CN108852662B

CN108852662B - Chassis structure of electric wheelchair

Info

Publication number: CN108852662B
Application number: CN201810780271.1A
Authority: CN
Inventors: 马东梅; 高丽; 潘黎明; 郜鹏
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2018-07-17
Filing date: 2018-07-17
Publication date: 2020-05-22
Anticipated expiration: 2038-07-17
Also published as: CN108852662A

Abstract

The invention discloses a chassis structure of an electric wheelchair, which comprises a front pedal structure, a front wheel suspension structure, a rear wheel support structure, a left pendulum damping spring, a right pendulum damping spring, a left lever, a right lever, a left thread mandril, a right thread mandril, a balancing rod, a pendulum sleeve, a pendulum rotating shaft and a nut, wherein the rear frame and a main frame form two revolute pairs with mutually vertical axes through the pendulum sleeve, the balancing rod is fixedly connected with the rear frame through the pendulum rotating shaft, a damping spring is arranged between the front ends of the left lever and the right lever and the main frame, the rear ends of the left lever and the right lever are respectively connected with one end of the balancing rod through a thread mandril, and the two damping springs can play the roles of buffering and shock absorption for the main frame and the rear frame, when one of the rear wheels crosses the obstacle, the rear frame rotates relative to the main frame, and the two damping springs can also enable the rear frame to timely recover the initial balance state.

Description

Chassis structure of electric wheelchair

Technical Field

The invention relates to a chassis structure of an electric wheelchair.

Background

At present, the aging of the global population is particularly prominent, and the development of special disabled groups brings diversified demands of the aged health industry and the special group industry market, so that how to provide corresponding products and services for the special group becomes a topic which is commonly concerned by health industry practitioners and various social circles. Along with the improvement of the living standard of residents, people put forward higher requirements on the quality, the service performance and the comfort of products, the urban life rhythm is accelerated, the time for children to take care of old people and patients at home is less and less, and the old people and the disabled cannot take good care of the old people and the disabled because the old people and the disabled use the manual wheelchair conveniently, so that the problem is solved and becomes a topic of more and more social concern.

The appearance of electronic wheelchair, make old person and disabled person friend no longer rely on other people's help, can realize going on a journey alone through operating electronic wheelchair, make their life, work is lighter and convenient more, and traditional electronic wheelchair is on manual wheelchair's basis, stack power drive arrangement, a controller, parts such as battery, the transformation is upgraded and is formed, the manual control controller, just can drive the wheelchair and accomplish to advance, retreat, multiple actions such as turn to, but improve the electronic wheelchair that comes by manual wheelchair, at support structural strength, riding comfort, the focus configuration, the aspect such as operation hommization has a lot of not enough yet. Therefore, the chassis structure of the electric wheelchair with beautiful appearance, high structural strength, comfortable riding, humanized operation and safe and stable operation is designed, and the problems to be solved by the invention are solved.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a chassis structure of an electric wheelchair, which has a reasonable structure and strong shock absorption capability, can enhance lateral support during steering and greatly improve the driving safety and riding comfort of the wheelchair.

The technical scheme adopted by the invention is as follows: the utility model provides a chassis structure of electric wheelchair, includes preceding footboard structure, front wheel suspended structure, rear wheel bearing structure, left side pendulum damping spring, right side pendulum damping spring, left lever, right lever, left screw ejector pin, right screw ejector pin, balancing pole, pendulum commentaries on classics cover, pendulum pivot, nut, its characterized in that: the swing rotating sleeve is hollow cylindrical, two coaxial short shafts are transversely arranged on the outer wall of the swing rotating sleeve, the two short shafts are respectively installed in two bearing holes of the side wall of the long-strip-shaped through hole in the rear end of the main frame through bearings, the swing rotating sleeve and the main frame form a revolute pair, the swing rotating shaft is installed inside the swing rotating sleeve through the bearings, the front end of the swing rotating shaft is fixedly connected with the middle position of the balancing rod, a spline and a threaded shaft are arranged at the rear end of the swing rotating shaft, the spline is installed in a matched mode with a spline hole in the front end of the rear frame, and the swing rotating shaft and the rear frame are locked through a nut installed in.

Preferably, the middle position of the left lever and a round hole at the upper end of the left side of the motor frame form a rotating pair, the upper end of the left swing damping spring and the main frame form a rotating pair, the lower end of the left swing damping spring and the front end of the left lever form a rotating pair, the upper end of the left threaded mandril and the left end of the balancing rod form a spherical pair, the lower end of the left swing damping spring and the rear end of the left lever form a spherical pair, the middle position of the right lever and a round hole at the upper end of the right side of the motor frame form a rotating pair, the upper end of the right swing damping spring and the front end of the right lever form a rotating pair, the upper end of the right threaded mandril and.

Preferably, the rear side of the pedal connecting plate is fixedly connected with the main frame and the auxiliary frame, the front side of the pedal connecting plate is provided with two strip holes with the same size, round holes are formed in the top ends of the two strip holes, the lifting knob is installed in the round holes, a lifting piece is arranged between the two strip holes, a threaded hole is vertically formed in the center of the lifting piece, the threaded hole and the lifting knob form a threaded pair, the lifting piece is transversely provided with two coaxial threaded holes, the two coaxial round holes in the top end of the pedal bottom shell are respectively connected with the two transverse threaded holes of the lifting piece through screws, the top end of the pedal bottom shell is provided with two threaded holes which respectively form a threaded pair with an angle knob, the front pedal can be lifted or lowered by rotating the lifting knob, and the elevation angle of the front pedal.

Preferably, the lower end of the left upper swing arm and the left end of the connecting frame form a revolute pair, the upper end of the left upper swing arm and two left damping springs form a revolute pair, the lower ends of the two left damping springs and the upper side of the left lower swing arm form a revolute pair, the rear end of the left suspension electric push rod and the right end of the connecting frame upper beam form a spherical pair, the front end of the left upper swing arm and the left upper swing arm form a spherical pair, the upper end of the right upper swing arm and two right damping springs form a revolute pair, the lower ends of the two right damping springs and the upper side of the right lower swing arm form a revolute pair, the rear end of the right suspension electric push rod and the left end of the connecting frame upper beam form a spherical pair, the front end and the right upper swing arm form a spherical pair, when the steering wheel rotates leftwards, the left suspension electric push rod does not act, the right suspension electric push rod extends out for a certain length according to the speed of the, thereby make the right front wheel can provide more powerful support, the security when improving the wheelchair and turning left, when the steering wheel turned right, the right side hung the electric push rod and did not move, left side hung the electric push rod and can stretch out certain length according to wheelchair speed and steering wheel pivoted angle, made the upper left swing arm rotate downwards to make the left front wheel can provide more powerful support, the security when improving the wheelchair and turning right.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the overall structure of the present invention with the housing removed.

Fig. 3 is a partial cross-sectional view schematically showing a front wheel suspension structure according to the present invention.

Fig. 4 is an overall schematic view of the rear frame structure of the present invention.

FIG. 5 is a partial cross-sectional schematic view of the rear frame structure of the present invention.

Fig. 6 is an overall schematic view of the front pedal structure of the present invention.

FIG. 7 is a partial cross-sectional view of the front pedal of the present invention.

Fig. 8 is an overall schematic view of the seat support structure of the present invention.

Fig. 9 is an overall schematic view of the seat structure of the present invention.

Fig. 10 is a partial cross-sectional view of the right armrest structure of the present invention.

Fig. 11 is an overall schematic view of the seat structure of the present invention.

Fig. 12 is a schematic view of the table board of the present invention in a state of being unfolded.

Fig. 13 is a schematic structural view of the fully unfolded table of the present invention.

Fig. 14 is a partial cross-sectional view of the position of the drive rod of the present invention.

FIG. 15 is a partial cross-sectional view of the right lever of the present invention.

Fig. 16 is an overall schematic view of the chassis structure in the present invention.

Fig. 17 is a partial sectional view of the structure of the base pan of the present invention.

Fig. 18 shows seven expressions displayed on the "mood" button-controlled LED display screen according to the present invention.

Reference numerals: 1 seat structure, 2 armrest structure, 3 seat support structure, 4 front pedal structure, 5 front wheel suspension structure, 6 chassis structure, 7 rear wheel support structure, 8 table structure, 101 headrest, 102 seat back, 103 seat, 104 backrest adjustment lever, 105LED display screen, 106 speaker, 201 right armrest, 202 left armrest, 203 steering wheel, 204 console, 205 sway lever, 206 console knob, 207 right bumper lever, 2071 card, 208 left bumper lever, 2081 chuck, 209 right armrest strut, 210 right armrest strut, 211 left side fixed plate, 212 left armrest strut, 213 left armrest strut, 214LED lamp, 215 drive rod, 216 panic button, 217 lock turn lever, 218 vehicle lamp holder, 219 lamp turn-on button, 301 right rail, 302 left rail, 303 rear strut, 304 turn button, 305 rear slide plate, 306 seat attachment plate, 307 right turn slider, 308 left turn slider, 309 right electric push rod, 310 left electric push rod, 311 sliding block, 312 leading screw motor, 313 gyroscope, 314 motor fixing plate, 315 front sliding plate, 316 front supporting rod, 317 leading screw, 401 pedal connecting plate, 402 lifting knob, 403 lifting piece, 404 angle knob, 405 pedal bottom shell, 406 rotating plate, 4061 limit support, 4062 rotating rod, 407 pedal upper cover, 408 bent rod, 409 straight rod, 410 massage wheel, 411 upper connecting rod, 412 push-pull rod, 413 lower connecting rod, 414 first optical axis, 415 second optical axis, 416 third optical axis, 417 rubber ring, lithium 501 battery pack, 502 main frame, 503 long slot, 503 right damping spring, 504 right upper connecting rod, 505 right front wheel bracket, 506 right front wheel, 507 right lower swing arm, 508 right transmission shaft, right upper swing arm, 510 right suspension electric push rod, 511 left suspension electric push rod, 512 sub frame, 513 differential, 514 connecting frame, 515 left upper swing arm, 516 left damping spring, 517 left lower swing arm, 519 turntable bearing, 518 left side disk drive disk, right swing arm, 510 left suspension electric drive disk, 520 left front wheel bracket, 521 left front wheel, 522 left upper connecting rod, 523 motor frame pull arm, 524 motor frame, 525 shell, 526 driving motor, 527 left transmission shaft, 601 left pendulum damping spring, 602 right pendulum damping spring, 603 left lever, 604 right lever, 605 left thread mandril, 606 right thread mandril, 607 balancing rod, 608 pendulum sleeve, 609 pendulum rotating shaft, 610 nut, 701 cargo box cover, 702 cargo box, 703 right rear wheel, 704 right wheel connecting piece, 705 right wheel worm, 706 rear frame, 707 left wheel worm, 708 left rear wheel, 709 left guide plate, 710 toothed belt, 711 rear wheel bolt, 712 turntable bearing, 713 left wheel connector, 714 left belt pulley, 715 left guide wheel, 716 right guide wheel, 717 right belt pulley, 718 rear wheel bolt, 719 right guide plate, 720 driving pulley, 801 sliding sleeve, 802 telescopic rod, 803 table plate, 8031 table plate handle, 8032 table plate clamping platform, 804 sliding rod, 805 support, 8051 table plate receiving groove.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1 and 2, the electric wheelchair of this embodiment includes a seat structure 1, an armrest structure 2, a seat support structure 3, a front pedal structure 4, a front wheel suspension structure 5, a chassis structure 6, a rear wheel support structure 7, and a table structure 8, wherein a housing 525 is mounted on the periphery of a main frame 502, and a recess for placing two legs is provided at the front end of the housing, as shown in fig. 3, the front wheel suspension structure 5 includes a lithium battery pack 501, a main frame 502, a right damping spring 503, an upper right connecting rod 504, a right front wheel bracket 505, a right front wheel 506, a lower right swinging arm 507, a right transmission shaft 508, an upper right swinging arm 509, a right electric pushing rod 510, a left electric pushing rod 511, a sub frame 512, a differential 513, a connecting frame 514, an upper left swinging arm 515, a left damping spring 516, a lower left swinging arm 517, a turntable bearing 518, a left transmission disc 519, a front wheel bracket 520, a front wheel 521, an upper left connecting rod 522, a motor frame pulling, A motor frame 524, a housing 525, a driving motor 526 and a left transmission shaft 527, as shown in fig. 3, the connecting frame 514 is provided with four support legs, the four support legs are all fixedly arranged on the upper side of the auxiliary frame 512 through screws, an arched beam is arranged between the two support legs on the left side and the two support legs on the right side, the left side and the right side of the auxiliary frame 512 respectively form a rotating pair with one end of a left lower swing arm 517 and one end of a right lower swing arm 507, the other end of the left lower swing arm 517 forms a rotating pair with the lower end of a left front wheel bracket 520, one end of a left upper connecting rod 522 forms a rotating pair with the left end of the connecting frame 514, the other end forms a rotating pair with the upper end of the left front wheel bracket 520, the auxiliary frame 512, the connecting frame 514, the left lower swing arm 517, the left upper connecting rod 522 and the left front wheel bracket 520 form a parallelogram mechanism, a turntable bearing 518 is arranged between, the other end of the right lower swing arm 507 and the lower end of the right front wheel bracket 505 form a revolute pair, one end of the right upper connecting rod 504 and the right end of the connecting frame 514 form a revolute pair, the other end and the upper end of the right front wheel bracket 505 form a revolute pair, the auxiliary frame 512, the connecting frame 514, the right lower swing arm 507, the right upper connecting rod 504 and the right front wheel bracket 505 form a parallelogram mechanism, a turntable bearing is arranged between the right front wheel bracket 505 and the right driving disc, the right driving disc and the right front wheel 506 are fixedly connected through a screw, the lower end of the left upper swing arm 515 and the left end of the connecting frame 514 form a revolute pair, the upper end of the left upper swing arm 515 and two left damping springs 516 form a revolute pair, the lower ends of the two left damping springs 516 and the upper side of the left lower swing arm 517 form a revolute pair, the rear end of the left suspension push rod 511 and the right end of the upper beam of the connecting frame 514 form a spherical pair, the upper end of the upper right swing arm 509 and the two right damping springs 503 form a revolute pair, the lower ends of the two right damping springs 503 and the upper side of the lower right swing arm 507 form a revolute pair, the rear end of the right suspension electric push rod 510 and the left end of the upper beam of the connecting frame 514 form a spherical pair, and the front end and the upper right swing arm 509 form a spherical pair.

As shown in fig. 17, the rear end of the main frame 502 is provided with a strip-shaped through hole, two side walls of the through hole are respectively provided with a bearing mounting hole, the axial leads of the two bearing mounting holes coincide, the lower side of the main frame 502 is provided with two supports, the lower ends of the two supports are fixedly connected with the auxiliary frame 512 through screws, the front end of the motor frame 524 is fixedly connected with the lower side of the rear end of the auxiliary frame 512 through screws, the upper ends of the left side and the right side of the motor frame 524 are respectively provided with a round hole, the upper end of the pull arm 523 of the motor frame is fixedly connected with the main frame 502, the lower end of the pull arm of the motor.

As shown in fig. 3, the differential 513 is installed inside the auxiliary frame 512, an input shaft of the differential is connected with an output shaft of the driving motor 526 through a coupling, a left output shaft of the differential 513 is connected with one end of a left transmission shaft 527 through a hooke joint structure, the other end of the left transmission shaft 527 is connected with a left transmission disc 519 through a hooke joint structure, a right output shaft of the differential 513 is connected with one end of a right transmission shaft 508 through a hooke joint structure, the other end of the right transmission shaft 508 is connected with the right transmission disc through a hooke joint structure, and the lithium battery pack 501 is installed inside the main frame 502.

As shown in fig. 3 and 14, the lithium battery pack 501 provides power for the wheelchair, the driving motor 526 drives the two front wheels (506, 521) to rotate through the differential 513, when the driving rod 215 pushes towards the forward mark, the two front wheels (506, 521) rotate forwards, the wheelchair travels forwards, when the driving rod 215 pushes towards the backward mark, the two front wheels (506, 521) rotate backwards, and the wheelchair travels backwards; because the two front wheels (506, 521) are connected with the main frame 502 and the auxiliary frame 512 by adopting an independent suspension structure, when one front wheel runs through a pit or a bulge, the wheel can jump without influencing the running of the other front wheel, so that the passengers of the wheelchair can obtain better comfort; if the right suspension electric push rod 510 does not act, when the wheelchair is fast and the steering wheel 203 rotates leftwards, the wheelchair turns leftwards, the gravity center of a passenger shifts rightwards under the action of centrifugal force, the two right damping springs 503 are compressed, and the wheelchair is easy to overturn rightwards when the supporting force of the right front wheel 506 is insufficient, so that the passenger is injured; if left suspension electric push rod 511 is not used, when the wheelchair speed is high, when steering wheel 203 rotates rightwards, the wheelchair turns rightwards, under the action of centrifugal force, the gravity center of a passenger shifts leftwards, two left damping springs 516 are compressed, and when the supporting force of left front wheel 521 is insufficient, the wheelchair can easily overturn leftwards, so that the passenger can be injured.

The rear wheel supporting structure 7 comprises a cargo box cover 701, a cargo box 702, a right rear wheel 703, a right wheel connecting piece 704, a right wheel worm 705, a rear frame 706, a left wheel worm 707, a left rear wheel 708, a left guide plate 709, a toothed belt 710, a rear wheel bolt 711, a turntable bearing 712, a left wheel connecting piece 713, a left belt pulley 714, a left guide wheel 715, a right guide wheel 716, a right belt pulley 717, a rear wheel bolt 718, a right guide plate 719 and a driving pulley 720. As shown in FIGS. 4 and 5, a longitudinal beam is arranged at the upper end of the rear frame 706, a spline hole and a square hole which is transversely penetrated are arranged at the front end of the longitudinal beam, two separated support legs are arranged at the rear end of the longitudinal beam, a worm hole and a transverse empty groove are arranged at the lower end of each support leg, a disc structure is arranged at one end of the left wheel connecting piece 713, a turntable bearing 712 is arranged between the disc structure and the left rear wheel 708, so that, the other end of the left wheel connecting piece 713 is an incomplete worm gear structure with left-handed teeth, the left wheel connecting piece 713 is arranged in a transverse empty groove at the lower end of a left leg on the rear frame 706 and is connected with the rear frame 706 through a rear wheel bolt 711 to form a rotation pair, the teeth of the left wheel worm 707 are rotated in a left direction and are arranged in a worm hole at the lower end of the left leg on the frame 706 through a bearing and form a worm and gear meshing relationship with the left wheel connecting piece 713, the rear end of the left wheel worm 707 is fixedly connected with the left belt pulley 714, one end of the right wheel connecting piece 704 is in a disc structure, a turntable bearing is arranged between the disc structure and the right wheel 703 to enable the left wheel connecting piece 707 and the right wheel connecting piece 703 to form a rotation pair, the other end of the right wheel connecting piece 704 is in the transverse empty groove at the lower end of the right leg on the rear frame, the gear teeth of the right wheel worm 705 are right-handed, the right wheel worm 705 is arranged in a worm hole at the lower end of a support leg at the right side of the frame 706 through a bearing and forms a worm gear and worm meshing relationship with the right wheel connecting piece 704, the rear end of the right wheel worm 705 is tightly connected with a right belt pulley 717, a belt wheel driving motor is arranged in the middle position of the rear end of the rear frame 706, an output shaft of the belt wheel driving motor is tightly connected with a driving belt wheel 720, a left guide wheel 715 is arranged at the lower side of the support leg at the left side of the rear frame 706 close to the middle position, a right guide wheel 716 is arranged at the lower side of the support leg at the right side of the rear frame 706 close to the middle position, the toothed belt 710 is of an annular structure, the belt teeth at the inner side face of the toothed belt 710 respectively form a meshing relationship with the left belt pulley 714, the right belt, the right guide plate 719 is installed inside the right leg to guide the toothed belt 710, and the cargo box 702 is installed on the upper side of the rear frame 706, and the upper end of the cargo box is provided with a cargo box cover 701.

As shown in fig. 5, the incomplete worm gear tooth turning direction and the left worm on the left wheel connecting member 713 are both left-handed and the incomplete worm gear tooth turning direction and the worm with wheel on the right wheel connecting member 704 are both right-handed, so that when the driving pulley 720 rotates, the toothed belt 710 drives the left rear wheel 708 and the right rear wheel 703 to simultaneously turn left or right; when the steering wheel 203 rotates leftwards, the belt wheel driving motor rotates, the driving belt wheel 720 rotates clockwise, the toothed belt 710 drives the left rear wheel 708 and the right rear wheel 703 to rotate rightwards simultaneously, the wheelchair turns leftwards, when the steering wheel 203 rotates rightwards, the belt wheel driving motor rotates, the driving belt wheel 720 rotates anticlockwise, the toothed belt 710 drives the left rear wheel 708 and the right rear wheel 703 to rotate leftwards simultaneously, and the wheelchair turns rightwards.

The front pedal structure 4 comprises a pedal connecting plate 401, a lifting knob 402, a lifting member 403, an angle knob 404, a pedal bottom shell 405, a rotating plate 406, a pedal upper cover 407, a bent rod 408, a straight rod 409, a massage wheel 410, an upper connecting rod 411, a push-pull rod 412, a lower connecting rod 413, a first optical axis 414, a second optical axis 415, a third optical axis 416 and a rubber ring 417, as shown in fig. 2 and 6, the rear side of the pedal connecting plate 401 is fixedly connected with a main frame 502 and a sub frame 512, the front side of the pedal connecting plate is provided with two elongated holes with the same size, the top ends of the two elongated holes are provided with round holes, the lifting knob 402 is arranged in the round holes, the lifting member 403 is arranged between the two elongated holes, the center of the lifting member 403 is vertically provided with a threaded hole which forms a threaded pair with the lifting knob 402, the lifting member 403 is transversely provided with two coaxial threaded holes, the two coaxial round holes at the top end of the pedal bottom shell 405 are respectively connected with the two transverse, the top end of the pedal bottom shell 405 is provided with two threaded holes which respectively form a thread pair with an angle knob 404.

As shown in fig. 6 and 7, the first optical axis 414, the second optical axis 415, and the third optical axis 416 are all installed in the pedal bottom case 405, and eight massage wheels 410 are coaxially installed on each optical axis, the upper ends of the four bent rods 408 all form a rotation pair with the first optical axis 414, the lower ends of the four bent rods 408 all form a rotation pair with the inner bottom surface of the pedal bottom case 405, the upper ends of the four bent rods 408 all form a rotation pair with the second optical axis 415, the lower ends of the four bent rods 408 all form a rotation pair with the inner bottom surface of the pedal bottom case 405, the upper ends of the four bent rods 408 all form a rotation pair with the third optical axis 416, the lower ends of the four bent rods 408 all form a rotation pair with the inner bottom surface of the pedal bottom case 405, four straight rods 409 are disposed between the first optical axis 414 and the second optical axis 415, the four straight rods 409 all form a rotation pair with the first optical axis 414 and the second optical axis 415, four straight rods 409 between the second optical axis 415, the, an elastic rubber ring 417 is arranged between the middle position of each optical axis (414, 415, 416) and the inner bottom surface of the pedal bottom shell 405, the rotating plate 406 is arranged at the front end of the pedal bottom shell 405 and forms a rotating pair, a limit support 4061 and two rotating rods 4062 are arranged at the lower side of the rotating plate 406, the front ends of the two push-pull rods 412 respectively form a rotating pair with the bottom end of one rotating rod 4062, the lower ends of the two lower connecting rods 413 and the inner bottom surface of the pedal bottom shell 405 form a rotating pair, the upper ends of the two upper connecting rods 411 respectively form a rotating pair with the first optical axis 414, the rear end of each push-pull rod 412 and the corresponding upper end of the lower connecting rod 413 and the lower end of the upper connecting rod 411, the upper pedal cover 407 is fastened and connected with the bottom pedal shell 405 through screws, anti-skid patterns are arranged on the upper side of the upper pedal cover 407, and eight rectangular empty slots are opened above the massage wheels for the massage wheels to extend upwards from the pedal bottom shell 405.

As shown in fig. 6, the pedal bottom case 405 can be raised or lowered by rotating the raising/lowering knob 402, and the elevation angle of the pedal bottom case 405 can be adjusted by rotating the two angle knobs 404.

As shown in fig. 7, when the rotating plate 406 is pulled downward, the rotating rod 4062 pushes the push-pull rod 412 to move backward, the push-pull rod 412 pushes the lower connecting rod 413 and the upper connecting rod 411 to rotate, so that the first optical axis 414 rotates upward, the second optical axis 415 and the third optical axis 416 simultaneously rotate upward through the straight rod 409, when the first optical axis 414 rotates upward to the highest point, the rotating plate 406 continues to be pulled downward, and then the first optical axis 414 rotates downward, and after it rotates downward by 3 °, the bottom end of the limit support 4061 contacts with the outer side surface of the front end of the pedal bottom shell 405, so that the rotating plate 406 cannot be pulled downward, and at this time, all the massage wheels 410 are lifted by the three optical axes (414, 415, 416), and then the foot can be massaged; after the rotating plate 406 is pulled upwards, the three optical axes (414, 415, 416) rotate downwards under the action of the contraction and tension of the three rubber rings 417, and the massage wheels 410 fall back into the pedal bottom shell 405.

The seat supporting structure 3 comprises a right guide rail 301, a left guide rail 302, a rear support rod 303, a rotating button 304, a rear sliding plate 305, a seat connecting plate 306, a right-handed sliding block 307, a left-handed sliding block 308, a right-handed sliding rod 309, a left electric push rod 310, a sliding block 311, a lead screw motor 312, a gyroscope 313, a motor fixing plate 314, a front sliding plate 315, a front support rod 316 and a lead screw 317, as shown in fig. 8, the upper end surface of the main frame 502 is provided with the left guide rail 302 and the right guide rail 301, each guide rail is provided with three sliding blocks 311, the bottom side surface of the front sliding plate 315 is respectively and fixedly connected with four sliding blocks 311 near the front side, the rear sliding plate 305 is fixedly connected with two sliding blocks 311 near the rear side, the motor fixing plate 314 is fixedly connected with the main frame 502, the lead screw motor 312 is fixedly arranged on the upper side of the motor fixing plate, the gyroscope 313 is arranged in the middle position of, the left-hand slider 308 is fixedly arranged at the middle position of the upper side of the rear sliding plate 305, the front half section of the screw rod 317 is provided with right-hand threads and is matched with the right-hand slider 307 to form a thread pair, the rear half section of the screw rod 317 is provided with left-hand threads and is matched with the left-hand slider 308 to form a thread pair, the front end of the screw rod 317 is connected with an output shaft of the screw rod motor 312 through a coupler, the lower end of the left electric push rod 310 and the front end of the left side of the front sliding plate 315 form a spherical pair, the upper end of the left electric push rod and the left end of the front side of the seat connecting plate 306 form a spherical pair, the lower end of the front stay 316 and the rear end of the front sliding plate 315 form a revolute pair, the lower end of the rear stay 303 and the rear sliding plate 305 form a revolute pair, the upper end of the front stay 316, the upper end of the rear stay 303 and the rear end of the knob 304 form a coaxial, four round holes are arranged on the seat connecting plate 306 and are used for being fastened and connected with the connecting seat 103.

As shown in fig. 8, when the lead screw motor 312 rotates counterclockwise, the front sliding plate 315 and the rear sliding plate 305 move closer to each other under the driving of the lead screw 317, and the left electric push rod 310 and the right electric push rod 309 extend by the same length, so that the seat connecting plate 306 can be vertically raised, that is, the raising movement of the seat 103 can be realized, and conversely, the lowering movement of the seat 103 can be realized; when the screw motor 312 does not work, the left electric push rod 310 and the right electric push rod 309 extend or shorten the same length at the same time, so that the pitching action of the seat connecting plate 306, namely the pitching adjustment action of the seat 103, can be realized; when the screw motor 312 is not operated, the seat connecting plate 306 can be tilted to the right when the left electric push rod 310 is extended and the right electric push rod 309 is shortened, and conversely, the seat connecting plate 306 can be tilted to the left when the left electric push rod 310 is shortened and the right electric push rod 309 is extended.

The chassis structure 6 comprises a left pendulum damping spring 601, a right pendulum damping spring 602, a left lever 603, a right lever 604, a left threaded ejector rod 605, a right threaded ejector rod 606, a balancing rod 607, a pendulum rotating sleeve 608, a pendulum rotating shaft 609 and a nut 610, as shown in fig. 16 and 17, the pendulum rotating sleeve 608 is hollow cylindrical, two coaxial short shafts are transversely arranged on the outer wall of the pendulum rotating sleeve 608, the two short shafts are respectively arranged in two bearing holes of the side wall of a long strip-shaped through hole at the rear end of the main frame 502 through bearings, so that the pendulum rotating sleeve 608 and the main frame 502 form a rotating pair, the pendulum rotating shaft 609 is arranged inside the pendulum rotating sleeve 608 through a bearing, the front end of the pendulum rotating shaft 609 is fixedly connected with the middle position of the balancing rod 607, the rear end of the pendulum rotating shaft 609 is provided with a spline and a threaded shaft, the spline is arranged in cooperation with the spline hole at the front end of the rear frame 706, and the pendulum rotating shaft 609 is locked with the rear, the middle position of the left lever 603 and the round hole at the upper end of the left side of the motor frame 524 form a rotating pair, the upper end of the left swing damping spring 601 and the main frame 502 form a rotating pair, the lower end and the front end of the left lever 603 form a rotating pair, the upper end of the left threaded top rod 605 and the left end of the balancing rod 607 form a spherical pair, the lower end and the rear end of the left lever 603 form a spherical pair, the middle position of the right lever 604 and the round hole at the upper end of the right side of the motor frame 524 form a rotating pair, the upper end of the right swing damping spring 602 and the main frame 502 form a rotating pair, the lower end and the front end of the right lever 604 form a rotating pair, the upper end of the right threaded top rod 606 and the right.

As shown in fig. 16 and 17, in the initial state, the two front wheels (506, 521) and the two rear wheels (703, 708) are located on the same plane, and in this state, the compression amounts of the left-pendulum damping spring 601 and the right-pendulum damping spring 602 are the same; when the left rear wheel 708 passes through a convex obstacle or the right rear wheel 703 passes through a concave obstacle, the rear frame 706 rotates clockwise relative to the main frame 502, the balance bar 607 rotates clockwise, in this state, the left threaded mandril 605 moves upwards, the right threaded mandril 606 moves downwards, the right lever 604 rotates, the right pendulum damping spring 602 is further compressed, the spring force is increased, the further rotation trend of the rear frame 706 is prevented, and the rear frame 706 is timely restored to the initial state after the two rear wheels (703, 708) pass through the obstacle; when the left rear wheel 708 passes through a pit obstacle or the right rear wheel 703 passes through a bump obstacle, the rear frame 706 rotates counterclockwise relative to the main frame 502, the balance bar 607 rotates counterclockwise, in this state, the left threaded mandril 605 moves downward, the right threaded mandril 606 moves upward, the left lever 603 rotates, the left pendulum damping spring 601 is further compressed, the spring force is increased, the further rotation trend of the rear frame 706 is prevented, and the rear frame 706 is timely restored to the initial state after the two rear wheels (703, 708) pass through the obstacles; when two rear wheels (703, 708) drive over the convex obstacle or the concave obstacle at the same time, the swinging sleeve 608 rotates, so that the balancing rod 607 drives the left threaded mandril 605 and the right threaded mandril 606 to move upwards or downwards at the same time, and in this state, the left pendulum damping spring 601 and the right pendulum damping spring 602 play roles of buffering and shock absorption, thereby ensuring the riding comfort of the wheelchair passenger.

The armrest structure 2 includes a right armrest 201, a left armrest 202, a steering wheel 203, a console 204, a swing lever 205, a console knob 206, a right lever 207, a left lever 208, a right armrest support 209, a right armrest support 210, a left fixing plate 211, a left armrest support 212, a left armrest support 213, an LED lamp 214, a driving rod 215, an emergency button 216, a locking lever 217, a vehicle lamp holder 218, and a vehicle lamp tightening button 219, as shown in fig. 9 and 14, the rear end of the left armrest 202 and the left side of the seat back 102 form a rotation pair, the upper side of the front end of the left armrest 202 is provided with the driving rod 215, the driving rod 215 can move forward and backward, the front side of the driving rod is provided with a "forward" character mark, the rear side of the driving rod is provided with a "backward" character mark, "the left side of the left armrest 202 is provided with the LED lamp 214, the left fixing plate 211 is tightly fixed to the left end of the bottom side of the seat 103, two left armrest, 213) The left fixing plate 211, the two left armrest struts (212, 213) and the left armrest 202 form a parallelogram structure, the left armrest 202 has a left shift lever 208 at the front end, the left shift lever 208 can slide and rotate inside the front end of the left armrest 202, and the front end of the left armrest is provided with a circular chuck 2081.

As shown in fig. 9, 10 and 15, the rear end of the right armrest 201 and the right side of the seat back 102 form a rotation pair, the right armrest 201 is provided with an emergency button 216 on the upper side of the rear end, a right fixing plate (not shown in the drawings, and having the same structure as the left fixing plate 211) is tightly mounted on the right end of the bottom side of the seat 103, two right armrest supporting rods (209 and 210) are arranged between the right fixing plate and the left armrest 201, so that the right fixing plate, the two right armrest supporting rods (209 and 210) and the right armrest 201 form a parallelogram structure, the front end of the right armrest 201 is provided with a right stop rod 207, the right stop rod 207 can slide and rotate inside the front end of the right armrest 201, the front end of the right stop rod is provided with a chuck 2071, the rear end of the swing rod 205 and the right side of the right armrest 201 form a rotation pair and can be locked by a locking rotating rod 217, the front end of the swing rod 205 is provided with a console, fourteen keys of ' automatic ' rising ', ' left leaning ', ' right leaning ', ' resetting ', ' ventilating ', ' lowering ', ' heating ', ' massaging ', ' mode ', ' lamp ', ' mood ', ' mute ' and ' volume ' are arranged on the upper side of the console 204, and a steering wheel 203 is arranged at the front end of the console 204.

As shown in fig. 9, the rotation of the seat back 102 and the seat 103 is over-constrained, that is, the lower end of the seat back 102 and the seat 103 form a rotation pair, the left fixing plate 211, the two left arm support rods (212, 213) and the left arm 202 form a parallelogram structure, and the right fixing plate, the two right arm support rods (209, 210) and the right arm 201 form a parallelogram structure, so that the connection and the relative movement between the seat back 102 and the seat 103 can be more reliably and durably realized.

As shown in fig. 10, after the locking rotary rod 217 is unscrewed, the swing rod 205 can swing in a vertical plane, the swing of the swing rod 205 can be locked by screwing the locking rotary rod 217, and after the console knob 206 is unscrewed, the position of the console 204 on the swing rod 205 can be adjusted, i.e., the console 204 can be adjusted to a proper position through the locking rotary rod 217 and the console knob 206 according to the body size and arm length of a wheelchair passenger; after the driving rod 215 is pushed to the forward mark, when the steering wheel 203 rotates anticlockwise, the wheelchair turns left to run, at the moment, the LED display screen 105 can display a left arrow to prompt a vehicle and people behind, when the steering wheel 203 rotates clockwise, the wheelchair turns right to run, and at the moment, the LED display screen 105 can display a right arrow; after the driving rod 215 is pushed to the "back" mark, the horn 106 can play a sound of "please notice to back the car" to prompt the rear vehicle and personnel to notice safety; the 'automatic' key enables the gyroscope 313 to detect the inclination state of the wheelchair, then the information is fed back to the control system, the control system sends out information, the lead screw motor 312, the left electric push rod 310 and the right electric push rod 309 act simultaneously, the seat 103 is adjusted to the horizontal position, the seat 103 is kept in the horizontal state all the time in the dynamic driving process, and the riding comfort is guaranteed; the "raise" button controls the height of the seat 103 to be raised; the "lower" button controls the seat 103 to decrease in height; the "ventilation" button controls the seat ventilation function of the seat 103 and seat back 102; the "heat" button controls the seat heating function of the seat 103 and seat back 102; the "massage" button controls the seat massage function of the seat 103 and the seat back 102; the 'mode' button is used for selecting the mode of the seat massage; the "light" button controls the turning on and off of the LED light 214; the mood key is used for selecting the expression displayed on the LED display screen 105, so that the rider can display the current mood of the rider, and when the mood key is pressed to select the expression, the loudspeaker 106 can make a sound to prompt the selected expression; the mute button is used for muting the loudspeaker 106, and the volume button is used for adjusting the volume of the loudspeaker 106; the emergency button 216 is arranged at the rear end of the right armrest 201, the emergency button 216 is not easy to touch by mistake in a normal use state, after the emergency button 216 is pressed down, the wheelchair can enter a static state from a current motion state, the loudspeaker 106 can play HELP-seeking sound, meanwhile, the LED display screen 105 can display a word of 'HELP', and twinkles so as to attract nearby people to HELP and take a HELP for wheelchair passengers; the reset button restores all settings of the wheelchair to the initial settings.

As shown in fig. 14, when the driving rod 215 is pushed to the forward mark, the two front wheels (506, 521) rotate forward, so that the wheelchair travels forward, and when the driving rod 215 is pushed to the backward mark, the two front wheels (506, 521) rotate backward, so that the wheelchair travels backward, and the forward or backward speed of the wheelchair is controlled by the forward or backward pushing angle of the driving rod 215.

The table mechanism 8 comprises a sliding sleeve 801, an expansion link 802, a table 803, a sliding rod 804 and a bracket 805, as shown in fig. 11 and 12, the upper end of the bracket 805 is provided with the sliding rod 804, the lower end of the bracket 805 is provided with a table accommodating groove 8051, the bracket 805 is fixedly mounted at the lower part of the back of the seat back 102 through screws, the sliding sleeve 801 is mounted on the sliding rod 804, the sliding sleeve and the sliding sleeve form a sliding pair, the rear end of the expansion link 802 is connected with the sliding sleeve 801 to form a revolute pair, the front end of the expansion link 802 is connected with the left end of the table 803, and the right end of the table 803 is provided with a table handle.

As shown in fig. 14, the left stopper 208 is extended from the left handle 202, as shown in fig. 15, the right stopper 207 is extended from the right handle 201, as shown in fig. 11, the table 803 is accommodated in the table accommodating groove 8051, when the table 803 needs to be unfolded, as shown in fig. 12, the table handle 8031 is pulled outward, the table 803 is pulled out from the table accommodating groove 8051, the telescopic rod 802 is rotated upward, after the telescopic rod 802 is rotated over the seatback 102, the telescopic rod 802 is pulled to the longest length, the table 803 is turned 180 ° around the telescopic rod 802, and then the telescopic rod 802 is rotated continuously, so that one end of the table 803 is lapped on the left stopper 208, the table clamping platform 8032 at the other end is lapped on the right handle 207, and the chuck 2071 blocks the table clamping platform 8032, so that the table 803 cannot be separated along the axial direction of the right stopper 207, and at this time, the table 803 is completely unfolded; the sequence of the steps of the accommodating process and the unfolding process of the table plate is opposite, and the detailed description is omitted.

The seat structure 1 comprises a headrest 101, a seat back 102, a seat 103, a back adjusting rod 104, an LED display screen 105 and a loudspeaker 106, as shown in FIG. 9, the lower end of the seat back 102 and the seat 103 form a revolute pair, the angle between the seat back 102 and the seat 103 is adjusted by the back adjusting rod 104, the headrest 101 is mounted at the top end of the seat back 102, and the seat 103, the seat back 102 and the headrest 101 are all internally integrated with a massage function.

As shown in fig. 11, 12 and 18, an LED display screen 105 and a speaker 106 are disposed on the upper portion of the back surface of the seat back 102, the LED display screen 105 can display expressions representing seven emotions, namely "excited", "happy", "satisfying", "disappointed", "sad", "angry" and "fellow", and can display the prompts of "left arrow", "right arrow" and "keeping the distance between cars with attention".

As shown in fig. 10, when the steering wheel 203 rotates counterclockwise after the driving rod 215 is pushed to the "forward" mark, the wheelchair turns left to drive, at this time, the LED display screen 105 displays a left arrow to prompt the following vehicle and personnel, when the steering wheel 203 rotates clockwise, the wheelchair turns right to drive, at this time, the LED display screen 105 displays a right arrow; after the driving rod 215 is pushed to the "back" mark, the horn 106 can play a sound of "please notice to back the car" to prompt the rear vehicle and personnel to notice safety; the mood key is used for selecting the expression displayed on the LED display screen 105, so that the rider can display the current mood of the rider, and when the mood key is pressed to select the expression, the loudspeaker 106 can make a sound to prompt the selected expression; the mute button is used for muting the loudspeaker 106, and the volume button is used for adjusting the volume of the loudspeaker 106; the emergency button 216 is arranged at the rear end of the right armrest 201, the emergency button 216 is not easy to touch by mistake in the normal use state, after the emergency button 216 is pressed down, the wheelchair can enter a static state from the current motion state, the loudspeaker 106 can play the HELP-seeking sound, meanwhile, the LED display screen 105 can display the word 'HELP', and the LED display screen twinkles to attract people nearby to HELP and take a HELP for the wheelchair passenger.

The above description of the present invention is intended to be illustrative. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides an electronic wheelchair's chassis structure, includes preceding footboard structure (4), front wheel suspended structure (5), rear wheel bearing structure (7), left pendulum damping spring (601), right pendulum damping spring (602), left lever (603), right lever (604), left screw thread ejector pin (605), right screw thread ejector pin (606), balancing pole (607), pendulum cover (608), pendulum pivot (609), nut (610), its characterized in that: the rear end of the main frame (502) is provided with a strip-shaped through hole, two side walls of the through hole are respectively provided with a bearing mounting hole, the axial leads of the two bearing mounting holes are overlapped, the lower side of the main frame (502) is provided with two brackets, the lower ends of the two brackets are fixedly connected with the auxiliary frame (512) through screws, the front end of the motor frame (524) is fixedly connected with the lower side of the rear end of the auxiliary frame (512) through screws, the upper ends of the left side and the right side of the motor frame (524) are respectively provided with a round hole, the upper end of the motor frame pull arm (523) is fixedly connected with the main frame (502), the lower end of the motor frame pull arm is fixedly connected with the motor frame (524), the swinging sleeve (608) is hollow cylinder, the outer wall of the swinging sleeve is transversely provided with two coaxial short shafts, the two short shafts are respectively arranged in two bearing holes of the strip-shaped through hole, the swing rotating shaft (609) is arranged inside the swing rotating sleeve (608) through a bearing, the front end of the swing rotating shaft (609) is fixedly connected with the middle position of the balancing rod (607), the rear end of the swing rotating shaft (609) is provided with a spline and a threaded shaft, the spline is matched and arranged with a spline hole at the front end of the rear frame (706), the swing rotating shaft (609) is locked with the rear frame (706) through a nut (610) arranged in a square hole at the front end of the rear frame (706), the middle position of the left lever (603) and a round hole at the left upper end of the motor frame (524) form a rotating pair, the upper end of the left swing damping spring (601) and the main frame (502) form a rotating pair, the lower end and the front end of the left lever (603) form a rotating pair, the upper end of the left threaded mandril (605) and the left end of the balancing rod (607) form a spherical pair, the lower end and the rear end of the left lever (603) form a spherical pair, the middle position, the upper end of the right pendulum damping spring (602) and the main frame (502) form a revolute pair, the lower end of the right pendulum damping spring and the front end of the right lever (604) form a revolute pair, the upper end of the right threaded mandril (606) and the right end of the balancing rod (607) form a spherical pair, and the lower end of the right pendulum damping spring and the rear end of the right lever (604) form a spherical pair.

2. The chassis structure of an electric wheelchair as claimed in claim 1, wherein: the rear side of the pedal connecting plate (401) is fixedly connected with a main frame (502) and an auxiliary frame (512), the front side of the lifting knob is provided with two strip holes with the same size, the top ends of the two strip holes are provided with round holes, the lifting knob (402) is arranged in the round holes, a lifting piece (403) is arranged between the two long holes, a threaded hole is vertically arranged in the center of the lifting piece (403), this screw hole constitutes the screw thread pair with lift knob (402), lift piece (403) transversely are equipped with two coaxial screw holes, two coaxial round holes on footboard drain pan (405) top are connected with two horizontal screw holes of lift piece (403) through a screw respectively, footboard drain pan (405) top is equipped with two screw holes, constitute the screw thread pair with an angle knob (404) respectively, rotatory lift knob (402) can rise or reduce footboard drain pan (405), rotatory two angle knobs (404) can adjust the angle of elevation of footboard drain pan (405).

3. The chassis structure of an electric wheelchair as claimed in claim 1, wherein: the front wheel suspension structure (5) comprises a lithium battery pack (501), a main frame (502), a right damping spring (503), a right upper connecting rod (504), a right front wheel support (505), a right front wheel (506), a right lower swing arm (507), a right transmission shaft (508), a right upper swing arm (509), a right suspension electric push rod (510), a left suspension electric push rod (511), an auxiliary frame (512), a differential (513), a connecting frame (514), a left upper swing arm (515), a left damping spring (516), a left lower swing arm (517), a turntable bearing (518), a left transmission disc (519), a left front wheel support (520), a left front wheel (521), a left upper connecting rod (522), a motor frame pull arm (523), a motor frame (524), a shell (525), a driving motor (526) and a left auxiliary frame transmission shaft (527), wherein four supporting legs are arranged on the connecting frame (514), and are fixedly arranged on the upper side of the auxiliary frame (512) through screws, and an arched crossbeam is arranged between the two left-side supporting legs and the two right-side supporting legs, the left and right sides of the auxiliary frame (512) respectively form a revolute pair with one end of a left lower swing arm (517) and one end of a right lower swing arm (507), the other end of the left lower swing arm (517) forms a revolute pair with the lower end of a left front wheel bracket (520), one end of a left upper connecting rod (522) forms a revolute pair with the left end of a connecting frame (514), the other end of the left upper connecting rod (522) forms a revolute pair with the upper end of the left front wheel bracket (520), the auxiliary frame (512), the connecting frame (514), the left lower swing arm (517), the left upper connecting rod (522) and the left front wheel bracket (520) form a parallelogram mechanism, a turntable bearing (518) is arranged between the left front wheel bracket (520) and a left driving disc (519), the left driving disc (519) is fixedly connected with the left front wheel (521) through screws, one end of a right upper connecting rod (504) and the right end of a connecting frame (514) form a revolute pair, the other end of the right upper connecting rod and the upper end of a right front wheel bracket (505) form a revolute pair, a subframe (512), the connecting frame (514), a right lower swing arm (507), the right upper connecting rod (504) and the right front wheel bracket (505) form a parallelogram mechanism, a turntable bearing is arranged between the right front wheel bracket (505) and a right driving disc, the right driving disc and the right front wheel (506) are fixedly connected through screws, the lower end of a left upper swing arm (515) and the left end of the connecting frame (514) form a revolute pair, the lower ends of two left damping springs (516) and the upper side of the left lower swing arm (517) form a revolute pair, the rear end of a left suspension push rod (511) and the right end of an upper crossbeam of the connecting frame (514) form a spherical pair, and the front end and the left upper swing arm (515) form a spherical pair, the lower end of a right upper swing arm (509) and the right end of a connecting frame (514) form a revolute pair, the upper end of the right upper swing arm (509) and two right damping springs (503) form a revolute pair, the lower ends of the two right damping springs (503) and the upper side of a right lower swing arm (507) form a revolute pair, the rear end of a right suspension electric push rod (510) and the left end of an upper cross beam of the connecting frame (514) form a spherical pair, the front end of the right upper swing arm (509) form a spherical pair, when a steering wheel (203) rotates leftwards in the forward running process of the wheelchair, the left suspension electric push rod (511) does not act, the right suspension electric push rod (510) can extend out for a certain length according to the speed of the wheelchair and the rotating angle of the steering wheel (203), the right upper swing arm (509) rotates downwards to enable a right front wheel (506) to provide more powerful support, when the steering wheel (203) rotates rightwards, the right suspension electric push rod (510) does not act, the left suspension electric push rod (511) can extend out, the left upper swing arm (515) is rotated downward so that the left front wheel (521) can provide more powerful support.