CN110547923A - Wheel-track combined stair climbing wheelchair with self-adaptive posture adjustment function - Google Patents

Abstract

The invention relates to the technical field of wheelchairs, and specifically provides a wheel-track compound stair-climbing wheelchair with an adaptive posture adjustment function, aiming to solve the problem of complex seat posture adjustment mechanism in the existing wheel-track compound stair-climbing wheelchair, which requires manufacturing and The problem of high cost of use. For this purpose, the wheel-track composite stair-climbing wheelchair includes a bracket and a seat arranged on the bracket, a crawler running mechanism and a plurality of walking wheels. The wheelchair also includes a switching mechanism arranged on the bracket, and the switching mechanism is used to switch the crawler. The relative height of the mechanism and a plurality of walking wheels is so as to realize walking through the crawler walking mechanism or a plurality of walking wheels. The wheelchair also includes an adaptive posture adjustment mechanism. The two sides of the seat are respectively provided with connecting frames, and the connecting frames pass through the adaptive posture adjustment mechanism. It is connected with the bracket so that under the action of gravity, the seat can still maintain a vertical posture when climbing stairs. The seat is maintained in a vertical posture by means of gravity, and the structure is simple and the cost is low.

Description

Wheel-track compound stair-climbing wheelchair with adaptive posture adjustment function

technical field

The invention relates to the technical field of wheelchairs, and specifically provides a wheel-track compound stair-climbing wheelchair with an adaptive posture adjustment function.

Background technique

The wheel-track compound stair climbing wheelchair comprises a bracket, and the bracket is provided with a seat, a crawler mechanism, flat ground walking wheels and a switching mechanism. When driving on flat ground, the switch mechanism makes the crawler mechanism move upwards and leave the ground, and at the same time, the flat road wheel touches the ground, and the flat road wheel walks on the flat ground; And off the ground, use the crawler mechanism to complete the up and down stairs. However, when the wheel-track composite stair-climbing wheelchair walks on the stairs, the seat and the user on the seat are in an inclined state, and the user experience is poor.

In view of this, an improved wheel-track composite stair-climbing wheelchair has appeared on the market, and the seat includes a seat posture adjustment mechanism. Specifically, the seat posture adjustment mechanism includes an electric push rod connecting the seat and the support, and a sensor arranged on the support for detecting the inclination angle of the support. When the sensor detects that the bracket is tilted, the controller controls the action of the electric push rod according to the tilt angle detected by the sensor to keep the seat in a vertical posture. However, the seat posture adjustment mechanism is relatively complicated, and the manufacturing and use costs are relatively high.

Correspondingly, a new technical solution is needed in the art to solve the above problems.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the seat posture adjustment mechanism in the existing wheel-track compound stair climbing wheelchair is relatively complicated, and the cost of manufacture and use is high, the present invention provides a self-adaptive posture The wheel-track compound stair-climbing wheelchair with adjustment function includes a bracket, a seat arranged on the bracket, a crawler running mechanism and a plurality of walking wheels, and the wheelchair also includes a switching mechanism arranged on the bracket. The switching mechanism is used to switch the relative heights of the crawler running mechanism and the multiple walking wheels so as to realize walking through the crawler running mechanism or the multiple walking wheels, and the wheelchair also includes an adaptive posture adjustment mechanism, the Both sides of the seat are respectively provided with connecting frames, and the connecting frames are connected with the bracket through the self-adaptive posture adjustment mechanism so that the seat can still maintain a vertical posture when climbing stairs under the action of gravity.

In the preferred technical solution of the wheel-track compound stair-climbing wheelchair, the self-adaptive posture adjustment mechanism includes two ball pin mechanisms respectively arranged on both sides of the wheelchair, and each of the ball pin mechanisms includes a The ball socket on the bracket and the ball head fixedly connected to the connecting frame, the ball head is accommodated in the ball socket so that the seat still maintains a vertical posture when climbing stairs under the action of gravity .

In the preferred technical solution of the wheel-track compound stair-climbing wheelchair, the self-adaptive posture adjustment mechanism further includes a posture adjustment buffer mechanism arranged between the connecting frame and the bracket, and the posture adjustment buffer mechanism is used for Reduce the adaptive adjustment speed of the seat relative to the bracket.

In the preferred technical solution of the above-mentioned wheel-track compound stair-climbing wheelchair, the posture adjustment buffer mechanism is a damping cylinder connected to the connecting frame and the bracket respectively.

In the preferred technical solution of the wheel-track compound stair-climbing wheelchair, the posture adjustment buffer mechanism includes a plurality of first magnetic members arranged on the connecting frame and a plurality of second magnetic members arranged on the bracket , the first magnetic member and the second magnetic member attract each other.

In the preferred technical solution of the wheel-track compound stair climbing wheelchair, the self-adaptive posture adjustment mechanism is arranged at the lower part of the armrest of the seat.

In the preferred technical solution of the wheel-track compound stair-climbing wheelchair, the switching mechanism is a synchronous switching mechanism, and the plurality of walking wheels are connected to the bracket through the synchronous switching mechanism, and the synchronous switching mechanism is used for synchronous Adjusting the height of the plurality of road wheels relative to the crawler running mechanism.

In the preferred technical solution of the above-mentioned wheel-track compound stair-climbing wheelchair, the plurality of walking wheels include two front wheels and two rear wheels, and the synchronous switching mechanism includes a first swing mechanism, a second swing mechanism, a pivot The link assembly and the driving device connecting the first swing mechanism and the second swing mechanism in a rotating manner, the first swing mechanism is connected with the rotating shafts of the two front wheels, and the second swing mechanism is connected with the two front wheels. The rotating shafts of the rear wheels are connected, and the driving device is used to drive the first swing mechanism or the second swing mechanism to swing.

In the preferred technical solution of the above-mentioned wheel-track compound stair-climbing wheelchair, the first swing mechanism includes a first cross bar and two parallel front swing bars fixedly connected with the first cross bar, and the first cross bar The rod is pivotally connected with the bracket, and the rotating shaft of the front wheel is connected with the first end of the front swing rod; the second swing mechanism includes a second cross bar and two fixedly connected with the second cross bar. a parallel rear swing link, the second cross bar is pivotally connected to the bracket, and the rotating shaft of the rear wheel is connected to the first end of the rear swing link; the link assembly includes a first link and a first link. The second connecting rod and the third cross bar and the fourth cross bar connected to the two ends of the first connecting rod and the second connecting rod respectively. The rod is pivotally connected to the rear swing link, and the two ends of the second link are respectively pivotally connected to the front swing link and the rear swing link on the other side; the driving device is used to drive the first cross bar or the The second crossbar rotates.

In the preferred technical solution of the wheel-track compound stair-climbing wheelchair, the first crossbar and the second crossbar are parallel to each other; the ends of the first crossbar are fixedly connected to the two ends of the front swing rod. The position between the ends, the end of the second cross bar is fixedly connected to the position between the two ends of the rear swing link, the front link connected by the first link and the second link The distance between the end of the swing link and the first cross bar is equal to the distance between the end of the rear swing link to which the first connecting rod and the second link are connected and the second cross bar the distance.

Those skilled in the art can understand that, in the technical solution of the present invention, the wheel-track compound stair-climbing wheelchair with self-adaptive posture adjustment function includes a bracket and a seat arranged on the bracket, a crawler running mechanism and a plurality of walking wheels , the wheelchair also includes a switching mechanism arranged on the bracket, the switching mechanism is used to switch the relative heights of the crawler running mechanism and a plurality of walking wheels so as to realize walking through the crawler running mechanism or a plurality of walking wheels, and the wheelchair also includes an adaptive posture adjustment mechanism, Both sides of the seat are respectively provided with a connecting frame, and the connecting frame is connected with the support through an adaptive posture adjustment mechanism so that the seat still maintains a vertical posture when climbing stairs under the action of gravity. This novel self-adaptive adjustment mechanism uses gravity to keep the seat in a vertical posture when climbing stairs, the structure is simpler, the manufacturing and use costs are lower, and the seat posture in the existing wheel-track compound stair climbing wheelchair is solved. The adjustment mechanism is relatively complicated, and the manufacturing and use costs are relatively high.

Description of drawings

Describe preferred embodiment of the present invention below with reference to accompanying drawing, in the accompanying drawing:

Fig. 1 is a schematic structural view of a wheel-track compound stair-climbing wheelchair with an adaptive posture adjustment function according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of the connection between the connecting frame and the support through the adaptive posture adjustment mechanism in the wheel-track composite stair climbing wheelchair with adaptive posture adjustment function according to an embodiment of the present invention;

Fig. 3 is an enlarged view of part A in Fig. 2;

Fig. 4 is a partial schematic view of the connecting frame in the wheel-track composite stair-climbing wheelchair with adaptive posture adjustment function according to an embodiment of the present invention;

Fig. 5 is a partial schematic diagram of the bracket in the wheel-track compound stair-climbing wheelchair with adaptive posture adjustment function according to an embodiment of the present invention.

List of reference signs:

11. Lower bracket; 12. Upper bracket; 2. Seat; 21. Handrail; 22. Connecting frame; 31. Front track wheel; 32. Rear track wheel; 33. Track guide wheel; 41. Front wheel; 42. Rear Wheel; 511, the first cross bar; 512, the front swing bar; 521, the second cross bar; 522, the rear swing bar; 531, the first connecting rod; 532, the second connecting rod; 533, the third cross bar; 534 , the fourth cross bar; 54, the telescopic hydraulic cylinder; 55, the swing rod; 56, the return spring; 6, the adaptive attitude adjustment mechanism; 61, the ball head; 62, the ball socket; 63, the first magnetic member; 64, the second magnetic member.

Detailed ways

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

It should be noted that, in the description of the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "setting", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be directly connected, or indirectly connected through an intermediary, or internally connected between two elements. Those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

Referring to Fig. 1 to Fig. 3, Fig. 1 is a structural schematic diagram of a wheel-track compound stair-climbing wheelchair with adaptive posture adjustment function according to an embodiment of the present invention; Fig. 2 is a kind of embodiment of the present invention with self-adaptive posture adjustment A structural schematic diagram of the connection between the connecting frame and the bracket through an adaptive attitude adjustment mechanism in the wheel-track compound stair-climbing wheelchair; Fig. 3 is an enlarged view of part A in Fig. 2 .

As shown in Figures 1 to 3, a wheel-track compound stair-climbing wheelchair (hereinafter referred to as a wheelchair) with an adaptive attitude adjustment function includes a bracket, a seat 2 arranged on the bracket, a crawler walking mechanism, and four walking wheels. The support includes a fixedly connected lower support 11 and an upper support 12, the upper support 12 is connected with the seat 2, and the both sides of the lower support 11 are respectively provided with a crawler running mechanism, and the crawler running mechanism includes a front crawler wheel 31 positioned at the front of the wheelchair, The rear track wheel 32 and the track guide wheel 33 positioned at the wheelchair rear portion, the front track wheel 31, the rear track wheel 32 and the track guide wheel 33 are supported with crawlers (not shown). The wheelchair also includes a switching mechanism arranged on the lower bracket 11, and the switching mechanism is used to switch the relative heights of the crawler running mechanism and the multiple walking wheels so as to realize walking through the crawler running mechanism or the multiple running wheels. The wheelchair also includes an adaptive posture adjustment mechanism 6, and the both sides of the seat 2 are respectively provided with a connecting frame 22, and the connecting frame 22 is connected with the upper bracket 12 through the adaptive posture adjusting mechanism 6 so that the seat 2 can climb under the action of gravity. Keep your posture vertical when going up the stairs.

Specifically, the two sides of the seat 2 are respectively provided with armrests 21, and the lower part of the armrests 21 is provided with a connecting frame 22, and the connecting frame 22 is connected with the upper bracket 12 through the self-adaptive attitude adjustment mechanism 6, so that the seat can be adjusted under the action of gravity. 2 Maintain an upright posture while climbing stairs. Specifically, as shown in FIGS. 2 and 3 , the self-adaptive posture adjustment mechanism 6 includes two ball pin mechanisms respectively arranged on both sides of the wheelchair, and each ball pin mechanism includes a ball head 61 fixed to the connecting frame 22 and a The ball socket 62 is fixed on the upper bracket 12 , and the ball head 61 is accommodated in the ball socket 62 . In the state where the crawler track is touching the ground, when the crawler belt walks from the flat ground to the steps of the stairs, the lower bracket 11 and the upper bracket 12 will incline at a corresponding angle, and the seat 2, including the occupant, makes the ball head 61 relative to each other under the action of gravity. A certain angle of rotation occurs in the ball socket 62, so that the seat 2 and the occupant on it are in a vertical posture. During the process of the crawler walking mechanism from the flat ground to the stairs, the angles of the lower bracket 11 and the upper bracket 12 change. During this process, the ball head 61 rotates relative to the ball socket 62 under the action of gravity, so that in the whole process, the Seat 2 maintains a vertical posture. Through such an adaptive posture adjustment mechanism, the posture of the seat 2 can be automatically adjusted by gravity to maintain a vertical posture, which optimizes user experience. Moreover, the self-adaptive posture adjustment mechanism of the present invention has a simple structure and low manufacturing cost.

Those skilled in the art can understand that it is only a preferred embodiment that the connecting frame 22 is arranged at the lower part of the armrest 21, and those skilled in the art can make adjustments to it according to needs so as to adapt to specific applications, such as the connecting frame 22 can be arranged at the position above the armrest 21, such as being arranged at positions such as 30mm, 40mm above the armrest 21.

In an alternative embodiment, the self-adaptive posture adjustment mechanism 6 includes rotating shafts arranged on both sides of the seat 2, and the rotating shafts are pivotally connected with the connecting frame 22 and the upper bracket 12 respectively, and the seat 2 is relatively opposite to each other through the action of gravity. Swing on the upper support 12 and keep the vertical state.

Referring to Fig. 4 and Fig. 5 and continuing to refer to Fig. 2 and Fig. 3, Fig. 4 is a partial schematic diagram of the connecting frame in the wheel-track compound stair-climbing wheelchair with adaptive posture adjustment function according to an embodiment of the present invention; A partial schematic diagram of the bracket in the wheel-track compound stair-climbing wheelchair with adaptive posture adjustment function according to an embodiment of the invention. Preferably, the adaptive posture adjustment mechanism 6 further includes a posture adjustment buffer mechanism arranged between the connecting frame 22 and the upper bracket 12 , the posture adjustment buffer mechanism is used to reduce the adaptive adjustment speed of the seat 2 relative to the upper bracket 12 .

Specifically, as shown in Figure 4 and Figure 5, the connecting frame 22 includes two parallel flat plates arranged at the bottom of each armrest 21, the ball head 61 is arranged in the middle of the two flat plates and is accommodated in the ball socket 62, the seat 2 can swing back and forth relative to the upper bracket 12, and the swing axis is perpendicular to the flat plate. The posture adjustment buffer mechanism includes a plurality of first magnetic members 63 arranged on the surface of the plate, such as magnets, and the plurality of first magnetic members 63 are distributed around the swing axis. The surface of the upper bracket 1 and the plate on which the first magnetic members 63 are arranged The opposite side is provided with a plurality of second magnetic members 64, such as magnets, and the plurality of second magnetic members 64 are distributed around the swing axis. When the seat 2 is not swinging relative to the upper bracket 12 , the plurality of first magnetic members 63 correspond to the plurality of second magnetic members 64 and attract each other. When the upper bracket 12 is tilted, the connecting frame 22 of the seat 2 swings relative to the upper bracket 12 under the action of gravity, and during the swing process, part of the first magnetic members 63 are respectively aligned with part of the second magnetic members 64 and attract each other , thereby produce the resistance that prevents the connecting frame 22 from swinging relative to the upper bracket 12, thereby reducing the swinging speed, avoiding that the swinging speed is too fast to make the seat 2 swing to the vertical posture and then continue to swing forward considerably. Moreover, when walking on flat ground, the serious swinging of the seat 2 back and forth due to changes in walking speed can be avoided, thereby improving the stability of the seat when walking.

Those skilled in the art can understand that it is only a specific embodiment that the first magnetic member is a magnet, and the second magnetic member is a magnet, and those skilled in the art can make adjustments to suit specific applications. Occasionally, for example, both the first magnetic component and the second magnetic component may be electromagnets, or the first magnetic component may be a magnet, and the second magnetic component may be an electromagnet. In addition, the posture adjustment buffer mechanism may also be a damping cylinder connected to the connecting frame and the bracket respectively. The damping cylinder includes a cylinder body and a piston rod sliding in the cylinder body. The end of the cylinder body is pivotally connected to the connecting frame of the seat, and the protruding end of the piston rod is pivotally connected to the upper bracket. The damping cylinder body is provided with a damping The air enters and exits the inside of the cylinder through the damping hole, so that certain damping is generated during the movement of the piston relative to the cylinder body, thereby reducing the swing speed of the seat 2 relative to the upper bracket 12 .

Continuing to refer to FIG. 1 , preferably, the switching mechanism is a synchronous switching mechanism, and the four road wheels are connected to the lower bracket 11 through the synchronous switching mechanism. The crawler belt running mechanism is fixed on the lower support 11. The synchronous switching mechanism includes a first swing mechanism positioned at the front of the lower bracket 11, a second swing mechanism positioned at the rear of the lower bracket 11, a link assembly pivotally connecting the first swing mechanism and the second swing mechanism, and a drive device. The four road wheels include two front wheels 41 near the front of the lower bracket 11 and two rear wheels 42 near the rear of the lower bracket 11. The first swing mechanism is connected with the rotating shafts of the two front wheels 41, and the second swing The mechanism is connected with the rotating shafts of the two rear wheels 42, and the driving mechanism drives the second swing mechanism to swing, and drives the first swing mechanism to swing under the action of the connecting rod assembly.

Specifically, the first swing mechanism includes a first cross bar 511 and two parallel front swing bars 512, the first cross bar 511 is pivotally connected to the lower bracket 11, and the two ends of the first cross bar 511 are respectively fixedly connected to the front In the position between the two ends of the swing link 511 , the lower end of the front swing link 511 is connected to the rotating shaft of the front wheel 41 . The link assembly includes a first link 531 and a second link 532, the front ends of the first link 531 and the second link 532 are respectively pivotally connected to the upper ends of the two front swing links 512; the second swing mechanism includes a second A cross bar 521 and two parallel rear swing bars 522, the second cross bar 521 is pivotally connected to the lower bracket 11, and the two ends of the second cross bar 521 are respectively fixedly connected to the positions between the two ends of the rear swing bar 522 The lower end of the rear swing link 522 is connected to the rotating shaft of the rear wheel 42, and the rear ends of the first link 531 and the second link 532 are pivotally connected to the upper ends of the two rear link links 522, respectively. The first cross bar 511 and the second cross bar 521 are parallel to each other. The distance between the front end of the first connecting rod 531 and the first cross bar 511 is equal to the distance between the rear end of the first connecting rod 531 and the second cross bar 521. The distance between the front end of the bar 532 and the first cross bar 511 is equal to the distance between the rear end of the second connecting rod 532 and the second cross bar 521, that is, a double rocker mechanism is formed, so that the front wheel 41 and the rear wheel 42 can move in the same direction. swing. A swing rod 55 is fixed on the second cross bar 521 . The driving device includes a telescopic hydraulic cylinder 54 , the end of the cylinder body of the telescopic hydraulic cylinder 54 is connected to the lower frame 11 , and the extended end of the piston rod of the telescopic hydraulic cylinder 54 is pivotally connected to the end of the swing rod 55 . The wheelchair also includes a return spring 56, one end of the return spring 56 is pivotally connected with the lower frame 11, the other end of the return spring 56 is pivotally connected with the end of the swing lever 55, and the return spring 56 is located between the swing link 55 and the telescopic The opposite side of the hydraulic cylinder 54 remains elastic all the time.

When the telescopic hydraulic cylinder 54 is in the state of decompression, the telescopic rod of the telescopic hydraulic cylinder 54 is in the retracted state due to the elastic force of the return spring 56. At this time, the two front wheels 41 and the two rear wheels 42 are in contact with the ground. Contact, the line of action of the support force of the ground to the front wheel 41 and the rear wheel 42 deviates from the axis of the first cross bar 511 and the second cross bar 521 respectively and is located at the front position, the front swing bar 512 has a structure around the first cross bar The torque of the axis of 511 in the clockwise direction (the orientation shown in Figure 1), the rear swing link 522 has the torque in the clockwise direction (the orientation shown in Figure 1) around the axis of the second cross bar 521, and the elastic force of the return spring acts On the swing rod 55 , the swing rod 55 generates a torque about the axis of the second cross bar 521 in the counterclockwise direction (orientation shown in FIG. 1 ) to the second cross bar 521 . In the state of no person sitting on the wheelchair, the piston rod of the telescopic hydraulic cylinder 54 is compressed into the cylinder and generates a supporting force on the swing rod 55, which makes the swing rod 55 generate a rotation around the second cross bar 521 The torque of the axis of the crossbar 521 in the clockwise direction (orientation shown in FIG. 1 ). The clockwise torque received by the second crossbar 521 is equal to the counterclockwise torque so that the front wheels and rear wheels of the wheelchair are in the state of touching the ground. When there are people on the wheelchair, the torque transmitted from the ground to the front wheel 41 and the rear wheel 42 to the second crossbar 521 increases, so that the return spring 56 is further compressed, and the elastic force of the return spring 56 Increase to make the force balance of the second cross bar 521 and keep the front wheel 41 and the rear wheel 42 in the state of contacting the ground. It should be noted that the amount of compression produced by the return spring after the wheelchair occupant rides the wheelchair is much smaller than the compression amount produced by the return spring when the swing lever 55 swings to make the walking wheels swing upwards and retract.

When driving on flat ground, the walking wheels will cause the wheelchair to bump up and down due to the unevenness of the ground and the inertia of walking. At this time, the force of the return spring will change and produce a small expansion and contraction to achieve vibration reduction during walking. The role of improving the comfort of the occupants. When it is necessary to go up and down the stairs, the telescopic hydraulic cylinder 54 is controlled to work, and the piston rod of the telescopic hydraulic cylinder 54 stretches out from the cylinder body by a set length so as to push the swing rod 55 counterclockwise around the axis of the second cross bar 521 (as shown in FIG. 1 ). azimuth) to swing, at this time, the return spring 56 produces a preset amount of compression, and the front swing link 512 and the rear swing link 522 rotate clockwise around the axes of the first cross bar 511 and the second cross bar 521 respectively to make the front wheels 41 and Rear wheel 42 swings to the position above the bottom surface of crawler belt running gear, and now crawler belt running gear is in contact with the ground, and wheelchair goes up or down stairs by crawler belt running gear. Through such a synchronous switching mechanism, the height of the walking wheels relative to the crawler belt running mechanism can be adjusted synchronously, so that multiple walking wheels can be raised or lowered synchronously, so that the height of the entire wheelchair changes smoothly during the switching process, avoiding shaking during the switching process. It is easy to cause the problem of dumping. In addition, by adjusting the height of the walking wheels, the overall center of gravity of the wheelchair can be lowered during the process of climbing stairs, so that the process of the wheelchair going up and down stairs is more stable and safer. Moreover, the above switching mechanism only needs to be provided with one driving device to simultaneously drive multiple traveling wheels up and down, which ensures the synchronization of the adjustment of multiple traveling wheels, reduces the number of driving devices, and reduces the cost.

Those skilled in the art can understand that the plurality of road wheels including two front wheels and two rear wheels is only a specific implementation, and those skilled in the art can make adjustments to suit specific applications. Occasionally, if a plurality of road wheels can include a front wheel and two rear wheels, the two rear wheels are connected to the two ends of the second cross bar through the rear swing link, and the front wheels are connected to the first swing link through a front swing link A plurality of road wheels may include two front wheels and one rear wheel, the two front wheels are connected to the two ends of the first cross bar through the front swing link, and the rear wheels are connected to the second swing link through a rear swing link. In addition, the swing rod 55 is fixed on the second cross rod 521, and the telescopic hydraulic cylinder 54 drives the swing rod 55 to swing and then drives the second cross rod 521 to rotate. The swing bar 55 is fixed on the first cross bar 511, the telescopic hydraulic cylinder 54 drives the swing bar 55 to swing and drives the first cross bar 511 to rotate, the first cross bar 511 drives the front swing bar 512 to swing, and the front swing bar 512 passes through the first The connecting rod 531 and the second connecting rod 532 drive the rear swing link 522 to swing. In addition, it is also a preferred embodiment that the driving device is a telescopic hydraulic cylinder, and those skilled in the art can adjust it according to needs, so as to adapt to specific applications. For example, the driving device can be a telescopic cylinder, an electric push rod, etc. .

Preferably, the front ends of the first link 531 and the second link 532 are fixedly connected to the third crossbar 533 , and the rear ends of the first link 531 and the second link 532 are fixedly connected to the fourth crossbar 534 . Through the arrangement of the third cross bar 533 and the fourth cross bar 534 , the stability of the first link 531 and the second link 532 in the process of driving the front swing link 512 and the rear swing link 522 can be enhanced.

In an alternative embodiment, the front end of the first link 531 is pivotally connected to the upper end of the front swing link 512, and the rear end of the first link 531 is pivotally connected to the lower end of the rear swing link 522 and the second transverse link. At the position between the rods 521, the front end of the second link 532 is pivotally connected to the upper end of the front swing link 512, and the rear end of the second link 532 is pivotally connected between the lower end of the rear swing link 522 and the second cross bar 521. and the distance between the front end of the first link 531 and the first cross bar 511 is equal to the distance between the rear end of the first link 531 and the second cross bar 521, and the front end of the second link 532 and the first cross bar The distance 511 is equal to the distance between the rear end of the second link 532 and the second cross bar 521 . In this way, when the driving device drives the swing link 55 to swing, the swing directions of the front swing link 512 and the rear swing link 522 are opposite. In this way, in the process of switching from the ground contact state of the crawler belt traveling mechanism to the ground contact state of the running wheels, the front wheel 41 swings backward and the rear wheel 42 swings forward, thereby avoiding friction with the ground when the crawler belt traveling mechanism leaves the ground.

In an alternative embodiment, the return spring 56 may not be provided, and the telescopic hydraulic cylinder 54 is a two-way hydraulic cylinder, and the internal pressure of the telescopic hydraulic cylinder 54 keeps the traveling wheels in the state of touching the ground. When it is necessary to switch to the ground contact of the crawler belt traveling mechanism, the piston rod of the telescopic hydraulic cylinder 54 is controlled to extend, and the swing rod 55 is driven to swing, so that the second cross bar 521 is rotated, thereby driving the rear swing rod 522 to swing. Under the action of the rod 531 and the second connecting rod 532, the front swing rod 512 is driven to swing synchronously, so that the front wheel 41 and the rear wheel 42 are synchronously raised.

So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings, but those skilled in the art will easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims (10)

1. A wheel-track combined stair climbing wheelchair with a self-adaptive posture adjustment function comprises a support, a seat, a track travelling mechanism and a plurality of travelling wheels, wherein the seat, the track travelling mechanism and the travelling wheels are arranged on the support, the wheelchair further comprises a switching mechanism arranged on the support, the switching mechanism is used for switching the relative heights of the track travelling mechanism and the travelling wheels so as to realize travelling through the track travelling mechanism or the travelling wheels,

The wheelchair is characterized by further comprising a self-adaptive posture adjusting mechanism, connecting frames are arranged on two sides of the seat respectively, and the connecting frames are connected with the support through the self-adaptive posture adjusting mechanism so that the seat can still keep a vertical posture when climbing stairs under the action of gravity.

2. The wheel-track composite stair climbing wheelchair as claimed in claim 1, wherein the adaptive posture adjustment mechanism comprises two ball pin mechanisms respectively disposed at both sides of the wheelchair, each of the ball pin mechanisms comprising a ball socket fixedly connected to the bracket and a ball head fixedly connected to the connecting frame, the ball head being received in the ball socket so as to maintain the vertical posture of the seat when climbing stairs under the action of gravity.

3. The wheel-track combined stair climbing wheelchair as claimed in claim 2, wherein the adaptive posture adjustment mechanism further comprises a posture adjustment buffer mechanism disposed between the connecting frame and the support, the posture adjustment buffer mechanism being configured to reduce an adaptive adjustment speed of the seat relative to the support.

4. The wheel-track combined stair climbing wheelchair as claimed in claim 3, wherein the posture adjustment buffering mechanism is a damping cylinder connected to the connecting frame and the support respectively.

5. the wheel-track composite stair-climbing wheelchair of claim 3, wherein the posture adjustment buffer mechanism comprises a plurality of first magnetic members disposed on the connecting frame and a plurality of second magnetic members disposed on the bracket, and the first magnetic members and the second magnetic members attract each other.

6. The wheel-track combined stair-climbing wheelchair according to claim 1, wherein the adaptive posture adjusting mechanism is disposed at a lower portion of an armrest of the seat.

7. The wheel-track combined stair climbing wheelchair according to any one of claims 1 to 6, wherein the switching mechanism is a synchronous switching mechanism, the plurality of road wheels are connected with the bracket through the synchronous switching mechanism, and the synchronous switching mechanism is used for synchronously adjusting the heights of the plurality of road wheels relative to the crawler traveling mechanism.

8. The wheel-track combined stair climbing wheelchair as claimed in claim 7, wherein the plurality of road wheels comprise two front wheels and two rear wheels, the synchronous switching mechanism comprises a first swing mechanism, a second swing mechanism, a connecting rod assembly pivotally connecting the first swing mechanism and the second swing mechanism, and a driving device, the first swing mechanism is connected with the rotating shafts of the two front wheels, the second swing mechanism is connected with the rotating shafts of the two rear wheels, and the driving device is used for driving the first swing mechanism or the second swing mechanism to swing.

9. The wheel-track combined stair climbing wheelchair as claimed in claim 8, wherein the first swing mechanism comprises a first cross bar and two parallel front swing bars fixedly connected with the first cross bar, the first cross bar is pivotally connected with the bracket, and a rotating shaft of the front wheel is connected with a first end of the front swing bar;

The second swing mechanism comprises a second cross rod and two parallel rear swing rods fixedly connected with the second cross rod, the second cross rod is pivotally connected with the bracket, and a rotating shaft of the rear wheel is connected with the first end of the rear swing rod;

The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third cross rod and a fourth cross rod, wherein the third cross rod and the fourth cross rod are respectively connected with the first connecting rod and the second connecting rod at two ends;

the driving device is used for driving the first cross rod or the second cross rod to rotate.

10. The wheel-track composite stair climbing wheelchair of claim 9 wherein the first and second crossbars are parallel to each other;

the end part of the first cross rod is fixedly connected to a position between two ends of the front swing rod, the end part of the second cross rod is fixedly connected to a position between two ends of the rear swing rod, and the distance between the end part of the front swing rod connected with the first connecting rod and the second connecting rod and the first cross rod is equal to the distance between the end part of the rear swing rod connected with the first connecting rod and the second cross rod.