CN110478148B - Wheel-track combined wheelchair - Google Patents

Abstract

The invention discloses a wheel-track composite wheelchair which comprises a wheelchair body, wherein the wheelchair body is provided with two main wheels and a main wheel driving device for driving the two main wheels to rotate, wheel shafts of the two main wheels are respectively and rotatably connected with the middle parts of the left side and the right side of the wheelchair body, the wheelchair body further comprises a first driving device, a crawler belt device and two auxiliary wheels, the first driving device is arranged at the lower end of the wheelchair body and is provided with two driving ends which are symmetrically distributed left and right, the wheel shafts of the two auxiliary wheels are respectively and rotatably connected with the two driving ends of the first driving device, the first driving device is used for driving the two auxiliary wheels to synchronously move up and down, the crawler belt device is horizontally arranged at the lower end of the wheelchair body along the front-rear direction through a second driving device, and the second driving device is used for driving the front ends of the two crawler belt devices to move up and down, and the crawler belt device is provided with a crawler belt driving mechanism for driving the crawler belt to walk. The wheel-track composite wheelchair can realize the functions of moving on the flat ground, crossing grooves and going up and down stairs.

Description

A wheel-track composite wheelchair

Technical Field

The present invention relates to the technical field of wheelchairs, and in particular to a wheel-track composite wheelchair.

Background technique

There are many types of ordinary wheelchairs on the market, but they can only be used indoors or on flat ground without barriers, and are powerless when faced with obstacles or stairs.

In order to enable wheelchairs to go up and down stairs, several types of stair climbing wheelchairs have emerged, mainly including planetary wheel, crawler, alternating support and wheel-track composite wheelchairs. Among them, the planetary wheel stair climbing wheelchair has a relatively simple structure, but the center of gravity fluctuates greatly when climbing stairs, and the comfort is poor; the crawler stair climbing wheelchair has a stable movement and less vibration because the movement trajectory of the center of gravity is close to a straight line parallel to the slope of the steps, but the resistance is greater when driving on flat ground and it is more difficult to turn.

Summary of the invention

The main purpose of the present invention is to provide a wheel-track composite wheelchair, which has the advantages of flexible driving and stable ladder climbing. The technical solution adopted is:

A wheel-track composite wheelchair, comprising a wheelchair body, wherein the wheelchair body has two main wheels and a main wheel driving device for driving the two main wheels to rotate, wherein the axles of the two main wheels are rotatably connected to the middle parts of the left and right sides of the wheelchair body respectively, and wherein the wheelchair further comprises a first driving device, a track device and two secondary wheels, wherein the first driving device is mounted at the lower end of the wheelchair body, the first driving device has two driving ends symmetrically distributed on the left and right sides, the axles of the two secondary wheels are rotatably connected to the two driving ends of the first driving device respectively, and the two secondary wheels are both located behind the two main wheels, the horizontal heights of the lower ends of the two secondary wheels are both higher than the horizontal heights of the lower ends of the main wheels, and the first driving device is used to drive the two The secondary wheels synchronously move downward until the lower ends of the two wheels extend out from under the main wheels, or move upward to reset, the track device has a track driving mechanism that drives its track to rotate, and the track device is horizontally arranged at the lower end of the wheelchair body in the front-to-back direction through a second driving device and is transmission-connected to the second driving device, and the horizontal height of the lower end of the track device is higher than the horizontal height of the lower end of the main wheels, the second driving device is used to drive the front end of the track device to move downward until its lower end extends out from under the main wheels, or move upward to reset, the first driving device includes a first driving mechanism and two swing assemblies, the two swing assemblies are installed at the lower end of the wheelchair body at an interval and symmetrically in the left-right direction, and the two The wheel axles of the secondary wheels are respectively connected and fixed to the two swing assemblies, the first driving mechanism is transmission-connected to the two swing assemblies, the first driving mechanism is installed at the lower end of the wheelchair body, and is used to drive the two swing assemblies to drive the two secondary wheels to move up and down synchronously, each of the swing assemblies comprises a rack, a first gear, a first telescopic electric cylinder and a fixed rod, the racks are respectively horizontally and slidably installed at the lower end of the wheelchair body in the front-rear direction, the first gear is transmission-connected to the first driving mechanism, and meshes with the racks, the first telescopic electric cylinder has an outer cylinder and a telescopic rod arranged in the outer cylinder, the outer cylinder of the first telescopic electric cylinder is rotatably installed at the lower end of the wheelchair body (1) and is located at In front of the rack, the telescopic end of the first telescopic electric cylinder faces downward, the wheel axles of the two auxiliary wheels (4) are respectively fixedly mounted on the telescopic ends of the two first telescopic electric cylinders, one end of the fixing rod is rotatably connected to the rear end of the rack, and the other end is rotatably connected to the middle part of the outer tube of the first telescopic electric cylinder, the first driving mechanism can drive the two first gears to rotate forward and reverse synchronously, thereby driving the two racks to slide forward and backward synchronously, the wheelchair body also includes a seat plate and a U-shaped backrest, the seat plate is horizontally arranged along the front and rear direction, the backrest is vertically arranged at the rear end of the seat plate and its opening faces downward, and the two ends of the lower end of the backrest are mounted on the rear end of the seat plate through a third driving mechanism, and the third driving mechanism is used to drive the backrest to flip forward and backward.

Preferably, the second driving device includes a connecting plate and two second telescopic electric cylinders, the rear end of the track device is rotatably connected to the rear end of the lower end of the wheelchair body through the connecting plate, the second telescopic electric cylinder has an outer cylinder and a telescopic rod, the outer cylinders of the two second telescopic electric cylinders are respectively rotatably connected to the lower end of the wheelchair body, and the two are symmetrically distributed left and right, the telescopic rods of the two second telescopic electric cylinders are respectively inclined forward and downward and are rotatably connected to the front end of the track device, and the telescopic rods of the two second telescopic electric cylinders can be synchronously extended to drive the front end of the track device to rotate downward, or synchronously shortened to drive the front end of the track device to rotate upward.

Preferably, the crawler device includes a crawler track driving mechanism, two strip-shaped crawler walking mechanisms, two strip connecting members and two trough bodies, the two trough bodies are horizontally fixed to the lower ends of the wheelchair body in the front-to-back direction, and the notches of the two are facing downward, the two crawler walking mechanisms are horizontally installed in the corresponding trough bodies in the front-to-back direction, and the lower ends of the two crawler walking mechanisms extend out from below the corresponding notches of the trough bodies, the two connecting members are horizontally arranged between the front and rear ends of the two trough bodies in the left-right direction, the left and right ends of each of the connecting members are respectively connected and fixed to the outer walls of the two trough bodies, the crawler track driving mechanism is installed on the connecting members and is respectively connected to the two crawler walking mechanisms in transmission connection, the connecting member located at the rear is rotatably connected to the lower end of the wheelchair body through the connecting plate, and the telescopic ends of the two second telescopic electric cylinders are respectively connected to the connecting members located in the front of the trough bodies in transmission connection.

Preferably, the main wheel driving device includes a fourth driving mechanism and two transmission mechanisms, the seat plate is rectangular, the two transmission mechanisms are symmetrically installed on the left and right sides of the seat plate, the two main wheels are respectively installed on the driving ends of the transmission mechanisms on the same side, the fourth driving mechanism is installed at the lower end of the seat plate, the driving end of the fourth driving mechanism is connected to the two transmission mechanisms, and can drive the two transmission mechanisms to drive the two main wheels to rotate synchronously.

Preferably, the transmission mechanism includes a belt and three pulleys, the three pulleys are rotatably mounted on one side of the seat plate, and the three pulleys are enclosed to form a triangle, the belt sleeve is arranged on the corresponding three pulleys, the axles of the two main wheels are coaxially fixedly mounted on one of the pulleys on the same side, and the fourth driving mechanism is transmission-connected to one of the remaining two pulleys in the two transmission mechanisms.

Preferably, the wheelchair body also includes a table top assembly, which includes a shell, a rotating shaft and a table top. The shell is a square trough body which is hollow inside and open at the upper end. The shell is vertically installed on the right side of the seat plate along the front-to-back direction. The rotating shaft is horizontally arranged in front of the upper end of the shell along the front-to-back direction, and the rear end of the rotating shaft is rotatably installed at the front end of the upper end of the shell. The table top is horizontally arranged in front of the wheelchair body along the left-right direction, and the right end of the table top is connected and fixed to the front end of the rotating shaft.

Preferably, the wheelchair body also includes two foot pedal assemblies, each of the foot pedal assemblies includes a foot pedal, a foot pedal connecting rod and a mounting column, the two mounting columns are respectively vertically and symmetrically installed on the left and right sides of the upper end of the seat plate, one end of the two foot pedal connecting rods are respectively rotatably connected to the upper ends of the corresponding mounting columns, the other ends of the two foot pedal connecting rods are respectively extended downward and tilted forward, and the two foot pedals are respectively installed at the lower ends of the corresponding foot pedal connecting rods.

The wheel-track composite wheelchair of the present invention can realize the functions of moving on the ground, crossing the groove, and going up and down stairs. The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiment of the present invention with the accompanying drawings.

The specific implementation of the present invention is given in detail by the following embodiments and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

FIG1 is a schematic diagram of the structure of a wheelchair according to the present invention;

FIG2 is a cross-sectional view of the wheelchair of the present invention;

FIG3 is a schematic structural diagram of the first driving device of the present invention;

FIG4 is a schematic diagram of the structure of the crawler device of the present invention;

FIG5 is a second schematic diagram of the structure of the crawler device of the present invention;

FIG6 is a schematic structural diagram of the crawler assembly of the present invention;

FIG7 is a schematic diagram of the structure of the driving device of the present invention;

FIG8 is a schematic structural diagram of the third driving mechanism of the present invention;

FIG9 is a schematic structural diagram of the foot pedal assembly of the present invention;

FIG. 10 is a schematic structural diagram of the table top assembly of the present invention.

The specific meanings of the reference numerals are as follows:

1. Wheelchair body; 11. Main wheel; 12. Main wheel driving device; 121. Fourth driving mechanism; 1211. Fourth motor; 1212. First transmission shaft; 1213. Second transmission shaft; 1214. Fifth gear; 122. Transmission mechanism; 1221. Belt; 1222. Pulley; 13. Seat; 14. Backrest; 15. Third driving mechanism; 151. Third motor; 152. First connecting rod; 153. Second connecting rod; 154. Fourth gear; 16. Table board assembly; 161. Shell; 162. Rotating shaft; 163. Table board; 1631. First table board; 1632. Second table board; 17. Foot pedal assembly; 171. Foot pedal; 172. Foot pedal connecting rod; 173. Mounting column; 18. Sunshade assembly; 181. Round rod; 182. Locking assembly; 2. First driving device; 21. First driving mechanism; 211. First motor; 212. First connecting shaft; 213. Second connecting shaft; 214. Second gear; 22. Swing assembly; 221. Rack; 222. First gear; 223. First telescopic electric cylinder; 224. Fixed rod; 3. Second driving device; 31. Second telescopic electric cylinder; 4. Auxiliary wheel; 5. Track device; 51. Track driving mechanism; 511. Driving unit; 5111. Second motor; 5112. First connecting rod; 5113. Second connecting rod; 5114. Third gear; 52. Track walking mechanism; 521. Track assembly; 5211. Track; 5212. Driving wheel; 5213. Driven wheel; 5214. Cross bar; 5215. Roller; 53. Connector; 54. Tank body.

The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Detailed ways

The principles and features of the present invention are described below in conjunction with Figures 1 to 10. The examples are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings.

The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are in very simplified form and in non-precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and/or" used herein includes any and all combinations of one or more related listed items.

1-10, an embodiment of the present invention is proposed. In the wheel-track composite wheelchair of the present embodiment, the wheelchair body 1 has two main wheels 11 and a main wheel driving device 12 for driving the two main wheels 11 to rotate. The axles of the two main wheels 11 are respectively rotatably connected to the middle of the left and right sides of the wheelchair body 1. The wheelchair body 1 also includes a first driving device 2, a track device 5 and two secondary wheels 4. The first driving device 2 is installed at the lower end of the wheelchair body 1. The first driving device 2 has two driving ends symmetrically distributed on the left and right. The axles of the two secondary wheels 4 are respectively rotatably connected to the two driving ends of the first driving device 2, and the two secondary wheels 4 are located behind the two main wheels 11. The two secondary wheels 4 The horizontal height of the lower end is higher than that of the lower end of the main wheel 11, the first driving device 2 is used to drive the two secondary wheels 4 to move downward synchronously until the lower ends of the two are extended below the main wheel 11, or move upward to reset, the track device 5 has a track driving mechanism 51 for driving its track to rotate, and the track device 5 is horizontally arranged at the lower end of the wheelchair body 1 along the front and rear direction through the second driving device 3 and is transmission-connected with the second driving device 3, and the horizontal height of the lower end of the track device 5 is higher than that of the lower end of the main wheel 11, the second driving device 3 is used to drive the front end of the track device 5 to move downward until its lower end extends below the main wheel 11, or move upward to reset.

The working principle of the wheel-track composite wheelchair of the present invention is:

When it is necessary to cross the groove, the main wheel sinks into the groove, and the first driving device 2 drives the two auxiliary wheels 4 to move downward synchronously until the two auxiliary wheels 4 are respectively in contact with the ground behind the groove, and the first driving device 2 then drives the two auxiliary wheels 4 to move downward, and at the same time, the second driving device 3 drives the front ends of the two crawler walking mechanisms 52 to rotate downward synchronously until they are in contact with the ground in front of the groove, and then the second driving device 3 drives the crawler device 5 to rotate downward, and the wheelchair body 1 is subjected to the reaction force of the two auxiliary wheels 4 and the crawler device 5, and is lifted upward so that the horizontal height of the lower ends of the two main wheels 11 is higher than the horizontal height of the groove notch, and the crawler driving mechanism 51 drives its crawler to walk and drives the two auxiliary wheels 4 to move until the two auxiliary wheels 4 are located near the rear of the groove and the two main wheels 11 are in contact with the ground, and the first driving device 2 drives the two auxiliary wheels 4 to move upward synchronously, and the second driving device 3 drives the front end of the crawler device 5 to rotate upward, so as to complete the crossing of the groove;

When it is necessary to climb the stairs, the rear of the wheelchair is adjusted to face the stairs, the first driving device 2 drives the two auxiliary wheels 4 to move downward synchronously until they are in contact with the ground, the second driving device 3 drives the front end of the track device 5 to rotate downward synchronously until it is in contact with the ground, and the horizontal height of the rear end of the track device 5 is consistent with the height of the second step of the stairs, the track driving mechanism 51 drives the wheelchair to move close to the stairs, the rear end of the track device 5 is in contact with the second step of the stairs, the first driving device 2 drives the two auxiliary wheels 4 to move upward synchronously until they are reset, the rear end of the track device 5 is in contact with the stairs, and the track driving mechanism 51 drives the wheelchair body 1 to climb the stairs until the middle of the track device 5 is located at the last step When climbing stairs, the first driving device 2 drives the two auxiliary wheels 4 to move downward until they contact the horizontal plane where the last step is located, and the track device 5 continues to drive the wheelchair body 1 to climb the stairs. The height between the lower end of the wheelchair body 1 and the level where the last step is located gradually increases. The first driving device 2 drives the two auxiliary wheels 4 to move downward to always keep the two auxiliary wheels 4 in contact with the ground until the front end of the track device 5 contacts the last step. The first driving device 2 drives the two auxiliary wheels 4 to move upward, and at the same time, the second driving device 3 drives the front end of the track device 5 to rotate upward, and the two main wheels 11 contact the ground, completing the climbing of the stairs. The action of going down the stairs is opposite to the action of the wheelchair body 1 going up the stairs.

The wheel-track composite wheelchair of the present invention can realize the functions of the wheelchair body 1 moving on the ground, crossing grooves, and going up and down stairs, and the structure is stable and reliable.

Preferably, the first driving device 2 includes a first driving mechanism 21 and two swing assemblies 22, the two swing assemblies 22 are installed at the lower end of the wheelchair body 1 at intervals and symmetrically in the left-right direction, the axles of the two secondary wheels 4 are respectively connected and fixed to the two swing assemblies 22, the first driving mechanism 21 is transmission-connected with the two swing assemblies 22, and the first driving mechanism 21 is installed at the lower end of the wheelchair body 1, and is used to drive the two swing assemblies 22 to drive the two secondary wheels 4 to move up and down synchronously.

The first driving mechanism 21 drives the two swinging assemblies 22 to drive the two auxiliary wheels 4 to move up and down synchronously, thereby achieving the synchronous up and down movement of the two auxiliary wheels 4, and the structure is stable and reliable.

Preferably, each of the swing components 22 comprises a rack 221, a first gear 222, a first telescopic electric cylinder 223 and a fixed rod 224, wherein the rack 221 is horizontally and slidably mounted on the lower end of the wheelchair body 1 along the front-rear direction, the first gear 222 is transmission-connected to the first driving mechanism 21 and meshes with the rack 221, the first telescopic electric cylinder 223 comprises an outer cylinder and a telescopic rod arranged in the outer cylinder, the outer cylinder of the first telescopic electric cylinder 223 is rotationally mounted on the lower end of the wheelchair body 1 and is located in front of the rack 221, the telescopic end of the first telescopic electric cylinder 223 faces downward, the wheel axles of the two auxiliary wheels 4 are respectively fixedly mounted on the telescopic ends of the two first telescopic electric cylinders 223, one end of the fixed rod 224 is rotationally connected to the rear end of the rack 221, and the other end thereof is rotationally connected to the middle part of the outer cylinder of the first telescopic electric cylinder 223, the first driving mechanism 21 can drive the two first gears 222 to rotate forward and reverse synchronously, thereby driving the two racks 221 to slide forward and backward synchronously.

The first driving mechanism 21 drives the two first gears 222 to realize the synchronous up and down movement of the two auxiliary wheels 4, and the structure is reliable; the two first telescopic electric cylinders 223 can drive the two auxiliary wheels 4 to move away from or close to the lower end of the wheelchair body 1, thereby ensuring the up and down movement range of the auxiliary wheels 4 and ensuring that the auxiliary wheels 4 can contact the ground.

Among them, the first driving mechanism 21 includes a first motor 211, a first connecting shaft 212, a second connecting shaft 213 and two second gears 214. The first connecting shaft 212 and the second connecting shaft 213 are respectively installed horizontally and rotatably at the lower end of the wheelchair body 1 in the left and right directions. The two first gears 222 are respectively coaxially fixedly installed on the first connecting shaft 212. The first motor 211 is installed at the lower end of the wheelchair body 1, and its driving shaft is horizontally distributed in the left and right directions. The two second gears 214 are respectively coaxially fixedly installed on the first connecting shaft 212 and the second connecting shaft 213, and the two are meshed with each other.

The first driving assembly 211 drives the second connecting shaft 213 to drive the two second gears 214 to rotate synchronously, thereby driving the first connecting shaft 212 to drive the two first gears 222 to rotate forward and reverse synchronously, and drives the two racks 221 to drive the upper end of the fixing rod 224 to slide forward and backward synchronously, thereby driving the telescopic end of the first telescopic electric cylinder 223 to drive the two auxiliary wheels 4 to move up and down synchronously.

The first driving mechanism 21 uses the first connecting shaft 212, the second connecting shaft 213 and the two second gears 214 to drive the two first gears 222 to rotate synchronously, thereby driving the upper ends of the two fixing rods 224 to move forward and backward synchronously, with stable transmission and low noise.

Preferably, the second driving device 3 includes a connecting plate and two second telescopic electric cylinders 31, the rear end of the track device 5 is rotatably connected to the rear end of the lower end of the wheelchair body 1 through the connecting plate, the second telescopic electric cylinder 31 has an outer cylinder and a telescopic rod, the outer cylinders of the two second telescopic electric cylinders 31 are respectively rotatably connected to the lower end of the wheelchair body 1, and the two are symmetrically distributed left and right, the telescopic rods of the two second telescopic electric cylinders 31 are respectively inclined forward and downward and are rotatably connected to the front end of the track device 5, and the telescopic rods of the two second telescopic electric cylinders 31 can be synchronously extended to drive the front end of the track device 5 to rotate downward, or synchronously shortened to drive the front end of the track device 5 to rotate upward.

The two second telescopic electric cylinders 31 extend synchronously to drive the front end of the crawler device 5 to rotate downward, or shorten synchronously to drive the front end of the crawler device 5 to rotate upward, so as to realize the up and down rotation of the front end of the crawler device 5, and the structure is simple and reliable.

Preferably, the crawler device 5 includes a crawler drive mechanism 51, two strip-shaped crawler walking mechanisms 52, two strip-shaped connecting members 53 and two slots 54. The two slots 54 are horizontally fixed to the lower end of the wheelchair body 1 in the front-to-back direction, and the slots of the two are downward. The two crawler walking mechanisms 52 are horizontally installed in the corresponding slots 54 in the front-to-back direction, and the lower ends of the two crawler walking mechanisms 52 extend out from below the corresponding slots of the slots 54. The two connecting members 53 are horizontally arranged between the front and rear ends of the two slots 54 in the left-right direction, and the left and right ends of each connecting member 53 are respectively connected and fixed to the outer walls of the two slots 54. The crawler drive mechanism 51 is installed on the connecting member 53 and is respectively connected to the two crawler walking mechanisms 52 in transmission connection. The connecting member 53 located at the rear is rotatably connected to the lower end of the wheelchair body 1 through the connecting plate. The telescopic ends of the two second telescopic electric cylinders 31 are respectively connected to the connecting member 53 located in front of the slots 54 in transmission connection.

The second driving device 3 drives the connecting piece 53 located in front of the trough body 54 to realize the front ends of the two crawler walking mechanisms 52 to rotate downward until they are in contact with the ground, or to rotate upward until they are reset. When the front ends of the crawler devices 5 rotate up and down, the center of gravity of the wheelchair body is avoided to be affected, thereby ensuring the stability of the wheelchair when climbing and going down stairs.

Each of the crawler walking mechanisms 52 includes two strip-shaped crawler assemblies 521, and the two crawler assemblies 521 are respectively arranged in the corresponding trough body 54 at intervals along the front-to-back direction. The crawler driving mechanism 51 includes two driving units 511, and the two driving units 511 are respectively installed on the two connecting members 53, and the driving unit 511 located at the front end of the trough body 54 is transmission connected with the two crawler assemblies 521 located at the front end, and the driving unit 511 located at the rear end of the trough body 54 is transmission connected with the two crawler assemblies 521 located at the rear end.

The two track assemblies 521 of the track walking mechanism 52 improve the stability of the wheelchair when going up and down stairs.

As shown in FIG7 , each of the track assemblies 521 includes a track 5211, a driving wheel 5212, a driven wheel 5213, a cross bar 5214 and a plurality of rollers 5215. The outer periphery of the driving wheel 5212 is provided with a plurality of tooth profiles evenly distributed along its circumference. The driving wheel 5212 and the driven wheel 5213 are both vertically arranged and spaced apart from each other. The track 5211 is formed by a plurality of track plates hinged to each other. The track 5211 is sleeved on the driving wheel 5212 and the driven wheel 5213, and the tooth profiles extend between two adjacent track plates. The cross bar 5214 is provided with a plurality of tooth profiles evenly distributed along its circumference. The driving wheel 5212 and the driven wheel 5213 are both vertically arranged and spaced apart from each other. The track 5211 is formed by a plurality of track plates hinged to each other. The track 5211 is sleeved on the driving wheel 5212 and the driven wheel 5213, and the tooth profiles extend between two adjacent track plates. 214 is horizontally arranged between the corresponding driving wheel 5212 and the driven wheel 5213 in the front-to-back direction, and its front and rear ends are respectively connected and fixed to the middle parts of the driving wheel 5212 and the driven wheel 5213 through springs, and a plurality of rollers 5215 are respectively fixed on the cross bar 5214 through springs and are located below the cross bar 5214, and a plurality of rollers are respectively distributed at intervals in the front-to-back direction, and a plurality of rollers are respectively in contact with the inner side of the crawler 5211, and the driving unit 511 is transmission-connected to the driving wheels 5212 of the corresponding two crawler assemblies 521.

The driving unit 511 drives the corresponding driving wheel 5212 to rotate, and drives the track 5211 to move between the driving wheel 5212 and the driven wheel 5213. The cross bar 5214 is connected and fixed to the middle part of the driving wheel 5212 and the driven wheel 5213 through a spring. A plurality of rollers 5215 are respectively installed on the cross bar 5214 through springs, thereby improving the shock absorption performance of the track assembly 521 and improving the comfort of the wheelchair.

The driving unit 511 includes a second motor 5111, a first connecting rod 5112, a second connecting rod 5113 and two third gears 5114. The connecting member 53 is a rectangular box structure with open ends. The two second motors 5111 are respectively installed in the corresponding connecting members 53, and their driving shafts are horizontally distributed along the left and right directions. The first connecting rod 5112 is horizontally arranged in the connecting member 53 along the left and right directions, one end of which is connected to the driving shaft of the second motor 5111 in a transmission manner, and the other end is connected to the inner wall of the connecting member 53 for rotation. The second connecting rod 5113 is connected to the inner wall of the connecting member 53 for rotation. It is horizontally arranged outside the connecting member 53 in the left and right directions, and the two ends of the second connecting rod 5113 respectively extend to pass through the two groove bodies 54 and are rotatably connected thereto, and the two ends of each second connecting rod 5113 are respectively connected and fixed to the middle parts of the corresponding two driving wheels 5212, one of the third gears 5114 is coaxially fixedly installed on the first connecting rod 5112, and the other third gear 5114 is coaxially fixedly installed on the second connecting rod 5113 and extends into the connecting member 53 and meshes with the third gear 5114 installed on the first connecting rod 5112.

The second motor 5111 drives the first connecting rod 5112 to rotate, so as to drive the second connecting rod 5113 to rotate through the two third gears 5114, thereby driving the corresponding two driving wheels 5212 to rotate, thereby realizing the walking of the corresponding two crawler assemblies 521. The transmission of the driving unit 511 is stable, smooth and reliable.

Preferably, the wheelchair body 1 also includes a seat plate 13 and a U-shaped backrest 14, the seat plate 13 is horizontally arranged in the front-to-back direction, the backrest 14 is vertically arranged at the rear end of the seat plate 13 with its opening facing downward, and the two ends of the lower end of the backrest 14 are installed at the rear end of the seat plate 13 through a third driving mechanism 15, and the third driving mechanism 15 is used to drive the backrest 14 to flip forward and backward.

The backrest 14 can be flipped forward and backward to adjust the angle between the backrest 14 and the seat plate 13 to improve the comfort of the wheelchair.

The third driving mechanism 15 includes a third motor 151, a first connecting rod 152, a second connecting rod 153 and two fourth gears 154. The third motor 151 is installed at the lower end of the seat plate 13, and its driving shaft is horizontally distributed in the left-right direction. The first connecting rod 152 is horizontally distributed in the left-right direction, one end of which is transmission-connected with the driving shaft of the third motor 151, and the other end of which is rotationally connected with the lower end of the seat plate 13. The second connecting rod 153 is horizontally arranged at the lower end of the seat plate 13 along the left-right direction and is located behind the first connecting rod 152. The two ends of the second connecting rod 153 are rotationally connected to the left and right sides of the lower end of the seat plate 13 respectively. The two fourth gears 154 are coaxially fixedly installed on the first connecting rod 152 and the second connecting rod 153 respectively, and the two are meshed with each other. The two ends of the lower end of the backrest 14 respectively pass through the seat plate 13 up and down, and are respectively connected and fixed to the second connecting rod 153.

The third motor 151 drives the first connecting rod 152 to drive the two fourth gears 154 to rotate, so as to drive the second connecting rod 153 to drive the backrest 14 to flip forward and backward, and the transmission is stable.

Preferably, the main wheel driving device 12 includes a fourth driving mechanism 121 and two transmission mechanisms 122, the seat plate 13 is rectangular, the two transmission mechanisms 122 are symmetrically installed on the left and right sides of the seat plate 13, the two main wheels 11 are respectively installed on the driving ends of the transmission mechanisms 122 on the same side, the fourth driving mechanism 121 is installed at the lower end of the seat plate 13, the driving end of the fourth driving mechanism 121 is transmission-connected to the two transmission mechanisms 122, and can drive the two transmission mechanisms 122 to drive the two main wheels 11 to rotate synchronously.

The fourth driving mechanism 121 drives the two main wheels 11 to rotate synchronously through the two transmission mechanisms 122 , thereby improving the stability of the main wheel driving device 12 .

Preferably, the transmission mechanism 122 includes a belt 1221 and three pulleys 1222, the three pulleys 1222 are rotatably mounted on one side of the seat plate 13, and the three pulleys 1222 are enclosed to form a triangle, the belt 1221 is sleeved on the corresponding three pulleys 1222, the axles of the two main wheels 11 are coaxially fixed on one of the pulleys 1222 on the same side, and the fourth driving mechanism 121 is transmission-connected to one of the remaining two pulleys 1222 in the two transmission mechanisms 122.

The triangular structure formed by the three pulleys 1222 is stable, which improves the stability of the wheelchair body 1. The main wheel driving device 12 drives the two main wheels 11 to rotate through the belt 1221 and the pulley 1222, and the transmission is smooth.

The two groups of pulleys 1222 are symmetrically distributed on the left and right sides of the seat plate 13. The fourth driving mechanism 121 includes a fourth motor 1211, a first transmission shaft 1212, a second transmission shaft 1213 and two fifth gears 1214. The fourth motor 1211 is installed on the lower end of the seat plate 13, and its driving shaft is horizontally distributed in the left and right directions. The first transmission shaft 1212 is horizontally distributed in the left and right directions, one end of which is connected to the driving shaft of the fourth motor 1211 for transmission, and the other end is connected to the lower end of the seat plate 13 through a bearing that cooperates with it. The second transmission shaft 1213 is horizontally arranged in the left and right directions, and its two ends are respectively connected to the two extensions through bearings that rotate with it. The two fifth gears 1214 are coaxially fixedly installed on the first transmission shaft 1212 and the second transmission shaft 1213, respectively, and the two are meshed with each other.

The fourth motor 1211 drives the corresponding two pulleys 1222 to rotate through the two fifth gears 1214, and drives the two groups of pulleys 1222 to rotate, so that the transmission is stable.

Preferably, the wheelchair body 1 also includes a table top assembly 16, which includes a shell 161, a rotating shaft 162 and a table top 163. The shell 161 is a square trough body which is hollow inside and open at the upper end. The shell 161 is vertically installed on the right side of the seat plate 13 along the front-to-back direction. The rotating shaft 162 is horizontally arranged in the front-to-back direction in front of the upper end of the shell 161, and the rear end of the rotating shaft 162 is rotatably installed at the front end of the upper end of the shell 161. The table top 163 is horizontally arranged in front of the wheelchair body 1 along the left-right direction, and the right end of the table top 163 is connected and fixed to the front end of the rotating shaft 162.

When the table top 163 is not in use, the table top 163 rotates 90° relative to the rotating shaft 162 to the top of the rotating shaft 162 and is in a vertical state. An external force drives the table top 163 to cause the rotating shaft 162 to flip backward 180° and is stored in the shell 161 through the opening at the upper end of the shell 161. When the table top 163 is needed, the rotating shaft 162 drives the table top 163 to flip forward 180° until the table top 163 is vertically distributed above the rotating shaft 162 in the front-to-back direction. The external force flips the table top 163 and rotates it 90° to the left to a horizontal state.

In order to ensure that the table top 163 remains in a horizontal state after being unfolded, the table top 163 is rotatably connected to the rotating shaft 162 using a hinge that limits the rotation angle.

The table top 163 includes a first bar-shaped table top 1631 and a second bar-shaped table top 1632. The first table top 1631 and the second table top 1632 are spaced apart in the left-right direction. The first table top 1631 and the second table top 1632 are rotatably connected by a hinge with a rotation angle of 170°, and are rotatably connected to the front end of the rotating shaft 162.

The first table top 1631 can be flipped over to overlap with the second table top 1632 so that the first table top 1631 and the second table top 1632 can be stored in the shell 161. The first table top 1631 and the second table top 1632 increase the usable area of the desktop.

The upper end of the housing 161 is also provided with a flip cover which can open or close the upper end opening.

Preferably, the wheelchair body 1 also includes two foot pedal assemblies 17, each of the foot pedal assemblies 17 includes a foot pedal 171, a foot pedal connecting rod 172 and a mounting column 173, the two mounting columns 173 are respectively vertically and symmetrically installed on the left and right sides of the upper end of the seat plate 13, one end of the two foot pedal connecting rods 172 is respectively rotatably connected to the upper end of the corresponding mounting column 173, the other ends of the two foot pedal connecting rods 172 are respectively extended downward and tilted forward, and the two foot pedals 171 are respectively installed at the lower ends of the corresponding foot pedal connecting rods 172.

The foot pedal 171 can be rotated horizontally according to the needs of the user to improve the comfort of the foot pedal assembly 17.

A cylindrical groove is provided in the upper end of the mounting column 173, and the upper end of the pedal connecting rod 172 extends downward and extends into the groove, and can rotate left and right relative to the mounting column 173. A horizontal plate body is installed at the front end of the mounting column 173, and an arc groove is provided on the upper end surface of the plate body. An L-shaped rod body is provided on the rear side of the upper end of the pedal connecting rod 172, and one end of the L-shaped rod body away from the pedal connecting rod 172 extends into the corresponding arc groove and can slide along the arc groove.

The pedal connecting rod 172 is a telescopic electric cylinder, one end of which is rotatably connected to the upper end of the mounting column 173 , and the foot pedal 171 is mounted on the telescopic end of the pedal connecting rod 172 .

The pedal connecting rod 172 can be extended and retracted to adjust the height of the foot pedal 171 , thereby improving the comfort of the foot pedal assembly 17 .

The two foot pedals 171 are rotatably connected to the lower ends of the corresponding foot pedal connecting rods 172 respectively. When the foot pedal connecting rods 172 are not needed, the two foot pedals 171 can be flipped upwards to be folded with the corresponding foot pedal connecting rods 172 to avoid occupying space.

The wheelchair body 1 also includes a sunshade assembly 18, which includes a round rod 181, a parasol and a locking assembly 182. The round rod 181 is horizontally installed along the left-right direction at the upper end of the rear side of the backrest 14. A fixing portion is provided in the middle of the round rod 181. The fixing portion is provided with a cavity that passes through it from top to bottom and is used to accommodate the handle of the parasol. The handle of the parasol is set in the cavity. The locking assembly 182 is installed on the fixing and is used to lock the handle of the parasol to the fixing portion.

The sunshade assembly avoids the need to hold a sunshade umbrella, and is more convenient to use.

The locking assembly is a bolt, and the fixing portion is provided with a threaded hole which passes through the fixing portion horizontally and communicates with the cavity. The bolt is locked in the threaded hole, and the bolt is tightened so that the end of the bolt away from the head abuts against the umbrella handle to lock the parasol on the fixing portion.

The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims (7)

1. A wheel-track composite wheelchair, comprising a wheelchair body (1), wherein the wheelchair body (1) has two main wheels (11) and a main wheel driving device (12) for driving the two main wheels (11) to rotate, wherein the wheel axles of the two main wheels (11) are respectively rotatably connected to the middle of the left and right sides of the wheelchair body (1), and wherein the wheel axles of the two main wheels (11) are respectively rotatably connected to the middle of the left and right sides of the wheelchair body (1), and wherein the wheel axles of the two secondary wheels (4) are respectively rotatably connected to the two driving ends of the first driving device (2), and the two secondary wheels (4) are both located behind the two main wheels (11), and the horizontal heights of the lower ends of the two secondary wheels (4) are both higher than the horizontal heights of the lower ends of the main wheels (11), and the first driving device (2) is used to drive the two secondary wheels (4 ) move downward synchronously until the lower ends of both extend below the main wheel (11), or move upward to reset, the crawler device (5) has a crawler drive mechanism (51) for driving its crawler to rotate, and the crawler device (5) is horizontally arranged at the lower end of the wheelchair body (1) in the front-to-back direction through the second drive device (3) and is transmission-connected to the second drive device (3), and the horizontal height of the lower end of the crawler device (5) is higher than the horizontal height of the lower end of the main wheel (11), the second drive device (3) is used to drive the front end of the crawler device (5) to move downward until the lower end thereof extends below the main wheel (11), or move upward to reset, the first drive device (2) comprises a first drive mechanism (21) and two swing assemblies (22), the two swing assemblies (22) are spaced and symmetrically installed at the lower end of the wheelchair body (1) in the left-right direction, the wheel axles of the two secondary wheels (4) are respectively connected to the two swing assemblies (2 2) connected and fixed, the first driving mechanism (21) is transmission-connected with the two swing assemblies (22), the first driving mechanism (21) is mounted at the lower end of the wheelchair body (1), and is used to drive the two swing assemblies (22) to drive the two auxiliary wheels (4) to move up and down synchronously, each of the swing assemblies (22) comprises a rack (221), a first gear (222), a first telescopic electric cylinder (223) and a fixing rod (224), the rack (221) is horizontally and slidably mounted on the lower end of the wheelchair body (1) in the front-rear direction, the first gear (222) is transmission-connected with the first driving mechanism (21), and meshes with the rack (221), the first telescopic electric cylinder (223) comprises an outer cylinder and a telescopic rod arranged in the outer cylinder, the outer cylinder of the first telescopic electric cylinder (223) is rotationally mounted on the lower end of the wheelchair body (1) and is located in front of the rack (221), The telescopic end of the first telescopic electric cylinder (223) faces downward, the wheel axles of the two auxiliary wheels (4) are respectively fixedly mounted on the telescopic ends of the two first telescopic electric cylinders (223), one end of the fixing rod (224) is rotatably connected to the rear end of the rack (221), and the other end thereof is rotatably connected to the middle part of the outer tube of the first telescopic electric cylinder (223), the first driving mechanism (21) can drive the two first gears (222) to rotate forward and reverse synchronously, thereby driving the two racks (221) to slide forward and backward synchronously, the wheelchair body (1) also includes a seat plate (13) and a U-shaped backrest (14), the seat plate (13) is horizontally arranged in the front-back direction, the backrest (14) is vertically arranged at the rear end of the seat plate (13) and its opening faces downward, and the two ends of the lower end of the backrest (14) are mounted on the rear end of the seat plate (13) through a third driving mechanism (15), and the third driving mechanism (15) is used to drive the backrest (14) to flip forward and backward. 2. The wheel-track composite wheelchair according to claim 1 is characterized in that the second driving device (3) comprises a connecting plate and two second telescopic electric cylinders (31), the rear end of the track device (5) is rotatably connected to the rear end of the lower end of the wheelchair body (1) through the connecting plate, the second telescopic electric cylinder (31) has an outer cylinder and a telescopic rod, the outer cylinders of the two second telescopic electric cylinders (31) are respectively rotatably connected to the lower end of the wheelchair body (1), and the two are symmetrically distributed left and right, the telescopic rods of the two second telescopic electric cylinders (31) are respectively inclined forward and downward and are rotatably connected to the front end of the track device (5), and the telescopic rods of the two second telescopic electric cylinders (31) can be synchronously extended to drive the front end of the track device (5) to rotate downward, or synchronously shortened to drive the front end of the track device (5) to rotate upward. 3. The wheel-track composite wheelchair according to claim 2, characterized in that the track device (5) comprises a track driving mechanism (51), two strip-shaped track running mechanisms (52), two strip-shaped connecting pieces (53) and two slots (54), the two slots (54) are respectively fixed horizontally at the lower end of the wheelchair body (1) along the front-back direction, and the slots of both are downward, the two track running mechanisms (52) are respectively installed horizontally in the corresponding slots (54) along the front-back direction, and the lower ends of the two track running mechanisms (52) extend out from below the slots of the corresponding slots (54), and the two connecting pieces (53) are respectively fixed horizontally at the lower end of the wheelchair body (1) along the front-back direction, and the slots of both are downward, and the two track running mechanisms (52) are respectively installed horizontally in the corresponding slots (54) along the front-back direction. The connecting members (53) are respectively arranged horizontally between the front end and the rear end of the two trough bodies (54) in the left-right direction. The left and right ends of each connecting member (53) are respectively connected and fixed to the outer walls of the two trough bodies (54). The crawler driving mechanism (51) is mounted on the connecting member (53) and is respectively connected in transmission with the two crawler walking mechanisms (52). The connecting member (53) located at the rear is rotatably connected to the lower end of the wheelchair body (1) through the connecting plate. The telescopic ends of the two second telescopic electric cylinders (31) are respectively connected in transmission with the connecting member (53) located in front of the trough body (54). 4. The wheel-track composite wheelchair according to claim 3 is characterized in that the main wheel driving device (12) comprises a fourth driving mechanism (121) and two transmission mechanisms (122), the seat plate (13) is rectangular, the two transmission mechanisms (122) are symmetrically installed on the left and right sides of the seat plate (13), the two main wheels (11) are respectively installed on the driving ends of the transmission mechanisms (122) on the same side, the fourth driving mechanism (121) is installed at the lower end of the seat plate (13), the driving end of the fourth driving mechanism (121) is transmission-connected with the two transmission mechanisms (122), and can drive the two transmission mechanisms (122) to drive the two main wheels (11) to rotate synchronously. 5. The wheel-track composite wheelchair according to claim 4 is characterized in that the transmission mechanism (122) comprises a belt (1221) and three pulleys (1222), the three pulleys (1222) are rotatably mounted on one side of the seat plate (13), and the three pulleys (1222) are enclosed to form a triangle, the belt (1221) is sleeved on the corresponding three pulleys (1222), the axles of the two main wheels (11) are coaxially fixedly mounted on one of the pulleys (1222) on the same side, and the fourth driving mechanism (121) is transmission-connected to one of the remaining two pulleys (1222) in the two transmission mechanisms (122). 6. The wheel-track composite wheelchair according to claim 1 is characterized in that the wheelchair body (1) also includes a table top assembly (16), the table top assembly (16) includes a shell (161), a rotating shaft (162) and a table top (163), the shell (161) is a square trough body with a hollow interior and an open upper end, the shell (161) is vertically installed on the right side of the seat plate (13) along the front-to-back direction, the rotating shaft (162) is horizontally arranged in the front-to-back direction in front of the upper end of the shell (161), and the rear end of the rotating shaft (162) is rotatably installed at the front end of the upper end of the shell (161), the table top (163) is horizontally arranged in front of the wheelchair body (1) along the left-right direction, and the right end of the table top (163) is connected and fixed to the front end of the rotating shaft (162). 7. The wheel-track composite wheelchair according to claim 6 is characterized in that the wheelchair body (1) also includes two foot pedal assemblies (17), each of the foot pedal assemblies (17) respectively includes a foot pedal (171), a foot pedal connecting rod (172) and a mounting column (173), the two mounting columns (173) are respectively vertically and symmetrically installed on the left and right sides of the upper end of the seat plate (13), one end of the two foot pedal connecting rods (172) are respectively rotatably connected to the upper end of the corresponding mounting column (173), the other ends of the two foot pedal connecting rods (172) are respectively inclined forward and extended downward, and the two foot pedals (171) are respectively installed at the lower ends of the corresponding foot pedal connecting rods (172).