CN114176926B

CN114176926B - Multi-scene wheel-track composite electric wheelchair

Info

Publication number: CN114176926B
Application number: CN202210003506.2A
Authority: CN
Inventors: 郭明飞; 施亦非; 李翔龙; 李毅
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2022-01-05
Filing date: 2022-01-05
Publication date: 2024-02-02
Anticipated expiration: 2042-01-05
Also published as: CN114176926A

Abstract

The invention provides a multi-scene wheel-track composite electric wheelchair, and belongs to the technical field of electric wheelchairs. The composite electric wheelchair comprises a wheel-track conversion module, a track transmission steering module, a wheel transmission steering module, a posture adjustment module and a control module; the wheel-track conversion module comprises a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting limiting mechanism and a wheel-type lifting mechanism, and the track transmission steering module comprises a track, a driving wheel, a tensioning wheel, a pressure bearing wheel, a third mounting plate, a transmission mechanism I, a differential mechanism, an electromagnetic brake, a motor I and a transmission mechanism II. According to the invention, the wheel-track switching is realized by adopting the lifting transmission mechanism, the guide rail sliding block structure is adopted for guiding, and after the switching is finished, the supporting and limiting mechanism is a multi-link mechanism, so that the supporting and limiting mechanism can realize self-locking, the electric wheelchair is ensured to maintain good stability in the wheel-track switching process, and the wheelchair is safer and more reliable.

Description

Multi-scene wheel-track composite electric wheelchair

Technical Field

The invention relates to the technical field of electric wheelchairs, in particular to a multi-scene wheel-track composite electric wheelchair.

Background

The problem of aging the population is becoming one of the major crisis facing the world today. As the first people in the world, the population base is large, and the population age structure of China is gradually aged at present under the influence of fertility policies. Meanwhile, in recent years, the number of disabled people caused by accidents such as various production accidents, traffic accidents and the like and sudden natural disasters is increased year by year, and the population proportion is also on the rising trend. Wheelchairs are the first aid to walk for these elderly and handicapped persons to solve mobility problems. The world wheelchair foundation estimates that about one hundred million people worldwide need wheelchairs, while the numbers published by the chinese disabled people consortium indicate that about 880 ten thousand disabled people in China need wheelchairs. However, the existing wheelchairs are mainly common manual wheelchairs and electric wheelchairs, only have the ground movement capability, and do not have the functions of obstacle surmounting, stair climbing and the like. Although countries are pushing out barrier-free facilities in public places, there are still some places limited by economic conditions and the transformation of the facilities of the disabled person passage cannot be completed. According to the latest residence design specification GB50096-2011, buildings with seven floors or less are not provided with elevator facilities, and besides high-rise buildings, domestic residential buildings mainly comprise buildings without elevators. These objective factors make it necessary for elderly and handicapped people living on a tall building to spend great manpower to help them go upstairs and downstairs each time when using the wheelchair, so that most of the time they still cannot go out to the society, and thus, great influence is brought to their physiology and psychology.

In order to solve the problem, electric wheelchair structures with different stair climbing functions at home and abroad mainly comprise a planetary wheel type stair climbing wheelchair, a crawler type stair climbing wheelchair, a walking type stair climbing wheelchair and a mixture of the three modes. The wheel-track combined stair climbing mechanism realizes wheel type walking on a flat ground and crawler type walking when climbing stairs respectively by switching the walking modes of the wheel-track combined stair climbing mechanism, and has certain advantages in the aspects of taking walking power consumption and stair climbing safety into consideration.

The invention patent with publication number CN104622650B and publication day 2017.03.29 provides a wheel-track composite electric wheelchair, which mainly comprises a wheel-track switching module, a track module, a seat balancing module, a chassis and a control box, wherein the wheel-track switching module consists of two parallelogram mechanisms symmetrically distributed on two sides of the electric wheelchair, a front coupling, a rear coupling, a switching crank and a switching push rod; the number of the crawler modules is two and the crawler modules are symmetrically distributed on two sides of the electric wheelchair and comprise a crawler, a crawler driving wheel, a crawler driven wheel inner plate, a crawler driven wheel outer plate, a crawler supporting plate and a stepping motor. The above patent uses parallelogram to realize the switching between the wheel hub walking mode and the crawler walking mode, but the shaking situation can occur in the switching process, and the self-locking can not be realized, and the stability in the using process can not be ensured.

Disclosure of Invention

The invention aims to provide a multi-scene wheel-track composite electric wheelchair, which adopts a lifting transmission mechanism to realize wheel-track switching and adopts a guide rail sliding block structure to guide, and after the switching is finished, the supporting and limiting mechanism is a multi-link mechanism, so that the supporting and limiting mechanism can realize self-locking, and the stability of wheel-track switching is ensured in the switching process, so that the wheelchair is safer and more reliable.

The invention provides a multi-scene wheel-track composite electric wheelchair which is arranged on a frame and comprises a wheel-track conversion module, a track transmission steering module, a wheel type transmission steering module, a gesture adjustment module and a control module;

the wheel-track conversion module comprises a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting limiting mechanism and a wheel-type lifting mechanism, wherein the lifting transmission mechanism comprises a lifting plate, a push rod motor IV fixedly connected with the lifting plate and first connecting rods positioned at two sides of the lifting plate, two ends of the lifting plate are fixedly connected with the guide rail sliding block mechanism, the wheel-type lifting mechanism comprises a support rod fixedly connected with a frame, a connecting block fixedly connected with the first connecting rods, lifting rods hinged with two sides of the connecting block, a front wheel connecting rod and a rear wheel connecting rod vertically connected to the frame, a second connecting rod with one end hinged with the front wheel connecting rod or the rear wheel connecting rod and the other end fixedly connected with the support rod, the supporting limiting mechanism comprises a transverse fixing rod fixedly connected with the front wheel connecting rod, a vertical fixing rod I hinged with the transverse fixing rod, a vertical fixing rod II with one end hinged with the vertical fixing rod I and the other end hinged with the first connecting rod, and a limiting rod with one end hinged with the rear wheel connecting rod;

the crawler transmission steering module comprises crawler belts arranged on two sides of the frame, a driving wheel and a tensioning wheel for driving the crawler belts to move, a pressure bearing wheel for supporting the crawler belts, a third mounting plate fixedly connected with the frame, a first transmission mechanism for driving the driving wheel to move, a differential mechanism, electromagnetic brakes arranged on two sides of the differential mechanism, a first motor for driving the differential mechanism to move, and a second transmission mechanism connected between the first motor and the differential mechanism;

the wheel type transmission steering module comprises a first mounting plate fixedly connected with the rear wheel connecting rod, shock absorbers connected with two sides of the first mounting plate, rear wheels connected with the lower ends of the shock absorbers, a second mounting plate fixedly connected with the front wheel connecting rod, front wheels arranged between the second mounting plates and steering mechanisms arranged on the front wheel connecting rod.

As the preferable mode of the invention, the guide rail sliding block mechanism comprises a guide rail vertically arranged on the frame, a sliding block matched with the guide rail to slide, and a first mounting seat for connecting the guide rail and the frame, wherein two sides of the lifting plate are fixedly connected with the sliding block.

As a preferable mode of the invention, the first transmission mechanism comprises a first belt wheel fixedly connected with the driving wheel, a second belt wheel connected with the differential mechanism, a third belt wheel rotatably connected with a third mounting plate and a first synchronous belt, wherein the first synchronous belt is in three-phase cutting connection with the first belt wheel, the second belt wheel and the belt wheel, the third belt wheel is in rotary connection with the third mounting plate through a tensioning shaft, and a first chute for inserting the tensioning shaft for adjusting the tensioning of the first synchronous belt is arranged on the third mounting plate; the second transmission mechanism comprises a belt wheel IV fixedly connected with an output shaft of the motor I, a belt wheel V connected with the differential mechanism, a belt wheel six connected with the third mounting plate in a rotating mode and a synchronous belt II, the synchronous belt II is connected with the belt wheel IV, the belt wheel V and the belt wheel six in a cutting mode, the belt wheel six is connected with the third mounting plate in a rotating mode through a tensioning shaft II, and a sliding groove II used for the tensioning shaft II to be inserted into to be used for adjusting tensioning of the synchronous belt II is formed in the third mounting plate.

Preferably, the differential mechanism comprises a planet carrier, a driving gear I, a planet gear I and a planet gear II, wherein the driving gear I is rotationally connected with the planet carrier, the planet gear I and the planet gear II are respectively in meshed transmission with the driving gear I and the planet gear II, a driven gear I is in meshed transmission with the planet gear I and the planet gear II, the driving gear I is rotationally connected with the planet carrier through a rotating shaft I, the rotating shaft I is fixedly connected with a belt wheel II and a belt wheel five, the driven gear I is rotationally connected with the planet carrier through a rotating shaft II, the rotating shaft II is fixedly connected with a belt wheel II far away from the belt wheel five, and electromagnetic brakes are respectively arranged on the rotating shaft I and the rotating shaft II.

Preferably, the steering mechanism comprises a fourth mounting plate fixedly connected with the upper end of the second mounting plate, a driven gear II fixedly connected with the fourth mounting plate, a driving gear II meshed with the driven gear II for transmission, and a motor II for driving the driving gear II to move, and the front wheel connecting rod is connected with the driven gear II.

Preferably, the front wheel connecting rod is connected with the driven gear II through a deep groove ball bearing and a tapered roller bearing.

As a preferable mode of the invention, the posture adjustment module comprises a front mounting beam, a rear mounting beam, a front auxiliary support frame, a rear auxiliary support frame and a seat adjustment mechanism, wherein the front mounting beam and the rear mounting beam are fixedly connected between the third mounting plates, the front auxiliary support frame is fixedly connected with the front mounting beam, and the rear auxiliary support frame is fixedly connected with the mounting beam.

Preferably, the seat adjusting mechanism comprises a hinge support II for connecting the frame and the seat, a push rod motor III fixedly connected with the frame, a hinge support III for connecting the seat and the push rod motor III, and a hinge support I for connecting the push rod motor III and the frame.

Preferably, the control module includes a console connected to the seat, a controller mounted on the frame, and a battery rack provided on the third mounting plate for mounting the battery.

Preferably, the frame is provided with a protective housing.

The multi-scene wheel-track composite electric wheelchair has the following beneficial effects:

1. the wheel-track switching mechanism is provided with a wheel-track switching module, a track transmission steering module, a wheel-type transmission steering module, a gesture adjusting module and a control module, wherein the wheel-track switching module is internally provided with a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting limiting mechanism and a wheel-type lifting mechanism, the wheel-track switching is realized by adopting the lifting transmission mechanism, the guide rail sliding block structure is adopted for guiding, and after the switching is finished, the supporting limiting mechanism is a multi-link mechanism, the supporting limiting mechanism can realize self-locking, so that the electric wheelchair is ensured to keep good stability in the process of switching the wheel track, and the wheelchair is safer and more reliable.

2. The pressure-bearing wheels used for supporting the crawler belt are arranged in the crawler belt transmission steering module, so that the adhesion force of the crawler belt to the surface of the stair is higher when the electric wheelchair goes up and down the stair, and the wheelchair is safer and more reliable in the process of going up and down the stair.

3. The seat adjusting structure is arranged in the gesture adjusting module, the front auxiliary supporting frame and the rear auxiliary supporting frame are combined, when the upstairs process is about to be completed and the gravity center is about to overturn, the rear auxiliary supporting frame is supported on the surface of the stair to stabilize the gravity center, when the wheelchair downstairs process is started and the gravity center of the crawler belt is about to leave the platform, the front auxiliary supporting frame is supported on the stair steps to stabilize the gravity center, the seat adjusting structure continuously works in the upstairs process, the seat plane and the ground are maintained to be horizontal, and the safety and the comfort of a user are ensured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to identify like elements. The drawings, which are included in the description, illustrate some, but not all embodiments of the invention. Other figures can be derived from these figures by one of ordinary skill in the art without undue effort.

Fig. 1 is a schematic diagram of the overall structure of a multi-scene wheel-track composite electric wheelchair according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a wheel-track conversion module according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a lifting transmission mechanism according to an embodiment of the invention.

Fig. 4 is a schematic structural view of a wheel-type lifting mechanism and a supporting and limiting mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a rail-slider mechanism according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of a track drive steering module according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a first transmission mechanism according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a second transmission mechanism according to an embodiment of the present invention.

Fig. 9 is a schematic view of an internal structure of a differential according to an embodiment of the present invention.

Fig. 10 is a schematic view of the track structure according to an embodiment of the present invention.

Fig. 11 is a schematic structural view of a wheel-type transmission steering module according to an embodiment of the present invention.

Fig. 12 is a schematic structural view of a steering mechanism according to an embodiment of the present invention.

Fig. 13 is a schematic structural diagram of an attitude adjustment module according to an embodiment of the invention.

Fig. 14 is a schematic structural view of a seat adjusting mechanism according to an embodiment of the invention.

Fig. 15 is a schematic structural diagram of a control module according to an embodiment of the invention.

In the figure, 100, a crawler belt transmission steering module; 110. a track; 111. a third mounting plate; 112. a driving wheel; 113. a pressure bearing wheel; 114. a tensioning wheel; 120. a first transmission mechanism; 121. a belt wheel I; 122. a belt wheel II; 123. a belt wheel III; 124. tensioning a first shaft; 125. a first chute; 126. a synchronous belt I; 130. an electromagnetic brake; 140. a first motor; 150. a differential; 151. a planet carrier; 152. a first driving gear; 153. a driven gear I; 154. a planetary gear I; 155. a planetary gear II; 156. a first rotating shaft; 157. a second rotating shaft; 160. a transmission mechanism II; 161. a belt wheel IV; 162. fifth belt wheel; 163. a belt wheel six; 164. tensioning a second shaft; 165. a second chute; 166. a synchronous belt II; 200. the wheel-track conversion module; 210. lifting the transmission mechanism; 211. deep groove ball bearings; 212. a lifting plate; 213. a fixed hinge support; 214. a fourth motor; 215. a first connecting rod; 220. a guide rail slide block mechanism; 221. a guide rail; 222. a slide block; 223. a first mounting seat; 230. supporting and limiting mechanisms; 231. a transverse fixing rod; 232. a first vertical fixing rod; 233. a second vertical fixing rod; 234. a limit rod; 235. a second mounting seat; 240. a wheel type lifting mechanism; 241. a support rod; 242. a second connecting rod; 243. a front wheel connecting rod; 244. a connecting block; 245. a lifting rod; 246. a rear wheel connecting rod; 300. a posture adjustment module; 310. a front mounting beam; 320. a rear mounting beam; 330. a rear auxiliary supporting frame; 340. a front auxiliary support frame; 350. a seat adjustment mechanism; 351. a hinged support I; 352. a third motor; 353. a hinged support II; 354. a seat; 355. a hinged support III; 400. a wheel type transmission steering module; 410. a first mounting plate; 420. a damper; 430. a rear wheel; 440. a second mounting plate; 450. a front wheel; 460. a steering mechanism; 461. A second motor; 462. a third mounting seat; 463. a driving gear II; 464. a fourth mounting plate; 465. a driven gear II; 500. A frame; 600. a control module; 610. a console; 620. a controller; 630. and a battery rack.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be arbitrarily combined with each other.

Embodiment one: as shown in fig. 1 and 8, which are only one embodiment of the present invention, the present invention proposes a multi-scene wheel-track composite electric wheelchair, which is disposed on a frame 500 and includes a wheel-track conversion module 200, a track transmission steering module 100, a wheel transmission steering module 400, a posture adjustment module 300, and a control module 600; the wheel-track conversion module 200 comprises a lifting transmission mechanism, a guide rail sliding block mechanism, a supporting and limiting mechanism and a wheel-type lifting mechanism, wherein the lifting transmission mechanism comprises a lifting plate 212, a push rod motor IV 214 fixedly connected with the lifting plate 212, a first connecting rod 215 positioned at two sides of the lifting plate 212, two ends of the lifting plate 212 are fixedly connected with the guide rail sliding block mechanism, the wheel-type lifting mechanism comprises a supporting rod 241 fixedly connected with a frame 500, a connecting block 244 fixedly connected with the first connecting rod 215, lifting rods 245 hinged with two sides of the connecting block 244, a front wheel connecting rod 243 and a rear wheel connecting rod 246 vertically connected to the frame 500, a second connecting rod 242 with one end hinged with the front wheel connecting rod 243 and the other end fixedly connected with the supporting rod 241, the lifting rods 245 are hinged with the front wheel connecting rod 243, the supporting and limiting mechanism comprises a transverse fixing rod 231 fixedly connected with the transverse fixing rod 231, a vertical fixing rod I232 with one end hinged with the vertical fixing rod 232 and the other end hinged with the first connecting rod 215, and a limiting rod 234 with one end hinged with the frame 500 and the other end hinged with the rear wheel connecting rod 246; the crawler belt transmission steering module 100 comprises crawler belts 110, driving wheels 112 and tensioning wheels 114, pressure-bearing wheels 113, a third mounting plate 111, a first transmission mechanism 120, a differential 150, electromagnetic brakes 130, a first motor 140 and a second transmission mechanism 160, wherein the crawler belts 110 are arranged on two sides of a frame 500, the driving wheels 112 and the tensioning wheels 114 are used for driving the crawler belts 110 to move, the pressure-bearing wheels 113 are used for supporting the crawler belts 110, the third mounting plate 111 is fixedly connected with the frame 500, the transmission mechanism 120 is used for driving the driving wheels 112 to move, the electromagnetic brakes 130 are arranged on two sides of the differential 150, the first motor 140 is used for driving the differential 150 to move, and the second transmission mechanism 160 is connected between the first motor 140 and the differential 150; the wheel type transmission steering module 400 includes a first mounting plate 410 fixedly connected to a rear wheel connecting rod 246, shock absorbers 420 connected to both sides of the first mounting plate 410, rear wheels 430 connected to lower ends of the shock absorbers 420, a second mounting plate 440 fixedly connected to a front wheel connecting rod 243, front wheels 450 disposed between the second mounting plates 440, and a steering mechanism 460 disposed on the front wheel connecting rod 243.

First, the hub running mode and the crawler running mode can be switched to each other. When the hub operation mode is switched to the crawler operation mode: firstly, a change-over switch is started, a push rod motor IV 214 in a lifting transmission mechanism provides driving force to lift, a lifting plate 212 and first connecting rods 215 positioned on two sides of the lifting plate 212 move upwards, a connecting block 244 moves upwards along with the first connecting rods 215, the first connecting rods 215 are connected with a frame 500 through deep groove ball bearings 211, friction force between the first connecting rods 215 and the frame 500 is reduced, the number of lifting rods 245 is two, two sides of the connecting block 244 are respectively arranged, one end of a lifting rod 245 on the left side is hinged with the connecting block 244, the other end of the lifting rod 245 is hinged with a front wheel connecting rod 243, one end of a lifting rod 245 on the right side is hinged with the connecting block 244, the other end of the lifting rod 245 is hinged with a rear wheel connecting rod 246, in the lifting process of the connecting block 244 drives the lifting rod 245 to move upwards, and then drives the front wheel connecting rod 243 to move upwards, and as a front wheel 450 is connected below the front wheel connecting rod 243, a rear wheel 430 is connected with the front wheel 450 and the rear wheel 430 are lifted, and finally the crawler is supported on the ground, and the push rod IV 214 is connected with the frame 500 through a fixed hinge support 213; then, the number of the vertical fixing rods II 233 in the supporting and limiting mechanism is two, the two vertical fixing rods II 233 are respectively arranged at two sides of the first connecting rod 215, one end of the vertical fixing rod II 233 is hinged with the first connecting rod 215, the other end of the vertical fixing rod II 233 is hinged with the vertical fixing rod I232, the number of the vertical fixing rod I232 is two, one end of the vertical fixing rod I232 is hinged with the vertical fixing rod II 233, the other end of the vertical fixing rod I232 is hinged with the transverse fixing rod 231, the transverse fixing rod 231 is fixedly connected with the second connecting rod 242, the left side and the right side of the frame 500 are fixedly connected with the supporting rods 241, the number of the second connecting rods 242 is two, one end of the left side second connecting rod 242 is fixedly connected with the left side supporting rod 241 and the other end of the second connecting rod 242 is hinged with the front wheel connecting rod 243, one end of the right side second connecting rod 242 is fixedly connected with the right side supporting rod 241 and the other end of the second connecting rod 246 is hinged with the rear wheel connecting rod 246, because the length of the transverse fixing rod 231 is fixed, the transverse displacement is limited in the lifting process and the normal running process, the device is prevented from sliding to two sides, wherein the two sides refer to the left side and the right side of a user, the user sits in the seat 354, in addition, when the lifting plate 212 moves downwards until the lowest critical point, the first vertical fixing rod 232, the second vertical fixing rod 233 and the transverse fixing rod 231 finally form an approximately triangular structure, the self-locking purpose is achieved, the first vertical fixing rod 232 and the second vertical fixing rod 233 are prevented from being inconsistent in front-rear height after rotating in the vertical direction, and the limiting rod 234 is used for enabling the front wheel connecting rod 243 to rotate in the lifting process, so that the wheel track is convenient to switch. The limiting rod 234 is connected with the frame 500 through a second mounting seat 235. In addition, be provided with guide rail slider mechanism on the frame 500, guide rail 221 in the guide rail slider mechanism is through the vertical setting in frame 500 of mount pad one 223, and mount pad one 223 passes through screw fixed mounting on frame 500, and one side and lifting plate 212 fixed connection of slider 222 are provided with the guide way on the guide rail 221, are provided with on the slider 222 with the guide block of guide way cooperation gliding, guide block and guide way cooperation slip for lifting plate 212 is stable upward movement in the rising process, avoids lifting plate 212 to take place to rock.

Then, during transmission, the output shaft of the first motor 140 transmits power to the differential 150, and the differential 150 transmits power to the crawler belt 110 through the first transmission mechanism 120 so as to realize forward or backward movement; when the vehicle turns, the electromagnetic brake 130 at the turning side is powered off, the output shaft of the differential mechanism 150 at the turning side stops rotating, the output shaft of the differential mechanism 150 at the opposite side at the turning side continues to rotate, and the crawler belt 110 at the opposite side at the turning side continues to move under the action of the first transmission mechanism 120, so that the turning function is realized; during braking, the electromagnetic brakes 130 on both sides of the differential 150 are de-energized, power is cut off, and the tracks 110 stop moving. The first transmission mechanism 120 comprises a first belt pulley 121 fixedly connected with the driving wheel 112, a second belt pulley 122 connected with the differential 150, a third belt pulley 123 rotatably connected to the third mounting plate 111, and a first synchronous belt 126, wherein the first synchronous belt 126 is tangentially connected with the first belt pulley 121, the second belt pulley 122 and the third belt pulley 123, the third belt pulley 123 is rotatably connected with the third mounting plate 111 through a first tensioning shaft 124, and a first sliding groove 125 for the first tensioning shaft 124 to be inserted into for adjusting the tensioning of the first synchronous belt 126 is arranged on the third mounting plate 111. The tensioning shaft one 124 is installed in the belt pulley three 123 through a bearing, so that the belt pulley three 123 can rotate relative to the tensioning shaft one 124, and after the position of the tensioning shaft one 124 in the sliding groove one 125 is adjusted to the position of the synchronous belt one 126 for tensioning, the position of the tensioning shaft one 124 is locked by adopting a nut, so that the tensioning shaft one 124 is fixed in the sliding groove one 125. Meanwhile, the tension of the first synchronous belt 126 can be adjusted according to the actual use condition, and the practicability is high. The first transmission mechanism 120 is disposed on two sides of the seat 354 and is used for driving the crawler belt 110 to move. The second transmission mechanism 160 comprises a fourth belt pulley 161 fixedly connected with the output shaft of the first motor 140, a fifth belt pulley 162 connected with the differential 150, a sixth belt pulley 163 rotationally connected with the third mounting plate 111 and a second synchronous belt 166, the second synchronous belt 166 is tangentially connected with the fourth belt pulley 161, the fifth belt pulley 162 and the sixth belt pulley 163, the sixth belt pulley 163 is rotationally connected with the third mounting plate 111 through a second tensioning shaft 164, and a second sliding groove 165 for inserting the second tensioning shaft 164 for adjusting tensioning of the second synchronous belt 166 is arranged on the third mounting plate 111. The tensioning shaft II 164 is installed in the belt pulley II 163 through a bearing, so that the belt pulley II 163 can rotate relative to the tensioning shaft II 164, and after the position of the tensioning shaft II 164 in the sliding groove II 165 is adjusted to the position of the synchronous belt II 166 to be tensioned, the position of the tensioning shaft II 164 is locked by adopting a nut, so that the tensioning shaft II 164 is fixed in the sliding groove II 165. The fourth belt pulley 161 is fixedly connected with the output shaft of the first motor 140, and is used for transmitting power to the second synchronous belt 166, the second synchronous belt 166 drives the fifth belt pulley 162 and the sixth belt pulley 163 to rotate, the fifth belt pulley 162 is fixedly connected with the first rotating shaft 156 in the differential 150, and further the power is transmitted to the differential 150.

The differential 150 is provided with a planet carrier 151, a first driving gear 152 rotatably connected with the planet carrier 151, a first planetary gear 154 and a second planetary gear 155 respectively meshed with the first driving gear 152, and a first driven gear 153 meshed with the first planetary gear 154 and the second planetary gear 155. The first driving gear 152 is rotatably connected to the carrier 151 via a first rotation shaft 156, and the first driven gear 153 is rotatably connected to the carrier 151 via a second rotation shaft 157. The first rotating shaft 156 is fixedly connected with the second belt pulley 122 and the fifth belt pulley 162, the fifth belt pulley 162 is used for transmitting the power of the output shaft of the first motor 140 to the first rotating shaft 156, the second belt pulley 122 is used for transmitting the power of the first rotating shaft 156 to the first transmission mechanism 120, the first transmission mechanism 120 is respectively arranged on two sides of the seat 354, so that the second belt pulley 122 is respectively arranged on two sides, and the second belt pulley 122 is fixedly connected to the second rotating shaft 157. During operation, the fifth belt wheel 162 in the second transmission mechanism 160 rotates to drive the whole planet carrier 151 to rotate, at this time, the first planet gear 154 and the second planet gear 155 do not rotate, the planet carrier 151 drives the first rotating shaft 156 and the second rotating shaft 157 to rotate, and then the second belt wheel 122 is driven to rotate, so that power is transmitted to the first transmission mechanism; during steering, under the action of the electromagnetic brake 130, the first rotating shaft 156 or the second rotating shaft 157 is braked, and taking the case that the second rotating shaft 157 is braked as an example, the driven gear 153 does not rotate, at this time, the first planetary gear 154 rotates around the first planetary shaft, and the first driving gear 152 and the first rotating shaft 156 on the other side are continuously driven to rotate, so that power is transmitted to the first transmission mechanism 120 on one side of the first rotating shaft 156, and power output on one side is realized.

Then, the wheel type transmission steering module 400 is fixedly connected with the first mounting plates 410 of the rear wheel connecting rods 246, the dampers 420 connected to both sides of the first mounting plates 410, the rear wheels 430 connected to the lower ends of the dampers 420, the second mounting plates 440 fixedly connected with the front wheel connecting rods 243, the front wheels 450 arranged between the second mounting plates 440, and the steering mechanism 460 arranged on the front wheel connecting rods 243. The first mounting plate 410 is fixedly coupled to the rear wheel connecting rod 246 by screws. One end of the damper 420 is fixed to both sides of the first mounting plate 410 by screws, and the other end is connected to the rear wheel 430 by nuts. The lower end of the second mounting plate 440 is connected with the front wheel 450 by a nut, and the upper end of the second mounting plate 440 is fixedly connected with the steering mechanism 460 by a screw.

The steering mechanism 460 includes a fourth mounting plate 464 fixedly connected to the upper end of the second mounting plate 440, a second driven gear 465 fixedly connected to the fourth mounting plate 464, a second driving gear 463 meshed with the second driven gear 465, and a second motor 461 for driving the second driving gear 463 to move. The front wheel connecting rod 243 is connected to the fourth mounting plate 464 through a deep groove ball bearing and a tapered roller bearing, and its own structure. The second motor 461 is mounted on the fourth mounting plate 464 through the third mounting seat 462, and the second driving gear 463 is fixedly connected with the output shaft of the second motor 461. In operation, the second motor 461 provides driving force to drive the second driving gear 463 to rotate, and the second driving gear 463 drives the second driven gear 465 to rotate, so as to drive the second mounting plate 440 and the front wheel 450 to rotate together, thereby achieving the purpose of steering.

Finally, the posture adjustment module 300 includes a front mounting beam 310, a rear mounting beam 320, a front auxiliary support 340, a rear auxiliary support 330, a seat 354 adjustment mechanism 350, the front mounting beam 310 and the rear mounting beam 320 are fixedly connected between the third mounting plates 111, the front auxiliary support 340 is fixedly connected with the front mounting beam 310, and the rear auxiliary support 330 is fixedly connected with the mounting beam. One support point of the front auxiliary supporting frame 340 is mounted to the front mounting beam 310, and the other support point is mounted to the frame 500. One support point of the rear auxiliary supporting frame 330 is mounted to the rear mounting beam 320, and the other support point is mounted to the frame 500. When the upstairs process is about to be completed and the center of gravity is about to be overturned, the rear auxiliary supporting frame 330 is supported on the surface of the stairs to stabilize the center of gravity; when the wheelchair downstairs process starts and the center of gravity of the crawler belt 110 is about to leave the platform, the front auxiliary support frame 340 is supported on the stair steps to stabilize the center of gravity, and the seat 354 is continuously operated during upstairs process, so that the plane of the seat 354 is kept horizontal to the ground, and the safety and comfort of a user are ensured. Two push rod motors are fixedly connected to the frame 500, and telescopic ends of the push rod motors are hinged to the front auxiliary support frame 340 and the rear auxiliary support frame 330 and used for adjusting the supporting angles of the front auxiliary support frame 340 and the rear auxiliary support frame 330.

The seat 354 adjusting mechanism 350 comprises a second hinge support 353 for connecting the frame 500 and the seat 354, a third push rod motor 352 fixedly connected with the frame 500, a third hinge support 355 for connecting the seat 354 and the third push rod motor 352, and a first hinge support 351 for connecting the third push rod motor 352 and the frame 500. The first hinge support 351 and the second hinge support 353 are fixed on the frame 500, the third hinge support 355 is installed on the seat 354, one end of the third push rod motor 352 is connected with the third hinge support 355, and the other end is connected with the first hinge support 351. In operation, the third push rod motor 352 pushes the seat 354 to move, and the height of the seat 354 is adjusted.

The control module 600 includes a console 610 connected to the seat 354, a controller 620 mounted to the frame 500, and a battery rack provided on the third mounting plate 111 for mounting batteries. 630. A protective housing is mounted on the housing 500. The third mounting plate 111 has mounting holes formed therein and is connected to the frame 500 by bolts or screws. The end of the output shaft of the first motor 140 is connected with the third mounting plate 111 through a bearing seat and a bearing, and the function of supporting the output shaft of the first motor 140 is achieved.

The process and driving principle of switching from hub mode to track 110 mode: starting a change-over switch, lifting a push rod motor one 140 in the transmission mechanism to provide driving force to lift, lifting a plate 212 and first connecting rods 215 positioned on two sides of the lifting plate 212 to move upwards, and driving a lifting rod 245 to move upwards in the lifting process of the connecting rods 244 along with the upward movement of the first connecting rods 215 so as to drive a front wheel connecting rod 243 and a rear wheel connecting rod 246 to move upwards, so that a front wheel 450 and a rear wheel 430 are lifted, and finally, a wheel track is supported on the ground to finish the switching; the crawler belt 110 is divided into three running states, and when running, the output shaft of the motor I140 transmits power to the differential mechanism 150, and the differential mechanism 150 transmits power to the crawler belt 110 through the transmission mechanism I120 so as to realize forward or backward movement; when the vehicle turns, the electromagnetic brake 130 at the turning side is powered off, the output shaft of the differential mechanism 150 at the turning side stops rotating, the output shaft of the differential mechanism 150 at the opposite side at the turning side continues to rotate, and the crawler belt 110 at the opposite side at the turning side continues to move under the action of the first transmission mechanism 120, so that the turning function is realized; during braking, the electromagnetic brakes 130 on both sides of the differential 150 are de-energized, power is cut off, and the tracks 110 stop moving.

Wheelchair steering and driving principle in hub mode: in operation, the second motor 461 provides driving force to drive the second driving gear 463 to rotate, and the second driving gear 463 drives the second driven gear 465 to rotate, so as to drive the second mounting plate 440 and the front wheel 450 to rotate together, thereby achieving the purpose of steering.

Balance adjustment process during upstairs or downstairs of seat 354: when the upstairs process is about to be completed and the center of gravity is about to be overturned, the rear auxiliary supporting frame 330 is supported on the surface of the stairs to stabilize the center of gravity; when the wheelchair downstairs process starts and the center of gravity of the crawler belt 110 is about to leave the platform, the front auxiliary support frame 340 is supported on the stair steps to stabilize the center of gravity, and the seat 354 is continuously operated during upstairs process, so that the plane of the seat 354 is kept horizontal to the ground, and the safety and comfort of a user are ensured.

Height adjustment process of seat 354: in operation, the third push rod motor 352 pushes the seat 354 to move, and the height of the seat 354 is adjusted.

The wheel-track switching mechanism is provided with a wheel-track switching module 200, a track transmission steering module 100, a wheel-type transmission steering module 400, a gesture adjusting module 300 and a control module 600, wherein the wheel-track switching module 200 is internally provided with a lifting transmission mechanism, a guide rail sliding block mechanism 220, a supporting limiting mechanism and a wheel-type lifting mechanism, the wheel-track switching is realized by adopting the lifting transmission mechanism, the guide rail sliding block mechanism 220 is adopted for guiding, and after the switching is finished, the supporting limiting mechanism is a multi-link mechanism, the supporting limiting mechanism can realize self-locking, so that the electric wheelchair is ensured to keep good stability in the wheel-track switching process, and is safer and more reliable.

The above description may be implemented alone or in various combinations and these modifications are within the scope of the present invention.

It should be noted that, in the description of the present application, the terms "upper end," "lower end," and "bottom end" of the indicated orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is conventionally placed in use, which are merely for convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the apparatus referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a compound electronic wheelchair of many scene wheel-track, sets up on frame (500), its characterized in that: the crawler belt steering system comprises a wheel-crawler conversion module (200), a crawler belt transmission steering module (100), a wheel transmission steering module (400), a gesture adjustment module (300) and a control module (600);

the wheel-track conversion module (200) comprises a lifting transmission mechanism (210), a guide rail sliding block mechanism (220), a supporting limiting mechanism (230) and a wheel type lifting mechanism (240), wherein the lifting transmission mechanism (210) comprises a lifting plate (212), a push rod motor IV (214) fixedly connected with the lifting plate (212) and first connecting rods (215) positioned at two sides of the lifting plate (212), two ends of the lifting plate (212) are fixedly connected with the guide rail sliding block mechanism (220), the wheel type lifting mechanism comprises a supporting rod (241) fixed with the frame (500), a connecting block (244) fixedly connected with the first connecting rod (215), lifting rods (245) hinged with two sides of the connecting block (244), a front wheel (450) connecting rod (243) and a rear wheel (430) connecting rod (246) vertically connected to the frame (500), a second connecting rod (242) with one end hinged with the front wheel (450) connecting rod (243) or the rear wheel (430) connecting rod (246) and the other end fixedly connected with the supporting rod (241), the lifting rods (245) are hinged with the front wheel (450) connecting rod (243), and the supporting limiting mechanism (230) comprises a transverse fixing rod (231) fixedly connected with the second connecting rod (242), A first vertical fixing rod (232) hinged with the transverse fixing rod (231), a second vertical fixing rod (233) with one end hinged with the first vertical fixing rod (232) and the other end hinged with the first connecting rod (215), and a limiting rod (234) with one end hinged with the frame (500) and the other end hinged with the connecting rod (246) of the rear wheel (430);

the crawler transmission steering module (100) comprises crawler belts (110) arranged on two sides of the frame (500), a driving wheel (112) and a tensioning wheel (114) for driving the crawler belts (110) to move, a pressure-bearing wheel (113) for supporting the crawler belts (110), a third mounting plate (111) fixedly connected with the frame (500), a first transmission mechanism (120) for driving the driving wheel (112) to move, a differential mechanism (150), electromagnetic brakes (130) arranged on two sides of the differential mechanism (150), a first motor (140) for driving the differential mechanism (150) to move, and a second transmission mechanism (160) connected between the first motor (140) and the differential mechanism (150);

the wheel type transmission steering module (400) comprises a first mounting plate (410) fixedly connected with a connecting rod (246) of the rear wheel (430), shock absorbers (420) connected with two sides of the first mounting plate (410), rear wheels (430) connected with the lower ends of the shock absorbers (420), a second mounting plate (440) fixedly connected with a connecting rod (243) of the front wheel (450), front wheels (450) arranged between the second mounting plates (440) and steering mechanisms (460) arranged on the connecting rods (243) of the front wheels (450).

2. A multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the guide rail sliding block mechanism (220) comprises a guide rail (221) vertically arranged on the frame (500), a sliding block (222) matched with the guide rail (221) to slide, and a first mounting seat (223) for connecting the guide rail (221) and the frame (500), wherein two sides of the lifting plate (212) are fixedly connected with the sliding block (222).

3. A multi-scene wheel-track composite electric wheelchair as claimed in claim 2, wherein: the first transmission mechanism (120) comprises a first belt pulley (121) fixedly connected with the driving wheel (112), a second belt pulley (122) connected with the differential mechanism (150), a third belt pulley (123) rotatably connected to the third mounting plate (111) and a first synchronous belt (126), the first synchronous belt (126) is tangentially connected with the first belt pulley (121), the second belt pulley (122) and the third belt pulley (123), the third belt pulley (123) is rotatably connected with the third mounting plate (111) through a first tensioning shaft (124), and a first sliding groove (125) for the first tensioning shaft (124) to be inserted into for adjusting the tensioning of the first synchronous belt (126) is arranged on the third mounting plate (111); the transmission mechanism II (160) comprises a belt pulley IV (161) fixedly connected with an output shaft of the motor I (140), a belt pulley V (162) connected with the differential mechanism (150), a belt pulley VI (163) rotationally connected with the third mounting plate (111) and a synchronous belt II (166), the synchronous belt II (166) is tangentially connected with the belt pulley IV (161), the belt pulley V (162) and the belt pulley VI (163), the belt pulley VI (163) is rotationally connected with the third mounting plate (111) through a tensioning shaft II (164), and a sliding groove II (165) for the tensioning shaft II (164) to be inserted into for adjusting the tensioning of the synchronous belt II (166) is arranged on the third mounting plate (111).

4. A multi-scene wheel-track composite electric wheelchair as claimed in claim 3, wherein: the differential mechanism (150) comprises a planet carrier (151), a first driving gear (152) rotationally connected with the planet carrier (151), a first planet gear (154) and a second planet gear (155) which are respectively in meshed transmission with the first driving gear (152), a first driven gear (153) which is in meshed transmission with the first planet gear (154) and the second planet gear (155), the first driving gear (152) is rotationally connected with the planet carrier (151) through a first rotating shaft (156), the first rotating shaft (156) is fixedly connected with a second belt wheel (122) and a fifth belt wheel (162), the first driven gear (153) is rotationally connected with the planet carrier (151) through a second rotating shaft (157), the second rotating shaft (157) is fixedly connected with a second belt wheel (122) which is far away from the fifth belt wheel (162), and electromagnetic brakes (130) are respectively arranged on the first rotating shaft (156) and the second rotating shaft (157).

5. A multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the steering mechanism (460) comprises a fourth mounting plate (464) fixedly connected with the upper end of the second mounting plate (440), a driven gear II (465) fixedly connected with the fourth mounting plate (464), a driving gear II (463) in meshed transmission with the driven gear II (465), a motor II (461) for driving the driving gear II (463) to move, and a connecting rod (243) of the front wheel (450) is connected with the driven gear II (465).

6. The multi-scene wheel-track composite electric wheelchair of claim 5, wherein: the front wheel (450) connecting rod (243) is connected with the driven gear II (465) through the deep groove ball bearing (211) and the tapered roller bearing.

7. A multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the attitude adjustment module (300) comprises a front mounting beam (310), a rear mounting beam (320), a front auxiliary support frame (340), a rear auxiliary support frame (330) and a seat (354) adjustment mechanism (350), wherein the front mounting beam (310) and the rear mounting beam (320) are fixedly connected between the third mounting plates (111), the front auxiliary support frame (340) is fixedly connected with the front mounting beam (310), and the rear auxiliary support frame (330) is fixedly connected with the mounting beams.

8. The multi-scene wheel-track composite electric wheelchair of claim 7, wherein: the seat (354) adjusting mechanism (350) comprises a second hinged support (353) used for connecting the frame (500) and the seat (354), a third push rod motor (352) fixedly connected with the frame (500), a third hinged support (355) used for connecting the seat (354) and the third push rod motor (352), and a first hinged support (351) used for connecting the third push rod motor (352) and the frame (500).

9. A multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: the control module (600) includes a console (610) coupled to a seat (354), a controller (620) mounted to the frame (500), and a battery rack (630) disposed on a third mounting plate (111) for mounting a battery.

10. A multi-scene wheel-track composite electric wheelchair as claimed in claim 1, wherein: a protective housing is mounted on the frame (500).