CN107174422B - A kind of Self-balancing electronic stair-climbing wheel chair - Google Patents

Abstract

The invention discloses a self-balancing electric stair-climbing wheelchair, which comprises a seat part, a driving part, an anti-slip device and a planetary gear train. The driving part is divided into a walking mechanism and a turning mechanism; in order to make the structure more compact, the walking mechanism and the turning mechanism adopt the form of inner and outer shafts. By controlling the work of different motors, it can be changed through the planetary gear system to complete ordinary walking, standing walking and climbing stairs. In this working mode, the walking mechanism of the wheelchair is locked during the process of climbing stairs, and the anti-skid bracket is put down at the same time, which can effectively prevent the wheelchair from slipping. The invention is also equipped with a gyroscope system, which can transmit the posture of the wheelchair to the controller in real time, and can control the position of the seat by itself to ensure that the seat is in a horizontal position. The invention can effectively prevent the skid phenomenon when the wheelchair climbs stairs, has simple and compact structure, low cost, and can adapt to various complex road conditions.

Description

A self-balancing electric stair climbing wheelchair

technical field

The invention belongs to the technical field of electric wheelchairs, and relates to an intelligent wheelchair which realizes ordinary walking, standing walking and stair climbing through the change of a planetary gear system, in particular to a self-balancing electric stair climbing wheelchair.

Background technique

With the intensification of the aging population in China: by the end of last year, the population over 60 years old in mainland China had reached 220 million, accounting for about 16.1% of the total population. In addition, the disabled population has reached 40 million. How to help the above-mentioned groups to better integrate into society and live and work in peace and contentment is a major problem that Chinese society needs to solve urgently.

Wheelchairs have been used as a means of transportation for special groups of people for a long time, but ordinary wheelchairs cannot be used in complex road conditions such as stairs and ravines, and stair-climbing wheelchairs are needed to help them solve this dilemma. At present, stair climbing wheelchairs can be mainly divided into three types according to the transmission mode: crawler type, star wheel type and stepping support type.

The technology of crawler-type stair-climbing wheelchairs is relatively mature, and the fluctuation of the center of gravity is relatively small when walking; it is also relatively stable. Maintenance costs are relatively high. Therefore, the application in daily life is limited.

The step-supported stair climbing wheelchair moves relatively smoothly and is suitable for stairs of different sizes; however, it has higher requirements for the control scheme, more complicated operation, and slow walking on flat ground; Cause psychological fear and inconvenient to use. Therefore, it is usually used in combination with a wheel train.

According to the number of small wheels used in the wheel set, the star wheel stair climbing wheelchair can be divided into two-wheel set, three-wheel set and multi-wheel set. The advantage of more wheel sets is that the wheelchair has good stability when climbing stairs, and the center of gravity The fluctuation range is small, but the disadvantages that follow are increased volume and poor flexibility.

Since the wheel base and height of the star wheel are fixed, but the height and width of the stairs are different, misalignment and slippage are prone to occur during crawling. The star wheel stair climbing mechanism of the prior art has no anti-skid braking function, so it needs to be manually operated when going up and down the stairs. Assistance, and because of the complex structure, limits its promotion.

Chinese patent application (application number: 201310082561) introduces a barrier-free wheelchair, which is mainly composed of a guide wheel, a first planetary assembly, two second planetary assemblies and a corresponding power drive device, and each second planetary assembly Two planetary gears are installed, and the mechanism uses three planetary assemblies. Due to the large number of planetary assemblies, the complexity of the structure is increased. Moreover, the first planetary assembly is installed between the two guide wheels at the front end, which is inconvenient for users to use and may cause safety accidents. Patent No. 201110097167 introduces a planetary wheel stair-climbing electric wheelchair. In this patent, a three-wheel set planetary gear train is used, that is, three planetary gears are installed on the planetary gear trains on both sides, and the planetary gears on each side of the gear train A wheel hub motor is used in the wheelchair, so that the center of gravity of the wheelchair changes greatly due to the different masses of the wheels in the process of climbing stairs. And need just can realize the function of climbing stairs under the assistance of people. In the paper "Research on Stair Climbing Wheelchair Based on Planetary Gear System" (Ma Yongwei, Tianjin University, 2008), a two-wheeled planetary gear system is used, and the turning mechanism used is directly fixed on the box, which undoubtedly increases the processing of the box. difficulty. The front end of the wheelchair is equipped with guide wheels, and the walking mechanism does not have a locking device when climbing stairs, so human assistance is required. Most stair-climbing wheelchairs in the prior art use a three-wheel set, or a two-wheel set plus an auxiliary mechanism. At the same time, a guide wheel needs to be installed at the front end of the wheelchair and the walking mechanism has no locking function when turning over, which undoubtedly increases the wheelchair structure. Complexity and low security.

As a means of transportation for special people, stair-climbing wheelchairs should also take into account practicality, cost and size on the premise of ensuring safety.

Contents of the invention

The purpose of the present invention is to overcome the defects of the prior art and provide a self-balancing electric stair-climbing wheelchair. Based on the structure of two sets of planetary gears, three modes of ordinary walking, standing and walking and stair-climbing can be realized through the transformation of the planetary gear system. In the stair-climbing mode, the walking mechanism is locked, and the anti-skid support is lowered, which can effectively prevent the wheelchair from slipping when climbing stairs, and has a simple structure and low cost.

In order to solve the above-mentioned problems of the prior art, the present invention adopts the following technical solutions.

A self-balancing electric stair-climbing wheelchair of the present invention comprises a seat part, a seat connecting part, a planetary gear train, an inflatable wheel, a driving part, a control part, a monitoring part, an anti-skid device and a pedal mechanism; it is characterized in that:

It includes two sets of planetary gear trains, which are respectively connected to a drive box through an outer shaft, and then installed on the gear train boxes arranged on both sides of the wheelchair through a diamond-shaped bearing seat; The transformation of the planetary gear system can realize three working modes of the wheelchair: normal walking, standing walking and climbing stairs;

The anti-skid device includes an anti-skid motor and a support frame, which are installed on the bottom plate of the drive box through a horizontal bearing with seat;

The driving part is installed in the drive box, including a traveling mechanism and a turning mechanism, which can provide power for walking and climbing stairs to the planetary gear trains on both sides; the walking mechanism includes two sets of traveling motors and traveling reducer components , walking pinion, walking gear, outer shaft, outer shaft gear, transition shaft, transition gear, output shaft, output gear; the turning mechanism includes two sets of turning motor and turning reducer assembly, turning pinion, turning large Gears, inner shafts, inner shaft connectors, output shaft connectors, transition shaft connectors, stair climbing shafts; a rectangular fixing frame is arranged on the drive box; the two sets of travel motors and travel reducers The components are installed at the bottom of the rectangular fixing frame; two sets of turning motors and turning reducer components are installed at the top of the rectangular fixing frame; the walking reducer and turning reducer both have self-locking functions.

When the wheelchair is in normal walking mode, the walking motor is connected to the walking reducer, the small walking gear is meshed with the large walking gear, the large walking gear is connected to the outer shaft gear through the outer shaft, and the outer shaft gear is meshed with the transition gear , the transition gear meshes with the output gear. At this time, each gear of the planetary gear system rotates around its own center, and the output shaft drives the inflation wheel to rotate.

When the wheelchair is in the stair-climbing working mode, the turning motor is connected to the turning reducer, the turning pinion gear meshes with the turning big gear, and the turning big gear is connected to the inner shaft connecting piece through the inner shaft. At this time, the gears in the planetary gear train revolve around The central axis of the inner shaft revolves; at this time, the walking mechanism is locked by a self-locking device, the anti-skid motor works, and the support frame is lowered, thereby effectively preventing the wheelchair from slipping when climbing stairs.

When the wheelchair is in the standing working mode: the turning motor works first, the turning pinion gear drives the turning big gear to rotate, and then the inner shaft drives the climbing shaft to rotate. At this time, the gears in the planetary gear system revolve around the central axis of the inner shaft, When the wheelchair reaches the standing state, the turning mechanism is locked, and then the walking motor works. The small walking gear drives the large walking gear to rotate, and then drives the outer shaft gear to rotate through the outer shaft, and then transmits it to the output gear through the transition gear. At this time, the planetary gear system Each gear rotates around its own center, and the wheelchair realizes standing and walking.

The traveling motor is provided with an electromagnetic braking device.

The planetary gear train also includes a transition gear, which is arranged between the output gear and the outer shaft gear, the outer shaft gear meshes with the transition bearing, the transition gear meshes with the output gear, the output gear, the transition gear and the outer shaft The gears are mounted on the gear train box through rhombic bearings.

The anti-skid device includes a support frame, a fish-eye bearing, an electric push rod, an anti-skid motor, a mounting bracket and a horizontal bearing with a seat. Before the wheelchair climbs the stairs, the anti-skid motor works to drive the electric push rod to elongate, and the support frame is put down. The electric push rod is self-locking to prevent the wheelchair from slipping when climbing stairs.

The control part includes a main controller, a gyro system, and a control panel; the main controller adopts the STM32 main control chip of the Italian company, and the gyro system includes a three-axis gyroscope sensor and a three-axis accelerometer The sensor and the gyroscope system send the detected posture of the wheelchair to the main controller, which can regulate the wheelchair in real time; the control panel includes a three-axis Hall operating handle and a button switch, and the three-axis Hall handle passes through Control the walking motor to complete the forward and backward, left and right turns of the wheelchair.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. By adopting the present invention, three motion modes of the wheelchair, normal walking, standing walking and stair climbing, can be realized through simple changes of the planetary gear train.

2. When the wheelchair of the present invention is overturned, its walking mechanism can be locked, and it is equipped with an anti-skid device, which effectively prevents the slipping phenomenon caused by the rotation of the inflatable wheel when climbing stairs. When the wheelchair is standing and walking, the overturning mechanism is locked, which improves The safety of standing and walking.

3. The present invention adopts internal and external shaft transmission in the planetary gear train, which effectively reduces the overall size of the wheelchair and removes the guide wheels installed at the front end of the wheelchair. Not only the function and safety performance of the wheelchair are guaranteed, but also the cost, weight and volume are reduced.

Description of drawings

Fig. 1 is a schematic side view of a self-balancing electric stair climbing wheelchair in a standing mode according to an embodiment of the present invention.

Fig. 2 is a left view of the self-balancing electric stair climbing wheelchair according to an embodiment of the present invention.

Fig. 3 is a top view of a self-balancing electric stair climbing wheelchair according to an embodiment of the present invention.

Fig. 4 is an isometric bottom view of a self-balancing electric stair climbing wheelchair according to an embodiment of the present invention.

Fig. 5 is a schematic side view of the self-balancing electric stair climbing wheelchair in the stair climbing mode according to an embodiment of the present invention.

Fig. 6 is a sectional view of a set of planetary gear trains according to an embodiment of the present invention.

Fig. 7 is a side view of a set of planetary gear trains in walking mode according to an embodiment of the present invention.

Fig. 8 is a side view of a set of planetary gear trains during the flipping process according to an embodiment of the present invention.

Among them, 100 seat part: 101 push rod, 102 backrest, 103 armrest, 104 adjustment mechanism; 200 seat connection part: 201 seat connector, 202 hinge; 300 planetary gear system, 301 output shaft, 302 output shaft connection Parts, 303 transition shaft connector, 304 transition shaft, 305 transition shaft needle bearing, 306 transition gear, 307 outer shaft gear, 308 inner shaft connector, 309 stair climbing shaft, 310 gear box, 311 outer shaft, 312 Travel pinion, 313 travel reducer, 314 travel motor, 315 inner shaft, 316 overturn gear, 317 overturn motor, 318 overturn reducer, 319 overturn pinion, 320 outer shaft needle bearing, 321 travel gear, 322 rhombus Bearing with seat, 323 output gear, 324 output shaft needle bearing; 400 pneumatic wheel, 401 bolt; 500 drive part, 501 drive box; 600 control part: 601 display screen, 602 front ultrasonic sensor, 603 right ultrasonic sensor , 604 camera, 605 rear ultrasonic sensor, 606 left ultrasonic sensor, 607 operation panel; 700 anti-skid device, 701 support frame, 702 fisheye bearing, 703 electric push rod, 704 anti-skid motor, 705 mounting bracket, 706 horizontal belt Seat bearing; 800 pedal mechanism, 801 pedal, 802 brake pedal, 803 telescopic rod.

Fig. 9 is an ADAMS simulation analysis diagram when the self-balancing electric wheelchair of the present invention climbs stairs. Among them, Figure 9a shows the amplitude of the center of mass of the wheelchair at different installation angles between the drive box and the wheelchairs on both sides, Figure 9b shows the torque variation diagram at the maximum load, and Figure 9c shows the power variation of the left and right motors at the maximum load.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

As shown in Figures 1-5, it is a schematic structural view of a self-balancing electric stair climbing wheelchair according to an embodiment of the present invention, which shows the connection of components of this embodiment in walking, standing and stair climbing modes. This embodiment includes a seat part 100 , a seat connecting part 200 , two planetary gear trains 300 , four pneumatic wheels 400 , a driving part 500 , an anti-skid device 700 and a pedal mechanism 800 . The seat connector 201 is respectively hinged on the seat part 100 and the driving box 501 through the hinge 202 , and the gear train boxes 310 on both sides are connected with the driving box 501 through the outer shaft 311 . The pedal 801 is fixed on the seat part 100 through the telescopic rod 803, the inflatable wheel 400 is fixed on the end face of the output shaft 301 through the bolt 401 in the axial direction, the inflatable wheel 400 and the output shaft 301 transmit torque through the key, and the anti-skid device 700 passes through the bearing with seat 706 is installed on the drive box 501 bottom plate.

Fig. 6 is a sectional view of a set of planetary gear trains according to an embodiment of the present invention.

Fig. 7 is a side view of a set of planetary gear trains in walking mode according to an embodiment of the present invention.

Fig. 8 is a side view of a set of planetary gear trains during the flipping process according to an embodiment of the present invention.

As shown in Figures 6-8, the planetary gear train 300 includes: an output shaft 301, a transition shaft 304, a stair climbing shaft 309, an outer shaft 311, an inner shaft 315, an output gear 323 installed on the output shaft 301, and an output gear 323 installed on the transition shaft. The transition gear 306 on the 304, the outer shaft gear 307 installed on the outer shaft 311, each gear and the shaft transmit torque through the key, and the axial direction is fixed on the shaft by the set screw and the circlip, the output shaft 301, the transition shaft 304 and the outer shaft The shaft 311 is mounted on the gear train case 310 through a diamond-shaped belt seat bearing 322 . The stair climbing shaft 309 is connected with the inner shaft 315 by the inner shaft connector 308, and the inner shaft 315 and the inner shaft connector 308 transmit torque through the key, and the axial direction is fixed by a set screw. The transition shaft 304 is connected to the stair-climbing shaft 309 through the transition shaft connector 303, and the output shaft 301 is connected to the stair-climbing shaft 309 through the output shaft connector 302. The output shaft connector 302 is equipped with an output shaft needle bearing 324, and the transition shaft connector 303 is equipped with a transition shaft needle roller bearing 305, the two ends of the output shaft connector 302 are fixed on the output shaft 301 by a snap spring, and the two ends of the transition shaft connector 303 and the inner shaft connector 308 are fixed on the climbing shaft 309 by a snap spring .

The overturning and walking end mechanisms are respectively connected to the overturning motor 317 and the traveling motor 314 through a gear pair. The traveling gear 321 is installed on the outer shaft 311 through a key, and the axial direction is fixed by a set screw and a retaining spring; the overturning gear 316 is installed on the outer shaft through a key. On the inner shaft 315, the axial direction is fixed by a set screw and a circlip; the travel reducer 313 is installed at the front end of the travel motor 314, and the turn reducer 318 is installed at the front end of the overturn motor 317, and the reducer is self-locking. The motor is a DC motor.

The anti-slip device 700 includes: a support frame 701, a fish-eye bearing 702, an electric push rod 703, an anti-slip motor 704, a mounting bracket 705 and a horizontal seated bearing 706. The anti-slip motor 704 is fixed on the mounting bracket 705 by bolts, and the electric push rod One end of 703 is installed on the support frame 701 through the fisheye bearing 702, the other end is fixed on the mounting bracket 705 by bolts, the mounting bracket 705 is hinged at the bottom of the drive box 501, and the support frame 701 is installed on the Drive the bottom end of the casing 501 . Before the wheelchair climbs the stairs, the anti-skid motor 704 works to drive the electric push rod 703 to extend, the bracing frame 701 is put down, and the electric push rod 703 self-locks to prevent the wheelchair from slipping in the process of climbing the stairs. After climbing the stairs, the anti-skid motor 704 drives the electric push rod 703 to shrink, and then drives the support frame 701 to retract.

The seat part 100 includes a push rod 101 , a backrest 102 , an armrest 103 and an adjustment mechanism 104 . The angle of the backrest 102 is adjustable, the height of the armrest 103 is adjustable, and the footrest 801 is foldable. The seat part 100 is hinged on the drive box 501 through the seat connector 201, and the lower end of the pedal 801 does not need to be equipped with universal wheels.

The control part includes a main controller, a gyroscope system, and a control panel 607 . The main control chip of the main controller adopts the STM32 of the Italian company. The gyroscope system includes a three-axis gyroscope sensor and a three-axis accelerometer sensor, and the gyroscope system sends the detected attitude of the wheelchair to the main controller, which can regulate the wheelchair in real time. The control panel 607 includes a three-axis Hall operating handle and a button switch. The three-axis Hall handle controls the walking motor 314 to complete the wheelchair's forward and backward, left and right turns. Described switch button comprises power switch, up and down stairs switch, standing walking switch, electromagnetic brake switch, and electromagnetic brake switch controls walking motor 314, and walking motor 314 brakes when climbing stairs, and walking mechanism is locked simultaneously, in order to prevent the When the planetary gear train rotates.

The locking mechanism is a walking speed reducer 313 and a turning speed reducer 318 with self-locking, and the walking mechanism is self-locking when the wheelchair is turned over, so as to prevent the wheels of the wheelchair from spinning and slipping.

The braking scheme of wheelchair has multiple, can adopt the braking scheme of storage battery car, present embodiment adopts the pneumatic wheel 400 with disc brake device, completes the braking of wheelchair by controlling the brake pedal 802 that is installed on the pedal 801. In addition, the walking motor 314 with electromagnetic brake is adopted, and the walking motor 314 brakes when the wheelchair climbs stairs. The use of two kinds of brakes increases the braking effect and improves the safety of the climbing process.

Wherein, the monitoring part includes a display screen 601 and a camera 604. The camera 604 is installed behind the wheelchair, and the user can know the rear environment through the display screen 601. In addition, the display screen 601 can display the power of the lithium battery. The display screen 601 is installed on the left armrest of the wheelchair through a fixing piece, and is foldable; the monitoring part also includes 4 ultrasonic sensors (602, 603, 605, 606) installed around the wheelchair. When the wheelchair is close to the object, There will be an alarm and the red light on the display will flash.

When the wheelchair encounters an obstacle, the monitoring module monitors the current of the walking motor 314. When the current exceeds a certain value, the turning motor 317 works to raise the wheelchair inflatable wheel 400, thereby successfully crossing the obstacle.

The user can switch the working mode of the wheelchair through the operation panel 607. In the normal walking mode, the wheelchair can perform functions such as moving forward and backward, turning left and turning right through the operating lever. When the wheelchair climbs the stairs, press the stairs button, and now the traveling motor 314 with electromagnetic brake brakes, and the traveling mechanism is locked, and the anti-skid support 701 is put down simultaneously, and the wheelchair begins to climb the stairs, thus effectively preventing slippage. When the user needs to switch the standing and walking mode, first press the standing mode button on the panel. After the wheelchair reaches the standing state through the turning mechanism, the turning mechanism is locked, and then the wheelchair's standing and walking function is completed through the operating lever.

The three working modes of the embodiment of the present invention are described as follows:

(1) Ordinary walking:

The travel motor 314 drives the travel pinion gear 312 to rotate through the travel reducer 313, and transmits it to the travel gear 321, drives the outer shaft gear 307 to rotate through the outer shaft 311, and then transmits it to the output gear 323 through the transition gear 306, and then drives it through the output shaft 301. The inflation wheel 400 rotates. Now each gear rotates around its own center to complete the general walking function of the wheelchair. The speed ratio of the walking mechanism is 50, and the speed ratio of the planetary gear is 1.

(2) Climbing stairs:

The anti-skid motor 704 works, the electric push rod 703 drives the support frame 701 to put down, and the overturning motor 317 drives the overturning pinion 319 to rotate through the overturning reducer 318, which is transmitted to the overturning gear 316, and the inner shaft 315 drives the climbing shaft 309 to rotate. , the traveling mechanism is locked, each planetary wheel is relatively stationary, and the wheel system revolves around the center of the inner shaft 315 to realize the overturn function. After the stairs are climbed, the electric push rod 703 drives the support frame 701 to retract, and the speed ratio of the overturn mechanism is 100.

(3) Standing and walking:

The overturning motor 317 works first, drives the overturning gear 316 to rotate through the overturning pinion 319, and then drives the climbing shaft 309 to rotate through the inner shaft 315. At this time, each gear in the planetary gear system 300 revolves around the central axis of the inner shaft 315, and the wheelchair reaches In the standing state, the turning mechanism is locked, and then the walking motor 314 works, and the walking gear 321 is driven to rotate through the walking pinion 312, and then the outer shaft gear 307 is driven to rotate through the outer shaft 311, and then transmitted to the output gear 323 through the transition gear 306. When each gear of the planetary gear train 300 rotates around its own center, the wheelchair can stand and walk, so that the user can be as tall as a normal person.

In this embodiment, the four sets of DC motors and reducers provide power for walking and climbing stairs to the wheel trains on both sides respectively. In order to make the structure more compact, the four DC motors and reducers are parallel to each other. Two travel motors 314 and travel reducer 313 are installed on the bottom of the rectangular fixed mount, and two overturning motors 317 and overturned reducer 318 are installed on the top of the rectangular fixed mount.

In addition, the seat part 100 can be automatically adjusted according to the motion state of the wheelchair. The gyroscope system installed on the wheelchair transmits the posture of the wheelchair to the controller, and the position of the seat part 100 can be adjusted so that the seat part 100 maintains a horizontal position. .

In order to verify the rationality of the present invention, the feasibility of the scheme of the present invention is verified through virtual prototype technology. First, the wheelchair is modeled by the 3D software SolidWork, and then the 3D model of the wheelchair is imported into ADMAS for dynamic simulation analysis. According to the requirements for the size of stairs in my country, considering that it is the most difficult for a robot to climb stairs when the width of the stairs is the smallest and the height is the largest, this scheme verifies the climbing performance of the wheelchair in the environment where the width of the stairs is 270 mm and the height is 160 mm. The angular velocity is 0.6rad/s, and the maximum load is 80kg.

As shown in Figure 9, t1 represents the time period for the wheelchair to turn over to the standing position, and t2 represents the time period for the wheelchair to turn over from the second step to the standing position. The center of gravity of the wheelchair will change. Through the analysis, it can be obtained that when the installation angle between the drive box 501 and the planetary gear system 300 is 35 degrees, the range of the center of gravity of the wheelchair climbing stairs is the smallest; The initial stage (t2) requires a large torque; Figure 9c shows the power variation of the motors on both sides when the wheelchair is climbing stairs with the maximum load. It can be seen that the power of the climbing motors 317 on both sides is a 200W DC motor.

Claims (8)

1. a kind of Self-balancing electronic stair-climbing wheel chair, including seat portion (100), seat connection section (200), planetary gear train (300), inflated wheel (400), drive part (500), control section, monitoring part, anti-skid device (700) and footrest mechanism (800)；

It is characterized by:

Including planetary gear train (300) described in two groups, it is connect respectively by an outer shaft (311) with a drive case (501), Then it is mounted on the train cabinet (310) for being set to the wheelchair two sides by a diamond shape rolling bearing units seat (322)；Pass through The transformation of the planetary gear train (300) can be achieved the common walking of wheelchair, stand and walk and climb three kinds of building operating mode；

The anti-skid device 700 includes an anti-skidding motor (704) and a support frame (701), horizontal is usherd to seat by one Bearing (706) is mounted on the bottom plate of drive case (501)；

The drive part (500) is mounted in drive case (501), including a walking mechanism and a turnover mechanism, Walking can be provided to two sides planetary gear train (300) and climb the power in building；The walking mechanism includes two sets of movable motors (314) With traveling speed reducer (313) component, walking pinion gear (312), walking gear wheel (321), outer shaft (311), outer shaft gear (307), transition axis (304), transition gear (306), output shaft (301), output gear (323)；The turnover mechanism includes Two sets of overturning motors (317) and overturning retarder (318) component, overturning pinion gear (319), overturning gear wheel (316), inner shaft (315), interior shaft coupling piece (308), output shaft coupling piece (302), transition shaft coupling piece (303), climb building axis (309)；Described Drive case (501) on be provided with a rectangle fixed frame；Two sets of movable motors (314) and traveling speed reducer (313) component is mounted on the bottom end of the rectangle fixed frame；Two sets of overturning motors (317) and overturning retarder (318) component It is mounted on the top of the rectangle fixed frame；The traveling speed reducer (313) and overturning retarder (318) all has self-locking Device.

2. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the wheelchair is in common row When walking operating mode, the movable motor (314) is connect with traveling speed reducer (313), and walking pinion gear (312) and walking are big Gear (321) engagement, walking gear wheel (321) are connect by outer shaft (311) with outer shaft gear (307), at this time planetary gear train (300) each gear is around respective center rotation.

3. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the wheelchair is climbing Lou work When operation mode, overturning motor (317) is connect with overturning retarder (318), overturning pinion gear (319) and overturning gear wheel (316) Engagement, overturning gear wheel (316) are connect by inner shaft (315) with interior shaft coupling piece (308), each in planetary gear train (300) at this time Gear revolves around inner shaft (315) central axis；At this point, the walking mechanism is locked using self-locking device, the anti-skidding electricity Machine (704) work, support frame (701) is put down, thus slipping phenomenon when effectivelying prevent wheelchair stair-climbing.

4. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the wheelchair is in standing work When operation mode: overturning motor (317) first works, and drives overturning gear wheel (316) rotation by overturning pinion gear (319), then lead to It crosses inner shaft (315) drive and climbs building axis (309) rotation, each gear is public around inner shaft (315) central axis in planetary gear train (300) at this time Turn, wheelchairs is waited to reach standing state, turnover mechanism is locked, and then movable motor (314) works, by walking pinion gear (312) Walking gear wheel (321) rotation is driven, then drives outer shaft gear (307) rotation by outer shaft (311), then pass through transition gear (306) output gear (323) are transmitted to, around respective center rotation, wheelchair is realized stands each gear of planetary gear train (300) at this time Walking.

5. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1 or 2, which is characterized in that the movable motor (314) it is provided with electromagnetic braking brake gear.

6. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the planetary gear train (300), further include a transition gear (306), be set between the output gear (323) and outer shaft gear (307), outside Shaft gear (307) is engaged with transition bearing (306), and transition gear (306) is engaged with output gear (323), output gear (323), transition gear (306) and outer shaft gear (307) are mounted on train cabinet (310) by diamond shape rolling bearing units (322).

7. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the anti-skid device It (700) include support frame (701), flake bearing (702), electric pushrod (703), anti-skidding motor (704), mounting bracket (705) With horizontal rolling bearing units (706), before wheelchair stair-climbing, anti-skidding motor (704) work drives electric pushrod (703) elongation, support Frame (701) is put down, and electric pushrod (703) is self-locking, prevents from skidding during wheelchair stair-climbing.

8. a kind of Self-balancing electronic stair-climbing wheel chair according to claim 1, which is characterized in that the control section includes Master controller, gyroscope system, control panel (607)；The master controller uses the STM32 main control chip of Yi Fa company, The gyroscope system includes three-axis gyroscope sensor and 3-axis acceleration flowmeter sensor, and gyroscope system is detecting Wheelchair posture is sent to master controller, can regulate and control in real time to the position of seat；The control panel (607) includes three Axis Hall operation handle and button switch, before the three axis Horll's Handles complete wheelchair by control movable motor (314) Into retrogressing, turn left to turn right.