CN110584899B

CN110584899B - Can change walking wheel revolution radius's wheelchair structure

Info

Publication number: CN110584899B
Application number: CN201911025010.XA
Authority: CN
Inventors: 郭安福; 姜涛; 王键; 陈志鹏; 侯金强; 张玉增
Original assignee: Liaocheng University
Current assignee: Liaocheng University
Priority date: 2019-10-25
Filing date: 2019-10-25
Publication date: 2020-11-17
Anticipated expiration: 2039-10-25
Also published as: CN110584899A

Abstract

The invention relates to a wheelchair structure capable of changing the revolution radius of walking wheels, which comprises a bottom plate, wherein a plurality of walking wheel sets are arranged below the bottom plate, each walking wheel set respectively comprises a driving disc rotationally connected with the bottom plate, a plurality of parallelogram mechanisms are sequentially arranged on the outer end surface of the driving disc along the circumferential direction, each parallelogram mechanism comprises a positioning rod fixedly connected with the driving disc, the extending direction of the positioning rod is parallel to the outer end surface of the driving disc, one connecting rod parallel to the positioning rod in each parallelogram mechanism is a translation rod, and a walking wheel is rotationally arranged at one end of each translation rod, which is far away from the rotation axis of the driving disc. The invention can adjust the revolution radius of the travelling wheel along the driving axis in the wheel set structure according to the height of the obstacle to be crossed, and can adjust the angle of the seat plate according to the climbing angle.

Description

Can change walking wheel revolution radius's wheelchair structure

Technical Field

The invention belongs to the technical field of wheelchairs, and particularly relates to a wheelchair structure capable of changing the revolution radius of walking wheels.

Background

Wheelchairs are chairs equipped with wheels to help replace walking and are classified into electric and manual folding wheelchairs. The movable tool is an important movable tool for home rehabilitation, turnover transportation, treatment and outing activities of wounded persons, patients and disabled persons.

When the wheelchair is used, the wheelchair needs to cross obstacles, and the driving wheels on each side of the existing wheelchair structure are arranged in an equilateral triangle mode through three wheel bodies, so that the wheel bodies can revolve around the centers of the equilateral triangles while rotating, and for some step positions, the diameter of the composite wheel can be increased through the revolution of the wheel bodies, so that the obstacle crossing function is realized.

The inventor finds that most of the existing obstacle crossing wheel trains are the combination of three wheel bodies, and the obstacle crossing is carried out by utilizing the revolution of the combined wheel trains, but the obstacles with different conditions are distributed on different roads due to different heights of the obstacles, such as the road teeth and the steps have different heights, the obstacle crossing wheel of the traditional obstacle crossing wheel with a certain higher obstacle cannot pass through, the obstacle crossing can be realized by carrying the whole bearing object, if the obstacle crossing capability of the wheel train is improved by increasing the wheel spacing, the size of the wheel train is increased sharply, and the use of the wheelchair is not facilitated.

Meanwhile, the seat board and the bottom board of the existing stair climbing wheelchair are fixedly connected, so that the angle between the seat board and the bottom board cannot be adjusted according to the inclination angle of the stair to be climbed, and the seat board cannot be kept in a horizontal or approximately horizontal state; the person who takes the wheelchair tends to overturn backwards, which causes psychological panic to the passengers and influences the use.

Disclosure of Invention

The invention aims to provide a wheelchair structure capable of changing the revolution radius of a travelling wheel, which can solve at least one technical problem.

In order to solve the problems, the invention provides a wheelchair structure capable of changing the revolution radius of walking wheels, which comprises a bottom plate, wherein a plurality of walking wheel sets are arranged below the bottom plate, each walking wheel set respectively comprises a driving disc rotationally connected with the bottom plate, a plurality of parallelogram mechanisms are sequentially arranged on the outer end surface of the driving disc along the circumferential direction, each parallelogram mechanism comprises a positioning rod fixedly connected with the driving disc, the extending direction of the positioning rod is parallel to the outer end surface of the driving disc, one connecting rod parallel to the positioning rod in each parallelogram mechanism is a translation rod, and the end of the translation rod, far away from the rotation axis of the driving disc, is rotationally provided with the walking wheels;

the multiple translational rods in the multiple parallelogram mechanisms can synchronously move under the driving of an external driving device to change the distance between the central axis of the walking wheels and the central axis of the driving disc, and the distances between different walking wheels in the same walking wheel group and the central axis of the driving disc are the same;

the driving disc can rotate under the drive of the rotation driving device so as to drive the plurality of traveling wheels to revolve along the central axis of the driving disc.

Furthermore, a mounting hole is formed in the middle of the driving disc, the mounting hole and the driving disc are coaxially arranged, and a driving rod is arranged in the mounting hole; one end of the driving rod, which is close to the traveling wheels, is connected with the fixed disc, a plurality of pull rods are uniformly distributed on the end surface of the fixed disc, which is close to the traveling wheels, one end of each pull rod is rotatably connected with the fixed disc, and the other end of each pull rod is hinged with one end of the translation rod, which is close to the rotating axis of the driving disc;

the driving rod can realize reciprocating linear motion along the mounting hole under the driving of the external driving device.

Furthermore, the travelling wheels are used in pairs, the driving discs in each pair of travelling wheel sets are coaxially arranged, and the two travelling wheel sets in each pair are respectively arranged on two sides of the bottom plate;

the external driving device comprises two translation rod pieces which are arranged in parallel, the translation rod pieces are fixedly connected with two driving rods which are positioned on the same side, the moving directions of the two translation rod pieces are opposite, the moving direction of the translation rod pieces is parallel to the rotating axis of the driving disc, and the translation rod pieces drive the driving rods to move in the mounting holes through translation.

Furthermore, the external driving device also comprises two parallelogram structures, wherein a reference rod in each parallelogram structure is respectively and fixedly connected with two translation rod pieces, the extending direction of the reference rod is parallel to the rotating axis direction of the driving disc, a rod piece parallel to the reference rod in each parallelogram structure is a sliding rod, one end of the sliding rod, close to the driving rod, is rotatably connected with a first sliding block, the first sliding block is arranged in a sliding groove, the sliding groove is arranged on the lower surface of the bottom plate, and the extending direction of the sliding groove is vertical to the rotating axis direction of the driving disc;

the rod piece between the reference rod and the sliding rod in the parallelogram structure is a swing rod, the middle of one swing rod close to the driving disc is hinged with one end of a rotating rod, the other end of the rotating rod is fixedly connected with a rotating driving shaft, and the rotating driving shaft can drive the rotating rod to rotate.

Further, one side of the bottom plate is hinged with the seat plate; an angle adjusting device is arranged between the seat plate and the bottom plate and can adjust the angle between the seat plate and the bottom plate; the angle adjusting device comprises two supporting seats fixedly connected with the bottom plate, a rotating shaft is rotatably arranged between the two supporting seats, the rotating shaft can rotate along the axis of the rotating shaft, and the rotating axis of the rotating shaft is parallel to the rotating axis of the seat plate along the bottom plate;

the two ends of the rotating shaft are respectively provided with a connecting rod, one end of each connecting rod is fixedly connected with the rotating shaft, the other end of each connecting rod is hinged with one end of each adjusting rod, and the other end of each adjusting rod is hinged with the seat plate.

The invention has the beneficial effects that:

(1) the revolution radius of the roller can be adjusted by adjusting the distance between the roller and the axis of the fixed disc through the parallelogram mechanism, so that the revolution radius of the roller can be adjusted in time according to the size of an actual obstacle, the state of a wheel train meeting the obstacle crossing is obtained, and different obstacles distributed on the road surface are adapted;

(2) the pull rod is regulated and controlled by the driving disk coaxially arranged with the fixed disk, so that the driving disk and the fixed disk can rotate coaxially, namely, the driving disk and the fixed disk are in a relative static state, when the distance between the driving disk and the fixed disk is adjusted, the pull rod is driven to push and pull the parallelogram mechanism, the four-bar mechanism is adjusted, and then the roller on the connecting rod is driven to adjust, and the effect of synchronously and quickly adjusting the revolution radius is realized.

(3) The mode that the seat plate is hinged with the bottom plate is adopted, so that a foundation is provided for the seat plate to rotate on the basis of the bottom plate; the angle adjusting device is adopted, so that the rotation of the rotating shaft can be converted into the movement of the adjusting rod, the adjusting rod is further utilized to push the seat plate to rotate along the bottom plate, power is provided for the rotation of the seat plate along the bottom plate, and the rotation of the seat plate along the bottom plate is realized; so that the seat plate is parallel or approximately parallel to the horizontal plane when the wheelchair climbs the slope.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a front view of the overall structure in an embodiment of the present invention;

FIG. 2 is an isometric view of an overall structure in an embodiment of the invention;

FIG. 3 is a schematic diagram of the structure of the base plate and the external transmission mechanism in the embodiment of the present invention;

FIG. 4 is a schematic diagram of the structure of the base plate and the external driving mechanism in the embodiment of the present invention;

fig. 5 is a schematic structural diagram of a road wheel set in the embodiment of the invention.

Wherein, 1, a walking wheel group; 2. a seat structure; 3. an angle adjusting device; 4. a rotation driving mechanism; 5. a base plate;

101, a first electrode and a second electrode; a parallelogram mechanism; 102. a traveling wheel; 103. a pull rod; 104. positioning a rod; 105. fixing the disc; 106. a drive disc;

201. a backrest; 202. a handrail; 203. a seat plate; 204. a pedal; 301. adjusting a rod; 302. a rotating shaft; 303. a bearing seat; 304. a connecting rod; 305. a third bevel gear;

401. a first motor; 402. a drive shaft; 403. a drive shaft; 404. a second motor; 405. a first bevel gear;

601. adjusting the rod piece; 602. a second slider; 603. a translation rod; 604. a parallelogram structure; 605. a rotating rod; 606. a slide bar; 608. a drive rod; 6041. a reference bar; 6042. a swing rod;

Detailed Description

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

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In a typical embodiment of the present invention, as shown in fig. 1 to 5, a wheelchair structure capable of changing a revolving radius of a traveling wheel includes a bottom plate 5, a plurality of traveling wheel sets 1 are installed below the bottom plate 5, each traveling wheel set 1 includes a driving disc 106 rotatably connected to the bottom plate 5, a plurality of parallelogram mechanisms 101 are sequentially installed on an outer end surface of the driving disc 106 along a circumferential direction, the parallelogram mechanisms 101 include positioning bars 104 fixedly connected to the driving discs 106, an extending direction of the positioning bars 104 is parallel to the outer end surface of the driving discs 106, one connecting rod parallel to the positioning bars 104 in the parallelogram mechanisms 101 is a translation bar, and a traveling wheel 102 is rotatably installed on one end of the translation bar away from a rotating axis of the driving discs 106;

a plurality of flat moving rods in the plurality of parallelogram mechanisms 101 can move synchronously under the driving of an external driving device to change the distance between the central axis of the walking wheel and the central axis of the driving disc, and the distances between different walking wheels in the same walking wheel set and the central axis of the driving disc are the same.

The driving disc 106 can be driven by the rotation driving device to rotate so as to drive the plurality of road wheels 102 to revolve along the central axis of the driving disc 106.

The running wheel sets 1 are used in pairs, the driving discs 106 in each pair of running wheel sets 1 are coaxially arranged, and the two running wheel sets 1 in each pair are respectively arranged at two sides of the bottom plate 5;

an external driving mechanism: a mounting hole is formed in the middle of the driving disc 106, the mounting hole and the driving disc 106 are coaxially arranged, and a driving rod 608 is arranged in the mounting hole; one end of the driving rod 608 close to the traveling wheel 102 is connected with the fixed disk 105, a plurality of pull rods 103 are uniformly distributed on the end surface of the fixed disk 105 close to the traveling wheel 102, one end of each pull rod 103 is rotatably connected with the fixed disk 105, and the other end of each pull rod 103 is hinged with one end of the translation rod close to the rotation axis of the driving disk 106;

the driving rod 608 can be driven by an external driving device to perform a reciprocating linear motion along the mounting hole.

The external driving device comprises two parallel translation rod members 603, the translation rod members 603 are respectively and fixedly connected with two driving rods 608 located on the same side, the moving directions of the two translation rod members 603 are opposite, the moving direction of the translation rod members 603 is parallel to the rotation axis of the driving disc 106, and the translation rod members 603 drive the driving rods 608 to move in the mounting holes through translation.

The external driving device further comprises two parallelogram structures 604, reference rods 6041 in the parallelogram structures 604 are respectively and fixedly connected with the two translation rod pieces 603, the extending direction of the reference rods 6041 is parallel to the direction of the rotation axis of the driving disc 106, a rod piece parallel to the reference rods 6041 in each parallelogram structure 604 is a sliding rod, one end, close to the driving rod 608, of the sliding rod is rotatably connected with a first sliding block, the first sliding block is arranged in the sliding groove 607, the sliding groove is arranged on the lower surface of the bottom plate 5 in the 607, and the extending direction of the sliding groove 607 is perpendicular to the direction of the rotation axis of the driving disc 106.

The rod between the reference rod 6041 and the sliding rod in the parallelogram structure 604 is a swing rod 6042, the middle of one swing rod 6042 close to the driving disk 106 is hinged with one end of a rotating rod 605, the other end of the rotating rod 605 is fixedly connected with a rotating driving shaft (not shown in the figure), and the rotating driving shaft can drive the rotating rod 605 to rotate.

The rotating driving shaft penetrates through the bottom plate 5, the upper end of the rotating driving shaft penetrates through the bottom plate 5 and then is connected with a first bevel gear 405, the driving shaft 403 is rotatably installed on the upper surface of the bottom plate 5, the driving shaft 403 can rotate along the axis of the driving shaft, two second bevel gears are respectively installed at two ends of the driving shaft 403, and the first bevel gear 405 is respectively meshed with the second bevel gears to transmit the power of the driving shaft 403 to the rotating rod 605.

The middle part of transmission shaft 402 is equipped with first drive gear, the upper surface of bottom plate 5 is equipped with the second drive gear, first drive gear and the meshing of second drive gear. The second transmission gear is driven by a motor.

In some embodiments, in order to increase the stability of the movement of the translation rod 603, an adjusting rod may be disposed on the translation rod 603, one end of the adjusting rod is hinged to the translation rod 603, and the other end of the adjusting rod is hinged to the second sliding block 602, the second sliding block is disposed in a sliding slot of the sliding bar 606, and the second sliding block can slide along the sliding slot of the sliding bar 606.

Rotation driving mechanism 4: the driving disc 106 is rotatably mounted on the side surface of the bottom plate 5, the outer circle side surface of the driving disc 106 is provided with ring teeth, the rotary driving device comprises a transmission shaft 402, the transmission shaft 402 is rotatably mounted on the upper side surface of the bottom plate 5, two ends of the transmission shaft 402 are respectively fixed with a straight gear, and the straight gear is meshed with the adjacent ring teeth.

Seat structure and angle modulation structure: one side of the bottom plate 5 is hinged with the seat plate 203; an angle adjusting device 3 is arranged between the seat plate 203 and the bottom plate 5, and the angle adjusting device 3 can adjust the angle between the seat plate 203 and the bottom plate 5; the angle adjusting device 3 comprises two supporting seats fixedly connected with the bottom plate 5, a rotating shaft 302 is rotatably mounted between the two supporting seats, the rotating shaft 302 can rotate along the axis of the rotating shaft 302, and the rotating axis of the rotating shaft 302 is parallel to the rotating axis of the seat plate 203 along the bottom plate 5;

two ends of the rotating shaft 302 are respectively provided with a connecting rod 304, one end of the connecting rod 304 is fixedly connected with the rotating shaft 302, the other end of the connecting rod 304 is hinged with one end of the adjusting rod 301, and the other end of the adjusting rod 301 is hinged with the seat plate 203.

The supporting seat is provided with a bearing seat 303, two ends of the rotating shaft 302 are respectively supported by one bearing seat 303, the middle part of the rotating shaft 302 is provided with a third bevel gear 305, the bottom plate 5 is provided with a fourth bevel gear, the third bevel gear 305 is meshed with the fourth bevel gear, and the fourth bevel gear is driven by an adjusting motor arranged on the bottom plate 5. Specifically, a shoulder should be disposed on the rotating shaft 302 to facilitate axial positioning of the rotating shaft 302 when connected with the bearing seat 303.

Specifically, a bevel gear is arranged in the middle of the transmission shaft 402, a first motor 401 is mounted on the upper surface of the bottom plate 5, and an output shaft of the first motor 401 transmits power to the transmission shaft 402 through bevel gear transmission.

The middle part of the driving shaft 403 is provided with a bevel gear, the upper surface of the bottom plate 5 is provided with a second motor 404, and the output shaft of the second motor 404 transmits power to the driving shaft 403 through bevel gear transmission.

The second bevel gear and the output shaft of the adjusting motor are arranged coaxially.

The two connecting rods 304 are respectively arranged at two sides of the seat plate 203, and the two adjusting rods 301 are respectively arranged at two sides of the seat plate 203. The rotating shaft 302 and the adjusting motor are arranged below the seat plate 203.

The hinged position of the seat plate 203 and the bottom plate 5 forms a hinged point, and a backrest 201 is arranged on one side of the upper surface of the seat plate 203 far away from the hinged point. A pedal 204 is arranged on one side of the seat plate 203 close to the hinge point.

One side of the seat plate 203 is provided with a connecting plate extending downwards, the upper end of the connecting plate is fixedly connected with the main body of the seat plate 203, and the lower end is hinged with the bottom plate 5. Armrests 202 are respectively arranged on two sides of the backrest 201.

In some embodiments, the connecting plate may be a part of the seat plate 203, integrally formed with the main structure of the seat plate 203, or may be separately disposed and then fixedly connected together by welding or bolting.

The working principle is as follows:

when the revolution radius of the road wheels 102 is adjusted:

when the fixed disc 105 is far away from the driving disc 106, the distance between the axis of the walking wheel 102 and the axis of the driving disc 106 is increased, and the revolution radius of the walking wheel 102 around the axis of the driving disc 106 is increased; when a higher obstacle is crossed, the driving rod 608 can drive the fixed disk 105 to be far away from the driving disk 106, so that the parallelogram mechanism 101 is pushed to deform, the axial distance between the axis of the walking wheel 102 and the axial direction of the fixed disk 105 is gradually increased, at the moment, the walking wheel 102 is close to the driving disk 106 in the axial direction, the supporting capacity is improved, the revolution radius is increased, and the obstacle crossing capacity is improved.

Similarly, when a lower obstacle is crossed, the driving rod 608 drives the fixed disk 105 to be close to the driving disk 106, so that the parallelogram mechanism 101 is pulled to deform, the axial distance between the axis of the walking wheel 102 and the axial direction of the fixed disk 105 is gradually reduced, at the moment, the walking wheel 102 is far away from the driving disk 106 in the axial direction, the axial distance between the walking wheel 102 support and the driving disk 106 can be prolonged, and the revolution radius is reduced to the length value meeting the obstacle crossing requirement.

Certainly, when the obstacle does not need to be crossed, the revolution radius of the wheel train can be adjusted according to the requirement of the axial length, so that the requirement of the axial length, namely the width, is met, and the carrying is convenient.

The revolution radius of the walking wheels 102 can be adjusted by adjusting the axial distance between the walking wheels 102 and the driving disc 106 through the parallelogram mechanism 101, so that the revolution radius of the walking wheels 102 can be adjusted in time according to the actual obstacle size, the wheel train state meeting obstacle crossing is obtained, and different obstacles distributed on the road surface are adapted;

when the driving rod 608 is driven by the external driving device to move synchronously:

the second motor 404 rotates, the rotation of the second motor 404 is transmitted to the rotating rod 605 through bevel gear transmission, the rotating rod 605 correspondingly rotates, the rotation of the rotating rod 605 drives the two translation rod pieces 603 in the parallelogram structure 604 to realize reciprocating linear motion, and finally, the plurality of driving rods 608 simultaneously move towards the direction close to or far away from the central axis of the bottom plate 5.

When the angle of the seat structure 2 needs to be adjusted: the base plate 5 is mounted with other parts of the wheelchair, which can be set by the person skilled in the art at his discretion. When the wheelchair needs to climb, the output shaft of the adjusting motor rotates to drive the rotating shaft 302 in the angle adjusting device 3 to rotate.

The rotation of the rotation shaft 302 drives the connection rod 304 to rotate within a small range, the rotation of the connection rod 304 drives the adjustment rod 301 to move, and the adjustment rod 301 can move backwards or forwards relative to a hinge point between the seat plate 203 and the bottom plate 5, so that the seat plate 203 can rotate.

When the wheelchair climbs a slope, the bottom plate 5 can naturally incline at a certain angle, and the seat plate 203 correspondingly rotates through the movement of the angle adjusting device 3, so that the seat plate 203 is kept in a parallel or approximately parallel state with the horizontal plane. The situation that the passenger is in a backward leaning state is avoided.

In some embodiments, the adjustment of the angle of the seat plate 203 may be manually adjusted by the occupant. In other embodiments, an angle sensor may be disposed on the bottom plate 5, and the seat plate 203 may be deflected by the same angle value in a predetermined direction according to the deflection angle of the angle sensor.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. A wheelchair structure capable of changing the revolution radius of walking wheels is characterized by comprising a bottom plate, wherein a plurality of walking wheel sets are mounted below the bottom plate, each walking wheel set comprises a driving disc rotationally connected with the bottom plate, a plurality of parallelogram mechanisms are sequentially mounted on the outer end face of the driving disc along the circumferential direction, each parallelogram mechanism comprises a positioning rod fixedly connected with the driving disc, the extending direction of the positioning rod is parallel to the outer end face of the driving disc, one connecting rod parallel to the positioning rod in each parallelogram mechanism is a translation rod, and a walking wheel is rotationally mounted at one end, away from the rotation axis of the driving disc, of each translation rod;

the multiple translational rods in the multiple parallelogram mechanisms can synchronously move under the driving of an external driving device to change the distance between the central axis of the walking wheels and the central axis of the driving disc, and the distances between different walking wheels in the same walking wheel set and the central axis of the driving wheel are the same;

the driving disc can be driven by the rotary driving device to rotate so as to drive the plurality of traveling wheels to revolve along the central axis of the driving disc;

the middle part of the driving disc is provided with a mounting hole, the mounting hole and the driving disc are coaxially arranged, and a driving rod is arranged in the mounting hole; one end of the driving rod, which is close to the traveling wheels, is connected with the fixed disc, a plurality of pull rods are uniformly distributed on the end surface of the fixed disc, which is close to the traveling wheels, one end of each pull rod is rotatably connected with the fixed disc, and the other end of each pull rod is hinged with one end of the translation rod, which is close to the rotating axis of the driving disc;

the driving rod can realize reciprocating linear motion along the mounting hole under the driving of an external driving device;

one side of the bottom plate is hinged with the seat plate;

an angle adjusting device is arranged between the seat plate and the bottom plate and can adjust the angle between the seat plate and the bottom plate;

the angle adjusting device comprises two supporting seats fixedly connected with the bottom plate, a rotating shaft is rotatably arranged between the two supporting seats, the rotating shaft can rotate along the axis of the rotating shaft, and the rotating axis of the rotating shaft is parallel to the rotating axis of the seat plate along the bottom plate;

2. The wheelchair structure capable of changing the revolution radius of the travelling wheels as claimed in claim 1, wherein the travelling wheels are used in pairs, the driving discs in each pair of travelling wheels are coaxially arranged, and the two travelling wheels in each pair are respectively arranged on two sides of the bottom plate;

3. The wheelchair structure capable of changing the revolution radius of the travelling wheels as claimed in claim 2, wherein the external driving device further comprises two parallelogram structures, a reference rod in each parallelogram structure is fixedly connected with two translation rod pieces respectively, the extension direction of the reference rod is parallel to the direction of the rotation axis of the driving disc, the rod piece parallel to the reference rod in each parallelogram structure is a slide rod, one end of the slide rod close to the driving rod is rotatably connected with a first slide block, the first slide block is arranged in a slide groove, the slide groove is arranged on the lower surface of the bottom plate, and the extension direction of the slide groove is perpendicular to the direction of the rotation axis of the driving disc;

4. The wheelchair structure capable of changing the revolution radius of the road wheels as claimed in claim 3, wherein the rotating rod penetrates through the bottom plate, the upper end of the rotating rod penetrates through the bottom plate and then is connected with a first bevel gear, a driving shaft is rotatably mounted on the upper surface of the bottom plate and can rotate along the axis of the driving shaft, two second bevel gears are respectively mounted at two ends of the driving shaft, and the first bevel gears are respectively engaged with the second bevel gears so as to transmit the power of the driving shaft to the rotating rod.

5. The wheelchair structure capable of changing the revolution radius of the road wheels as claimed in claim 1, wherein the supporting base is provided with a bearing seat, both ends of the rotating shaft are respectively supported by one bearing seat, the middle part of the rotating shaft is provided with a third bevel gear, the bottom plate is provided with a fourth bevel gear, the third bevel gear is engaged with the fourth bevel gear, and the fourth bevel gear is driven by an adjusting motor installed on the bottom plate.

6. The wheelchair structure capable of changing the revolution radius of the road wheels as claimed in claim 4, wherein a bevel gear is provided in the middle of the driving shaft, a second motor is mounted on the upper surface of the base plate, and the output shaft of the second motor transmits power to the driving shaft through bevel gear transmission.