KR102186898B1 - Wheel Chair Having Horizontal Maintenance Function - Google Patents

Abstract

The present invention relates to a wheelchair having a leveling function, and more particularly, to a wheelchair having a leveling function to prevent a fall of a user while driving on a slope with a slope. In the present invention, since the seat is controlled to be in a direction perpendicular to the direction of gravity on an uphill or downhill road, the user does not need to move the center of gravity of the body forward or backward, so that the wheelchair can be used in a stable posture, and the wheelchair rollover However, it has the effect of reducing the risk of falling.

Description

Wheel Chair Having Horizontal Maintenance Function {Wheel Chair Having Horizontal Maintenance Function}

The present invention relates to a wheelchair having a leveling function, and more particularly, to a wheelchair having a leveling function to prevent a fall of a user while driving on a slope with a slope.

In general, a wheelchair refers to a chair with wheels so that a person with limited legs or a person with disabilities can move while sitting. The number of people with disabilities in Korea is gradually increasing and currently reaches 2.5 million. Among them, the disabled and the elderly, who are unable to walk, and many patients due to stroke and spinal cord paralysis, use wheelchairs as a means of transportation. For this reason, among assistive devices, wheelchairs are showing a high payment rate and demand.

During their daily life, they use ramps to move vertically in spaces with different heights, like the entrance of a building. In Korea, in principle, the slope of the ramp is 1:12 (4.8 degrees) or less in accordance with the'Enforcement Rule of the Act on Convenience Promotion for the Disabled, the Elderly, and Pregnant Women', but if the height of the facility is 100 cm or less, It is suggested to allow up to 1:8 (7.1 degrees). These slopes are difficult for the occupants to propel themselves and are assisted by an assistant.

On the other hand, except when lying down normally, the center of gravity of the head is located inside the human body and acts in a vertical direction. When moving uphill on a slope, a moment force is generated by the force acting on the head rather than the same axis of gravity and spine. In this situation, a healthy body moves the trunk or head through a compensation action to position it on the central axis of the spine, as shown in FIG. 1. In the case of an elderly population or a patient having difficulty with the trunk and neck movement, the above movement is taken. Difficulty can lead to hyperextension of the head.

In addition, when moving downhill, the seat angle is tilted down and the center of gravity moves forward as shown in FIG. 2, so the body of the occupant in the wheelchair is tilted, and the occupant feels fear due to posture instability. There is a problem in that the risk of overturning or falling is also increased.

Korean Patent Publication No. 10-2013-0057648

An object of the present invention for solving the problems of the prior art as described above is to provide a wheelchair having a leveling function to prevent a user from falling in the course of driving a slope with a slope.

In order to achieve the above object, the present invention is a seat formed so that the user can sit; A pair of lower support portions positioned to be spaced apart from both sides of the sheet, an upper support portion positioned on both sides of the sheet to face the pair of lower support portions, and one side is coupled to rotate to one side of the lower support portion, and the other A support member having a central support portion that is coupled to one side of the upper support portion to be rotated at a side opposite to one side of the lower support portion; Wheels that are rotatably installed on both sides of the lower support portion; An angle adjusting means for changing an angle between the lower support part and the central support part or an angle between the upper support part and the center support part; A sensor unit provided on the sheet to measure an inclined angle of the ground; And a control unit for controlling an angle between the lower support part and the central support part or an angle between the upper support part and the center support part so that the sheet is in a direction perpendicular to the direction of gravity according to the inclination angle measured by the sensor part. It provides a wheelchair having a leveling function.

In addition, the upper end of the central support is coupled to be rotated to the front end of the upper support, the lower end of the central support is coupled to be rotated to the rear end of the lower support, and the angle adjusting means is: rotatable to the front side of the lower support A first rotating motor that is mounted so as to be; One side is coupled to engage the first rotation motor and the other side is a first angle adjustment unit coupled to be rotated to the rear side of the central support; A second rotary motor rotatably mounted on the front side of the central support; And a second angle adjusting unit coupled to one side so as to be engaged with the second rotation motor and the other side to be rotated to the rear side of the upper support unit, and the control unit includes a gravitational force on the sheet based on the inclination angle measured by the sensor unit. The first rotational motor or the second rotational motor is controlled to be rotated so as to be in a direction perpendicular to the direction, and the first angle adjustment unit is configured according to an angle change between the lower supporter and the central supporter due to rotation of the first rotary motor. It provides a wheelchair having a horizontal maintenance function, characterized in that the length is variable, and the length of the second angle adjustment unit is changed according to an angle change between the upper support portion and the central support portion by rotation of the second rotary motor.

In addition, the first angle adjustment unit is composed of a first hydraulic cylinder length adjustable under the control of the control unit, and the second angle adjustment unit is composed of a second hydraulic cylinder capable of length adjustment under the control of the control unit. It provides a wheelchair having a characteristic leveling function.

In addition, the control unit receives the inclined angle of the ground from the sensor unit and determines whether the ground is uphill or downhill, and as a result of the determination, when the road is uphill, the control unit is more than the first angle between the lower support and the central support. The second rotation motor is rotated so that the second angle between the upper support and the central support becomes larger, and as a result of the determination, when the road is downhill, the lower support and the central support are less than the second angle between the upper support and the central support. It provides a wheelchair having a leveling function, characterized in that rotating the first rotary motor so that the first angle of the liver becomes larger.

In addition, it further includes an input unit for receiving an alight signal from the user seated on the seat, the control unit when receiving the alight signal from the input unit, by changing the angle between the upper support and the central support to increase the seat It provides a wheelchair having a leveling function, characterized in that the control to incline forward.

In addition, a pair of support bars that are formed to extend downwardly on the front side of the seat and can be adjusted in length, a footrest portion formed in a plate shape to support the feet of a user sitting on the seat under the support bar, and a lower portion of the footrest portion It is mounted on and further comprises a downward contact sensor for measuring whether the footrest is in contact with the ground, wherein the control unit is in a state in which the getting off signal is not received from the input unit, the angle between the lower support unit and the central support unit or the upper support unit and When changing the angle between the central support, a wheelchair having a leveling function, characterized in that the length of the support bar is adjusted so that the footrest does not contact the ground by analyzing the detection signal transmitted from the lower contact sensor. to provide.

In addition, when receiving the getting off signal from the input unit, the control unit adjusts the length of the support bar to become longer so that the footrest unit contacts the ground, and analyzes the detection signal transmitted from the lower contact sensor, so that the footrest unit reaches the ground. When it is determined that it is in contact, it provides a wheelchair having a leveling function, characterized in that stopping the length adjustment of the support bar.

In addition, a pair of support bars that are formed to extend downwardly on the front side of the seat and can be adjusted in length, a footrest portion formed in a plate shape to support the feet of a user sitting on the seat under the support bar, and an upper portion of the footrest portion An upper contact sensor mounted on and measuring whether the footrest is in contact with the user's feet, and an input unit receiving a ride signal from a user sitting on the seat, wherein the control unit receives a ride signal from the input unit, the The length of the support bar is adjusted so that the footrest part is close to the user's foot, and when the footrest part contacts the user's foot by analyzing the detection signal transmitted from the upper contact sensor, the length adjustment of the support bar is stopped. It provides a wheelchair having a horizontal maintenance function.

In addition, the support bar includes a first support bar that is rotatably coupled to the seat and extends downward, a support motor that is rotatably coupled to the first support bar, and a first support bar that extends downwardly of the first support bar. 2 A support bar and a gear unit formed on an upper end of the second support bar to be gear-coupled with the support motor in a worm gear method, and when the support motor is rotated under the control of the control unit, the gear unit moves linearly and 2 Provides a wheelchair having a horizontal maintenance function, characterized in that configured to adjust the entire length of the support bar by linear motion of the support bar.

In the present invention, since the seat is controlled to be in a direction perpendicular to the direction of gravity on an uphill or downhill slope with an inclination, the user does not need to move the center of gravity of the body forward or backward, so that the wheelchair can be used in a stable posture, There is an effect of reducing the risk of a rollover or fall of a wheelchair.

In addition, when the user boards the seat, the footrest portion is moved to touch the foot, so that the user can use the wheelchair while comfortably supporting the foot on the footrest portion.

In addition, when the user gets off the seat, the seat is configured to rotate forward, so that the center of gravity of the user is moved forward, which is the direction in which the user gets off, so that the user with weak muscle strength can get off easily with only a little force. There is.

1 is an exemplary view for explaining a state in which a conventional wheelchair travels upward along a slope.
2 is an exemplary view for explaining a state in which a conventional wheelchair travels downward along a slope.
3 is a schematic view of a wheelchair having a leveling function according to a preferred embodiment of the present invention.
4 is a view schematically showing a body part of a wheelchair having a leveling function according to a preferred embodiment of the present invention.
5 is a view schematically showing a support bar of a wheelchair having a leveling function according to a preferred embodiment of the present invention.
6 is a diagram schematically illustrating an angle adjusting means of a wheelchair having a leveling function according to a preferred embodiment of the present invention.
7 is a diagram schematically illustrating a control member of a wheelchair having a leveling function according to a preferred embodiment of the present invention.
8 is a diagram schematically illustrating a state in which a wheelchair having a leveling function according to a preferred embodiment of the present invention goes uphill.
9 is a view schematically illustrating a state in which a wheelchair having a leveling function according to a preferred embodiment of the present invention goes downhill.
10 is a diagram schematically illustrating a state in which a user in a wheelchair having a leveling function in accordance with a preferred embodiment of the present invention gets off.

Hereinafter, a wheelchair having a leveling function according to a preferred embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

3 is a view schematically showing a wheelchair having a leveling function according to a preferred embodiment of the present invention, Figure 4 is a view schematically showing the body of a wheelchair having a leveling function according to a preferred embodiment of the present invention 5 is a view schematically showing a support bar of a wheelchair having a leveling function according to a preferred embodiment of the present invention.

3 to 5, a wheelchair 1000 having a leveling function according to a preferred embodiment of the present invention is applied to, for example, a manual wheelchair, the body part 100, the angle adjusting means 200: 6) and a control member 300 (shown in FIG. 7). Unless otherwise described in the present invention, the term'front' or'front' refers to a direction toward the front of the user when the user is seated on the seat 110 of the body part 100, and'rear' or'rear' means the front or front side. It refers to the opposite direction of.

The body part 100 is a chair with front and rear wheels 142 and 140 so that the user with discomfort can move while sitting, and the seat 110 on which the user can sit, and the upper and rear sides of the seat 110 It is installed to rotate at the rear of both sides of the backrest part 120 erected in the upper direction, the support member 130 for supporting the seat 110 to be spaced apart from the ground, and the lower support part 132 to be described later of the support member 130 The rear wheel 140, the front wheel 142 installed to rotate in front of both sides of the lower support part 132, a pair of support bars 150 formed to extend downwardly on the front side of the seat 110 but adjustable in length And a footrest unit 160 formed in a plate shape so that the foot of the user sitting on the seat 110 is supported under the support bar 150. In addition, the user sitting on the seat 110 rotates the rear wheel 140 while placing the foot on the footrest unit 160 to move forward or backward.

The support member 130 includes a lower support part 132, an upper support part 134, and a central support part 136. The lower support portion 132 is formed to have a length opposite to the length of both sides of the sheet 110, and is configured as a pair so as to be spaced apart from the bottom of both sides of the sheet 110. In addition, the front end portions of the pair of lower support portions 132 facing each other may be interconnected. Similarly, rear ends of the pair of lower support portions 132 facing each other may also be interconnected. The upper support portions 134 are located on both sides of the sheet 110 so as to face the pair of lower support portions 132. The central support 136 is coupled to be rotated to the rear side of the lower support 132 at the lower side, and the upper support is coupled to rotate to the front side of the upper support 134 located in the opposite direction to the rear side of the lower support 132. And the angle adjustment means 200 (shown in FIG. 6) to be described later changes the angle between the lower support portion 132 and the central support portion 136 or the angle between the upper support portion 134 and the central support portion 136 to change the sheet 110 Is guided in a direction perpendicular to the direction of gravity.

The support bar 150 includes a first support bar 152 extending downwardly while connected to the front side of the seat 110, a support motor 153 coupled to be rotated to the first support bar 152, and a first A second support bar 154 extending downward from the support bar 152 and a gear portion 155 formed on the upper end of the second support bar 154 to be gear-coupled with the support motor 153 in a worm gear method. Include. At this time, a receiving groove 154a is formed concave at the upper end of the second support bar 154 so that the lower end of the first support bar 152 is guided. And when the support motor 153 is rotated under the control of the control unit 370 (shown in FIG. 7) to be described later, the gear unit 155 moves linearly and moves the second support bar 154 linearly to make the entire support bar 150 It is configured to be adjustable in length. Meanwhile, since the configuration in which the gear unit 155 is coupled with the support motor 153 in a worm gear method is a general configuration, a detailed description thereof will be omitted.

The angle adjusting means 200 will be described in FIG. 6, and the control member 300 will be described in FIG. 7.

6 is a diagram schematically illustrating an angle adjusting means of a wheelchair having a leveling function according to a preferred embodiment of the present invention.

6, the angle adjusting means 200 is a first rotary motor 210 that is rotatably mounted on the front side of the lower support 132, the lower end is coupled to engage with the first rotary motor 210, and the upper end is A first angle adjustment unit 220 coupled to be rotated to the rear side of the central support unit 136, a second rotary motor 230 mounted to be rotated at the front side of the central support unit 136, and a second rotary motor 230 at the lower end. ) And the upper end portion includes a second angle adjustment portion 240 coupled to be rotated to the rear side of the upper support portion 134.

The first rotation motor 210 and the second rotation motor 230 may each be configured as a stepping motor rotated under the control of the control unit 370. The stepping motor is a general motor that rotates by a pulse signal and rotates only a few degrees to several tens of degrees per pulse.

In addition, the length of the first angle adjustment unit 220 is changed according to the change of the first angle θ1 between the lower support unit 132 and the central support unit 136 by rotation of the first rotary motor 210. That is, when the first rotation motor 210 is rotated, the first angle adjustment part 220 meshed with the first rotation motor 210 is rotated so as to move away from the lower support part 132, and at this time, the first angle θ1 is It will happen. Here, in order for the first angle adjusting part 220 to rotate away from the lower support part 132, the length of the first angle adjusting part 220 must be lengthened. To this end, the first angle adjustment unit 220 may be configured with a first hydraulic cylinder (not shown) capable of adjusting the length. In addition, the control unit 370 adjusts the hydraulic pressure by an angle at which the first angle adjustment unit 220 is rotated to adjust the length of the first angle adjustment unit 220.

Likewise, the length of the second angle adjusting part 240 is changed according to the change of the second angle θ2 between the upper support part 134 and the central support part 136 by rotation of the second rotary motor 230. That is, when the second rotary motor 230 is rotated, the second angle adjusting unit 240 engaged with the second rotary motor 230 is rotated so as to be away from the upper support unit 134, and at this time, the second angle θ2 is It will happen. Here, in order for the second angle adjusting part 240 to rotate away from the upper support part 134, the length of the second angle adjusting part 240 must be lengthened. To this end, the second angle adjustment unit 240 may be configured with a second hydraulic cylinder (not shown) capable of adjusting the length. In addition, the control unit 370 adjusts the hydraulic pressure by an angle at which the second angle adjustment unit 240 is rotated to adjust the length of the second angle adjustment unit 240.

7 is a diagram schematically illustrating a control member of a wheelchair having a leveling function according to a preferred embodiment of the present invention.

Referring to FIG. 7, the control member 300 includes an input unit 310, a sensor unit 3220, a lower contact sensor 330, an upper contact sensor 340, a display unit 350, a communication unit 360, and a control unit ( 370).

The input unit 310 is composed of, for example, a touch pad, buttons, etc., and is configured to receive various numbers and characters from a user and transmit them to the control unit 370. For example, a user may input a boarding signal using the input unit 310 immediately after getting on and off the seat 110, or inputting the getting off signal using the input unit 310 just before getting off the seat 110. have. The input unit 310 is located around the sheet 110 so that the user can easily input the input unit 310.

The sensor unit 3220 is a sensor for detecting the inclination or angle of the seat 110, and may be composed of a tilt sensor, a gyro sensor, or a 3-axis acceleration sensor. The sensor unit 3220 measures the inclined inclination angle of the ground by the sensor unit 3220 when the wheelchair 1000 goes up or down the inclined surface and transmits it to the controller 370.

The lower contact sensor 330 is mounted under the footrest unit 160 and measures whether the footrest unit 160 contacts the ground and transmits a down contact signal to the control unit 370. The upper contact sensor 340 is mounted on the upper part of the footrest unit 160 and measures whether the footrest unit 160 contacts the user's foot and transmits an upper contact signal to the control unit 370. The lower contact sensor 330 and the upper contact sensor 340 may be composed of, for example, a touch pad that detects the presence or absence of contact, or may be composed of an ultrasonic sensor that detects the distance from the ground or the user's feet. .

The display unit 350 visually provides the setting of the inclination angle and the operation mode measured by the sensor unit 3220.

The communication unit 360 is configured to enable wireless communication with a smartphone (not shown) held by the user. Wireless communication may consist of, for example, Bluetooth, Wi-Fi, infrared communication, WiBro, HSDPA, ZIGBEE, UWB, IrDA, NFC, etc., and preferably, power consumption during communication can be reduced. It can be configured with low-power Bluetooth communication. The communication unit 360 transmits various signals transmitted to the control unit 370 to the smartphone, and receives various input signals from the smartphone so that the inclination angle can be manually adjusted.

The first rotation motor 210 rotates by receiving a control signal from the control unit 370 to rotate the first angle adjustment unit 220. The length of the first angle adjustment unit 220 is changed according to the change of the first angle θ1 between the lower support unit 132 and the central support unit 136 by rotation of the first rotary motor 210. The second rotary motor 230 rotates the second angle adjusting unit 240 while being rotated by receiving a control signal from the control unit 370. The length of the second angle adjustment unit 240 is changed according to the change of the second angle θ2 between the upper support unit 134 and the central support unit 136 by rotation of the second rotary motor 230.

The control unit 370 receives the inclined angle of the ground from the sensor unit 3220 and determines whether the ground is uphill or downhill, and controls the angle adjustment means 200 according to the determination result, so that the sheet 110 The angle between the lower support part 132 and the central support part 136 or the angle between the upper support part 134 and the center support part 136 is controlled so that the direction is perpendicular to the direction. In addition, the control unit 370 receives an input signal from the input unit 310, detects whether the current user has boarded or alighted, and controls the angle of the seat 110 according to whether to get on or off, and controls the angle of the footrest unit 160 Control the length. This will be described in detail in FIGS. 8 and 9.

8 is a diagram schematically illustrating a state in which a wheelchair having a leveling function according to a preferred embodiment of the present invention goes uphill.

Referring to the drawings, when the wheelchair 1000 goes up an inclined slope, that is, an uphill road, the controller 370 receives the inclined inclination angle of the ground from the sensor unit 3220 and determines that the ground is an uphill road. After that, the control unit 370 is configured to make the second angle θ2 between the upper support 134 and the central support 136 larger than the first angle θ1 between the lower support 132 and the central support 136. The rotary motor 230 is rotated and the second angle adjusting unit 240 is controlled to be lengthened. Then, the sheet 110 is rotated forward by a second angle θ2 greater than the first angle θ1, so that the sheet 110 is controlled to be in a direction perpendicular to the direction of gravity, regardless of the uphill road. Accordingly, on an uphill road, the user does not need to move the center of gravity of the trunk forward, and thus can use the wheelchair 1000 in a stable posture, thereby reducing the risk of overturning or falling of the wheelchair 1000.

On the other hand, when the seat 110 is rotated forward, the footrest 160 formed elongated under the seat 110 may contact the ground. In this case, since the wheelchair 1000 cannot be moved smoothly, the footrest unit 160 must be moved upward before the footrest unit 160 reaches the ground. In order to solve this problem, the control unit 370 is provided at an angle between the lower support unit 132 and the central support unit 136 or between the upper support unit 134 and the central support unit 136 in a state in which the getting off signal is not received from the input unit 310. When the angle of is changed, the detection signal transmitted from the lower contact sensor 330 is analyzed. As a result of analyzing the detection signal transmitted from the lower contact sensor 330, if the scaffolding unit 160 is just before contacting the ground, the control unit 370 controls the support bar 150 to prevent the scaffolding unit 160 from contacting the ground. By rotating the support motor 153 of the support bar 150 is controlled to shorten the total length.

9 is a view schematically illustrating a state in which a wheelchair having a leveling function according to a preferred embodiment of the present invention goes downhill.

Referring to the drawings, when the wheelchair 1000 goes downhill, the control unit 370 receives the inclined angle of the ground from the sensor unit 3220 and determines that the ground is a downhill road. After that, the control unit 370 first adjusts the first angle θ1 between the lower support 132 and the central support 136 to become larger than the second angle θ2 between the upper support 134 and the central support 136. The rotation motor 210 is rotated and the first angle adjusting unit 220 is controlled to lengthen.

Then, the sheet 110 is rotated rearward by a first angle θ1 greater than the second angle θ2, so that the sheet 110 is controlled to be in a direction perpendicular to the direction of gravity, regardless of the downhill road. Accordingly, on a downhill road, the user does not need to move the center of gravity of the trunk to the rear, so that the wheelchair 1000 can be used in a stable posture, thereby reducing the risk of overturning or falling of the wheelchair 1000.

10 is a diagram schematically illustrating a state in which a user in a wheelchair having a leveling function in accordance with a preferred embodiment of the present invention gets off.

Referring to the drawings, when the footrest 160 is in contact with the ground, a user sitting on the seat 110 can get off easily. Accordingly, when receiving the getting off signal from the input unit 310, the control unit 370 rotates the support motor 153 to adjust the length of the support bar 150 to increase. Then, the footrest unit 160 is lowered along the support bar 150 so as to be close to the ground. At this time, when the control unit 370 analyzes the detection signal transmitted from the lower contact sensor 330 and determines that the footrest 160 is in contact with the ground, the control unit 370 does not rotate the support motor 153 any more. It is controlled so that the length adjustment of the support bar 150 is stopped.

In addition, when receiving the getting off signal from the input unit 310, the control unit 370 is more than the first angle θ1 between the lower support unit 132 and the central support unit 136, between the upper support unit 134 and the central support unit 136 The second rotation motor 230 is rotated so that the second angle θ2 becomes larger, and the second angle adjustment unit 240 is controlled to be lengthened. Then, since the seat 110 is rotated forward by a second angle (θ2) greater than the first angle (θ1), the center of gravity of the user is moved forward, so that the user with weak muscle power can easily get off with only a little force. There is an effect of being able to do it.

On the other hand, when the user rides on the seat 110, the footrest 160 may not touch the foot depending on the length of the user's leg. Accordingly, when receiving a ride signal from the input unit 310, the control unit 370 controls the support bar 150 to shorten the length of the support bar 150 by rotating the support motor 153. Then, the footrest unit 160 is raised to be close to the user's foot along the support bar 150. At this time, the control unit 370 analyzes the detection signal transmitted from the upper contact sensor 340, and when it is determined that the footrest 160 is in contact with the user's foot, the support motor 153 is controlled so that it is not rotated any more. Thus, it is controlled to stop the length adjustment of the support bar 150. Then, the footrest 160 comes into contact with the foot, so that the user can use the wheelchair 1000 while comfortably supporting the foot against the footrest 160.

Although the present invention has been described in detail in the above embodiments, it is natural that the present invention is not limited thereto, and it is obvious to those skilled in the art that various modifications and modifications are possible within the scope of the technical idea of the present invention, and such modifications and modifications are attached. If it falls within the scope of the claims, the technical idea should also be regarded as belonging to the present invention.

1000: wheelchair
100: body portion 110: sheet
120: backrest 130: support member
132: lower support 134: upper support
136: central support 140: rear wheel
142: front wheel 150: support bar
152: first support bar 153: support motor
154: second support bar 154a: receiving groove
155: gear unit 160: footrest unit
200: angle adjusting means 210: first rotary motor
220: first angle adjustment unit 230: second rotary motor
240: second angle adjustment unit 300: control member
310: input unit 320: sensor unit
330: lower contact sensor 340: upper contact sensor
350: display unit 360: communication unit
370: control unit θ1: first angle
θ2: second angle

Claims (9)

A seat formed to allow a user to sit;
A pair of lower support portions positioned to be spaced apart from both sides of the sheet, an upper support portion positioned on both sides of the sheet to face the pair of lower support portions, and one side is coupled to rotate to one side of the lower support portion, and the other A support member having a central support portion that is coupled to one side of the upper support portion to be rotated at a side opposite to one side of the lower support portion;
Wheels that are rotatably installed on both sides of the lower support portion;
An angle adjusting means for changing an angle between the lower support part and the central support part or an angle between the upper support part and the center support part;
A sensor unit provided on the sheet to measure an inclined angle of the ground;
And a control unit for controlling an angle between the lower support part and the center support part or an angle between the upper support part and the center support part so that the sheet is in a direction perpendicular to the direction of gravity according to the inclination angle measured by the sensor part,
The upper end of the central support is coupled to rotate to the front end of the upper support, and the lower end of the central support is coupled to rotate to the rear end of the lower support,
The angle adjustment means:
A first rotary motor that is rotatably mounted on the front side of the lower support portion;
One side is coupled to engage the first rotation motor and the other side is a first angle adjustment unit coupled to be rotated to the rear side of the central support;
A second rotary motor rotatably mounted on the front side of the central support; And
One side is coupled to engage with the second rotation motor and the other side includes a second angle adjustment unit coupled to be rotated to the rear side of the upper support,
The control unit controls the first rotation motor or the second rotation motor to rotate so that the sheet is in a direction perpendicular to the direction of gravity based on the inclination angle measured by the sensor unit,
The length of the first angle adjustment part is changed according to the change of the angle between the lower support part and the central support part by rotation of the first rotary motor,
Wheelchair having a horizontal maintenance function, characterized in that the length of the second angle adjustment portion is changed according to the angle change between the upper support portion and the central support portion by rotation of the second rotary motor.
delete The method of claim 1,
The first angle adjustment unit is composed of a first hydraulic cylinder that can be adjusted in length under the control of the control unit,
The second angle adjustment unit is a wheelchair having a horizontal maintenance function, characterized in that consisting of a second hydraulic cylinder that can be adjusted in length under the control of the control unit.
The method of claim 1,
The control unit receives the inclined angle of the ground from the sensor unit and determines whether the ground is uphill or downhill,
As a result of the determination, in the case of an uphill road, the second rotary motor is rotated so that a second angle between the upper support portion and the central support portion becomes larger than the first angle between the lower support portion and the central support portion,
As a result of the determination, when the road is downhill, the first rotation motor is rotated so that the first angle between the lower support part and the central support part becomes larger than the second angle between the upper support part and the center support part. Having a wheelchair.
delete A seat formed to allow a user to sit;
A pair of lower support portions positioned to be spaced apart from both sides of the sheet, an upper support portion positioned on both sides of the sheet to face the pair of lower support portions, and one side is coupled to rotate to one side of the lower support portion, and the other A support member having a central support portion that is coupled to one side of the upper support portion to be rotated at a side opposite to one side of the lower support portion;
Wheels that are rotatably installed on both sides of the lower support portion;
An angle adjusting means for changing an angle between the lower support part and the central support part or an angle between the upper support part and the center support part;
A sensor unit provided on the sheet to measure an inclined angle of the ground;
And a control unit for controlling an angle between the lower support part and the center support part or an angle between the upper support part and the center support part so that the sheet is in a direction perpendicular to the direction of gravity according to the inclination angle measured by the sensor part,
Further comprising an input unit for receiving an alight signal from the user sitting on the seat,
When receiving the getting off signal from the input unit, the control unit controls the sheet to incline forward by changing the angle between the upper support unit and the central support unit to increase,
A pair of support bars that are formed to extend downwardly on the front side of the seat and can be adjusted in length, a footrest portion formed in a plate shape to support the feet of a user sitting on the seat under the support bar, and a footrest portion mounted under the footrest portion And a downward contact sensor that measures whether the footrest part is in contact with the ground,
When the control unit changes the angle between the lower support unit and the central support unit or the angle between the upper support unit and the center support unit in a state in which the getting off signal is not received from the input unit, the detection signal transmitted from the lower contact sensor A wheelchair having a leveling function, characterized in that the length of the support bar is adjusted so that the footrest part does not contact the ground by analyzing.
The method of claim 6,
When receiving the getting off signal from the input unit, the control unit adjusts the length of the support bar to become longer so that the footrest unit contacts the ground, but analyzes the detection signal transmitted from the lower contact sensor so that the footrest unit contacts the ground. If it is determined that, the wheelchair having a leveling function, characterized in that stopping the length adjustment of the support bar.
A seat formed to allow a user to sit;
A pair of lower support portions positioned to be spaced apart from both sides of the sheet, an upper support portion positioned on both sides of the sheet to face the pair of lower support portions, and one side is coupled to rotate to one side of the lower support portion, and the other A support member having a central support portion that is coupled to one side of the upper support portion to be rotated at a side opposite to one side of the lower support portion;
Wheels that are rotatably installed on both sides of the lower support portion;
An angle adjusting means for changing an angle between the lower support part and the central support part or an angle between the upper support part and the center support part;
A sensor unit provided on the sheet to measure an inclined angle of the ground;
And a control unit for controlling an angle between the lower support part and the center support part or an angle between the upper support part and the center support part so that the sheet is in a direction perpendicular to the direction of gravity according to the inclination angle measured by the sensor part,
A pair of support bars that are formed to extend downwardly on the front side of the seat and are adjustable in length; And an upper contact sensor for measuring whether the footrest part contacts the user's foot, and an input part receiving a boarding signal from a user sitting on the seat,
When receiving a ride signal from the input unit, the control unit adjusts the length of the support bar so that the footrest unit is close to the user's foot, and analyzes the detection signal transmitted from the upper contact sensor, so that the footrest unit reaches the user’s foot. When in contact, the wheelchair having a leveling function, characterized in that stopping the length adjustment of the support bar.
The method according to claim 6 or 8,
The support bar includes a first support bar that is rotatably coupled to the seat and extends downward, a support motor that is rotatably coupled to the first support bar, and a second support that extends downward of the first support bar. Bar, and a gear portion formed on the upper end of the second support bar to be gear-coupled with the support motor in a worm gear method,
When the support motor is rotated under the control of the control unit, the gear unit linearly moves and the second support bar is linearly moved to adjust the entire length of the support bar.

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