CN116849937B

CN116849937B - Wheelchair walking aid integrated machine

Info

Publication number: CN116849937B
Application number: CN202310564196.6A
Authority: CN
Inventors: 兰陟; 白雪; 王丽; 王强; 梁文渊
Original assignee: National Research Center for Rehabilitation Technical Aids
Current assignee: National Research Center for Rehabilitation Technical Aids
Priority date: 2023-05-18
Filing date: 2023-05-18
Publication date: 2024-05-24
Anticipated expiration: 2043-05-18
Also published as: CN116849937A

Abstract

The invention provides a wheelchair walker all-in-one machine, which comprises a wheelchair body, driving wheels, a pedal device, a seat cushion, a backrest cushion, a handle device, a hand manipulator and a controller, wherein the driving wheels, the pedal device, the seat cushion, the backrest cushion, the handle device, the hand manipulator and the controller are all connected to the wheelchair body, the driving wheels are positioned at the bottom of the wheelchair body, the pedal device is positioned at the position, close to the bottom of the front end, of the wheelchair body, the handle device is positioned at the top end of the wheelchair body, the hand manipulator device is used for detecting whether the working mode of the wheelchair walker all-in-one machine is a wheelchair mode or a walker mode, the hand manipulator is used for controlling the running state of the wheelchair walker all-in-one machine in the wheelchair mode, and the controller is used for controlling the running state of the wheelchair walker all-in-one machine in the walker mode. The wheelchair walker integrated machine can be used as a wheelchair or a walker.

Description

Wheelchair walking aid integrated machine

Technical Field

The invention relates to the technical field of shifting walking aid tools, in particular to a wheelchair walking aid integrated machine.

Background

The rapid development of population aging causes the life assistance problem of the old to be urgently solved. The existing research results show that the old and disabled people with unstable walking or lower limb movement dysfunction can better help the old and disabled people to balance, support and assist the body when using the walker and the wheelchair, and the old people with the walking movement disorder have great demands for the shift walker comprising the wheelchair walker and the like.

In the prior art, the walker and the wheelchair are generally of split structures; namely, the walker only has the functions of assisting walking and balancing, generally does not have the wheelchair function, and also does not have the intelligent functions of assisting in ascending a slope, increasing resistance in descending a slope and the like; the wheelchair generally has no function of a walker due to the limitations of the structure, the motor control mode and the like; therefore, for the user who needs the walker and the wheelchair at the same time, the user needs to be provided with the walker and the wheelchair, which not only improves the cost of the walker, but also reduces the convenience of use, and particularly in the outdoor activity place where the walker and the wheelchair need to be used alternately for assisting training, the carrying of the two assistives is definitely inconvenient. Therefore, how to provide a wheelchair walker integrated device that can work in both wheelchair mode and walker mode is a technical problem to be solved.

Disclosure of Invention

Accordingly, the present invention is directed to a wheelchair walker integrated machine that substantially obviates one or more of the problems in the prior art.

According to one aspect of the invention, the invention discloses a wheelchair walker integrated machine, which comprises a wheelchair body, a driving wheel, a pedal device, a seat cushion, a back cushion, a handle device, a hand manipulator and a controller, wherein the driving wheel, the pedal device, the seat cushion, the back cushion, the handle device, the hand manipulator and the controller are all connected to the wheelchair body, the driving wheel is positioned at the bottom of the wheelchair body, the pedal device is positioned at the position of the wheelchair body, which is close to the bottom of the front end, the handle device is positioned at the top end of the wheelchair body, the handle device is used for detecting that the working mode of the wheelchair walker integrated machine is a wheelchair mode or a walker mode, the hand manipulator is used for controlling the running state of the wheelchair walker integrated machine in the wheelchair mode, and the controller is used for controlling the running state of the wheelchair walker integrated machine in the walker mode.

In some embodiments of the present invention, the handle device includes a handle bar and a pressure detecting part for detecting a pressing pressure of the handle bar, and the handle device determines an operation mode of the wheelchair walker integrated machine based on the pressing pressure detected by the pressure detecting part.

In some embodiments of the invention, the handle device further comprises:

The handle seat is fixed on the wheelchair body and provided with a groove, and the pressure detection component is arranged in the groove;

The contact is arranged in the groove, the contact is hinged with the handle seat, one end of the contact is fixedly connected with the handle rod, and the contact can rotate around a hinge point by pressing the handle rod so as to change the contact pressure between the contact and the pressure detection part;

the elastic component is arranged at the bottom of the contact and is used for generating elastic deformation when the handle rod is pressed and assisting the contact to automatically reset when the handle rod is loosened;

the hand brake component is arranged on one side of the handle bar.

In some embodiments of the invention, the wheelchair body is a collapsible frame structure.

In some embodiments of the invention, the frame structure comprises:

The left frame and the right frame are arranged at intervals, and a first cushion frame supporting piece and a second cushion frame supporting piece are respectively arranged on the left frame and the right frame;

The foldable link mechanism comprises a left folding rod, a right folding rod, a first connecting rod, a second connecting rod, a first cushion frame and a second cushion frame, wherein the left folding rod and the right folding rod are arranged in a crossing mode, the middle parts of the left folding rod and the right folding rod are hinged, the first end of the left folding rod and the first end of the right folding rod are respectively hinged with a left frame and a right frame, the second end of the left folding rod and the second end of the right folding rod are respectively hinged with the first end of the first connecting rod and the first end of the second connecting rod, the second end of the first connecting rod and the second end of the second connecting rod are hinged, the first cushion frame and the second cushion frame are respectively fixedly connected with the right folding rod and the left folding rod, and when the wheelchair body is in an unfolding state, the first cushion frame and the second cushion frame are respectively supported on the first cushion frame supporting piece and the second cushion frame supporting piece.

In some embodiments of the present invention, the left frame includes a left cross frame and a left upright frame, the right frame includes a right cross frame and a right upright frame, the first end of the left folding bar and the first end of the right folding bar are respectively hinged to the left cross frame and the right cross frame, and the first cushion frame support and the second cushion frame support are respectively disposed on the left upright frame and the right upright frame.

In some embodiments of the present invention, the pedal device includes left and right pedals provided on the left and right cross frames, respectively, and the left and right pedals may be maintained in a horizontal state or a vertical state.

In some embodiments of the present invention, the driving wheel includes a hub motor, a clutch chuck, a clutch coil and a motor fixing seat, the motor fixing seat is connected with the wheelchair body and an output shaft of the hub motor, the clutch chuck and the clutch coil are sleeved on the output shaft of the hub motor, the clutch chuck is fixedly connected with the hub motor, the clutch coil is fixedly connected with the motor fixing seat, and the clutch coil can be powered on and powered off to realize the engagement and disengagement of the clutch chuck and the clutch coil.

In some embodiments of the invention, the wheelchair walker integrated machine further comprises universal wheels disposed at the bottom of the wheelchair body.

In some embodiments of the invention, the left and right uprights each include a fixed section and a height adjustable section, the height of the handle assembly being adjustable by adjusting the height adjustable section; and/or

The controller is fixed on the left transverse frame or the right transverse frame; and/or

The manual operator is detachably arranged on the left vertical frame or the right vertical frame.

The wheelchair walker integrated machine disclosed by the embodiment can be used for detecting the working mode of the wheelchair walker integrated machine by the handle device; in the wheelchair mode, the operating state of the wheelchair walker integrated machine is controlled through the manual operator; in the walker mode, controlling the running state of the wheelchair walker integrated machine through a controller; therefore, the wheelchair walker integrated machine has both wheelchair functions and walker functions, namely, the wheelchair walker integrated machine can work in a wheelchair mode and also can work in a walker mode, so that the wheelchair walker integrated machine reduces the cost of auxiliary tools and improves the convenience of use.

In addition, the controller of the wheelchair walker integrated machine can control the starting, stopping, speed following, brake, uphill power assisting, damping increasing and the like of the wheelchair walker integrated machine in a walker mode, so that the safety of a user can be better ensured, and the usability and the safety of the walker in the using process are improved.

In addition to the above, the wheelchair walker integrated machine is of a foldable structure, so that the wheelchair walker integrated machine is convenient to carry, store and transport.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the above-described specific ones, and that the above and other objects that can be achieved with the present invention will be more clearly understood from the following detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and together with the description serve to explain the application. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. Corresponding parts in the drawings may be exaggerated, i.e. made larger relative to other parts in an exemplary device actually manufactured according to the present application, for convenience in showing and describing some parts of the present application. In the drawings:

Fig. 1 is a schematic structural view of a wheelchair walker integrated machine according to an embodiment of the present invention.

Fig. 2 is a schematic view of a first direction structure of a wheelchair body of a wheelchair walker integrated machine according to an embodiment of the present invention.

Fig. 3 is a schematic view of a second direction structure of a wheelchair body of a wheelchair walker integrated machine according to an embodiment of the present invention.

Fig. 4 is a schematic partial structural view of a pedal device of a wheelchair walker integrated machine according to an embodiment of the present invention.

Fig. 5 is a schematic view of a wheelchair walker integrated machine according to an embodiment of the present invention in a folded state.

Fig. 6 is an exploded view of a driving wheel according to an embodiment of the present invention.

Fig. 7 is an exploded view of the structure of a universal wheel according to an embodiment of the present invention.

Fig. 8 is an exploded view of the structure of a handle device according to an embodiment of the present invention.

Fig. 9 is a reference view of the wheelchair walker integrated machine in use as a wheelchair.

Fig. 10 is a reference view of the use state of the wheelchair walker integrated machine when used as a walker.

Reference numerals: wheelchair body 100 drive wheel 300 universal wheel 400 pedal apparatus 200 cushion 81 backrest cushion 82 handle apparatus 500 hand manipulator 83 controller 84 battery 85 hand lever 527 pressure detection component 522 hand lever 521 contact 523 elastic component 528 hand brake component 526 contact pin 524 pin shaft mounting component 523a contact bolt 525 left end face 523a contact 522a first cushion frame support 151 second cushion frame support 152 left folding rod 132 right folding rod 142 first connecting rod 137 second connecting rod 147 first cushion frame 143 second cushion frame 133 left backrest cushion mount 153 right backrest cushion mount 154 left side frame 102 left side cross frame 102 right cross frame 111 right side cross frame 111 left side folding swivel rod 131 right side folding swivel rod 131 left side swivel rod 136 fixed block 106 right side swivel rod 146 swivel sleeve 134 arc groove 151a hand-operated device fixing member 155a hand-operated device fixing member 156 height adjustable section 162 left height adjustable sliding sleeve 161 right height adjustable sliding sleeve 163 left pedal 215 right pedal 225 support shaft 211 support rod 213 foot pedal bolt 216 pin 217 support shaft sleeve 104 foot pedal support member 105 universal wheel fixing member 103 vertical shaft 401 upper lock nut 402 upper bearing 403 lower bearing 404 front fork 405 front wheel 407 lower lock nut 407 spacer 409 cross shaft 408 mounting hole 405b lower hub motor 301 clutch chuck 303 clutch coil 304 motor fixing base 305 end face 305a output shaft 302a fastening bolt 306 boss-like spigot 305b folding handle 138T-shaped boss 155a fixing 155a

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The exemplary embodiments of the present invention and their descriptions herein are for the purpose of explaining the present invention, but are not to be construed as limiting the invention.

It should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, while other details not greatly related to the present invention are omitted.

It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

Here, it should be further noted that, in the present specification, the term of orientation appears in relation to the direction of position shown in the drawings; the term "coupled", unless expressly stated otherwise, may refer not only to a direct connection, but also to an indirect connection in the presence of an intermediate. The direct connection is that the two parts are connected without intermediate parts, and the indirect connection is that the two parts are connected with other parts.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

Fig. 1 is a schematic structural diagram of a wheelchair walker integrated machine according to an embodiment of the present invention, as shown in fig. 1, the wheelchair walker integrated machine at least includes the following components: wheelchair main body 100, drive wheel 300, pedal device 200, seat cushion 81, back cushion 82, handle device 500, hand manipulator 83, and controller 84. The driving wheel 300, the pedal device 200, the seat cushion 81, the backrest cushion 82, the handle device 500, the hand operator 83 and the controller 84 are all connected to the wheelchair body 100, the driving wheel 300 is located at the bottom of the wheelchair body 100, the pedal device 200 is located at a position of the wheelchair body 100 near to the bottom of the front end, the handle device 500 is located at the top end of the wheelchair body 100, the handle device 500 is used for detecting whether the working mode of the wheelchair walker integrated machine is a wheelchair mode or a walker mode, the hand operator 83 is used for controlling the running state of the wheelchair walker integrated machine in the wheelchair mode, and the controller 84 is used for controlling the running state of the wheelchair walker integrated machine in the walker mode.

In this embodiment, the drive wheel 300 is used to drive the wheelchair walker in one piece and, based on the operation of the handle apparatus 500, may cause the handle apparatus to detect whether the wheelchair walker in one piece is in wheelchair mode or walker mode; when the wheelchair walker integrated machine is in the wheelchair working mode, the pedal device 200 serves as a member for supporting both feet of the user, and the user can control the wheelchair walker integrated machine in the wheelchair mode to walk, stop, turn and the like by manipulating the manual operator 83; when the wheelchair walker integrated machine is in a walker mode of operation, the controller 84 may control the start, stop, speed follow, brake off handle, uphill assist, downhill added damping, etc. of the walker.

Further, the handle device 500 includes a handle rod 527 and a pressure detecting member 522, the pressure detecting member 522 is configured to detect a pressing pressure of the handle rod 527, and the handle device 500 determines an operation mode of the wheelchair walker integrated machine based on the pressing pressure detected by the pressure detecting member 522. When the wheelchair walker integrated machine is operated in the walker mode, since the user presses the handle bar 527, the pressure detecting member 522 can detect that the handle bar 527 carries a large pressing pressure; when the wheelchair walker integrated machine is operated in the wheelchair mode, the user does not press the handle bars 527, and the pressing pressure of the handle bars 527 detected by the pressure detecting member 522 is much smaller than that of the handle bars 527 in the walker mode. Illustratively, the pressure sensing component 522 is a pressure sensor.

In some embodiments of the present invention, the handle apparatus 500 may include a handle base 521, contacts 523, an elastic member 528, and a hand brake member 526 in addition to the pressure detecting member 522 and the handle lever 527. A handle base 521 fixed to the wheelchair body 100, the handle base 521 having a groove therein, the pressure detecting member 522 being disposed in the groove; a contact 523 provided in the groove, and the contact 523 is hinge-coupled to the handle base 521, one end of the contact 523 is fixedly coupled to the handle rod 527, and the contact 523 is rotated about a hinge point by pressing the handle rod 527 to change a contact pressure between the contact 523 and the pressure detecting member 522; an elastic member 528 provided at the bottom of the contact 523, the elastic member 528 being configured to elastically deform when the handle lever 527 is pressed and to assist in automatic contact return when the handle lever 527 is released; the hand brake member 526 is provided on one side of the handle lever 527.

Fig. 8 is a schematic structural diagram of a handle device 500 according to an embodiment of the present invention, referring to fig. 8, a side of a handle seat 521 has a square groove, and then both a pressure detecting member 522 and a contact 523 are disposed in the square groove, and the pressure detecting member 522 may be a pressure sensor specifically. The pressure sensor and the handle seat 521 can be detachably connected in the square groove by bolts or screws, and in order to realize the hinged connection of the contact 523 and the handle seat 521, the contact 523 and the handle seat 521 can be connected by a contact pin shaft 524; specifically, the pin mounting hole 523a may be provided on the contact 523, and the handle 521 may be provided with a hole structure at a position corresponding to the pin mounting hole 523a on the contact 523, so that the contact pin 524 is inserted into the pin mounting hole 523a and the hole structure on the handle 521 to realize the hinge connection of the handle 521 and the contact 523, and then the contact 523 may rotate around the contact pin 524 when the handle 527 is pressed. In order to realize the axial positioning of the contact pin shaft 524, the contact pin shaft 524 is further connected with the handle seat 521 through a contact bolt 525, and at this time, the center of the contact pin shaft can be provided with a shaft hole, and the contact bolt 525 penetrates into the shaft hole and is in threaded connection with the handle seat 521.

Further, the handle rod 527 and the contact 523 may be connected by welding, and the hand brake member 526 may be specifically located below the handle rod 527, and a brake switch (not shown in the drawing) is disposed in the hand brake member 526, where the hand brake member 526 is used to implement braking of the wheelchair walker integrated machine in the walker mode. When the wheelchair walker integrated machine walker mode is changed to the wheelchair mode, an elastic member 528 is further provided at the bottom of the contact 523 in order to automatically reset the pressed handle bar 527. The elastic member 528 may be exemplified by a spring, in which the spring is specifically disposed between the bottom of the contact 523 and the handle base 521, and when the handle lever 527 is pressed, the spring is compressed by the clockwise rotation of the contact 523, and when the handle lever 527 is released, the spring is restored and the contact 523 is lifted to the counterclockwise rotation. The spring may be positioned between the handle base 521 and the contact 523, in particular by means of a spring fixing bolt.

In the above-described embodiment, when the handle lever 527 is pressed, the contact 523 rotates about the pin, and the left end face 523b of the contact 523 thereof applies a force to the contact 522a of the pressure sensor, so that the pressure sensor collects the pressing force of the handle lever 527; when the pressed handle rod 527 is released, the contact 523 returns to the original position under the action of the spring, the left end face 523b is separated from the contact 522a of the pressure sensor, at this time, the pressure sensor senses that the handle rod 527 is not pressed, and based on the method, the handle device can judge whether the wheelchair walker integrated machine works in a walker mode. In addition, the pressure sensor is further connected to the controller 84, and when the handle device 500 detects that the wheelchair walker integrated machine is operating in a walker mode, the controller 84 controls the running state of the walker. It will be appreciated that in embodiments of the present invention, the handle assembly 500 specifically includes a left handle assembly and a right handle assembly, and that the left handle assembly and the right handle assembly may be identical in construction.

In one embodiment of the present invention, the wheelchair body 100 is a collapsible frame structure. In this embodiment, the wheelchair body 100 is configured as a foldable frame structure, so that the wheelchair walker integrated machine can be conveniently stored, transported and carried by folding the wheelchair body 100.

Illustratively, the collapsible frame structure comprises: the foldable cushion comprises a left frame, a right frame and a foldable link mechanism which are arranged at intervals, wherein a first cushion frame supporting piece 151 and a second cushion frame supporting piece 152 are respectively arranged on the left frame and the right frame; the foldable link mechanism comprises a left folding rod 132, a right folding rod 142, a first connecting rod 137, a second connecting rod 147, a first cushion frame 143 and a second cushion frame 133, the left folding rod 132 and the right folding rod 142 are arranged in a crossing manner, the middle parts of the left folding rod 132 and the right folding rod 142 are hinged, the first end of the left folding rod 132 and the first end of the right folding rod 142 are respectively hinged with a left frame and a right frame, the second end of the left folding rod 132 and the second end of the right folding rod 142 are respectively hinged with the first end of the first connecting rod 137 and the first end of the second connecting rod 147, the second end of the first connecting rod 137 and the second end of the second connecting rod 147 are respectively fixedly connected with the right folding rod 142 and the left folding rod 132, and when the wheelchair body 100 is in an unfolding state, the first cushion frame and the second cushion frame are respectively supported on the first cushion frame support 151 and the second cushion frame support 152.

In the above-described embodiment, the left and right frames, the first and second cushion frame supports 151 and 152, the left and right folding bars 132 and 142, and the first and second cushion frames 143 and 133, respectively, may be symmetrically disposed. And the cushion 81 is disposed between the first cushion frame 143 and the second cushion frame 133, and the cushion 81 is connected to both the first cushion frame 143 and the second cushion frame 133, and the cushion 81 is made of a foldable material, so when the frame structure is in a folded state, as shown in fig. 5, the cushion 81 is also in a folded state. In addition, in order to fix the back cushion 82, a left back cushion fixing member 153 and a right back cushion fixing member 154 are further provided on the left and right frames, respectively, the back cushion 82 is made of a foldable material similar to the seat cushion 81, and the back cushion 82 is connected to both the left back cushion fixing member 153 and the right back cushion fixing member 154; when the frame structure is in the folded state, the back pad 82 is also in the folded state as shown in fig. 5.

Referring to fig. 2 and 3, further, the left frame may include a left cross frame 101 and a left vertical frame 102, the right frame may include a right cross frame 111 and a right vertical frame 112, the first ends of the left and right folding bars 132 and 142 are respectively hinge-coupled with the left and right cross frames 101 and 111, and the first and second cushion frame supports 151 and 152 are respectively disposed on the left and right vertical frames 102 and 112.

Specifically, the first end of the left folding rod 132 and the first end of the right folding rod 142 are respectively provided with a left folding rotary rod 131 and a right folding rotary rod 141, the left folding rotary rod 132 and the left folding rotary rod 131 can be in an integrated structure, the left folding rotary rod 131 is vertically arranged with the left folding rotary rod 132, at this time, the left folding rotary rod 131 is provided with a shaft hole, and the left folding rotary rod 131 is further hinged with the left cross frame 101 through the left rotary shaft 136, wherein the left cross frame 101 is further provided with a fixing block 106, the fixing block 106 is positioned at one side of the left cross frame, at this time, the left folding rotary rod 131 is positioned between the two fixing blocks 106 on the left cross frame 101, and the left rotary shaft 136 penetrates into the fixing block 106 and the shaft hole of the left folding rotary rod 131 to realize the hinged connection of the left folding rotary rod 132 and the left cross frame. The right folding swivel 141 is similar to the left folding swivel 131, and the right folding swivel 141 is hinged to the right frame by a right swivel shaft 146 as a right folding lever 142. In addition to the above, two swivel sleeves 134 may be disposed at the two ends of the left folding swivel rod 131 and the right folding swivel rod 141, so that the left folding swivel rod 131 and the upper fixing block 106 of the left transverse frame 101 are hinged through the left swivel shaft 136 and the two swivel sleeves 134, and similarly, the right folding swivel rod 141 and the upper fixing block 106 of the right transverse frame 111 are hinged through the right swivel shaft 146 and the two swivel sleeves 134.

Further, the first cushion frame 143 is a left cushion frame, the second cushion frame 133 is a right cushion frame, and at this time, the left cushion frame is fixed to the right folding bar 142, and the right cushion frame is fixed to the left folding bar 132. The two cushion frames are identical in structure and symmetrically arranged and are used for fixing the cushion 81. The left vertical frame 102 and the right vertical frame 112 are further provided with a first cushion frame support 151 and a second cushion frame support 152 respectively, the first cushion frame support 151 and the left vertical frame 102 can be connected in a detachable mode, and illustratively, the first cushion frame support 151 and the left vertical frame 102 are connected in a screw or bolt mode and the like, and the second cushion frame support 152 and the right vertical frame 112 are connected in a screw or bolt mode and the like; the first cushion frame support 151 and the second cushion frame support 152 are each provided with an arc-shaped groove 151a for being matched with the first cushion frame 143 or the second cushion frame 133, and when the wheelchair body 100 is in the unfolded state, the first cushion frame 143 and the second cushion frame 133 are respectively supported in the arc-shaped grooves 151a of the first cushion frame support 151 and the second cushion frame support 152.

Further, in order to realize the fixed connection between the backrest 82 and the left and right frames, the left vertical frame 102 is provided with a left backrest fixing member 153, the right vertical frame 112 is provided with a right backrest fixing member 154, the left backrest fixing member 153 is connected with the left vertical frame, the right backrest fixing member 154 and the right vertical frame 112 by means of screws or bolts, and the backrest 82 is connected with the left backrest fixing member 153 and the right backrest fixing member 154, so that the connection between the backrest 82 and the left and right frames is realized.

In order to facilitate the folding of the wheelchair body 100, the foldable frame structure is further provided with a folding handle 138, the folding handle 138 may be welded on the first link 137 or the second link 147, and at this time, when the unfolded wheelchair body 100 is to be folded, the folding handle 138 is lifted upwards, and the first link 137 and the second link 147 respectively drive the welding member composed of the left folding rotary rod 131, the left folding rod 132 and the second cushion frame and the welding member composed of the right folding rotary rod 141, the right folding rod 142 and the first cushion frame, so as to drive the left frame and the right frame to move in opposite directions, thereby realizing the folding of the wheelchair walker integrated machine.

In addition, the hand manipulator 83 is detachably provided on the left vertical frame 102 or the right vertical frame 112, referring to fig. 2, at which time the hand manipulator 83 is detachably provided on the left vertical frame 102. Specifically, the hand manipulator 83 is connected with the left vertical frame 102 through the hand manipulator fixing member 155 and the hand manipulator fixing member hanging member 156, the hand manipulator fixing member hanging member 156 can be detachably connected with the left backrest cushion fixing member 153, a convex T-shaped boss 156a can be arranged on the hand manipulator fixing member hanging member 156, a fixing groove 155a matched with the T-shaped boss 156a is correspondingly arranged on the hand manipulator fixing member 155, the hand manipulator fixing member 155 is hung on the convex T-shaped boss 156a of the hand manipulator fixing member hanging member 156 at the moment, the hand manipulator 83 is further connected with the hand manipulator fixing member 155, and the detachable connection between the hand manipulator 83 and the left vertical frame 102 is realized based on the mutual matching of the hand manipulator fixing member 155 and the hand manipulator fixing member hanging member 156.

In addition, in the above-described embodiment, the two handle devices 500 are respectively connected to the top of the left and right vertical frames 102 and 112 through the handle base 521, and then in order to make the height of the handle devices 500 adjustable, the left and right vertical frames 102 and 112 each include a fixed section and a height-adjustable section 162, and the height of the handle devices 500 can be adjusted by adjusting the height-adjustable sections 162. The fixing sections of the left vertical frame 102 and the right vertical frame 112 may be hollow pipe, the height-adjustable section 162 is inserted into the upper end of the hollow pipe, the pin shaft mounting holes are formed at the upper end of the hollow pipe, the plurality of pin shaft mounting holes are formed at the bottom end of the height-adjustable section 162, the plurality of pin shaft mounting holes on the height-adjustable section 162 are arranged at intervals along the vertical direction, and at this time, the height-adjustable section 162 is moved upwards or downwards and the pin shaft is fixed in the corresponding pin shaft mounting hole, so that the height of the height-adjustable section 162 can be adjusted, thereby realizing the height adjustment of the handle device 500. In order to facilitate the sliding of the height-adjustable section 162, a left height-adjustable sliding sleeve 161 is further disposed between the hollow tube in the left vertical frame 102 and the height-adjustable section 162, and a right height-adjustable sliding sleeve 163 is further disposed between the hollow tube in the right vertical frame 112 and the height-adjustable section 162.

In some embodiments of the present invention, the pedal apparatus 200 includes left and right pedals 215 and 225, the left and right pedals 215 and 225 being provided on the left and right cross frames 101 and 111, respectively, and the left and right pedals 215 and 225 may be maintained in a horizontal state (unfolded state) or in a vertical state (folded state). Fig. 4 is a schematic view showing a partial structure of a pedal device 200 of a wheelchair walker integrated machine according to an embodiment of the present invention, wherein in fig. 4, a left pedal 215 is in a folded state and a right pedal 225 is in an unfolded state.

For example, the left pedal device may further include a support shaft 211, a support rod 212, a rib rod 213, a pedal bolt 216 and a pin 217 in addition to the left pedal 215, and the support shaft 211, the support rod 212 and the rib rod 213 may be welded into an integrated structure, and at this time, the bottom of the left cross frame 101 may be specifically provided with a support shaft sleeve 104, and the support shaft sleeve 104 and the left cross frame 101 are integrated, so that the support shaft 211 is installed in the support shaft sleeve 104, and further, the support shaft 211 is fastened and connected with the support shaft sleeve 104 through the pin 217, so that the support shaft 211 may be prevented from moving in the support shaft sleeve 104. At this time, the top of the left cross frame 101 is further provided with a pedal support member 105, and the pedal support member 105 is provided with an arc-shaped groove having the same shape as the rib bar 213, so that the rib bar 213 can be supported on the pedal support member 105. In addition, in order to realize the rotation of the left pedal 215, pin shaft mounting holes can be correspondingly formed in the support rod 212 and the left pedal 215, and at this time, the rotation of the left pedal 215 relative to the support rod 212 can be realized through the pin shaft. In another embodiment, the left pedal 215 is a resilient nonmetallic member, the pin shaft can be replaced by the pedal bolt 216, and the left pedal 215 can be rotated within a certain angle range around the pedal bolt 216 by adjusting the pretightening force of the pedal bolt 216, that is, fastening the support rod 212 and the left pedal 215 to a certain extent by the pedal bolt 216 in advance, and the left pedal 215 can be stopped in a desired horizontal state or vertical state, so as to retract and put down the left pedal 215.

As can be seen from fig. 1, 5, 9 and 10, the wheelchair walker integrated machine disclosed in the embodiment of the present application may be provided with two driving wheels 300 and two universal wheels 400, wherein the two driving wheels 300 are respectively disposed at the bottoms of the front ends of the left and right crossbearers 101 and 400, and the two universal wheels 400 are respectively disposed at the bottoms of the rear ends of the left and right crossbearers 101 and 400. In order to realize the connection between the universal wheel 400 and the left transverse frame 101 or the right transverse frame 111, the left transverse frame 101 and the right transverse frame 111 are respectively provided with a universal wheel fixing piece 103, wherein the left universal wheel fixing piece is in welded connection with the left transverse frame 101, the right universal wheel fixing piece is in welded connection with the right transverse frame 111, and at the moment, the two universal wheels 400 are respectively arranged on the left universal wheel fixing piece and the right universal wheel fixing piece.

Referring to fig. 7, the universal wheel 400 may specifically include a vertical shaft 401, an upper lock nut 402, an upper bearing 403, a lower bearing 404, a front fork 405, a front wheel 406, a lower lock nut 407, a lateral shaft 408, a spacer 409, and the like. The ends of two fork arms of the front fork 405 are provided with a transverse shaft mounting hole 405b, at this time, the transverse shaft 408 is located in the transverse shaft mounting hole 405b and the central shaft hole of the front wheel 406, a gasket 409 is further arranged between the fork arms and the front wheel 406, at this time, the central part of the gasket 409 is correspondingly provided with a through hole for the transverse shaft 408 to pass through, and two ends of the further transverse shaft 408 are fixedly connected on the front fork 405 through bolts (not shown in the figure). The end arm of the front fork 405 is provided with a shaft hole vertically arranged, at the moment, one end of the vertical shaft 401 is inserted into the shaft hole on the end arm, and the lower lock nut 407 is in threaded connection with threads at the end part of the vertical shaft 401 at the bottom of the end arm, so that the lower lock nut 407 is used for realizing the fastening connection between the end arm and the vertical shaft 401, in addition, in order to ensure that the front wheel 406 and the front fork 405 can freely rotate around the axis of the vertical shaft 401, a lower bearing 404 is further arranged between the end arm of the front fork 405 and the vertical shaft 401, specifically, a lower bearing mounting hole 405a is arranged on the end arm of the front fork 405, at the moment, the inner ring of the lower bearing 404 is fixedly connected with the vertical shaft 401, and the outer ring of the lower bearing 404 is fixedly connected with the lower bearing mounting hole 405a on the end arm of the front fork 405. In addition, in order to realize the axial positioning of the lower bearing 404, shoulders may be provided in each of the vertical shaft 401 and the lower bearing mounting hole 405a correspondingly. The universal wheel fixing piece 103 arranged on the left frame or the right frame can be correspondingly provided with a vertical shaft hole, at the moment, the top end of the vertical shaft 401 penetrates into the shaft hole of the universal wheel fixing piece 103, and the top end of the vertical shaft 401 is in threaded connection with the upper locking nut 402 positioned at the top of the universal wheel fixing piece 103; similarly, the universal wheel fixing piece 103 is also provided with a bearing mounting hole, an upper bearing 403 is arranged between the vertical shaft 401 and the universal wheel fixing piece 103, the inner ring of the upper bearing 403 is fixedly connected with the vertical shaft 401, and the outer ring of the upper bearing 403 is fixedly connected with the bearing mounting hole on the universal wheel fixing piece 103; and the axial positioning mode of the upper bearing 403 can also adopt a shaft shoulder mode and the like.

Further, the driving wheel 300 includes a hub motor 301, a clutch chuck 303, a clutch coil 304 and a motor fixing seat 305, the motor fixing seat 305 is connected with the wheelchair body 100 and an output shaft 302 of the hub motor 301, the clutch chuck 303 and the clutch coil 304 are sleeved on the output shaft 302 of the hub motor 301, the clutch chuck 303 is fixedly connected with the hub motor 301, the clutch coil 304 is fixedly connected with the motor fixing seat 305, and the clutch coil 304 can be powered on and powered off to realize the engagement and disengagement of the clutch chuck 303 and the clutch coil 304.

As shown in fig. 6, the right end of the hub motor 301 has an output shaft 302, one end of the output shaft 302, which is close to the hub motor 301, is provided with a shoulder end face 302a, the motor fixing seat 305 is located at one end of the output shaft 302, which is far away from the hub motor 301, and the end of the output shaft 302 is provided with a threaded hole, the axial positioning of the motor fixing seat 305 can be realized by connecting the fastening bolt 306 with the threaded hole at the shaft end of the output shaft 302, at this time, the end face 305a of the motor fixing seat 305 abuts against the shoulder end face 302a of the output shaft 302, and because the motor fixing seat 305 is sleeved on the output shaft 302 of the hub motor 301, the hub motor 301 can rotate relative to the motor fixing seat 305. The clutch sucker 303 and the clutch coil 304 are sleeved outside the output shaft 302 of the hub motor 301, the clutch sucker 303 is fixedly connected with the right end part of the hub motor 301, the clutch coil 304 is fixedly connected with the left end part of the motor fixing seat 305, and at the moment, the clutch coil 304 can be powered on and off to realize the suction and separation of the clutch sucker 303 and the clutch coil 304; when the clutch sucker 303 is separated from the clutch coil 304, the hub motor 301 rotates freely, and the walker runs normally at this time; when the clutch sucker 303 is sucked with the clutch coil 304, the hub motor 301 is fixedly connected with the clutch sucker 303, and at the moment, the hub motor 301 stops rotating due to friction force between the clutch sucker 303 and the clutch coil 304, so that the wheelchair walker integrated machine achieves a braking function. In addition, in order to realize the fixed connection between the motor fixing seat 305 and the wheelchair body 100, one end of the motor fixing seat 305 far away from the hub motor 301 is further provided with a boss-shaped spigot 305b, and the boss-shaped spigot 305b is internally provided with a threaded hole, so that the boss-shaped spigot 305b is further arranged in a groove matched with the wheelchair body 100, and the connection between the driving wheel 300 and the wheelchair body 100 is realized by fastening the boss-shaped spigot with a screw or a bolt. In other embodiments, the wheel hub motor 301 may further be provided with a magnetic encoder, so that the control mode of the wheelchair walker integrated machine may be better optimized based on the magnetic encoder provided on the wheel hub motor 301.

Further, in order to supply power to the controller 84, the pressure sensor, the driving wheel 300, etc., the wheelchair walker integrated machine is further provided with a battery 85, and the battery 85 may be fixed to the left cross frame 101 or the right cross frame 111 of the frame body, and similarly, the controller 84 may be fixed to the left cross frame 101 or the right cross frame 111 of the wheelchair body 100. In addition, an inertial sensor may be further disposed in the controller 84, and the inertial sensor may identify the uphill and downhill walking state of the walker, so that the walker has the functions of assisting uphill and increasing resistance during downhill.

For example, when the wheelchair walker integrated machine needs to be stored or transported, in order to save the occupied space, the wheelchair walker integrated machine may be folded, at this time, the left pedal 215 and the right pedal 225 may be first folded to a vertical state, and then the folding handle 138 is lifted upwards, at this time, the first link 137 and the second link 147 drive the left folding swing rod 131 and the right folding swing rod 141 to act, and the left frame and the right frame are relatively moved, so that the wheelchair walker integrated machine is folded. The folded state of the wheelchair walker integrated machine is referred to in fig. 5.

Further, fig. 9 is a reference view of a use state of the wheelchair walker integrated machine when the wheelchair walker integrated machine is used as a wheelchair, as shown in fig. 9, when the user HB sits on the seat cushion 81 of the wheelchair walker integrated machine, two feet are placed on the left pedal 215 and the right pedal 225, and the hand manipulator 83 is detached from the hand manipulator fixing piece hanger 156; at this time, since the handle lever 527 is not depressed, the handle device 500 can determine that the wheelchair walker integrated machine is in the wheelchair mode, and the user HB further opens the hand-operated device 83, and can control the operating states of the wheelchair such as start, stop, acceleration and deceleration, and steering by operating the hand-operated device 83.

FIG. 10 is a reference view of a use state of the wheelchair walker integrated machine when the wheelchair walker integrated machine is used as a walker, as shown in FIG. 10, the left pedal 215 and the right pedal 225 of the wheelchair walker integrated machine are received in a vertical state, a user HB holds the hands on the handle bars 527 of the two handle devices, presses the handle bars 527, and at this time, the pressure sensor detects a pressure signal, so that it can be judged that the wheelchair walker integrated machine is in an intelligent walker mode at present; at this time, the controller 84 automatically controls the running states of the walker such as starting, stopping, speed following, braking, ascending power assistance, descending damping increase and the like, so that the safety of a user is better ensured, and the usability and safety of the walker are improved.

Through the embodiment, the wheelchair walker integrated machine disclosed by the application has the functions of an electric wheelchair and an intelligent walker, is high in practicability, easy to use and portable, and can better meet the requirements of the elderly and disabled persons with unstable walking or lower limb movement dysfunction on displacement walker; the wheelchair walker integrated machine is light and compact in structure and can be folded, so that the wheelchair walker integrated machine is convenient to carry, store and transport; in addition, the wheel hub motor of the wheelchair walker integrated machine can better carry out flexible control and low-speed control on the integrated machine by arranging the encoder and the electromagnetic brake, thereby greatly improving the comfort and the practicability of use; in addition, the wheelchair walker integrated machine disclosed by the embodiment of the application adopts the intelligent handle device and the inertial sensor, so that the intelligent auxiliary functions of assisting the walker such as ascending and descending, increasing resistance, leaving a handle, braking and the like can be realized.

It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. The present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.

In this disclosure, features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations can be made to the embodiments of the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The wheelchair walker integrated machine is characterized by comprising a wheelchair body, driving wheels, a pedal device, a seat cushion, a backrest cushion, a handle device, a hand manipulator and a controller, wherein the driving wheels, the pedal device, the seat cushion, the backrest cushion, the handle device, the hand manipulator and the controller are all connected to the wheelchair body, the driving wheels are positioned at the bottom of the wheelchair body, the pedal device is positioned at the position, close to the bottom of the front end, of the wheelchair body, the handle device is positioned at the top end of the wheelchair body, the hand manipulator device is used for detecting whether the working mode of the wheelchair walker integrated machine is a wheelchair mode or a walker mode, the hand manipulator is used for controlling the running state of the wheelchair walker integrated machine in the wheelchair mode, and the controller is used for controlling the running state of the wheelchair walker integrated machine in the walker mode;

The handle device comprises a handle rod and a pressure detection component, the pressure detection component is used for detecting the pressing pressure of the handle rod, and the handle device judges the working mode of the wheelchair walker integrated machine based on the pressing pressure detected by the pressure detection component;

the handle device further includes:

the hand brake component is arranged on one side of the handle bar;

When the wheelchair walker integrated machine works in a wheelchair mode, the pressing pressure of the handle bar detected by the pressure detection component is smaller than that of the handle bar in the walker mode.

2. The wheelchair walker integrated machine of claim 1 wherein the wheelchair body is a collapsible frame structure.

3. The wheelchair walker all-in-one machine of claim 2 wherein the frame structure comprises:

4. The wheelchair walker all-in-one machine of claim 3 wherein the left frame comprises a left cross frame and a left upright frame, the right frame comprises a right cross frame and a right upright frame, the first ends of the left and right folding bars are hingedly connected to the left and right cross frames, respectively, and the first and second cushion frame supports are disposed on the left and right upright frames, respectively.

5. The wheelchair walker integrated machine of claim 4 wherein the foot pedal means comprises a left pedal and a right pedal disposed on the left and right cross frames, respectively, and wherein the left and right pedals are maintained in either a horizontal or vertical condition.

6. The wheelchair walker all-in-one machine of claim 1 wherein the drive wheel comprises a wheel hub motor, a clutch chuck, a clutch coil and a motor mount, the motor mount is connected with the wheelchair body and the output shaft of the wheel hub motor, the clutch chuck and the clutch coil are sleeved on the output shaft of the wheel hub motor, the clutch chuck is fixedly connected with the wheel hub motor, the clutch coil is fixedly connected with the motor mount, and energizing and de-energizing of the clutch coil can achieve the engagement and disengagement of the clutch chuck and the clutch coil.

7. The wheelchair walker integrated machine of claim 1 further comprising a universal wheel disposed on the bottom of the wheelchair body.

8. The wheelchair walker all-in-one machine of claim 4 wherein the left and right upright frames each comprise a fixed section and a height adjustable section, the height of the handle assembly being adjustable by adjusting the height adjustable section; and/or