CN211835060U - Stand-up wheelchair that can change the way of walking - Google Patents

Abstract

The utility model relates to a wheelchair. The technical scheme is as follows: the standing-up assisting wheelchair with a changeable walking mode is characterized in that: the device comprises a chassis which is horizontally arranged, two groups of wheel-type traveling devices which are arranged on the chassis and used for performing wheel-type traveling, two groups of crawler-type traveling devices which are arranged on the lower part of the chassis and used for performing crawler-type traveling, a seat which is arranged above the middle part of the chassis, a mobile lifting device which is connected between the chassis and the seat and used for adjusting the position of the seat, two groups of auxiliary hoes which are arranged on the rear part of the chassis and used for assisting the wheelchair to park, two groups of hood folding and unfolding devices which are arranged on the chassis and positioned between the seat and the auxiliary hoes, and an auxiliary action amplifier; the two sets of wheel type running devices, the two sets of crawler type running devices, the two sets of hoes and the two sets of hood retracting devices are respectively identical in structure and are arranged in bilateral symmetry about a vertical central plane of the chassis. The wheelchair can be switched to the advancing mode according to the external environment, the stability of the wheelchair is guaranteed, the operation is simple, and the applicability is strong.

Description

Stand-up wheelchair that can change the way of walking

technical field

The utility model relates to a wheelchair, in particular to a standing-up wheelchair which can change the walking mode.

Background technique

With the increasing trend of population aging in our country, the safety of the daily life of the elderly has received extensive attention. At present, the children of most families are busy with work during the day, which leads to the neglect of care for the elderly living alone or empty nesters. At the same time, with the increasing age, many elderly people have inconvenience in their legs and feet, and their ability to take care of themselves is degraded. Due to the decline of physical function of the elderly, many affairs that need to be handled independently will be more or less inconvenient, and they need the help of others or the assistance of equipment. In today's era of increasingly expensive human resources, the importance of auxiliary equipment is also gradually rise.

At present, the elderly will encounter some troubles that cannot be effectively solved in the process of using wheelchairs. Holding items higher than the hand space in a seated position; bad weather but no rain gear, etc. In addition, the existing standing-up wheelchairs are limited to general wheelchair functions, lack active safety protection measures and additional functions, and are mostly limited by their own mechanisms and cannot adapt to various environments. Therefore, there is a need for improvements to existing upright wheelchairs.

Utility model content

The purpose of this utility model is to overcome the deficiencies of the above-mentioned background technology, and to provide a standing-up wheelchair that can change the walking mode. The wheelchair should be able to switch the travel mode according to the external environment, while ensuring the stability of the wheelchair; the wheelchair should also be able to assist the elderly. Stand up, and is equipped with safety protection measures under different environmental conditions, which has the characteristics of simple operation, strong safety, convenient use and strong applicability.

The technical scheme provided by the utility model is:

The stand-up wheelchair capable of changing the walking mode is characterized in that: it includes a horizontally arranged chassis, two sets of wheeled walking devices installed on the chassis for wheeled walking, and two sets of crawler-type walking devices installed on the lower part of the chassis for crawler walking. Walking device, seat installed above the middle of the chassis, mobile lifting device connected between the chassis and the seat to adjust the seat position, two sets of hoes installed at the rear of the chassis to assist wheelchair parking, installed on the chassis And two sets of hood retracting devices located between the seat and the hoe, and two auxiliary action amplifiers installed on the chassis and beside the seat to assist the elderly to take items; two sets of wheeled walking devices and two sets of crawler walking devices , Two sets of hoes and two sets of hood retracting devices have the same structure respectively and are arranged symmetrically about the vertical center plane of the chassis.

Each set of wheeled running devices includes a front wheel rotatably positioned at the front of the chassis, a first drive assembly for driving the front wheel to rotate, a number of springs vertically fixed under the rear of the chassis for shock absorption, and fixed at the end of the spring The axle bracket and the rear wheel rotatably positioned on the axle bracket; the first drive assembly includes a large gear coaxially and fixedly connected with the front wheel, a first motor fixed on the chassis, and a motor shaft of the first motor A fixedly connected pinion gear and a chain wound around the outer circumference of the large gear and the pinion.

Each group of crawler-type traveling devices includes two sets of wheel-track switching cylinders fixed vertically at the bottom of the chassis at a certain distance in the front and rear, and outrigger brackets horizontally fixed at the ends of the push rods of the two sets of wheel-track switching cylinders. A second motor at one end of the axle frame, a driving wheel fixed on the motor shaft of the second motor, a guide wheel rotatably positioned at the other end of the outrigger axle frame, a crawler belt wound around the outer circumference of the driving wheel and the guide wheel, and a track mounted on the crawler belt Inside to support several idlers of the track.

The mobile lifting device includes a rear leg support column vertically fixed on the chassis, a second slide rail vertically installed on the front and rear sides of the rear leg support column, and a second slide rail vertically mounted along the front side of the rear leg support column. A first lifting column that moves straight, a first positioning cylinder for driving the first lifting column, a rear support rod that is horizontally fixed on the first lifting column in the left-right direction, and a second slide rail that can be supported along the rear side of the rear leg support column A second lifting column that moves vertically, a second positioning cylinder that drives the second lifting column, and a four-link structure for improving the bearing capacity of the seat.

The four-link structure includes a first link, a second link, a third link and a fourth link; wherein, the first link is horizontally fixed on the chassis, and the first link is provided with a sliding-fit first link. a slide rail and a first slider; one end of the second link is hinged on the first slider, and the other end is hinged at the middle of the third link; one end of the third link is hinged with the first link, and the other One end is hinged with the front support rod; one end of the fourth link is hinged with the front support rod, and the other end is hinged with the rear support rod.

The seat includes several front leg support columns hinged on the chassis at the bottom, front support rods horizontally fixed on the upper parts of the front leg support columns along the left-right direction, and a seat plate located above the four-bar linkage mechanism and one end of which is hinged with the front support rod , the seat plate cylinder whose base is fixed on the fourth link and whose push rod is hinged on the bottom of the seat plate to adjust the inclination angle of the seat plate, the backrest whose lower end is hinged on the first lifting column, and the base is fixed on the second lifting column and pushes A backrest cylinder whose rod is hinged in the middle of the backrest to adjust the inclination angle of the backrest.

Each set of hood retracting devices includes two uprights that are spaced apart from the front and rear and are vertically fixed on the chassis, a beam that is horizontally connected to the tops of the two uprights, and a fourth slide rail that is vertically arranged on the rear uprights, which can slide vertically. a fourth sliding block positioned on the fourth sliding rail; a third cylinder vertically fixed on the rear column and whose push rod is fixedly connected to the fourth sliding block; one end is hinged to the fourth sliding block and the other end faces the seat A canopy rod protruding above and an inclined rod with one end hinged on the beam and the other end hinged on the middle of the canopy rod.

The auxiliary hoe includes a five-bar mechanism, a second drive assembly for driving the five-bar mechanism, and a parking plate mounted on the five-bar mechanism; the second drive assembly includes a drive motor mounted on the chassis, rotatable a first lead screw that is positioned on the lead screw support base and driven by the drive motor, and a fifth slider that cooperates with the first lead screw to drive;

The five-rod mechanism includes a first rod, a second rod, a third rod, a fourth rod and a fifth rod; the first rod, the second rod and the third rod are hinged in sequence ; The end of the third rod is hinged with the parking plate; one end of the fifth rod is fixedly connected with the lead screw support seat of the first lead screw, and the other end is set as a "Y"-shaped connecting end; One of the bifurcated ends of the "Y"-shaped connecting ends of the five-bar member is hinged with the middle part of the second rod member, and the other bifurcated end is hinged with one end of the fourth rod member; the other end of the fourth rod member is hinged with the middle part of the third rod member Hinged.

The auxiliary action amplifier includes a fixed base vertically fixed on the chassis, a rotating plate rotatably positioned horizontally on the fixed base, a fourth motor fixed on the side of the fixed base and driving the rotating plate through a gear pair, and a fourth motor fixed vertically on the fixed base. The first rod on the rotating disk, the second rod whose one end is hinged with the top of the first rod, the first cylinder whose two ends are hinged on the middle of the rotating disk and the second gas rod respectively, are arranged obliquely downward, and the middle part is different from the second rod. A third rod with one end hinged, one end hinged on the upper end of the third rod and the other end hinged on the middle of the second rod , two adjusting blocks slidably positioned on the fourth rod along the length direction of the fourth rod, two mechanical claws fixed on the two adjusting blocks respectively, a third motor fixed on the third rod, and the The motor shafts of the three motors are fixedly connected with a second lead screw and a second slide block matched with the second lead screw; one end of the two mechanical claws is hinged on both sides of the second slide block, respectively; the first cylinder and the second slide block are respectively The two cylinders are respectively located on both sides of the second rod.

A curved fender fixed on the chassis and suitable for the outer diameter of the front wheel is arranged above the front wheel; armrests for safety protection are arranged on both sides of the seat plate; between the seat plate and the backrest are installed seat belt; a control button keyboard is arranged on the armrest; a bumper is arranged on the front part of the chassis; a camera is arranged on the front part of the chassis; a lighting device is arranged on the front part and the rear part of the chassis; Power is provided.

The beneficial effects of the present utility model are:

1) The utility model realizes the switching between the wheeled walking device and the crawler walking device through the wheel-track switching cylinder, which can adapt to different road environments and improve the applicable range and passing rate of the wheelchair.

2) In the wheeled running device of the present invention, a spring is connected between the rear wheel and the chassis, which can greatly reduce the bumping phenomenon during the running process and improve the stability and comfort.

3) The hoe in the utility model can assist the wheelchair to park, prevent the wheelchair from slipping or flipping backward when climbing a slope, and improve the safety performance of the wheelchair.

4) The hood retracting and retracting device in the utility model adopts a scissor-type structure, which is smooth and convenient to retract, simple in structure and convenient in operation.

5) The mobile lifting device in the utility model can adjust the inclination angle of the seat plate, thereby assisting the elderly to stand up and saving the physical strength of the elderly; in addition, the backrest of the seat can adjust the inclination angle through the backrest cylinder, and the elderly can adjust according to their own conditions to improve comfort sex.

6) The auxiliary action amplifier in the present invention can perform three-dimensional spatial positioning of the mechanical claw, and the adjustable range of the mechanical claw is large, which can assist the elderly to take objects beyond the hand range, and improve the independent living ability of the elderly.

7) The utility model has wide application range, high safety, convenient operation and low cost, and is suitable for popularization and application.

Description of drawings

FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

FIG. 2 is a schematic view of the structure of the present utility model from the right side.

FIG. 3 is a left side structural schematic diagram of the utility model (the hood retractable device and the bumper are omitted).

4 is a schematic three-dimensional structure diagram of the wheeled traveling device and the crawler traveling device according to the present invention.

FIG. 5 is a schematic diagram of the enlarged structure of part A of FIG. 2 .

FIG. 6 is a schematic three-dimensional structural diagram of the first drive assembly according to the present invention.

FIG. 7 is a partial perspective structural diagram of the mobile lifting device according to the present invention.

FIG. 8 is one of the three-dimensional schematic diagrams of the mobile lifting device and the seat in the present invention (the backrest is omitted).

FIG. 9 is the second schematic diagram of the three-dimensional structure of the mobile lifting device and the seat described in the utility model (the backrest and the seat plate are omitted).

Fig. 10 is a right side structural schematic diagram of the mobile lifting device and the seat according to the present invention (the backrest is omitted).

FIG. 11 is a schematic cross-sectional structure diagram of B-B in FIG. 10 .

FIG. 12 is a left-view structural schematic diagram of the hoe according to the present invention.

FIG. 13 is a schematic three-dimensional structure diagram of the hood retracting device according to the present invention.

FIG. 14 is a schematic view of the structure of the right side view of the hood retractable device according to the present invention.

FIG. 15 is a schematic three-dimensional structure diagram of the auxiliary action amplifier according to the present invention.

Reference number:

100, wheeled running device; 101, front wheel; 102, rear wheel; 103, spring; 104, axle bracket; 105, large gear; 106, pinion; 107, chain; 108, first motor; 200, crawler Walking device; 201, driving wheel; 202, wheel-track switching cylinder; 203, outrigger axle frame; 204, inducer wheel; 205, track; 206, guide wheel; 300, hoe; 301, parking plate; 302, No. Four rods; 303, the third rod; 304, the second rod; 305, the first rod; 306, the fifth rod; 307, the fifth slider; 308, the first lead screw; 309, the lead screw Support seat; 310, drive motor; 400, hood retractable device; 401, third cylinder; 402, canopy rod; 403, inclined rod; 404, fourth slider; 405, fourth slide rail; 406, column; 407 500, mobile lifting device; 501, first positioning cylinder; 502, second slide rail; 503, rear support rod; 504, fourth connecting rod; 505, first sliding block; 506, third connecting rod; 507, second connecting rod; 508, first connecting rod; 509, first sliding rail; 510, rear leg support column; 511, first lifting column; 512, second lifting column; 513, second positioning cylinder; 600 , seat; 601, backrest cylinder; 602, front support rod; 603, backrest; 604, seat plate; 605, front leg support column; 606, seat plate cylinder; 607, seat plate connector; 701, seat belt; 702 , fender; 703, armrest; 800, auxiliary action amplifier; 801, mechanical claw; 802, adjusting block; 803, fourth rod; 804, third motor; 805, second slider; 806, second lead screw 807, the third rod; 808, the second cylinder; 809, the second rod; 810, the first cylinder; 811, the first rod; 812, the rotating disk; 813, the fourth motor; 814, the fixed seat; 900, the chassis ; 1000, control by keyboard; 1100, bumper; 1200, camera.

Detailed ways

Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

For the convenience of description, in this embodiment, the left side of FIG. 2 is the front, the right side is the rear, the upper side is the top or the top, and the lower side is the bottom or the bottom. The outside direction is left.

As shown in Fig. 1 and Fig. 2, the wheelchair with stand-up assistance that can change the walking mode includes a chassis 900, two groups of wheeled walking devices 100, two groups of crawler-type walking devices 200, a seat 600, a mobile lifting device 500, and two groups of assisting devices. Hoe 300 , two sets of hood retractable devices 400 and auxiliary action amplifier 800 . The chassis is arranged horizontally; two sets of wheeled running devices are installed on the left and right sides of the chassis; two sets of crawler-type running devices are set at the lower part of the chassis; the seat is installed above the middle of the chassis; two sets of mobile lifting devices are connected between the chassis and the seat between the chairs to adjust the seat position; the hoe is installed at the rear of the chassis to assist wheelchair parking; two sets of hood retracting devices are installed on the chassis and located between the seat and the hoe; the Auxiliary motion amplifiers are mounted on the chassis and beside the seat for easy access by the elderly. Two sets of wheeled running devices, two sets of crawler running devices, two sets of hoes and two sets of hood retracting devices have the same structure and are arranged symmetrically about the vertical center plane of the chassis to ensure the balance and stability of the wheelchair when running.

As shown in FIGS. 4 and 5 , each group of wheeled running devices includes a front wheel 101 , a first drive assembly, several (two in this embodiment) springs 103 , an axle bracket 104 and a rear wheel 102 . The front wheel and the rear wheel are respectively arranged on the front part and the rear part of the chassis; in this embodiment, the front wheel adopts a large wheel with a spoke structure, and the front wheel is rotatably positioned on the side of the front part of the chassis; the rear wheel adopts a small wheel, The rear wheel is located in the middle position of the rear and lower part of the chassis, so that the two front wheels and the two rear wheels of the two groups of wheeled running devices are arranged in an inverted triangle. Two springs are vertically fixed under the rear of the chassis for shock absorption; the axle support is fixed at the end of the spring; the rear wheel is rotatably positioned on the axle support. A fender 702 is also arranged above the front wheel; the fender is fixed on the chassis and is adapted to the outer diameter of the front wheel.

As shown in FIG. 6 , the first drive assembly is used to drive the front wheel, including a large gear 105 , a first motor 108 , a pinion 106 and a chain 107 . The large gear is coaxially and fixedly connected to the front wheel; the first motor is fixed on the chassis as a power source to drive the wheeled traveling device to move; the pinion is fixedly connected to the motor shaft of the first motor; the chain is wound around On the outer circumference of the large gear and the pinion. When working, the first motor drives the pinion, and the pinion drives the large gear to rotate through the chain, and then drives the front wheel coaxially connected with the large gear to rotate to realize wheeled travel; Improves the stability of the wheelchair.

As shown in FIGS. 4 and 5 , each group of crawler-type traveling devices includes two groups of wheel-track switching cylinders 202 , outriggers 203 , driving wheels 201 , guide wheels 206 , a second motor (not shown in the figure), and crawler belts. 205 and several inducers 204. The two groups of wheel-track switching cylinders are vertically fixed on the bottom of the chassis at a certain distance in the front and rear; the outrigger brackets are horizontally fixed to the end of the push rods of the two groups of wheel-track switching cylinders along the front and rear directions, so as to be driven by the two sets of wheel-track switching cylinders The outrigger frame moves vertically. The second motor is installed on one end of the outrigger frame along the left-right direction, and its motor shaft is fixedly connected with the driving wheel to drive the driving wheel; the guide wheel is rotatably positioned on the other end of the outrigger frame; the crawler track is wound around On the outer circumference of the driving wheel and the driven wheel; several idlers are installed on the inner side of the track to support the track. During operation, the cylinder shafts of the two groups of wheel-track switching cylinders extend or contract, thereby driving the outriggers to move vertically, and then driving the tracks to contact or move away from the ground, realizing free switching between the wheel-type traveling device and the crawler-type traveling device. . In this embodiment, each group of wheel-track switching cylinders includes four wheel-track switching cylinders, that is, there are a total of 16 wheel-track switching cylinders in the two groups of crawler-type traveling devices.

As shown in FIG. 7 to FIG. 11 , the mobile lifting device includes two rear leg support columns 510 , four second slide rails 502 , a first lift column 511 , two first positioning cylinders 501 , and a rear support rod 503 , three second lifting columns 512 , two second positioning cylinders 513 and a four-bar linkage mechanism (in FIG. 6 , the rear leg support column is not shown due to the shielding of the first lifting column). The two rear leg supporting columns are vertically fixed on the chassis, and the second sliding rails are respectively vertically installed on the front and rear sides of each rear leg supporting column. The first lifting column is located in the middle of the front side of the two rear leg supporting columns, and the first lifting column can move vertically along the second sliding rail on the front side of the rear leg supporting column under the driving of the two first positioning cylinders ( In this embodiment, the first lifting column is located between the two first positioning cylinders, the bases of the two first positioning cylinders are fixed on the chassis, and the ends of the push rods of the two first positioning cylinders are fixedly connected to the first lifting column , the ends of the push rods of the two first positioning cylinders can be slidably matched with the second slide rails, and the first lifting column can stably move vertically under the synchronous drive of the two first cylinders). A rear support rod is horizontally fixed on the first lifting column along the left and right directions. The three second lifting columns are located on the rear side of the rear leg support column, and the three second lifting columns can move vertically along the second sliding rail on the rear side of the rear leg support column under the driving of the two second positioning cylinders (this In the embodiment, the two positioning cylinders are arranged at intervals from the three second lifting columns, the bases of the two second positioning cylinders are fixed on the chassis, and the ends of the push rods of the two second positioning cylinders are fixedly connected to the three second lifting columns , the ends of the push rods of the two second positioning cylinders can be slidably matched with the second slide rails, and the three second lifting columns can stably move vertically under the synchronous drive of the two second cylinders).

The four-bar linkage mechanism plays a damping role in the seat adjustment process, so as to improve the bearing capacity of the seat. As shown in FIG. 7 , the four-bar linkage mechanism includes a first link 508, a second link 507, a third link 506 and a fourth link 504; wherein the first link is horizontally fixed on the chassis and the first link A first sliding rail 509 and a first sliding block 505 are arranged on the rod; one end of the second connecting rod is hinged on the first sliding block, and the other end is hinged on the middle of the third connecting rod; the third connecting rod is hinged on the middle of the third connecting rod. One end of the rod is hinged with the first link, and the other end is hinged with the front support rod 602; one end of the fourth link is hinged with the front support rod, and the other end is hinged with the rear support rod.

As shown in FIGS. 8 to 11 , the seat includes two front leg support columns 605 , front support rods 602 , a seat plate 604 , four seat plate cylinders 606 , a backrest 603 , four backrest cylinders 601 , armrests 703 and Seat belt 701. The bottoms of the front leg support columns are hinged on the chassis, and the front support rods are horizontally fixed on the upper parts of the two front leg support columns along the left and right directions. The base of the seat plate cylinder is fixed on the fourth connecting rod. The seat plate is installed above the four-bar linkage mechanism, wherein one end of the seat plate is hinged to the front support rod through the seat plate connecting piece 607, and the bottom of the seat plate is hinged to the end of the push rod of the seat plate cylinder, so that the seat plate can be connected to the seat plate cylinder. It swings around the front support rod under the drive of the , so as to adjust the inclination angle of the seat plate. The base of the backrest cylinder is fixed on the second lifting column, and the height position of the backrest cylinder can be adjusted through the second lifting column, so as to adjust the backrest. The lower end of the backrest is hinged on the top of the first lifting column, and the middle part of the backrest is hinged on the end of the push rod of the backrest cylinder, so that the inclination angle of the backrest can be adjusted by the backrest cylinder. A safety belt is installed on the seat plate. The left and right sides of the seat plate are provided with handrails for safety protection. When the first lifting column and the second lifting column move vertically, the height position of the seat plate and the backrest can be adjusted; when the seat plate cylinder is extended or retracted, the inclination angle of the seat plate can be adjusted; when the backrest cylinder Extend or retract to adjust the inclination of the backrest.

Two sets of assist hoes are installed at the rear of the chassis to assist wheelchair parking. As shown in FIG. 12 , each set of hoes includes a five-bar mechanism, a second drive assembly and a parking plate 301 . The parking plate is installed on the five-bar mechanism; the second driving assembly is used for driving the five-bar mechanism, thereby driving the parking plate to park the wheelchair.

The second driving assembly includes a driving motor 310 , a first lead screw 308 and a fifth sliding block 307 . The drive motor is mounted on the chassis; the first lead screw is rotatably positioned on the lead screw support base 309 (the lead screw support base is fixedly connected to the chassis), and the first lead screw is fixedly connected to the motor shaft of the drive motor , so that the first lead screw is driven to rotate by the driving motor; the fifth sliding block cooperates with the first lead screw for transmission, so that the fifth sliding block moves along the length direction of the first lead screw.

The five-rod mechanism includes a first rod 305, a second rod 304, a third rod 303, a fourth rod 302 and a fifth rod 306; the first rod, the second rod and the third rod The three rods are hinged in sequence; the end of the third rod is hinged with the parking plate; one end of the fifth rod is fixedly connected to the lead screw support seat 309 of the first lead screw, and the other end is set in a "Y" shape connecting end; one of the bifurcated ends of the "Y"-shaped connecting end of the fifth rod is hinged with the middle of the second rod, and the other bifurcated end is hinged with one end of the fourth rod; the other end of the fourth rod Hinged with the middle of the third rod.

As shown in FIGS. 13 and 14 , each set of hood retracting devices includes two uprights 406 , cross beams 407 , fourth sliding rails 405 , fourth sliding blocks 404 , third air cylinders 401 , canopy rods 402 and inclined rods 403 . The two uprights are vertically fixed on the chassis at a certain distance, one in front and the other behind; the beam 407 is horizontally and fixedly connected between the top ends of the two uprights; the fourth slide rail is vertically arranged on the rear upright; the fourth slider The third air cylinder is vertically slidably positioned on the fourth sliding rail; the third air cylinder is vertically fixed on the rear column, and the push rod of the third air cylinder is fixedly connected with the fourth sliding block to drive the fourth sliding block to move vertically. One end of the canopy rod is hinged with the fourth sliding block, and the other end extends above the seat. One end of the inclined rod is hinged on the beam and the other end is hinged on the middle of the canopy rod. In this embodiment, a cross beam 407 is correspondingly connected between the two uprights of the two sets of hood retracting devices, thereby forming a rectangular frame. When in use, just put the canopy on the two canopy poles (the car canopy is not shown in the picture).

As shown in FIG. 15 , the auxiliary action amplifier is installed on the chassis and beside the seat to assist the elderly to pick up items. The auxiliary action amplifier includes a fixed seat 814, a rotating disk 812, a fourth motor 813, a first rod 811, a second rod 809, a first cylinder 810, a third rod 807, a second cylinder 808, a fourth rod 803, two An adjustment block 802 , two mechanical claws 801 , a third motor 804 , a second lead screw 806 and a second slider 805 . The fixed seat is vertically fixed on the chassis; the rotating plate is rotatably positioned horizontally on the fixed seat; the fourth motor is fixed on the side of the fixed seat and drives the rotating plate through a gear pair; the first rod is vertical one end of the second rod is hinged to the top of the first rod, and the other end is hinged to the middle of the third rod; the two ends of the first cylinder are hinged to the rotary disk and the middle of the second air rod respectively The third rod is arranged obliquely downward; one end of the second cylinder is hinged on the upper end of the third rod and the other end is hinged on the middle of the second rod; the first cylinder and the second cylinder are respectively located on both sides of the second rod. the third motor is fixed on the third rod; the second lead screw is arranged along the length direction of the third rod, and the second lead screw is fixedly connected with the motor shaft of the third motor so as to be driven to rotate by the third motor; The second sliding block cooperates with the second lead screw for transmission, so that the second sliding block can move along the second lead screw. The center line of the fourth rod is perpendicular to the center line of the third rod, and the middle part of the fourth rod is hinged with the lower end of the third rod. The two adjusting blocks are arranged at a certain distance and can be slidably positioned on the fourth rod along the length direction of the fourth rod; one end of the two mechanical claws is hinged on both sides of the second sliding block respectively, and the middle parts of the two mechanical claws are respectively Fixed on two adjustment blocks.

As shown in FIG. 1 and FIG. 2 , a control button keyboard 1000 is arranged on the armrest; a single-chip microcomputer (not shown in the drawings) is installed in the control button keyboard. All the above-mentioned motors and cylinders are electrically connected with the single-chip microcomputer to control the movement of the wheelchair of the present invention.

A bumper 1100 is installed on the front of the chassis for protecting the wheelchair. The front part and the rear part of the chassis are provided with lighting devices (not shown in the figure) for lighting and reminding others; the lighting devices are electrically connected with the single-chip microcomputer.

The front part of the chassis is provided with a camera 1200; the pixel of the camera is 300,000; the camera is electrically connected with the single-chip microcomputer.

The rear of the chassis is provided with a power supply (not shown in the figure) to provide power for the normal operation of the above components.

The usage mode of the present utility model is as follows:

In the normal state, the switching cylinders of each wheel and crawler are contracted, so that the crawler-type traveling device is suspended. At this time, the wheel-type traveling device is used to travel, which is suitable for traveling on a flat road. When the old man operates the wheeled walking device, he can control the rotation of the first motor by pressing the keyboard to drive the front wheel to travel; and the spring is installed between the rear wheel and the chassis, which can act as a shock absorber and greatly improve the stability of the wheelchair. sex.

When encountering a muddy road, the old man operates the crawler-type walking device, and controls each wheel to switch the cylinder to extend by pressing the keyboard, so that the crawler track is in contact with the ground. Switch between crawler-type running devices; then control the rotation of the second motor, and the second motor drives the driving wheel to rotate, thereby driving the crawler to travel.

When it is necessary to climb the slope, the crawler-type walking device is still used to travel. In order to prevent the wheelchair from turning over or slipping, the elderly can operate the hoe, and control the rotation of the drive motor by pressing the keyboard, and the drive motor drives the first screw on the first screw. The five sliders move, and then the parking plate is contacted and compacted with the ground through the five-bar mechanism to assist the wheelchair to park.

When the old man needs to get up, the old man operates the mobile lifting device and the seat, and controls the push rods of the first positioning cylinder and the second positioning cylinder to extend by pressing the keyboard, driving the first lifting column and the second lifting column to move upward, and at the same time By extending the push rods of the control seat plate cylinder and the backrest cylinder, the height and inclination angle of the seat plate and the backrest can be adjusted to a suitable position, which is convenient for the elderly to get up.

In the same way, when the old man needs to sit down, the old man operates the mobile lifting device and the seat, and controls the push rods of the first positioning cylinder and the second positioning cylinder to shrink by pressing the keyboard, driving the first lifting column and the second lifting column to move toward each other. Move down, and control the push rods of the seat plate cylinder and the backrest cylinder to shrink at the same time, so that the height and inclination angle of the seat plate and the backrest can be adjusted to a suitable position, which is convenient for the elderly to sit down. During the operation of getting up or sitting down for the elderly, the first sliding block moves along the first sliding rail driven by the four-bar structure, and the four-bar structure plays a damping role to improve the load-bearing capacity of the wheelchair.

In normal state, the third cylinder in the canopy retracting device is retracted to minimize the angle β between the canopy rod and the inclined rod. At this time, the canopy rod is retracted inward and the car canopy is closed (the car canopy is not shown in the figure).

When it rains or needs to be shaded, the old man operates the hood retractable device, and controls the push rod of the third cylinder to extend by pressing the keyboard, driving the fourth slider to move upward, and then drives the hinged on the fourth slider. When the canopy rod moves, the angle β between the canopy rod and the inclined rod gradually increases, and the canopy rod opens outwards to open the hood (the hood is not shown in the figure).

When it is necessary to pick up a high object, the elderly can operate the auxiliary action amplifier, and control the rotation of the fourth motor by pressing the keyboard, which can drive the two mechanical claws to rotate in the horizontal direction; by driving the first air cylinder and the second air cylinder, The two mechanical claws can be driven to move in the vertical direction; by driving the third motor, the opening angle of the two mechanical claws can be driven, thereby realizing the positional positioning of the mechanical claws in the three-dimensional space, accurately picking up objects, and being easy to operate.

When using the wheelchair of the utility model at night, the lighting devices at the front and rear of the chassis can be turned on for lighting, and at the same time, other people can be reminded to avoid traffic accidents.

Finally, the above embodiments are only used to illustrate the present utility model, but not to limit the present utility model. Those of ordinary skill in the relevant technical field can also make various changes without departing from the spirit and scope of the present utility model. Therefore, all equivalent technical solutions also belong to the scope of the present utility model, and the patent protection scope of the present utility model shall be defined by the claims.

Claims (10)

1. The standing-up assisting wheelchair with a changeable walking mode is characterized in that: the device comprises a chassis (900) which is horizontally arranged, two groups of wheel-type traveling devices (100) which are arranged on the chassis and are used for performing wheel-type traveling, two groups of crawler-type traveling devices (200) which are arranged at the lower part of the chassis and are used for performing crawler-type traveling, a seat (600) which is arranged above the middle part of the chassis, a mobile lifting device (500) which is connected between the chassis and the seat and is used for adjusting the position of the seat, two groups of auxiliary hoes (300) which are arranged at the rear part of the chassis and are used for assisting the wheelchair to park, two groups of hood collecting and releasing devices (400) which are arranged on the chassis and are positioned between the seat and the auxiliary hoes, and an; the two sets of wheel type running devices, the two sets of crawler type running devices, the two sets of hoes and the two sets of hood retracting devices are respectively identical in structure and are arranged in bilateral symmetry about a vertical central plane of the chassis.

2. The walking convertible assisted-rise wheelchair of claim 1, further comprising: each group of wheel type running gear comprises a front wheel (101) which is rotatably positioned at the front part of the chassis, a first driving assembly which drives the front wheel to rotate, a plurality of springs (103) which are vertically fixed below the rear part of the chassis and used for damping, a wheel axle support (104) which is fixed at the tail end of each spring, and a rear wheel (102) which is rotatably positioned on the wheel axle support; the first driving assembly comprises a large gear (105) coaxially and fixedly connected with the front wheel, a first motor (108) fixed on the chassis, a small gear (106) fixedly connected with a motor shaft of the first motor, and a chain (107) wound on the peripheries of the large gear and the small gear.

3. The walking convertible assisted-rise wheelchair of claim 2, further comprising: each group of crawler-type traveling devices comprises two groups of wheel track switching cylinders (202) vertically fixed at the bottom of the chassis at intervals, an overhanging shaft bracket (203) horizontally fixed at the tail end of a push rod of each group of wheel track switching cylinders, a second motor installed at one end of the overhanging shaft bracket along the left-right direction, a driving wheel (201) fixed on a motor shaft of the second motor, a guide wheel (206) rotatably positioned at the other end of the overhanging shaft bracket, a crawler (205) wound on the peripheries of the driving wheel and the guide wheel, and a plurality of inducer (204) installed on the inner side of the crawler to support the crawler.

4. The walking convertible assisted-rise wheelchair of claim 3, further comprising: the movable lifting device comprises a rear leg supporting column (510) vertically fixed on a chassis, second sliding rails (502) vertically arranged on the front side and the rear side of the rear leg supporting column respectively, a first lifting column (511) capable of vertically moving along the second sliding rail on the front side of the rear leg supporting column, a first positioning cylinder (501) used for driving the first lifting column, a rear supporting rod (503) horizontally fixed on the first lifting column along the left-right direction, a second lifting column (512) capable of vertically moving along the second sliding rail on the rear side of the rear leg supporting column, a second positioning cylinder (513) used for driving the second lifting column and a four-link structure used for improving the bearing capacity of the seat.

5. The walking convertible assisted-rise wheelchair of claim 4, further comprising: the four-link structure comprises a first link (508), a second link (507), a third link (506) and a fourth link (504); wherein, the first connecting rod is horizontally fixed on the chassis and is provided with a first slide rail (509) and a first slide block (505) which are in sliding fit; one end of the second connecting rod is hinged to the first sliding block, and the other end of the second connecting rod is hinged to the middle of the third connecting rod; one end of the third connecting rod is hinged with the first connecting rod, and the other end of the third connecting rod is hinged with the front supporting rod (602); one end of the fourth connecting rod is hinged to the front supporting rod, and the other end of the fourth connecting rod is hinged to the rear supporting rod.

6. The walking convertible assisted-rise wheelchair of claim 5, further comprising: the seat comprises a plurality of front leg supporting columns (605) with the bottoms hinged on a chassis, a front supporting rod (602) horizontally fixed on the upper parts of the front leg supporting columns along the left-right direction, a seat plate (604) positioned above a four-bar mechanism and with one end hinged with the front supporting rod, a seat plate cylinder (606) with the lower end hinged on a first lifting column and the push rod hinged at the bottom of the seat plate to adjust the inclination angle of the seat plate, a backrest (603) with the lower end hinged on the first lifting column and a backrest cylinder (601) with the lower end hinged on a second lifting column and the push rod hinged at the middle part of the backrest to adjust the inclination.

7. The walking convertible assisted-rise wheelchair of claim 6, further comprising: every group hood receiving and releasing device includes that the interval certain distance just vertically fixes two stands (406) on the chassis around, horizontal connection is at crossbeam (407) on two stand tops, vertical setting is fourth slide rail (405) on the stand of rear, but vertical sliding ground location fourth slider (404) on the fourth slide rail, vertical fixed on the stand of rear and its push rod and fourth slider fixed connection's third cylinder (401), one end and fourth slider hinge and the other end to the fluffy pole (402) that the seat top stretches out and down tube (403) that one end articulates on the crossbeam and the other end articulates at fluffy pole middle part.

8. The walking convertible assisted-rise wheelchair of claim 7, further comprising: the hoe comprises a five-rod mechanism, a second driving assembly for driving the five-rod mechanism and a parking plate (301) arranged on the five-rod mechanism; the second driving assembly comprises a driving motor (310) arranged on the chassis, a first lead screw (308) which is rotatably positioned on the lead screw supporting seat (309) and driven by the driving motor, and a fifth sliding block (307) which is in fit transmission with the first lead screw;

the five-rod mechanism comprises a first rod (305), a second rod (304), a third rod (303), a fourth rod (302) and a fifth rod (306); the first rod piece, the second rod piece and the third rod piece are sequentially hinged; the parking plate is hinged to the tail end of the third rod piece; one end of the fifth rod piece is fixedly connected with a lead screw supporting seat (309) of the first lead screw, and the other end of the fifth rod piece is arranged to be a Y-shaped connecting end; one of the forked ends of the Y-shaped connecting ends of the fifth rod piece is hinged with the middle part of the second rod piece, and the other forked end of the Y-shaped connecting ends of the fifth rod piece is hinged with one end of the fourth rod piece; the other end of the fourth rod piece is hinged with the middle part of the third rod piece.

9. The walking convertible assisted-rise wheelchair of claim 8, further comprising: the auxiliary action amplifier comprises a fixed seat (814) vertically fixed on the chassis, a rotating disc (812) rotatably and horizontally positioned on the fixed seat, a fourth motor (813) fixed on the side surface of the fixed seat and driving the rotating disc through a gear pair, a first rod (811) vertically fixed on the rotating disc, a second rod (809) with one end hinged with the top end of the first rod, a first air cylinder (810) with two ends respectively hinged with the middle parts of the rotating disc and the second air rod, a third rod (807) obliquely and downwards arranged with the middle part hinged with the other end of the second rod, a second air cylinder (808) with one end hinged with the upper end of the third rod and the other end hinged with the middle part of the second rod, a fourth rod (803) vertically arranged with the central line of the third rod and with the middle part hinged with the lower end of the third rod, and two adjusting blocks (802) slidably positioned on the fourth rod along the, Two mechanical claws (801) respectively fixed on the two adjusting blocks, a third motor (804) fixed on the third rod, a second lead screw (806) fixedly connected with a motor shaft of the third motor, and a second sliding block (805) matched with the second lead screw; one end of each of the two mechanical claws is hinged to the two sides of the second sliding block respectively; the first cylinder and the second cylinder are respectively positioned on two sides of the second rod.

10. The walking convertible assisted-rise wheelchair of claim 9, further comprising: an arc-shaped mud guard (702) which is fixed on the chassis and is suitable for the outer diameter of the front wheel is arranged above the front wheel; armrests (703) for safety protection are arranged on two sides of the seat board; a safety belt (701) is arranged between the seat plate and the backrest; a control key board (1000) is arranged on the armrest; a bumper (1100) is arranged at the front part of the chassis; the front part of the chassis is provided with a camera (1200); the front part and the rear part of the chassis are provided with lighting devices; the rear part of the chassis is provided with a power supply.

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