CN113133876B - Intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and use method - Google Patents

Abstract

The present disclosure relates to an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and a method of using the same, belonging to the technical field of wheelchairs. The wheelchair includes a wheelchair base, the wheelchair base is hinged with the wheelchair backrest and the wheelchair leg rest respectively, and tracks are provided under the wheelchair base. The wheelchair base includes an upper base and a lower base. The upper base can move relative to the lower base along the walking direction of the wheelchair. The wheelchair leg support includes a second telescopic arm, and the end of the second telescopic arm is connected to the second drive wheel. A crawler support is arranged between the first crawler track and the second crawler track, and the crawler support and the wheelchair base are connected by a third telescopic arm, a first support rod is hinged at the bottom of the crawler support, and the end of the first support rod The auxiliary walking wheel is connected, and the first support rod is connected with the crawler support through the second support rod. The crawler support is provided with a fourth telescopic arm that controls the movement of the first support rod along the wheelchair forward direction.

Description

A kind of intelligent human-computer interaction multifunctional wheelchair suitable for multi-terrain and using method

technical field

The present disclosure belongs to the technical field of wheelchairs, and in particular relates to an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and a method of using the same.

Background technique

The statements herein merely provide background related to the present disclosure and do not necessarily constitute prior art.

In recent years, the aging of the world's population has gradually accelerated, especially in China, a country with a large population. At the same time, the number of disabled people caused by various accidents is also quite large, and wheelchairs for these elderly and disabled people are on the market. There are many kinds of wheelchairs, which greatly meet the self-care needs of these people in addition to walking. Some existing wheelchairs can overcome obstacles such as small steps and thresholds, and some wheelchairs can achieve up and down stairs, which is convenient for the elderly or disabled. Travel for the weak.

The inventor found that: the functions of various wheelchairs in the current wheelchair market are relatively simple, and they cannot truly adapt to various terrain driving scenarios, and the design is very complex, which does not maximize the utilization of the relevant structures. There are still many inconveniences, requiring personnel assistance, and going up and down the stairs is even more difficult.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present disclosure provides an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and a method of using the same.

At least one embodiment of the present disclosure provides an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains, including a wheelchair base, the wheelchair base is hinged with the wheelchair backrest and the wheelchair leg rest, and a crawler-type stair climbing structure is arranged under the wheelchair base. The crawler type stair climbing structure includes a first crawler and a second crawler; the bottom of the wheelchair base is connected with the first driving wheel through a first telescopic arm, the wheelchair base includes an upper base and a lower base, and the upper base can follow the wheelchair relative to the lower base. Moving in the walking direction, the wheelchair leg support includes a second telescopic arm, the end of the second telescopic arm is connected to the second driving wheel, a crawler support is provided between the first crawler track and the second crawler track, and the crawler support and the wheelchair base pass through The third telescopic arm is connected, a first support rod is hinged at the bottom of the crawler support, the end of the first support rod is connected with an auxiliary traveling wheel, the first support rod is connected with the crawler support through the second support rod, and the crawler support A fourth telescopic arm is provided for controlling the movement of the first support rod along the advancing direction of the wheelchair.

Further, the upper layer of the base and the lower layer of the base are connected by sliding blocks and guide rails.

Further, a motor controller, an electric push rod controller, a single-chip microcomputer and a microcomputer are arranged between the upper layer of the base and the lower layer of the base.

Further, the end of the wheelchair base away from the wheelchair back is provided with a driving gear, and the wheelchair leg rest is provided with an arc-shaped rack that engages with the driving gear.

Further, a distance sensor is provided on the first driving wheel, and a pressure sensor is provided on the second driving wheel.

Further, a guide rail is provided on both sides of the bottom of the crawler bracket along the moving direction of the wheelchair, the guide rail is provided with a slider, each slider is hinged with a first support rod, and the second support rod is connected with the guide rail. The ends of the track bracket are hinged, the first support rods on both sides of the bottom of the crawler bracket are connected by connecting rods, and the fourth telescopic arm is connected with the connecting rods.

Further, a horizontal wheelchair armrest for placing upper limbs is arranged above the wheelchair base. One end of the wheelchair armrest in the length direction is hinged with the wheelchair backrest, and the other end is connected with the wheelchair base through a connecting mechanism. The wheelchair armrest is provided with a control panel. panel and joystick.

Further, a GPS locator and an ultrasonic sensor for detecting height are arranged on the wheelchair base, and a camera is arranged on the crawler support.

Further, the wheelchair also includes a collector for collecting electrocardiogram, heart sound, blood oxygen, body temperature and blood pressure of the elderly or the disabled.

At least one embodiment of the present disclosure provides a method for using an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains based on any one of the above, and the method includes the following processes:

When the wheelchair needs to go up the steps, control the first telescopic arm of the wheelchair base to extend to the bottom of the crawler structure beyond the upper surface of the step;

Adjust the angle of the wheelchair leg support and control the second telescopic arm to automatically extend until the second driving wheel contacts the top surface of the upper step, then control the upper floor of the base to move forward, and then drive the wheelchair to move forward, automatically control the front telescopic arm in front of the wheelchair base Telescopic; when the wheelchair moves to the upper step, the front telescopic arm is automatically controlled to extend to the bottom of the drive wheel to contact the top surface of the upper step;

Continue to drive the wheelchair forward until the drive wheel on the rear telescopic arm of the wheelchair base is in contact with the step, and finally the drive wheel at the bottom of the telescopic arm is automatically controlled to be higher than the upper step.

Further, when the wheelchair climbs a gentle slope, lower the height of the wheelchair, and control the second telescopic arm on the wheelchair leg to extend until the second driving wheel touches the ground. After the pressure sensor of the second driving wheel generates induction, the upper layer of the wheelchair base is controlled to drive forward and adjust. The center of gravity of the wheelchair is then jointly driven by the first driving wheel and the second driving wheel, so as to achieve gentle climbing; when the occupant needs to climb a steep slope, the first telescopic arm and the second telescopic arm are maximally retracted to make the first driving wheel and the second The driving wheel and the crawler on the crawler-type stair-climbing structure touch the ground at the same time, and the wheelchair is driven by the crawler mechanism and the first driving wheel, thereby achieving steep slope climbing.

The beneficial effects of the present disclosure are as follows:

(1) The first telescopic arm on the wheelchair base of the multi-terrain running wheelchair of the present disclosure and the second telescopic arm on the wheelchair leg support can cooperate to achieve obstacle crossing, going up and down steps, etc., and the upper layer of the base of the wheelchair base controls the overall center of gravity of the wheelchair. , to avoid the phenomenon of overturning when traveling on multiple terrains.

(2) The multi-terrain running wheelchair of the present disclosure can not only achieve obstacles, go up and down steps, etc., but also realize functions such as going up and down stairs, climbing, and crossing icy roads through the coordination of the telescopic arm on the wheelchair and the retraction and retraction of the crawler. . Most of the obstacle-surmounting wheelchairs in the market use hydraulic jack structures to retract and retract the crawler or various complicated ways to retract and retract the walking wheels to overcome obstacles, with complex structures and single functions. Compared with the existing products in the market, the structure is simple, the weight is light, and the desired effect can also be achieved.

Description of drawings

The accompanying drawings that constitute a part of the present disclosure are used to provide further understanding of the present disclosure, and the exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure.

FIG. 1 is an overall structural diagram of a multi-terrain intelligent wheelchair according to an embodiment of the present disclosure;

FIG. 2 is a structural diagram of a wheelchair base provided by an embodiment of the present disclosure;

FIG. 3 is a structural diagram of the cooperation between a sliding block and a guide rail in a wheelchair base according to an embodiment of the present disclosure;

FIG. 4 is a structural diagram of a wheelchair leg support provided by an embodiment of the present disclosure;

5 is a structural diagram of a wheelchair wheel telescopic arm linkage mechanism provided by an embodiment of the present disclosure;

6 is a structural diagram of the wheelchair with the backrest lying down and the leg rest being supported in the wheelchair provided by the embodiment of the present disclosure;

FIG. 7 is a structural diagram of a crawler mechanism bracket of a wheelchair according to an embodiment of the present disclosure;

8 is a first angle structural diagram of a wheelchair crawler and its supporting wheel mechanism structure provided by an embodiment of the present disclosure;

FIG. 9 is a second angle structural diagram of a wheelchair crawler and its supporting wheel mechanism structure provided by an embodiment of the present disclosure;

Figures 10(a)-10(e) are schematic diagrams of a wheelchair going up and down steps according to an embodiment of the present disclosure;

11(a)-10(d) are schematic diagrams of a wheelchair going up stairs according to an embodiment of the present disclosure.

In the picture: 1. Wheelchair base, 101, upper base, 102, lower base, 103, ultrasonic sensor, 104, GPS locator, 2, wheelchair back, 3, wheelchair leg rest, 301, auxiliary drive wheel, 302, auxiliary drive motor , 303, foot pedal, 304, leg guard, 305, worm mechanism, 306, drive motor, 307, pressure sensor, 4, armrest, 401, vertical part, 402, horizontal part, 403, joystick, 404, control Panel, 5, Track Mechanism, 501, Guide Wheel, 502, Drive Wheel, 503, Track Roller, 504, Carrier Roller, 505, Rubber Track, 506, Motor, 507, Track Support, 508, Left Track, 509, Right track, 511, slide rail, 512 slider, 513, support wheel leg, 514, support wheel, 515, wheel leg auxiliary rod, 516, connecting rod, 517, electric push rod, 6, electric push rod, 7, Motor controller, 8, electric push rod controller, 9, microcontroller, 10, microcomputer, 11, gear, 1101, flip motor, 12, arc rack, 13, transmission mechanism, 14, distance sensor, 15, main Drive wheel, 16, driven wheel, 17, warning device, 18, pinhole camera, 19, seat belt, 20, lithium battery, 21, I-shaped guide rail, 23, gear fixing plate, 24, drive motor, 34, rack , 35, gear, 36, limit slider, 38, pinhole camera, 39, angle sensor, 40, coupling, 41, connecting rod, 42, main drive wheel telescopic arm 4201, upper telescopic arm, 4202, telescopic The lower part of the arm, 4204, the main drive motor, 43, the driven wheel telescopic arm, 44, the screw motor.

Detailed ways

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than limitations. Although the present disclosure has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present disclosure can be Modifications or equivalent replacements, without departing from the spirit and scope of the technical solution, should all be included in the scope of the claims of the present disclosure.

As shown in FIG. 1 , an embodiment of the present disclosure provides an intelligent wheelchair that operates on multiple terrains. The wheelchair mainly includes a wheelchair base 1, and the wheelchair base is provided with a wheelchair backrest 2, a wheelchair leg support 3, a crawler mechanism 5 and a transmission. Mechanism 13, wherein the wheelchair backrest 2 is rotatably connected with the wheelchair leg rest 3 and the wheelchair base 1 respectively. It can be understood that the wheelchair backrest 2 and the wheelchair leg rest 3 can be adjusted to a horizontal state.

The left and right sides of the wheelchair base 1 are provided with wheelchair armrests 4 for placing arms. The wheelchair armrest 4 includes a horizontal portion 402 and a vertical portion 401 that are hinged to each other, and the horizontal portion 402 is hinged with the wheelchair back 2 . At the same time, one of the horizontal parts is provided with a joystick 403 and a control panel 404, the patient can intelligently control the operation of the entire wheelchair through the joystick and the control panel, and observe the bottom of the wheelchair base through the control panel.

Further, the vertical part 401 is connected with the wheelchair base 1 through a connecting rod, so that when the wheelchair leg rest and the wheelchair back are in a horizontal position, the wheelchair armrest can also be rotated into a horizontal state, which is convenient for the patient to lie down and rest. At the same time, with the telescopic arm and ultrasonic sensor at the bottom of the wheelchair base, the patient can automatically adjust the height of the wheelchair according to the height of the hospital bed to turn over to the bed.

The backrest of the wheelchair is also provided with a warning device 17, a pinhole camera 18 and a safety belt 19, wherein the safety belt can be used to fix the upper body of the patient, and the pinhole camera on the backrest of the wheelchair can be viewed remotely through a mobile phone app, which is convenient The family can know the situation around the occupant in real time, and can remotely call the police through the alarm device 17 in case of danger, which further ensures the safety of the occupant.

As shown in FIG. 2 , the wheelchair base includes an upper base layer 101 and a lower base layer 102 , wherein the upper base layer 101 can move relative to the lower base layer 102 in the forward direction of the wheelchair. Specifically, as shown in FIG. 3 , in the The top of the lower layer of the base is provided with an I-shaped guide rail 21, and the bottom of the upper layer of the base is provided with a slider 36 that matches the I-shaped guide rail 21. The slider 36 is fixed on the bottom of the upper layer of the base. The slider 36 Nested on the I-shaped guide rail 21, and the inside is provided with a rack 34 along the length direction of the I-shaped guide rail 21, and a driving motor 24 is also provided on the upper surface of the lower layer of the base. The driving motor The output shaft of 24 is connected with a gear 35 that meshes with the rack, and the movement of the upper layer of the base is realized by controlling the driving motor 24 to work.

A motor controller 7, an electric push rod controller 8, a single-chip microcomputer 9 and a microcomputer 10 are arranged between the upper layer of the base and the lower layer of the base. These control components are all fixed on the lower layer of the base, and a lithium battery is arranged on the lower layer of the base. 20 is used to power the electrical appliances throughout the wheelchair. There is also an ultrasonic sensor 103 on the lower layer of the base to detect the distance between the base and the ground, and a GPS locator 104 is also arranged on the lower layer of the base to realize the positioning function of the wheelchair, so that the family can know the details of the occupant in real time. location, while preventing theft.

Further, as shown in FIG. 4 , the wheelchair leg rest 3 in this embodiment mainly includes an auxiliary driving wheel 301 , an auxiliary driving motor 302 , a foot pedal 303 , a leg shield 304 , a worm mechanism 305 , and a driving motor 306 .

Specifically, the wheelchair leg support includes two mutually nested outer sleeves and inner sleeves, wherein the two outer sleeves are connected together by a leg shield 304, and the outer surfaces of the two outer cylinders are A footrest 303 is provided for placing the top of the foot.

In order to realize the expansion and contraction of the inner sleeve in the outer sleeve, the outer sleeve and the inner sleeve are connected by a worm mechanism 305 , and a drive motor 306 connected to the worm mechanism 305 is provided on the inner top of the outer sleeve. , the movement of the worm mechanism is controlled by the drive motor 306 .

Further, the bottom of the inner sleeve is connected to an auxiliary driving wheel 301 through the auxiliary driving motor 302, as shown in FIG. 1, the whole wheelchair can be driven forward by the auxiliary driving wheel 301, and the output shaft of the auxiliary driving motor 302 is installed on the output shaft. There is a pressure sensor 307 .

It should be noted that the foot pedal 303 in this embodiment can slide on the outer sleeve, so that it can be adapted to patients of different heights.

In order to realize the rotation of the wheelchair leg support 3 in this embodiment, a transmission mechanism 13 is installed on the front of the upper layer 101 of the base, and the transmission structure 13 includes a gear 11 and a turning motor 1101. The plate 304 is provided with an arc-shaped rack 12 that meshes with the gear 11 , so that the wheelchair leg rest 3 can be rotated through the rotation of the gear 11 .

Further, as shown in FIG. 5-FIG. 6, the main driving wheel telescopic arms 42 and the driven wheel telescopic arms 43 are respectively provided on both sides of the lower layer of the base of the wheelchair in this embodiment, wherein the bottom of the main driving wheel telescopic arms 42 are connected to each other. The main driving wheel 15, the bottom of the driven wheel telescopic arm 43 is connected to the driven wheel 16, the driven wheel telescopic arm 43 is also equipped with a distance sensor 14 for detecting the distance between the driven wheel 16 and the obstacle, wherein the lifting arm is mainly It includes the upper part 4201 of the telescopic arm and the lower part 4202 of the telescopic arm, and the bottom of the lower part 4202 of the telescopic arm is connected with the traveling wheel through the main drive motor 4204.

The upper part 4201 of the telescopic arm and the lower part 4202 of the telescopic arm are connected by a lead screw mechanism, and at the same time, the main driving wheels 15 on both sides of the front part of the bottom of the wheelchair base, or the tops of the driven wheels 16 on both sides of the rear part are connected through a connection. The rods 41 are connected, specifically, a coupling 40 is connected to the tops of the inner lead screws of the telescopic arms on both sides, the connecting rods 41 pass through the couplings 40 on both sides, and the ends of the connecting rods 41 are connected The screw motor 44 realizes the linkage of the telescopic arms on both sides of the lower layer of the wheelchair base through the rotation of the connecting rod 41, and the screw motor 4 is fixed on the wheelchair base.

As shown in FIGS. 7-9 , the crawler mechanism 5 in this embodiment mainly includes a left crawler 508 and a right crawler 509 , wherein the left crawler 508 and the right crawler 509 are connected by a crawler bracket 507 , and the crawler bracket 507 is connected to the wheelchair The bases are connected by an inclined electric push rod 6, as shown in FIG. 1, the two ends of the inclined electric push rod 6 are hinged with the crawler support and the wheelchair base respectively.

Further, as shown in FIG. 8 , in this embodiment, the left and right sides of the bottom of the crawler support are provided with slide rails 511 along the advancing direction of the wheelchair, and each slide rail is also provided with a slider 512 , so The sliding block can slide in the sliding rail, and a supporting wheel leg 513 is hinged on the sliding block. The bottom of each supporting wheel leg 513 is connected to a supporting wheel 514, and at the same time, it is hinged at the front of the sliding rail 511. A wheel leg auxiliary rod 515, the supporting wheel legs 513 on both sides of the crawler bracket are connected by connecting rods 516, and an electric push rod 517 is also provided on the bottom of the crawler bracket, and the electric push rod 517 The end of the support wheel is connected with the connecting rod 516, so that the sliding block 512 is driven to slide by the electric push rod 517, so as to realize the change of the angle of the supporting wheel leg 513.

It should be noted here that the left crawler belt 508 and the right crawler belt 509 have the same structure and belong to the prior art, and will not be repeated here. Each track is provided with a guide wheel 501, a drive wheel 502, a support wheel 503, a carrier wheel 504, and a rubber track 505, wherein the track support is provided with a track drive motor 506, and the output shaft of the track drive motor It is connected with the driving wheel 502 in the crawler to realize the rotation of the crawler.

Further, a pinhole camera 38 and an angle sensor 39 are provided on the crawler support 507 in the present embodiment, wherein the pinhole camera is connected to the control panel on the armrest of the wheelchair for the patient to observe the bottom condition, The angle sensor is used to detect the inclination angle of the entire crawler structure.

In addition, the wheelchair provided in this embodiment also includes a collector for collecting electrocardiogram, heart sound, blood oxygen, body temperature and blood pressure for the elderly or the disabled, and the collector is connected to the wireless transmission module of the controller , constitute a health monitoring system, the health monitoring system on the wheelchair can enable the family to know the physical condition of the occupant through the mobile phone in real time, and the system can be removed or installed freely.

The following is a detailed description of the use method of the intelligent wheelchair based on the above-mentioned multi-terrain operation:

When the multi-terrain smart wheelchair in this embodiment is running normally, the telescopic arms of each walking wheel at the bottom of the wheelchair base are in a semi-contracted state. When the occupant needs to cross an obstacle, the ultrasonic sensor 103 on the wheelchair base 1 automatically detects the obstacle. When the height is detected, the telescopic arms of the main drive wheel 15 and the driven wheel 16 are automatically extended at the same time. When traveling to the obstacle, the leg rest 3 is controlled to adjust the angle, and then the worm mechanism 305 of the leg rest is controlled to automatically extend until the auxiliary drive After the wheel 301 touches the ground, the pressure sensor 307 on the auxiliary driving wheel 301 senses and controls the rack-and-pinion transmission mechanism 13 on the wheelchair base 1 to drive the wheelchair base upper layer 101 and the above mechanism forward to adjust the center of gravity. While adjusting the center of gravity, the auxiliary driving wheel 301 also moves forward at the transmission speed of the transmission mechanism 13. After the transmission, the main driving wheel telescopic arm 42 of the wheelchair automatically shrinks until the main driving wheel 15 is higher than the obstacle, and then the wheelchair moves forward. When the distance between the wheelchair driven wheel 16 is When the sensor 14 senses that the driven wheel reaches the obstacle, the wheelchair main driving wheel telescopic arm 42 automatically extends until the main driving wheel 15 touches the ground, and then the wheelchair driven wheel telescopic arm 43 automatically shrinks until the driven wheel 16 is higher than the obstacle, and the main driving wheel 15 and the auxiliary driving wheel 301 drive the wheelchair forward, and then when the driven wheel telescopic arm 43 passes the obstacle, it will automatically extend again until the driven wheel 16 touches the ground. After the driven wheel 16 touches the ground, the rack and pinion transmission mechanism 13 drives the wheelchair base backward. The upper layer 101 and the above mechanisms are restored to the original state, at this time, the wheelchair is supported by the main driving wheel 15 and the driven wheel 16 so as to overcome the obstacle.

When the occupant needs to go up the steps, first control the angle change of the wheelchair leg support 3, and then control the worm mechanism 305 in the wheelchair leg support 3 to automatically expand and contract until the auxiliary driving wheel 301 is located on the upper step and touches the ground. When the pressure sensor at the auxiliary driving wheel 37 After the induction is generated, the rack and pinion transmission mechanism 13 on the wheelchair base is controlled to drive the upper layer of the wheelchair base and the above mechanism to adjust the center of gravity, and then the main driving wheel telescopic arm 42 automatically retracts to the bottom of the main driving wheel 15 higher than the upper steps. , and then the wheelchair is driven by the auxiliary driving wheel 301. When the distance sensor 9 at the driven wheel 16 on the wheelchair senses that the distance between the step and the driven wheel 9 is small enough, the main driving wheel telescopic arm 42 on the wheelchair automatically extends to the main driving wheel. 15. Landing, if the occupant is too light to worry about the wheelchair tipping backwards, the tilting electric push rod 6 on the wheelchair base can be controlled to extend to make the crawler mechanism 5 land on the step, and then the telescopic arm 43 of the driven wheel automatically retracts, and the main drive The wheel 15 and the auxiliary driving wheel 301 drive the wheelchair forward, and then when the driven wheel telescopic arm 43 walks to the upper table, it will automatically extend again until the driven wheel 16 at the bottom touches the ground. After the driven wheel 16 touches the ground, the rack and pinion transmission mechanism on the wheelchair base 1 13. Backward transmission restores the upper layer 101 of the base and the mechanisms above it to the original state, and then automatically adjusts the height of the wheelchair, thereby realizing the function of going up the steps. Similarly, when going down the steps, the telescopic arms of the wheelchair and the worm mechanism 305 of the wheelchair leg rest 3 are contracted, and then extended to the ground while traveling forward to realize the step down function, see Figures 10(a)-10(e).

When the occupant needs to go up the stairs, all the telescopic arms of the wheelchair and the worm mechanism 305 on the wheelchair legs are contracted to the maximum extent. After the contraction is completed, the crawler mechanism 5 touches the ground, and the angle sensor 39 on the crawler mechanism 5 automatically detects the gradient of the stairs. Through the automatic extension of the electric push rod 517 on the crawler mechanism, the support wheel 514 of the crawler mechanism 5 is ejected, and the crawler mechanism 5 is supported to the corresponding slope. When the crawler mechanism 5 is supported, the wheelchair base 1 is also pushed by the electric push rod 6 At the same time, the occupant is always in a horizontal state, and the main driving wheel 15 and the driven wheel 16 are not in contact with the ground at this time, and then the rubber track 505 starts to run under the drive of the driving motor 506 of the track mechanism, while supporting The wheel 514 bounces back with the automatic retraction of the electric push rod 517, and the pinhole camera 38 on the crawler mechanism on the control panel 404 can view the stair condition. When reaching the top of the stairs, the control panel 404 controls the crawler mechanism supporting wheel 514 to automatically Pop out, and then complete the stairs with the cooperation of the support wheel 514, the track mechanism 5 and the wheelchair base 1 return to the original state at the same angular velocity, and the wheelchair is height adjusted, refer to Figures 11(a)-11(d).

When the occupant needs to go down the stairs, the worm mechanism 305 on each telescopic arm of the wheelchair and the leg rest 3 is maximally retracted. After the retraction is completed, the angle sensor 39 on the crawler mechanism 5 automatically detects the gradient of the stairs, and then passes through the crawler mechanism. The electric push rod 517 on the upper stretches so that the support wheel 514 of the crawler mechanism 5 automatically pops up to support the crawler mechanism 5 to the corresponding slope. While the crawler mechanism is supported, the wheelchair base 1 is also supported by the electric push rod 6 at the same angular velocity. The occupant is always in a horizontal state, and then automatically extends the follower wheel telescopic arm 43 until the follower wheel 16 touches the ground, and the crawler mechanism 5 starts to run under the drive of its driving motor 506. When starting to descend the stairs, if there is an emergency situation, emergency Brake the support wheel 514 and the driven wheel 16. If the operation is normal, the support wheel 514 and the driven wheel 16 will be retracted at the same time when starting to descend the stairs. When reaching the bottom of the stairs, the control panel 404 will control the support wheel 514 to automatically pop up. When the support wheel 514 cooperates After descending the stairs, the crawler mechanism 5 and the wheelchair base 1 return to the original state at the same angular velocity, and the height of the wheelchair is adjusted.

When the occupant needs to climb a gentle slope, lower the height of the wheelchair, control the worm mechanism 305 on the wheelchair leg support 3 to extend until the auxiliary driving wheel 301 touches the ground, and control the gears on the wheelchair base after the pressure sensor 307 on the auxiliary driving wheel 301 senses. The rack transmission mechanism 13 drives forward to adjust the center of gravity, and then controls the main drive motor 4204 of the main drive wheel 15 and the auxiliary drive motor 302 of the auxiliary drive wheel 301 to run at the same time, thereby achieving gentle slope climbing. When the occupant needs to climb a steep slope, the worm mechanism 305 on each telescopic arm and leg rest is retracted to the maximum extent, so that the main driving wheel 15, the driven wheel 16 and the rubber track 505 touch the ground at the same time, and the wheelchair is driven by the track mechanism 5 and the main driving wheel 15, So as to achieve steep climbs.

When the occupant needs to cross the icy road, the worm mechanism 305 on each telescopic arm and leg rest 3 is retracted to the maximum extent, so that the main driving wheel 15, the driven wheel 16 and the rubber track 505 touch the ground at the same time. The track mechanism 5 and the main driving wheel 15 Drive the wheelchair to cross icy roads.

In this embodiment, wheelchair armrests 4 consisting of a horizontal portion 402 and a vertical portion 401 are respectively provided on both sides of the seat cushion on the seat frame, wherein the wheelchair armrest 4 is hinged with the upper layer 101 of the wheelchair base through a parallel four-bar mechanism. At the same time, there is a wheelchair leg support 3 for placing legs in front of the wheelchair base 1, and the wheelchair leg support 3 and the upper layer 101 of the wheelchair base are hinged to each other, so that when the elderly or the disabled need to lie down and rest, they can Lay down the wheelchair backrest 2 and the wheelchair armrest 4 as shown in Figure 6, and at the same time turn the wheelchair leg support 3 clockwise to a horizontal state, the elderly or the disabled can lie down and rest. At the same time, the lying angle of the wheelchair back 2 and the clockwise turning angle of the wheelchair leg support 3 can be adjusted arbitrarily, so that the occupant can be in a corresponding comfortable state through adjustment.

At present, it is difficult for the elderly or the disabled with injuries to the legs or waist to rest in bed, so in this embodiment, an ultrasonic sensor 103 is provided on the wheelchair base to detect the height of the bed, and then the wheel legs automatically expand and contract to adjust the wheelchair The height of the base 1, and finally let the wheelchair travel to the side of the bed, the wheelchair backrest 2 and the wheelchair leg rest 3 can lie down and turn clockwise to the horizontal respectively. As shown in Figure 6, an electric pusher can also be set on the lower surface of the upper layer 101 of the wheelchair base. The electric push rod and the wheelchair backrest 2 are rotatably connected with the wheelchair backrest 2. The front end of the lower surface of the upper layer 101 of the wheelchair base is provided with a gear 11, and the gear 11 is provided with a drive motor 1101. The wheelchair leg support shin plate 304 is welded with arcs When the elderly or the disabled need to go to bed, the height of the bed can be detected by the ultrasonic sensor 103 first, and then the control panel 404 can be used to control the bottom of the wheelchair base 1. The telescopic arms of the main driving wheel 15 and the driven wheel 16 are automatically retracted and retracted. When the upper surface 101 of the wheelchair base 1 and the bed surface are on the same level, the backrest 2 and the leg rest 3 can be controlled by the control panel 404 to be in a horizontal state, and then the elderly Or the handicapped can turn over to bed, so as to assist the elderly or the handicapped to get in and out of bed.

Therefore, the wheelchair provided by the above embodiment can not only achieve obstacle crossing, up and down steps, up and down stairs, climbing, and crossing icy roads, but also can assist the elderly or the disabled by controlling the intelligent contraction and extension of the telescopic arm at the bottom of the wheelchair base. People get in and out of bed.

Although the specific embodiments of the present disclosure have been described above in conjunction with the accompanying drawings, they do not limit the protection scope of the present disclosure. Those skilled in the art should understand that on the basis of the technical solutions of the present disclosure, those skilled in the art do not need to pay creative efforts. Various modifications or variations that can be made are still within the protection scope of the present disclosure.

Claims (10)

1. An intelligent human-computer interaction multi-functional wheelchair suitable for multiple terrains, including a wheelchair base, the wheelchair base is hinged with the wheelchair backrest and the wheelchair leg rest, respectively, and a crawler type stair climbing structure is arranged under the wheelchair base, and the crawler type stair climbing structure includes first track and second track; It is characterized in that the bottom of the wheelchair base is connected with the first driving wheel through a first telescopic arm, the wheelchair base includes an upper base layer and a lower base layer, the upper base layer can move relative to the lower base layer along the walking direction of the wheelchair, and the wheelchair leg support includes a second base. A telescopic arm, the end of the second telescopic arm is connected to the second driving wheel, a crawler support is provided between the first crawler track and the second crawler track, and the crawler support and the wheelchair base are connected through a third telescopic arm, on the crawler track The bottom of the bracket is hinged with the first support rod, the end of the first support rod is connected to the auxiliary walking wheel, the first support rod is connected with the crawler support through the second support rod, and the crawler support is provided with the control of the first support rod along the wheelchair. The fourth telescopic arm that moves in the forward direction. 2 . The intelligent human-machine interaction multifunctional wheelchair suitable for multiple terrains according to claim 1 , wherein the upper layer of the base and the lower layer of the base are connected by a slider and a guide rail. 3 . 3. The intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains according to claim 1 or 2, wherein a motor controller, an electric push rod controller, a single-chip microcomputer are arranged between the upper layer of the base and the lower layer of the base ,Microcomputers. 4. The multi-terrain intelligent human-computer interaction multifunctional wheelchair according to claim 1, wherein the end of the wheelchair base away from the wheelchair backrest is provided with a driving gear, and the wheelchair leg support is provided with a driving gear. An arc-shaped rack that meshes with the drive gear. 5 . The intelligent human-machine interaction multifunctional wheelchair suitable for multiple terrains according to claim 1 , wherein a distance sensor is provided on the first driving wheel, and a pressure sensor is provided on the second driving wheel. 6 . 6 . The intelligent human-machine interaction multifunctional wheelchair suitable for multiple terrains according to claim 1 , wherein a guide rail is provided on each side of the bottom of the crawler support along the direction in which the wheelchair moves, and the guide rails are 6 . There are sliders inside, each slider is hinged with a first support rod, the second support rod is hinged with the end of the guide rail, the first support rods on both sides of the bottom of the track bracket are connected by connecting rods, and the second support rod is hinged with the end of the guide rail. Four telescopic arms are connected with the connecting rod. 7. The multi-terrain intelligent human-computer interaction multifunctional wheelchair according to claim 1, wherein a horizontal wheelchair armrest for placing the upper limbs is arranged above the wheelchair base, and the wheelchair armrest in the length direction is provided with a horizontal wheelchair armrest. One end is hinged with the wheelchair backrest, the other end is connected with the wheelchair base through a connecting mechanism, and the wheelchair armrest is provided with a control panel and a joystick. 8. The multi-terrain intelligent human-computer interaction multifunctional wheelchair according to claim 1, wherein the wheelchair base is provided with a GPS locator and an ultrasonic sensor for detecting height, the crawler bracket and the A camera is arranged on the backrest, and the wheelchair also includes a collector for collecting electrocardiogram, heart sound, blood oxygen, body temperature and blood pressure of the elderly or the disabled. 9. A method for using an intelligent human-machine interaction multifunctional wheelchair suitable for multiple terrains according to any one of claims 1-8, characterized in that the method comprises the following steps: When the wheelchair needs to go up the steps, the first telescopic arm that controls the wheelchair base is automatically extended until the crawler structure at the bottom exceeds the upper surface of the steps; Adjust the angle of the wheelchair leg support and control the second telescopic arm to automatically extend until the second driving wheel contacts the top surface of the upper step, then control the upper layer of the base to move forward, and then drive the wheelchair to move forward, by controlling the front telescopic arm in front of the wheelchair base Automatic retraction; when the wheelchair moves to the upper step when the front telescopic arm is located, the driving wheel that controls the front retractable arm to automatically extend to the bottom of the wheel again is in contact with the top surface of the upper step; Continue to drive the wheelchair forward until the drive wheel on the rear telescopic arm of the wheelchair base is in contact with the step, and finally control the rear telescopic arm to automatically retract until the drive wheel at the bottom is higher than the upper step. 10. The method of use according to claim 9, wherein when the wheelchair climbs a gentle slope, the height of the wheelchair is lowered, and the second telescopic arm on the wheelchair leg is controlled to extend until the second driving wheel touches the ground, and the pressure of the second driving wheel After the sensor generates induction, the upper layer of the wheelchair base is controlled to drive forward to adjust the center of gravity of the wheelchair, and then the first driving wheel and the second driving wheel are jointly driven to achieve gentle slope climbing; when the occupant needs to climb a steep slope, the first telescopic arm is maximally retracted And the second telescopic arm makes the first driving wheel, the second driving wheel and the crawler on the crawler type stair climbing structure land at the same time, and the wheelchair is driven by the crawler mechanism and the first driving wheel, so as to achieve steep slope climbing.

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