CN102755229B - Six-legged stair climbing wheelchair - Google Patents
Six-legged stair climbing wheelchair Download PDFInfo
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- CN102755229B CN102755229B CN201210241517.0A CN201210241517A CN102755229B CN 102755229 B CN102755229 B CN 102755229B CN 201210241517 A CN201210241517 A CN 201210241517A CN 102755229 B CN102755229 B CN 102755229B
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Abstract
The invention discloses a six-legged stair climbing wheelchair which belongs to the field of elder and disabled assisting service robots. The six-legged stair climbing wheelchair comprises a wheelchair, three front side legs, three back side legs and a power supply controller box, wherein the power supply control box is arranged below a seat of the wheelchair and a power supply and a controller are arranged therein; the three front side legs are linearly and uniformly arranged at the front side where the power supply control box is close to the wheelchair, and respectively comprise a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot part, and the thigh and the shank comprise telescopic joints realized by ball screw nut mechanisms; and the three back side legs are linearly and uniformly arranged at the back side where the power supply control box is close to the wheelchair, and respectively comprise a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot part. Through the six-legged stair climbing wheelchair, the seat of the wheelchair is always in a horizontal state in the whole stair climbing process, so that the sitting comfort and safety of the passengers are ensured and walking on rough roads can be realized conveniently.
Description
Technical field:
The present invention relates to a kind of wheelchair of helping the disabled of helping the elderly, especially can the wheelchair of speeling stairway and leaping over obstacles, belong to the service robot field that helps the elderly.
Background technology:
At present, known conventional wheelchair device adopts wheel type movement form, can only walk on level land, and can not cross over the such obstacle of entablement rank, threshold, more can not speeling stairway, and the range of activity therefore taking wheelchair user is very restricted.The specifical wheelchair device at present with stair climbing ability comprises wheels formula, crawler type, rail mounted and has lower limb formula (legged) four kinds.Wheels formula wheelchair (IBOT3000 of the such as U.S.) adopts star-like wheel mechanism, can speeling stairway and cross road serrated edge, its shortcoming be stair width and highly must with the size fit of wheel, therefore have certain restriction for the structure of stair and specification; Crawler-type wheel chair is walked on stair by crawler belt, and its shortcoming is that crawler belt easily damages stair and needs non-skid feature when stair climbing, and its application is restricted; Rail mounted needs on stair, install special rail mechanism, and because rail mechanism can not arbitrarily move to different occasions with wheelchair, application is also restricted; There is the The hybrid all-terrain wheelchair of lower limb formula wheelchair such as Univ Pennsylvania USA's research, the basis of wheelchair adds two legs, can climb steps and crossing over blockage, but in the process of climbing step and crossing over blockage, seat tilts serious, causes very large sense of discomfort to occupant.
Summary of the invention:
In order to overcome the climbing restriction of wheelchair to staircase structure of existing stair and the dependence to special facilities, the application provides a kind of new stair to climb wheelchair scheme, the structure of the program to stair is without restriction, other special facilities is not relied on yet, the safety of occupant in stair climbing process can not only be ensured, and the comfortableness of occupant in stair climbing process can be ensured.
The application solves the technical scheme that its technical problem adopts: below the seat of common wheelchair, be provided with lower limb and 3 back side lower limbs totally 6 pedipulators on front side of 3 chairs, every bar pedipulator comprises hip joint, thigh, knee joint, shank, ankle joint and foot portion, hip joint is upwards connected with wheelchair and is arranged in power-supply controller of electric case by thrust bearing, hip joint is connected with thigh downwards, thigh is connected by knee joint with shank, shank is connected by ankle joint with foot, hip joint and knee joint adopt driven by servomotor, realize thigh around the rotation of hip joint and shank around kneed rotation, on front side of described chair, the knee joint center of lower limb and back side lower limb is all biased to the curved direction of lower limb at the joint of thigh and shank, lower limb and back side lower limb on front side of chair can be folded at knee joint place, back side lower limb hip joint Y-direction back side bending one segment distance simultaneously, thus lower limb and back side lower limb can fold respectively and be recovered to the below of power-supply controller of electric case and the rear of the chair back on front side of chair.
Described six sufficient stair climbing wheelchairs have wheeled and lower limb formula two kinds of motor patterns: lower limb on front side of 3 chairs and 3 back side lower limbs are folded respectively in the environment of level land and be recovered to the below of power-supply controller of electric case and the rear of the chair back, system adopts wheel type movement pattern; In the environment needing speeling stairway and leaping over obstacles, 6 folding pedipulators are stretched out, adopt walking movement pattern.
On front side of described 3 chairs, lower limb point left, center, right is evenly arranged in the front side of power-supply controller of electric case near wheelchair, and 3 back side lower limb point left, center, rights are evenly arranged in the dorsal part of power-supply controller of electric case near wheelchair; It has Crawl gait at a slow speed and triped gait two kinds of Crawl gaits fast, specific as follows:
Described Crawl gait at a slow speed: only step one leg at every turn, step lower one leg again after this lower limb lands, has 5 lower limb kiss the earths all the time at least; The order of taking a step of wherein going upstairs is: lower limb on front side of lower limb-middle chair on front side of lower limb-left side chair on front side of middle back side lower limb-right side back side lower limb-left side back side lower limb-center of gravity reach-right side chair;
Described triped gait fast: the middle lower limb on front side of the left and right sides lower limb of back side and chair is one group, left and right sides lower limb on front side of the middle lower limb of back side and chair is one group, 3 lower limbs with group are taken a step simultaneously, next group lower limb is stepped again after this group lower limb lands, two groups of lower limbs are alternately taken a step, and have 3 lower limb kiss the earths all the time at least;
No matter be the Crawl gait adopted at a slow speed, still triped gait fast, the distance from the position of centre of gravity of six sufficient stair climbing wheelchairs to the support polygon border of pedipulator at least about equal six sufficient stair climbing wheelchair leftmost side lower limbs and rightmost side lower limb spacing 1/4.
On front side of chair, the thigh of 3 pedipulators and lower leg portion comprise telescopic joint, telescopic joint is made up of movable part and standing part, the telescopic joint standing part of thigh is connected with hip joint by stud nut, movable part is connected with knee joint by stud nut, the telescopic joint standing part of shank is connected with knee joint by stud nut, and movable part is connected with ankle joint by stud nut, in stair climbing process, on front side of wheelchair chair front, be advance to go downstairs for occupant, back side is front, fall back to go upstairs for occupant, at this moment on front side of wheelchair chair lower limb on stair present position than back side lower limb present position on stair low about 2-3 level step, wheelchair regulates the collapsing length of lower limb telescopic joint on front side of chair according to the stairway step difference in height of lower limb on front side of chair and back side lower limb present position, make lower limb on front side of chair longer than back side lower limb, and lower limb equals the difference in height of lower limb and back side lower limb foothold on stair on front side of chair on front side of chair than the length that back side lower limb has more, thus remain that the seat of wheelchair is in level in stair climbing process, ensure comfort level and the safety of passenger riding.
Article 6, pedipulator point left, center, right is evenly configured on front side of chair and back side, it to be so no matter Crawl gait (6 the lower limb action successively adopted at a slow speed, only step one leg) at every turn, still fast triped gait (3 spaced lower limbs are one group, 3 lower limbs with group are taken a step simultaneously), can ensure that the center of gravity of wheelchair is within the support polygon of pedipulator all the time, system has good stability margin and is unlikely to topple, thus ensures the safety of occupant.The ankle joint of pedipulator does not have motor to drive, and oscillating bearing is installed, its foot can rotate certain angle around the axle perpendicular to direction of advance with the axle being parallel to direction of advance respectively in ankle, thus make wheelchair can adapt to irregular ground, potted road surface adopt easily walking movement pattern walk.
On front side of chair, the thigh of 3 pedipulators and the telescopic joint of lower leg portion are realized by ball-screw nut mechanism, ball-screw adopts " fixing-freely " type mounting means, stiff end is connected with driven by servomotor assembly by two-way characteristic analysis on passive self-locking bearing, nut body is connected with the movable part of Retractive leg, the profile of Retractive leg movable part is four-prism, 4 row rolling guide blocks are provided with at the four sides of prism, the standing part of Retractive leg is the four-prism of a hollow, 4 surperficial within it planes respectively there is 1 row gathering sill, movable part to be enclosed within inside standing part and to be slided in the gathering sill of standing part by rolling guide block, the telescopic section of such pedipulator both can be freely flexible with the length regulating pedipulator under the driving of servomotor, can prevent again ball-screw under stress, producing de-rotation, thus while realizing pedipulator Telescopic, ensure the safety of system.
On front side of described chair, the hip joint of lower limb and back side lower limb is upwards arranged in power-supply controller of electric case by thrust bearing, and pass through driven by servomotor, lower limb and back side lower limb on front side of chair can be rotated around vertical axes, thus realize the steering operation of six sufficient stair climbing wheelchair systems.
On front side of described chair, the ankle joint of lower limb and back side lower limb is provided with oscillating bearing, and adopt without motor-driven drive lacking scheme, because the axis of oscillating bearing can deflect, article 6, the foot of pedipulator can around the upper and lower pitching of left and right directions axle each 20 ° in ankle, also each 15 ° can be rolled around about fore-and-aft direction axle, thus make lower limb and back side lower limb on front side of chair can adapt to irregular ground, on the road surface of hollow, adopt walking movement pattern to walk easily.
The beneficial effect of the application is, system adopts wheel type movement pattern in smooth-riding surface, retain the original motor function of wheelchair, walking movement mode is adopted in step and stair environment, do not limit by staircase structure, do not rely on special special facilities, in stair climbing process, maintain the level of seat all the time, can ensure safety and the comfortableness of passenger riding, and this system also has good adaptability on out-of-flatness ground.
Accompanying drawing illustrates:
Below in conjunction with drawings and Examples, the application is described further.
Fig. 1 is that six sufficient stair climbing wheelchairs adopt walking movement state to start speeling stairway.
Fig. 2 is that six sufficient stair climbing wheelchairs adopt wheel type movement state at level walking.
Fig. 3 is the structure of pedipulator and folding schematic diagram, and thigh and the shank of back side lower limb do not have telescopic joint.
Fig. 4 is the concrete structure of lower limb thigh and shank telescopic joint on front side of chair.
Fig. 5 is the direction of motion of lower limb and the rotation of back side lower limb and telescopic joint on front side of six sufficient stair climbing wheelchair chairs.
Fig. 6 is that six sufficient stair climbing wheelchairs keep seat to be in level by Retractive leg on stair.
Fig. 7 be six sufficient stair climbing wheelchairs between two-layer stair on the direction of motion of going downstairs.
Fig. 8 be six sufficient stair climbing wheelchairs walk fast (triped gait) time position of centre of gravity and support polygon.
Position of centre of gravity when Fig. 9 is six sufficient stair climbing wheelchair low-speed running (Crawl gait) and support polygon.
1. chair back in figure, 2. back side lower limb, 3. power-supply controller of electric case, 4. trailing wheel, 5. lower limb on front side of chair, 6. front-wheel, 7. footboard, 8. seat, 9. handrail, 10. the hip joint longitudinal axis, 11. hip joints, 12. ankle joint, 13. foot portions, lower limb shank telescopic joint on front side of 14. chairs, 15. knee joints, lower limb thigh telescopic joint on front side of 16. chairs, 19. gear-boxes, 20. gear trains, 21. servomotors, 22. two-way characteristic analysis on passive self-locking bearing, axle head fixed by 23. ball-screws, 24. ball-screws, 25. ball-screw nuts, 26. Retractive leg standing part side plates, 27. rolling guide block row, 28. Retractive leg movable parts, 29. back side lower limb shanks, 30. back side lower limb thighs, the 31. back side lower limb hip joint longitudinal axis, 32. thrust bearings.
Detailed description of the invention:
In FIG, 6 pedipulators on front side of chair and back side point left, center, right be distributed on the under-seat of wheelchair.As shown in Figure 3, structure and people's lower limb of pedipulator are similar, be divided into the hip joint longitudinal axis 10, hip joint 11, thigh 30, knee joint 15, shank 29, ankle joint 12 and foot 13, hip joint 11 is connected with thigh 30 downwards, and thigh 30 is connected by knee joint 15 with shank 29, and shank 29 is connected by ankle joint 12 with foot 13.The hip joint longitudinal axis 10 is upwards arranged in power-supply controller of electric case 3 by thrust bearing 32, and by driven by servomotor, lower limb 5 and back side lower limb 2 on front side of chair can be rotated around vertical axes, thus realizes the steering operation of six sufficient stair climbing wheelchair systems.Towards the opposite towards with wheelchair of pedipulator, so in the process of going upstairs, the back side of wheelchair, front, is fall back to go upstairs for occupant, in the process of going downstairs, front on front side of wheelchair chair, is advance to go downstairs for occupant.Power-supply controller of electric case 3 is provided with below seat 8, the hip joint longitudinal axis 10 of pedipulator to be fixed in power-supply controller of electric case 3 by a pair thrust ball bearing and to pass through driven by servomotor, thus whole piece pedipulator is rotated around the z-axis shown in Fig. 5, change the direction of advance of wheelchair, realize turning motion.
In figure 3, on front side of chair, the thigh and calf of lower limb 5 also has telescopic joint, the structure of telescopic joint as shown in Figure 4, telescopic joint is made up of movable part and standing part, the telescopic joint standing part of thigh is connected with hip joint 11 by stud nut, movable part is connected with knee joint 15 by stud nut, and on front side of chair, the standing part of lower limb shank telescopic joint 14 is connected with knee joint 15 by stud nut, and movable part is connected with ankle joint 12 by stud nut.Telescopic joint is realized by ball-screw nut mechanism, ball-screw 24 adopts " fixing-freely " type mounting means, and ball-screw is fixed axle head 23 and is connected by driven units such as two-way characteristic analysis on passive self-locking bearing 22 and servomotor 21 and train of reduction gears 20.Ball-screw is fixed axle head 23 and is installed together by bearing and gear-box 19 and Retractive leg standing part.Retractive leg standing part is fixed into the four-prism of a hollow by screw by 4 blocks of identical side plates 26,4 planes within it surface respectively have 1 row gathering sill.Ball-screw nut 25 is connected with the movable part 28 of Retractive leg, the profile of Retractive leg movable part 28 is four-prism, be provided with 4 row rolling guide blocks 27 at the four sides of prism, the movable part 28 of Retractive leg to be enclosed within inside standing part and to be slided in the gathering sill of standing part side plate 26 by rolling guide block 27.Pedipulator telescopic joint is upwards connected with hip joint 11 by the telescopic joint of gear-box 19 with mechanical part thigh above, and on front side of chair, lower limb shank telescopic joint 14 is connected with knee joint 15 and is connected and fixed by bolt and nut.The movable part 28 of pedipulator telescopic joint is connected with knee joint 15 with the movable part of mechanical part thigh telescopic joint below downwards, and on front side of chair, the movable part of lower limb shank telescopic joint 14 is connected with ankle joint 12 and is connected and fixed by bolt and nut.The telescopic joint of such pedipulator both can be freely flexible with the length regulating pedipulator under the driving of servomotor 21, can prevent again ball-screw 24 under stress, producing de-rotation, thus ensure the safety of system while realizing pedipulator Telescopic.
No matter be lower limb 5 or back side lower limb 2 on front side of chair, its ankle joint 12 has all installed oscillating bearing, and adopt without motor-driven drive lacking scheme, because the axis of oscillating bearing can at the intrinsic deflection of certain angle scope, therefore make foot 13 can around the upper and lower pitching of left and right directions axle each 20 ° at ankle joint 12 place, each 15 ° can also be rolled around about fore-and-aft direction axle, therefore wheelchair can adapt to irregular ground, potted road surface also can adopt easily walking movement pattern walk.
As shown in Figure 3, on front side of chair, the center of the knee joint 15 of lower limb 5 and back side lower limb 2 is all biased a segment distance in the part that crosses of thigh and shank to the curved direction of lower limb, lower limb 5 and back side lower limb 2 on front side of chair can be folded at knee joint 15 place, the back side lower limb hip joint longitudinal axis 31 is to back side bending one segment distance simultaneously, thus lower limb 5 and back side lower limb 2 can fold respectively and be recovered to the below of power-supply controller of electric case 3 and the rear of the chair back on front side of chair, therefore six sufficient stair climbing wheelchair systems have wheeled and lower limb formula two kinds of motor patterns.In the embodiment depicted in figure 2, when wheelchair is in the environment of level land, as shown in Figure 5, on front side of chair, the thigh and calf telescopic joint of lower limb 5 is retracted, thigh rotates counterclockwise around hip joint 11, and shank joint 15 of staying with one's parents in order to make them happy rotates clockwise, and lower limb on front side of chair 5 is folded in the below of power-supply controller of electric case 3; The thigh 30 of back side lower limb 2 rotates counterclockwise around hip joint 11, and shank 29 joint 15 of staying with one's parents in order to make them happy rotates clockwise, and back side lower limb 2 is folded in the rear of the chair back 1.Wheelchair is landed by trailing wheel 4 and front-wheel 6, adopts wheel type movement state.
In the embodiment shown in fig. 7, consider the parallelogram sturcutre feature in space between two-layer stair, and the sitting posture of the structure of wheelchair and people all presents low early and high after feature, therefore wheelchair adopts to advance and goes downstairs and retreat the mode of going upstairs in stair climbing process, namely the occupant of wheelchair goes downstairs towards direction of advance, and the back of the body is gone upstairs towards direction of advance.As shown in Figure 1, time near wheel chair sport to stair, contrary with the motion of each cradle head of leg shown in Fig. 5, on front side of chair, the thigh of lower limb 5 rotates clockwise around hip joint 11, shank joint 15 of staying with one's parents in order to make them happy rotates counterclockwise, and is stretched out by lower limb 5 on front side of the chair be folded in below power-supply controller of electric case 3; The thigh 30 of back side lower limb 2 rotates clockwise around hip joint 11, and shank 29 joint 15 of staying with one's parents in order to make them happy rotates counterclockwise, and is stretched out by the back side lower limb 2 being folded in the chair back 1 rear.Article 6, after pedipulator lands, trailing wheel 4 and front-wheel 6 liftoff, wheelchair adopts 6 sufficient walking movement states, start as shown in Figure 1 stair climbing process.As shown in Figure 1, when wheelchair prepares speeling stairway, on front side of chair, lower limb 5 and back side lower limb 2 are all stood at grade, so the thigh and calf telescopic joint of lower limb 5 is in retracted mode on front side of chair.Along with the carrying out of stair climbing process, on front side of chair, the foothold of lower limb 5 and back side lower limb 2 is in the plane of differing heights, and at this moment on front side of chair, the thigh and calf telescopic joint of lower limb 5 stretches out.As shown in Figure 6, when wheelchair be in the stage casing of stair time, when on front side of the chair of i.e. wheelchair, the foothold of lower limb 5 and back side lower limb 2 is all on stairway step, stair difference in height between this foothold remains unchanged, therefore on front side of chair, the collapsing length of the thigh and calf telescopic joint of lower limb 5 also remains unchanged substantially, only when wheelchair moves forward and backward center of gravity along with pedipulator angle change backward and do corresponding fine setting forward.When stair terminal section climbed by wheelchair, namely wheelchair leave gradually stair arrive level ground time, on front side of chair lower limb 5 and back side lower limb 2 foothold between difference in height diminish gradually, on front side of chair, the telescopic joint of the thigh and calf of lower limb 5 is retracted gradually.Like this, by the length regulating telescopic joint to stretch out and retract, can ensure that seats 8 is in level all the time, thus ensure comfortableness and the safety of occupant.When wheelchair arrives level ground, and for example embodiment illustrated in fig. 2 by pedipulator withdrawal, get back to wheel type movement state.
In the embodiment shown in fig. 8, wheelchair adopts triped gait walking.This is a kind of walking manner fast, middle lower limb on front side of the left and right sides lower limb of back side and chair is one group, left and right sides lower limb on front side of the middle lower limb of back side and chair is one group, be denoted as A and B respectively, 3 lower limbs with group are taken a step simultaneously, step next group lower limb after this group lower limb lands again, have 3 lower limb kiss the earths all the time at least.Its operating process is as follows: A group lower limb is stood, and B group lower limb is taken a step; AB two groups of lower limbs land simultaneously, and wheelchair center of gravity moves forward; B group lower limb is stood, and A group lower limb is taken a step; AB two groups of lower limbs land simultaneously, and wheelchair center of gravity moves forward; A group lower limb is stood, and B group lower limb is taken a step ...So move in circles, wheelchair is walked with speed walking faster.
In the embodiment shown in fig. 9, wheelchair adopts Crawl gait walking.This is a kind of low-speed running mode, is numbered 6 pedipulator actions successively of 1 ~ 6, only steps one leg at every turn, step lower one leg again after one leg lands, have 5 lower limb kiss the earths all the time at least.Its operating process is as follows: first No. 2 lower limbs in the middle of back side step, next coming in order are No. 1 and No. 3 lower limbs of back side, and then 6 lower limbs land simultaneously, and wheelchair center of gravity moves forward, then step No. 4 on front side of chair and No. 6 lower limbs more successively, finally step No. 5 lower limbs in the middle of on front side of chair.So far complete one to take a step the cycle, then start the walking movement of next circulation.
In the embodiment of Fig. 8 and Fig. 9, it is no matter the Crawl gait of low-speed running, or the triped gait of walking fast, can to ensure within the support polygon that the center of gravity (representing with G and ★) of wheelchair is in pedipulator all the time and there is larger enough and to spare, system has good stability margin and is unlikely to topple, thus ensures the safety of occupant.
Claims (6)
1. a sufficient stair climbing wheelchair, it is characterized in that, it is provided with lower limb and 3 back side lower limbs totally 6 pedipulators on front side of 3 chairs below the seat of wheelchair, every bar pedipulator comprises hip joint, thigh, knee joint, shank, ankle joint and foot portion, hip joint is upwards connected with wheelchair and is arranged in power-supply controller of electric case by thrust bearing, hip joint is connected with thigh downwards, thigh is connected by knee joint with shank, shank is connected by ankle joint with foot, hip joint and knee joint adopt driven by servomotor, realize thigh around the rotation of hip joint and shank around kneed rotation, on front side of described chair, the knee joint center of lower limb and back side lower limb is all biased to the curved direction of lower limb at the joint of thigh and shank, lower limb and back side lower limb on front side of chair can be folded at knee joint place, back side lower limb hip joint Y-direction back side bending one segment distance simultaneously, thus lower limb and back side lower limb can fold respectively and be recovered to the below of power-supply controller of electric case and the rear of the chair back on front side of chair,
Described six sufficient stair climbing wheelchairs have wheeled and lower limb formula two kinds of motor patterns: lower limb on front side of 3 chairs and 3 back side lower limbs are folded respectively in the environment of level land and be recovered to the below of power-supply controller of electric case and the rear of the chair back, and described six sufficient stair climbing wheelchairs adopt wheel type movement patterns; In the environment needing speeling stairway and leaping over obstacles, 6 folding pedipulators are stretched out, adopt walking movement pattern.
2. six sufficient stair climbing wheelchairs according to claim 1, it is characterized in that: on front side of described 3 chairs, lower limb point left, center, right is evenly arranged in the front side of power-supply controller of electric case near wheelchair, 3 back side lower limb point left, center, rights are evenly arranged in the dorsal part of power-supply controller of electric case near wheelchair; It has Crawl gait at a slow speed and triped gait two kinds of walking step states fast, specific as follows:
Described Crawl gait at a slow speed: only step one leg at every turn, step lower one leg again after this lower limb lands, has 5 lower limb kiss the earths all the time at least; The order of taking a step of wherein going upstairs is: lower limb on front side of lower limb-middle chair on front side of lower limb-left side chair on front side of middle back side lower limb-right side back side lower limb-side, left side back side lower limb-center of gravity reach-right side chair;
Described triped gait fast: the middle lower limb on front side of the left and right sides lower limb of back side and chair is one group, left and right sides lower limb on front side of the middle lower limb of back side and chair is one group, 3 lower limbs with group are taken a step simultaneously, next group lower limb is stepped again after this group lower limb lands, two groups of lower limbs are alternately taken a step, and have 3 lower limb kiss the earths all the time at least;
No matter be the Crawl gait adopted at a slow speed, still triped gait fast, the distance from the position of centre of gravity of six sufficient stair climbing wheelchairs to the support polygon border of pedipulator at least equals 1/4 of the spacing of six sufficient stair climbing wheelchair leftmost side lower limbs and rightmost side lower limb.
3. six sufficient stair climbing wheelchairs according to claim 1, it is characterized in that: on front side of chair, the thigh of 3 pedipulators and lower leg portion comprise telescopic joint, telescopic joint is made up of movable part and standing part, the telescopic joint standing part of thigh is connected with hip joint by stud nut, movable part is connected with knee joint by stud nut, the telescopic joint standing part of shank is connected with knee joint by stud nut, movable part is connected with ankle joint by stud nut, in stair climbing process, front on front side of wheelchair chair, advance to go downstairs for occupant, back side is front, fall back to go upstairs for occupant, at this moment on front side of wheelchair chair lower limb on stair present position than back side lower limb present position on stair low 2-3 level step, wheelchair regulates the collapsing length of lower limb telescopic joint on front side of chair according to the stairway step difference in height of lower limb on front side of chair and back side lower limb present position, make lower limb on front side of chair longer than back side lower limb, and lower limb equals the difference in height of lower limb and back side lower limb foothold on stair on front side of chair on front side of chair than the length that back side lower limb has more, thus remain that the seat of wheelchair is in level in stair climbing process, ensure comfort level and the safety of passenger riding.
4. six sufficient stair climbing wheelchairs according to claim 1, it is characterized in that: on front side of chair, the thigh of 3 pedipulators and the telescopic joint of lower leg portion are realized by ball-screw nut mechanism, ball-screw adopts " fixing-freely " type mounting means, stiff end is connected with driven by servomotor assembly by two-way characteristic analysis on passive self-locking bearing, nut body is connected with the movable part of Retractive leg, the profile of Retractive leg movable part is four-prism, 4 row rolling guide blocks are provided with at the four sides of prism, the standing part of Retractive leg is the four-prism of a hollow, 4 surperficial within it planes respectively there is 1 row gathering sill, movable part to be enclosed within inside standing part and to be slided in the gathering sill of standing part by rolling guide block, the telescopic section of pedipulator both can be freely flexible with the length regulating pedipulator under the driving of servomotor, prevent again ball-screw under stress, producing de-rotation, the safety of system is ensured while realizing pedipulator Telescopic.
5. six sufficient stair climbing wheelchairs according to claim 1, it is characterized in that: on front side of described chair, the hip joint of lower limb and back side lower limb is upwards arranged in power-supply controller of electric case by thrust bearing, and pass through driven by servomotor, lower limb and back side lower limb on front side of chair can be rotated around vertical axes, thus realize the steering operation of six sufficient stair climbing wheelchair systems.
6. six sufficient stair climbing wheelchairs according to claim 1, it is characterized in that: on front side of described chair, the ankle joint of lower limb and back side lower limb is provided with oscillating bearing, and adopt without motor-driven drive lacking scheme, because the axis of oscillating bearing can deflect, article 6, the foot of pedipulator can around the upper and lower pitching of left and right directions axle each 20 ° in ankle, also each 15 ° can be rolled around about fore-and-aft direction axle, thus make lower limb and back side lower limb on front side of chair can adapt to irregular ground, on the road surface of hollow, adopt walking movement pattern to walk easily.
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