surface of the main frame 10, and the controller 27 controls the rotation of the auxiliary telescopic support arm 9 and assists The telescopic rotary support arm 9 is always perpendicular to the bottom surface. Since the slider 20 can slide in the curved slide rail 21, it can be ensured that the seat 1 is always in a horizontal state when the auxiliary telescopic support arm 9 is supported, and during the step of climbing the step, The track 8 is required to be parallel to the line connecting the highest points of the two steps. According to the data detected by the distance sensor 29, the height supported by the auxiliary telescopic support arm 9 can be calculated by the controller 27, and when the distance sensor 29 detects the present invention When the distance between the steps reaches a predetermined distance, the controller 27 controls the support of the auxiliary telescopic support arm 9 to lift the end of the present invention closer to the step. At the same time, when the vertical distance sensor detects that the height of the lifting of the end of the present invention is higher than the height of the step, the motor 25 drives the crawler belt 8 to continue to advance, while pushing the rotating wheel 26 at the bottom end of the auxiliary telescopic support arm 9 to rotate forward, and the crawler belt 8 is responsible for walking. When the flat distance sensor 29 detects that the distance distance from the step of the present invention is relatively close, the end of the crawler belt 8 has been placed on the step, and the auxiliary telescopic support arm 9 is retracted, and the step is placed on the crawler belt 8 to repeat the above process. Each step climbing process.

When descending the stairs, the driving wheel 6 and the driven wheel 7 are raised to bring the crawler belt 8 into contact with the bottom surface, so that the front end of the seat 1 is in the forward direction, and the distance sensor 29 at the front end can detect the first section of the bottom plate 40. The vertical distance of the step surface, the distance sensor 29 rotates at a constant speed in the plane of the vertical bottom plate 40, and when the distance detected by the distance sensor 29 is changed, the angle from the vertical bottom surface to the change of the detection distance to rotate the distance sensor 29 can be calculated, thereby Calculating the height between the bottom plate 40 and the second step and the third step light, and determining whether the forward direction of the present invention is perpendicular to the step by the same distance of the horizontal swing symmetric position, and then detecting the distance And the angle value is transmitted to the controller 27, and the height of the support of the auxiliary telescopic support arm 9 is calculated by the controller 27, and the extension of the auxiliary telescopic support arm 9 is controlled to the required height. At this time, the auxiliary telescopic support arm 9 and the main frame are supported. The bottom surface of 10 is vertical, the controller 27 controls the rotation of the auxiliary telescopic support arm 9, and the auxiliary telescopic rotation support arm 9 is always perpendicular to the bottom surface, since the slider 20 can The sliding of the curved slide rail 21 ensures that the seat 1 is always in a horizontal state when the auxiliary telescopic support arm 9 is supported. In the process of climbing the step, the crawler belt 8 is required to be parallel with the line connecting the highest points of the two steps, according to the distance. The data detected by the sensor 29 is processed by the controller 27 to calculate the height supported by the auxiliary telescopic support arm 9. When the distance sensor 29 detects that the distance between the present invention and the step reaches a prescribed distance, the controller 27 controls the auxiliary telescopic support. The arm 9 supports to raise the end of the present invention farther from the step. When the calculated predetermined height is reached, the motor 25 drives the crawler 8 to continue to advance, while pushing the runner 26 at the bottom end of the auxiliary telescopic support arm 9 to rotate forward, and the crawler 8 is responsible for walking. When the flat distance sensor 29 detects that the distance from the step is close to the step of the present invention, one end of the crawler belt 8 has been placed on the step, and at this time, the auxiliary telescopic support arm 9 is retracted, and the step is repeated by the crawler belt 8 to repeat the above process. Complete each step climbing process.

The driving wheel 6 of the present invention can share a motor 25 with the crawler 8 on the same side, or can be driven by a separate motor.

In the process of climbing the stairs or the lower steps, the armrest 3 is matched with the curved rails 21 by the sliders. In addition, even if the seat 1 can swing within the range of the curved slide rail 21, the seat 1 can be kept parallel with the bottom surface during the step of climbing or lowering the step, and the phenomenon of tilting does not occur to prevent the user from falling. .

The lower step process of the present invention is the above-described retrograde operation process.

Example 2

The process of getting on and off the bus of the present invention is basically the same as the above process of the upper and lower steps, and the characteristic of the bus step is that the first step is higher, usually 2-2.5 times of the ordinary step, and the steps are extremely irregular, and the front push rod 5 of the present invention is designed. Under the control of the controller, the front push rod 5 is unfolded and closed in time to ensure that the maximum angle is always less than 45° when the first step of the bus is up and down. According to the irregularity of the steps inside the bus, the distance sensor is in real time. Gradually completed under monitoring.

Example 3

The auxiliary wheelchair 28 of the present invention can facilitate the user to go to the toilet, go to bed, take a bath, move away from the wheelchair, and perform basic activities in the room. The auxiliary wheelchair 28 is also provided with an armrest, a backrest, an armrest, a backrest and an auxiliary wheelchair 28 through the hinge. The connection, the armrest and the backrest can be folded over directly on both sides and the rear side of the auxiliary wheelchair 28.

The specific work process is as follows:

The user rotates the rotating struts 32 by 90 degrees so that the rotating struts 32 are perpendicular to the corresponding armrests 3, and the user places the thighs on the rotating struts 32, and the hands apply force to the armrests 3, that is, The manual clutch device 46 can be manually controlled to engage the gear 45 and the rack 44 to notify the lock 41 to be separated from the auxiliary wheelchair 28, and to move the seat plate 43 on the seat 1 backwards and the main frame 1 and the seat. 1 separating, when the seat plate 43 is moved backward to the auxiliary seat bracket 37 on the auxiliary wheelchair 28, the user can put the legs down and directly sit on the auxiliary wheelchair 28, and the auxiliary wheelchair 28 is also provided with wheels, and The ordinary wheelchair is the same, and the armrest and the backrest can be turned over at this time;

When the toilet is in use, since the support structure is not provided on the lower rear side of the auxiliary wheelchair 28, the auxiliary wheelchair 28 can be directly retracted onto the toilet, so that the user is located above the toilet while using the wheel fixing device of the existing wheelchair to assist the wheelchair. The fixing is performed. At this time, the two symmetrical two cushion plates 38 can be opened to facilitate the toilet, and the two cushion plates 38 are closed after completion.

A telescopic bracket may also be disposed in the auxiliary wheelchair 28 to adjust the height of the seat bracket 37. In order to use beds of different heights, the rear of the auxiliary wheelchair 28 can be provided with a latch, and the latch cooperates with the corresponding pin hole of the bed to make the auxiliary wheelchair 28 and fixed. Before the process, the backrest is first put away, and the user does not need to With the help of others, move on and off the bed with the armrests on both sides.

Since the auxiliary wheelchair armrest and the backrest can be put down, when it is necessary to move, such as a car, it can help the user to get close to the object to be moved.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. It should be noted that those skilled in the art can make some improvements without departing from the technical principles of the present invention. And modifications and variations are also considered to be within the scope of the invention.

Claims (10)

The utility model relates to a multifunctional wheelchair-accessible electric wheelchair, which comprises a seat, a backrest, an armrest and a foot pedal. The bottom end of the backrest is arranged at the rear end of the top surface of the seat, the backrest is movably connected with the seat, and the backrest and the seat are seated. A safety belt is arranged between the chairs, and the main frame is arranged under the seat, and the two sides of the seat are respectively connected to the main frame by an automatic balancing device, and the seat is always in a horizontal state when the stairs are up and down, the main frame Two crawler belts are symmetrically disposed on the bottom surface, and a front push rod is disposed between the two crawler belts, and auxiliary telescopic support arms are respectively disposed at two sides of the main frame near the rear end; an auxiliary wheelchair is disposed in the main frame. The foot pedal is disposed on the auxiliary wheelchair. When the stairs are climbed, the telescopic and the crawler movements of the auxiliary telescopic support arm cooperate with each other to complete the upper/lower or left step, and the crawler independently completes the walking on the step slope. When the user needs to go to the toilet or go to bed, they can sit on the auxiliary wheelchair independently; the number of the handrails is two, and are respectively disposed on the left and right sides of the main frame, The rear end of the bottom surface of the main frame is symmetrically disposed with two driving wheels, and the front end of the bottom surface of the main frame is symmetrically disposed with two driven wheels, and the diameter of the driven wheel is less than or equal to the diameter of the driving wheel. The multifunctional wheelchair-accessible electric wheelchair according to claim 1, wherein said main frame comprises four vertical bars, four beams and three cross bars, and the bottom ends of the four vertical bars pass through two beams and The two crossbars are enclosed in a rectangular structure, the two beams are parallel to each other, the two crossbars are parallel to each other, and the connected crossbar and the crossbar are perpendicular to each other; the top ends of the four vertical rods pass through two beams and one The crossbar is surrounded by a U-shaped structure, and the two beam brackets of the U-shaped structure are provided with a U-shaped frame, and the seat is disposed in the U-shaped frame, the two beams are parallel to each other, and the crossbar is connected with The beams are perpendicular to each other, and are connected by two support rods between the two beams which are perpendicular to the vertical plane. The two cross bars at the bottom are connected by two support beams, and the bottom of the main frame is provided with a bottom plate fixedly disposed in a square formed by two crossbar rails and two beams at the bottom, the crawler belts being symmetrically disposed on the bottom surfaces of the two support beams, the two crawlers being located Below the bottom plate. The multifunctional wheelchair-accessible electric wheelchair according to claim 1, wherein the automatic balancing device comprises a swinging beam and a slider disposed at two ends of the swinging beam, the slider is disposed in the curved sliding rail, and the slider It can slide in the curved slide rail, and the curved slide rail is disposed on the support rod. The multifunctional wheelchair-accessible electric wheelchair according to claim 1, wherein the front end of the seat is provided with two armrests, and the armrest is disposed at a top end of the armrest. The top of the armrest strut is provided with a rotating strut on which a controller is disposed. The multifunctional wheelchair-accessible electric wheelchair according to claim 1, wherein the number of the auxiliary telescopic support arms is two, and one of two support rods symmetrically disposed on the left and right sides of the main frame On the outer side, the top end of the auxiliary telescopic support arm is provided with a ball bearing, the ball bearing and the auxiliary telescopic support arm are an integral structure, the bottom end of the auxiliary telescopic support arm is provided with a rotating wheel, and the ball bearing is disposed on the support rod Upper so that the auxiliary telescopic support arm can swing along the protrusion. An auxiliary push rod is further disposed on the auxiliary telescopic support arm. The multifunctional wheelchair-accessible electric wheelchair according to claim 2, wherein the inner side of the two driving wheels and the driven wheel on the main frame are provided with wheel pushing rods, and the top end of the wheel pushing rod is fixed by the connecting block On the outer side of the main frame, the bottom end of the wheel push rod is connected with the telescopic rod, the bottom end of the telescopic rod is connected with the bracket, and the end of the bracket is fixedly connected with the beam, and an electromagnetic lock is arranged in the bracket, and the electromagnetic lock protrudes into the The bottom end of the telescopic rod. The multifunctional wheelchair-accessible electric wheelchair according to claim 1, wherein the two crawlers are respectively disposed on the outer side of the two support beams on the main frame, and the two crawlers are respectively powered by two motors, the motor Located between two tracks, both tracks are high-strength rubber tracks. The front push rod is disposed on the main frame, and the front push rod extends between the two support beams. The multifunctional wheelchair-accessible electric wheelchair according to claim 1, wherein the auxiliary wheelchair comprises a front side panel, the front side panel is rectangular or square, and the four corners of the front side panel are respectively provided with the front side. a first horizontal bar perpendicular to the side plates, and ends of the two first horizontal bars at the top are connected by a second horizontal bar, and between the two first horizontal bars on the left side and the two first horizontal bars on the right side The first horizontal bar is connected by a third horizontal bar, the third horizontal bar is disposed at the middle of the corresponding first horizontal bar and the second horizontal bar, and the two horizontal bars at the bottom are not connected, and the first two horizontal crosses of the top The auxiliary seat bracket is disposed on the rod, the auxiliary seat bracket is disposed between the seat and the U-shaped frame, and the auxiliary seat bracket is provided with two telescoping cushion plates, wherein the two seat cushion plates are symmetrically disposed In the auxiliary seat bracket, the foot pedal is disposed at the bottom of the front side panel. The multifunctional wheelchair-accessible electric wheelchair according to claim 8, wherein the auxiliary wheelchair and the main frame are connected by a lock, and the seat is symmetrically arranged with a slide rail, and the cross section of the slide rail is symmetrical. Two L-shaped structures, a seat plate is arranged between the slide rails, and the seat plate can slide in the slide rails. The two ends of the seat plate are respectively provided with racks, the racks protrude from the two symmetrical L-shaped structures, the outer side of the rack is provided with gears, and the gears are engaged by the manual clutch device to complete the rack engagement or separation action, manual The clutch device is disposed on the main frame, and the manual clutch device is connected to the buckle through a swing lever. When the manual clutch device completes the pull-in action, the lock and the release action are completed by the swing lever. The multifunctional wheelchair-accessible electric wheelchair according to claim 2, wherein the bottom surface of the bottom plate is provided with two distance sensors between the two crawler belts, and the two distance sensors are symmetrically disposed at the front end and the rear of the bottom plate respectively. a horizontal inclination sensor is disposed between the two distance sensors, and the horizontal inclination sensor is fixed on the bottom surface of the bottom plate, and the distance sensor can swing in a plane where the bottom plate is located and a plane perpendicular to the bottom plate, the two The distance sensor and the level tilt sensor detect the data transmission to the controller.

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