CN212395234U

CN212395234U - Self-balancing electric wheelchair

Info

Publication number: CN212395234U
Application number: CN202021102631.1U
Authority: CN
Inventors: ***; 谭世豪; 王彦清; 李长泽; 王悦沣; 姜潇; 王序锋; 贺政豪
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2021-01-26
Anticipated expiration: 2030-06-16

Abstract

The utility model relates to a self-balancing electric wheelchair, which adopts the technical proposal that the self-balancing electric wheelchair comprises a base, a rotary lifting platform and a supporting and conveying platform from bottom to top, wherein the base comprises a walking mechanism for adjusting the position of the base; the rotary lifting platform comprises a lifting mechanism for adjusting the height position in the vertical direction and a rotating mechanism for adjusting the angle in the horizontal plane; the supporting and conveying platform comprises a supporting mechanism for supporting a human body and a conveying mechanism for pushing out or withdrawing the supporting mechanism towards one side, when the conveying mechanism stretches out the center of gravity and deviates from the bed, the counterweight block correspondingly stretches out or withdraws towards the opposite direction of the stretching of the supporting mechanism, the transverse balance of the wheelchair is dynamically adjusted, and the wheelchair is prevented from tipping; the conveying mechanism and the conveying mechanism are used for conveying the human body to the bed surface, so that the automatic bed loading and unloading functions are better realized; the use is flexible and convenient.

Description

Self-balancing electric wheelchair

Technical Field

The utility model relates to a movable wheelchair, in particular to a self-balancing multifunctional electric wheelchair which can automatically send a user to go to and get off a bed.

Background

China is a big-mouth country, is the country with the largest population in the world, and the population aging is increasingly more, so as to help the old to better independently live and realize actions such as independent living and the like, thereby reducing the burden of children, the demand for wheelchairs is more and more, the total demand for wheelchairs of the society is increased, the whole wheelchair industry faces huge challenges, and the wheelchair industry also has a serious challenge for the functionality. The wheelchair with single function can not meet the requirements of users, so that the design of the multifunctional, applicable, economical and safe electric wheelchair for assisting the disabled has important significance. In recent years, many companies, universities and research institutions at home and abroad have made research on assisted wheelchairs and have proposed corresponding products or solutions. With the development of these years, many types of electric wheelchairs are also available on the market, including electric wheelchairs with multiple functions such as lifting, rotating, ascending and descending stairs, assisting in getting to bed, and the like. However, most of the electric wheelchairs have single functions, can only realize single movement, and most of the electric wheelchairs need to be accompanied by people and cannot meet various movements required by the old in real life, so that the research on the multifunctional electric wheelchairs is imperative.

Chinese patent document (application No. 201120429383.6) relates to a lifting electric wheelchair, which comprises a chassis, a control handle, a seat, a scissor jack and a linear motor for controlling the lifting of the jack, wherein the jack is connected between the chassis and the seat, the control handle with a keyboard is mounted on the seat, and the linear motor for controlling the lifting of the scissor jack is fixed on the chassis. The motor can be controlled by the control handle to control the scissor jack to lift, and the wheelchair can lift people to a certain height under the premise of not using other instruments under the action of the lifting mechanism, so that the requirements of some physical handicapped people are met. But the mechanism has single function, can only lift people to a certain height and can only meet some behaviors of height requirements.

On the basis of the chinese patent document (application No. 201120429383.6), the chinese patent document (application No. 201420470513.4) relates to an electric wheelchair that can be used for getting on a bed, in which a mechanism for getting on a bed is added to the wheelchair in addition to the lifting, but the wheelchair can only lift while sending people to get on the bed, two movements cannot be performed independently, and the movement can only be performed on a fixed bed. Above two patents can not realize 360 free rotations of seat, and the first kind patent only can realize going up and down, and the second kind is albeit can assist the getting to the bed, and the extension and go up and down can only go on in step, has the limitation. And thus cannot satisfy some of the basic needs of the elderly.

In summary, the two wheelchair bodies have the defects of corresponding functions, and more importantly, in the process of getting on the bed, the gravity center of the wheelchair is changed, and the wheelchair is very easy to tip over, so that aiming at the current wheelchair with single function and better meeting the urgent needs of the current social handicapped, the electric wheelchair which can be lifted and freely rotated for 360 degrees and better realizes the functions of getting on and off the bed and is safe and reliable is imperative to design.

SUMMERY OF THE UTILITY MODEL

In view of the above situation, in order to overcome the defects of the prior art, the present invention aims to provide a self-balancing electric wheelchair, which can effectively solve the problems of height, direction, angle, sitting posture, arbitrary adjustment, automatic bed getting and getting off functions and dynamic balance adjustment.

The utility model provides a technical scheme be:

a self-balancing electric wheelchair comprises a base, a rotary lifting platform and a supporting and conveying platform from bottom to top, wherein the base comprises a travelling mechanism for adjusting the position of the base; the rotary lifting platform comprises a lifting mechanism for adjusting the height position in the vertical direction and a rotating mechanism for adjusting the angle in the horizontal plane; the supporting and conveying table comprises a supporting mechanism for supporting a human body and a conveying mechanism for pushing out or retracting the supporting mechanism towards one side;

the lifting mechanism and the rotating mechanism are sequentially arranged on the travelling mechanism from bottom to top, the supporting mechanism is arranged on the rotating part of the rotating mechanism, and the supporting mechanism is provided with a conveying mechanism for extending the supporting mechanism to one side;

the base still includes focus guiding mechanism, focus guiding mechanism includes controller, balancing weight and the flexible driver part of drive balancing weight along horizontal migration, and the controller links to each other with conveying mechanism's driver part and flexible driver part respectively, constitutes the flexible real-time balance adjustment structure of supporting mechanism orientation one side.

Preferably, the gravity center adjusting mechanism further comprises a gyroscope for detecting the gravity center of the supporting mechanism and a first motor for driving the balancing weight to horizontally move along the longitudinal direction, the gyroscope is arranged on the supporting mechanism, and the controller is connected with the gyroscope and the first motor respectively.

The supporting mechanism comprises a seat plate, a back plate hinged to the upper edge of the seat plate and a pedal hinged to the upper edge of the seat plate, two second motors are respectively fixed to the upper edge and the lower edge of the seat plate, rotating shafts of the second motors are connected with first transmission shafts which are coaxially arranged through couplers, first gears are fixed to the first transmission shafts, second transmission shafts are respectively fixed to the lower edge of the back plate and the upper edge of the pedal, and second gears meshed with the first gears are fixed to the second transmission shafts to form a relative angle adjusting structure of the seat plate, the back plate and the pedal; the gyroscope has 3, sets up respectively on bedplate, back board and running-board, and gyroscope and second motor all link to each other with the controller.

Preferably, the conveying mechanism comprises four guide wheels fixed at four corners of the lower surface of the seat plate, a third motor is fixed on the seat plate on one side of one of the guide wheels, a rotating shaft of the third motor is coaxially connected with a wheel shaft of the guide wheel to form a rotating driving structure of the guide wheel, slide rails corresponding to the guide wheels are respectively arranged on two sides of the top surface of the rotating mechanism, the guide wheels are arranged in the slide rails in a rolling manner and roll back and forth along the length direction of the guide wheels to form a guide structure of the supporting mechanism extending out of or retracting back towards one side, and the third motor is connected with the controller.

Preferably, the supporting mechanism is provided with a plurality of groups of conveying mechanisms respectively positioned on the seat plate, the backrest plate and the pedal plate, each group of conveying mechanisms comprises parallel connecting rods embedded in grooves of the seat plate, the backrest plate and the pedal plate, supporting arms are hinged on the parallel connecting rods, and a fourth motor for driving the parallel connecting rods to rotate is fixed in the grooves; the fourth motor is connected with the controller.

Preferably, the self-balancing electric wheelchair further comprises an auxiliary balance support mechanism, the balance support mechanism comprises an upper auxiliary balance support mechanism and a lower auxiliary balance support mechanism, the upper auxiliary balance support mechanism comprises a support rod, a first track shaft and a second track shaft which are parallel to the length direction of the slide rail are respectively arranged on two sides of the top surface of the rotating mechanism, sliders are arranged on the first track shaft and the second track shaft in a sliding manner, a first screw rod which is rotatably connected to the top surface of the rotating mechanism and is parallel to the top surface of the rotating mechanism is arranged between the first track shaft and the second track shaft, the sliders are in threaded connection with the first screw rod, a fifth motor for driving the first screw rod to rotate is fixed on one side of the top surface of the rotating mechanism, and a guide driving structure for the sliders to slide back and forth; the supporting rod is fixed at one end of the sliding block, the axis direction of the supporting rod is parallel to the length direction of the sliding rail, and a supporting seat is fixed at one end of the supporting rod away from the sliding block;

the lower auxiliary balance support mechanism comprises a ground lateral sliding support, the ground lateral sliding support comprises a support rod shell, a third track shaft and a fourth track shaft which are parallel to the length direction of the slide rail are respectively fixed between a base shell of the walking mechanism and a bottom plate of the lifting mechanism, the support rod shell is arranged on the third track shaft and the fourth track shaft in a sliding mode, a second lead screw which is rotatably connected to the shell or the bottom plate and is parallel to the third track shaft is arranged on one side of the third track shaft and one side of the fourth track shaft, the support rod shell is in threaded connection with the second lead screw, one end of the second lead screw is connected with a sixth motor for driving the second lead screw to select, and a guide driving structure for driving the support rod shell to slide back and forth along the length direction of the track shaft is; a push rod bracket is fixed in the support rod shell, a first electric push rod is hinged on the push rod bracket, the support rod shell is also hinged with a bracket, a sliding support wheel is rotatably arranged at the bottom of the bracket, and the movable part of the first electric push rod is fixed with the bracket to form an angle adjusting structure of the bracket; the fifth motor and the sixth motor are both connected with the controller, and the first electric push rod is connected with the controller.

Compared with the prior art, the utility model has the advantages of it is following:

1. in the process of transferring from the wheelchair to the bed, when the conveying mechanism extends out of the gravity center and deviates, the counterweight block correspondingly extends out or retracts towards the opposite direction of the extension and retraction of the supporting mechanism, the transverse balance of the wheelchair is dynamically adjusted, and the wheelchair is prevented from tipping;

2. the gyroscope detects the center of gravity of the wheelchair along the longitudinal direction, and when the longitudinal center of gravity deviates due to the change of the sitting posture of a human body, the counterweight block correspondingly extends or retracts along the longitudinal direction towards the opposite direction of the center of gravity, so that the longitudinal balance of the wheelchair is adjusted, and the wheelchair is prevented from tipping over;

3. the utility model adopts the upper and lower layers of auxiliary balance supporting mechanisms to increase the stability of the wheelchair when the wheelchair delivers the user to the bed; the upper auxiliary balance supporting mechanism forms a support on the bed, so that the wheelchair is ensured to lose balance due to unstable gravity center when the conveying mechanism and the conveying mechanism convey the human body to the bed, the lower auxiliary balance supporting mechanism forms a support under the bed when the conveying mechanism conveys the human body, the wheelchair is ensured to lose balance due to unstable gravity center when the conveying mechanism and the conveying mechanism convey the human body to the bed, the wheelchair is effectively prevented from tipping, and the stability and the safety of a user when getting on or off the bed are further improved.

4. The overall height of the wheelchair is adjusted through the lifting mechanism, and a user can adjust the proper height of the wheelchair according to the self requirement; adjusting different directions through a rotating mechanism; the height, the direction, the angle and the sitting posture can be adjusted at will, the human body can be conveyed to the bed surface through the conveying mechanism and the conveying mechanism, and the functions of getting on and off the bed automatically are better realized; the use is flexible and convenient.

Drawings

Fig. 1 is a schematic perspective view (exploded view) of the assembly of the present invention.

Fig. 2 is a perspective view of the present invention.

Fig. 3 is a perspective view of the working state of the present invention.

Fig. 4 is a perspective view of the supporting mechanism of the present invention.

Fig. 5 is a cut-away perspective view of the supporting mechanism of the present invention.

Fig. 6-7 are perspective views of the lifting mechanism of the present invention in two states.

Fig. 8 is a perspective view of the rotating mechanism of the present invention.

Fig. 9-10 are perspective views of the walking mechanism and the lower auxiliary balance supporting mechanism of the present invention.

Fig. 11 is a perspective sectional view of the upper auxiliary balance support mechanism of the present invention.

Fig. 12 is a perspective sectional view of the lower auxiliary balance support mechanism of the present invention.

Fig. 13 is a schematic block diagram of the circuit of the present invention.

Detailed Description

The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.

As shown in fig. 1-13, the utility model comprises a base iii, a rotary lifting platform ii and a supporting conveying platform i from bottom to top, wherein the base iii comprises a walking mechanism 1d for adjusting the position of the base; the rotary lifting platform II comprises a lifting mechanism 1c for adjusting the height position in the vertical direction and a rotating mechanism 1b for adjusting the angle in the horizontal plane; the supporting and conveying table I comprises a supporting mechanism 1a for supporting a human body and a conveying mechanism 1g for pushing or retracting the supporting mechanism towards one side;

the lifting mechanism 1c and the rotating mechanism 1b are sequentially arranged on the travelling mechanism 1d from bottom to top, the supporting mechanism 1a is arranged on the rotating part of the rotating mechanism 1b, and the supporting mechanism 1a is provided with a conveying mechanism 1g for extending and retracting the supporting mechanism 1a towards one side;

the base III further comprises a gravity center adjusting mechanism 1f, the gravity center adjusting mechanism 1f comprises a controller, a balancing weight 5o and a telescopic driving part for driving the balancing weight 5o to horizontally move along the transverse direction, and the controller is respectively connected with the driving part and the telescopic driving part of the conveying mechanism 1g to form a real-time balance adjusting structure with the supporting mechanism stretching towards one side;

when the wheelchair is used, the supporting mechanism is stretched towards one side by the driving part of the conveying mechanism 1g, and when the center of gravity deviates, the counterweight 5o correspondingly stretches out or retracts towards the opposite direction of stretching of the supporting mechanism, so that the transverse balance of the wheelchair is adjusted, and the wheelchair is prevented from tipping.

In order to ensure the using effect, the gravity center adjusting mechanism 1f further comprises a gyroscope for detecting the gravity center of the supporting mechanism 1a and a first motor 5l for driving the balancing weight 5o to horizontally move along the longitudinal direction, the gyroscope is arranged on the supporting mechanism, and the controller is respectively connected with the gyroscope and the first motor.

The supporting mechanism 1a comprises a seat plate 3e, a back plate 3d hinged to the upper edge of the seat plate 3e and a pedal plate 3i hinged to the upper edge of the seat plate 3e, two second motors 3a are respectively fixed to the upper edge and the lower edge of the seat plate 3e, a rotating shaft of each second motor 3a is connected with a first transmission shaft 3g which is coaxially arranged through a coupling, a first gear 3f is fixed to each first transmission shaft 3g, a second transmission shaft 3j is respectively fixed to the lower edge of the back plate 3d and the upper edge of the pedal plate 3i, and a second gear 3h meshed with the first gear 3f is fixed to each second transmission shaft 3j, so that a relative angle adjusting structure of the seat plate, the back plate and the pedal plate is formed; the gyroscope has 3, sets up respectively on bedplate, back board and running-board, and gyroscope and second motor all link to each other with the controller.

It is rotatory to drive first transmission shaft through the second motor, advances to drive the rotation of second transmission shaft through two gear engagement, and then drives back plate 3d, running-board 3i rotatory to the human posture of cooperation corresponds the adjustment, when the human body need lie down, as shown in figure 3, back plate 3d, running-board 3i can rotate to with seat 3e horizontally position, bedplate, back plate and running-board coat have cushion, cushion or safety cover and human direct contact, not given in the figure, prevent that motor or gear contact are human.

3 gyroscopes are used for the focus of response bedplate, backrest plate and running-board respectively to detect the wheelchair along fore-and-aft focus, if when the human body is the position of sitting, the focus is mainly on the bedplate, when the human body is for leaning on the appearance, the focus is on bedplate and backrest plate, then through centrobaric response, when the focus takes place the skew, the balancing weight 5o corresponds to and stretches out or withdraws along vertically towards centrobaric opposite direction, adjusts the longitudinal balance of wheelchair, prevents that the wheelchair from tumbling. The balancing weight can be set to be consistent with the weight of a user, so that the gravity center can be adjusted conveniently.

The conveying mechanism 1g comprises four guide wheels 2b fixed at four corners of the lower surface of a seat plate 3e, a third motor 2c is fixed on the seat plate on one side of one guide wheel, the rotating shaft of the third motor 2c is coaxially connected with the wheel shaft of the guide wheel to form a rotating driving structure of the guide wheel, slide rails 2a corresponding to the guide wheels are respectively arranged on two sides of the top surface of the rotating mechanism 1b, the guide wheels are arranged in the slide rails in a rolling manner and roll back and forth along the length direction of the guide wheels to form a guide structure of the supporting mechanism extending out or retracting towards one side, and the third motor 2c is connected with a controller.

The side surface of the seat plate 3e is provided with an infrared distance measuring sensor for monitoring the height of the bed surface, the infrared distance measuring sensor is connected with a controller, meanwhile, the controller is respectively connected with the driving parts of the lifting mechanism 1c and the rotating mechanism 1b, when the human body on the seat plate 3e needs to be transferred to the bed, the rotating mechanism controls the rotation of the conveying mechanism to enable the extending direction of the conveying mechanism to be opposite to the side where the bed surface is located, the second motor adjusts the backrest plate 3d and the pedal plate 3i to rotate to the position horizontal to the seat plate 3e, the lifting mechanism lifts the seat plate, when the infrared distance measuring sensor detects that the infrared distance measuring sensor is higher than the bed surface, the conveying mechanism drives the seat board to extend out towards the side where the bed surface is located, the balancing weight 5o correspondingly extends out towards the opposite direction of the extension of the supporting mechanism, the transverse balance of the wheelchair is adjusted to prevent the wheelchair from tipping, so that the wheelchair supporting and conveying platform I is conveyed to a bed together with a user;

the supporting mechanism 1a is provided with a plurality of groups of conveying mechanisms which are respectively positioned on the seat plate, the backrest plate and the pedal plate, each group of conveying mechanisms comprises parallel connecting rods 3b which are embedded in grooves 3l of the seat plate, the backrest plate and the pedal plate, supporting arms 3c are hinged on the parallel connecting rods 3b, and a fourth motor 3k for driving the parallel connecting rods 3b to rotate is fixed in the grooves 3 l; the fourth motor is connected with the controller. The parallel connecting rods 3b are hinged with the supporting arms 3c, the grooves provide space for folding of the parallel connecting rods 3b and withdrawing of the supporting arms 3c, as shown in fig. 4 and 5, the fourth motor drives the parallel connecting rods 3b to rotate so as to drive the supporting arms 3c to extend out and retract, a user only needs to sit on the wheelchair when going to bed, the height of the wheelchair is adjusted through the lifting structure, the wheelchair supporting and conveying platform I together with the human body is conveyed to the bed through the conveying mechanism, the human body is conveyed to the bed from the wheelchair supporting mechanism through the conveying structure, the supporting arms are retracted under the driving of the fourth motor and the parallel connecting rods after the human body goes to the bed, and therefore the automatic going-to-bed process is completed, and the going-out-bed process is also opposite to the going-to-.

The self-balancing electric wheelchair also comprises an auxiliary balancing support mechanism, the balancing support mechanism comprises an upper auxiliary balancing support mechanism and a lower auxiliary balancing support mechanism, the upper auxiliary balance supporting mechanism comprises a supporting rod 7b, a first track shaft 7f and a second track shaft 7d which are parallel to the length direction of the sliding rail 2a are respectively arranged on two sides of the top surface of the rotating mechanism 1b, a sliding block 7c is arranged on the first track shaft 7f and the second track shaft 7d in a sliding mode, a first screw rod 7g which is rotatably connected to the top surface of the rotating mechanism and is parallel to the top surface of the rotating mechanism is arranged between the first track shaft 7f and the second track shaft 7d, the sliding block 7c is in threaded connection with the first screw rod 7g, a fifth motor 7e for driving the first screw rod to rotate is fixed on one side of the top surface of the rotating mechanism, and a guide driving structure for the sliding block to slide back and forth; the supporting rod 7b is fixed at one end of the sliding block, the axial direction of the supporting rod is parallel to the length direction of the sliding rail, and a supporting seat 7a is fixed at one end, far away from the sliding block, of the supporting rod 7 b;

the lower auxiliary balance support mechanism comprises a ground lateral sliding support, the ground lateral sliding support comprises a support rod shell 8a, a third track shaft 8d and a fourth track shaft 8e which are parallel to the length direction of the slide rail 2a are respectively fixed between a base shell 5h of the traveling mechanism 1d and a bottom plate 4h of the lifting mechanism 1c, the support rod shell 8a is arranged on the third track shaft 8d and the fourth track shaft 8e in a sliding mode, one side of the third track shaft 8d and one side of the fourth track shaft 8e are provided with a second lead screw 8g which is rotatably connected to the shell 5h or the bottom plate 4h and is parallel to the third track shaft, the support rod shell 8a is in threaded connection with the second lead screw 8g, one end of the second lead screw 8g is connected with a sixth motor 8f for driving the selection of the second lead screw, and a guide driving structure for the support rod shell to slide back and forth along the length direction of the; a push rod support 8b is fixed in the support rod shell 8a, a first electric push rod 8h is hinged on the push rod support 8b, a support 8i is further hinged on the support rod shell 8a, a sliding support wheel 8j is rotatably arranged at the bottom of the support 8i, and the movable part of the first electric push rod 8h is fixed with the support 8i to form an angle adjusting structure of the support; the fifth motor and the sixth motor are both connected with the controller, and the first electric push rod is connected with the controller.

The device adopts an upper layer auxiliary balance supporting mechanism and a lower layer auxiliary balance supporting mechanism, so that the stability of the wheelchair when a user is delivered to the bed is improved; when the upper auxiliary balance supporting mechanism is used, the fifth motor 7e drives the screw rod to rotate, so that the sliding block 7c is driven to slide back and forth along the length direction of the track shaft, and the supporting rod 7b is connected with the supporting seat 7a to horizontally extend. When the wheelchair travels to the bedside, the supporting rod 7b is horizontally extended out of the supporting seat 7a, the whole height of the wheelchair is adjusted through the lifting mechanism, so that the supporting seat 7a falls on the bed surface, a support is formed on the bed, the wheelchair is ensured to lose balance due to unstable gravity when the human body is conveyed to the bed by the conveying mechanism and the conveying mechanism, and the supporting rod 7b also plays a role of a rail, so that the problem of overlarge friction when the human body is conveyed to the bed by the conveying mechanism is solved.

When the lower auxiliary balance supporting mechanism is used, the bracket 8j and the sliding wheel 8j are driven to rotate to adjust the angle through the extension and retraction of the first electric push rod 8h, so that the lower auxiliary balance supporting mechanism can be adjusted to a proper angle according to different terrains; when the wheelchair travels to the bedside, the sixth motor drives the second lead screw to rotate, firstly, the support rod shell 8a and the internal structure of the support rod shell horizontally stretch out to a proper distance, then, the first electric push rod 8h adjusts the support 8i through adjusting the stretching length, and the position of the sliding wheel 8j is adjusted, so that a support is formed under the bed when the conveying mechanism conveys the human body, the wheelchair is ensured to be out of balance due to unstable gravity when the conveying mechanism and the conveying mechanism convey the human body to the bed, the wheelchair is effectively prevented from tipping, and the stability and the safety of a user when the user gets on or off the bed are further improved.

A top guide rail 5n and a bottom guide rail 5k which are longitudinally arranged are respectively fixed on the lower surface of a base shell 5h of the travelling mechanism 1d, an upper sliding table corresponding to the top guide rail 5n is fixed on the upper surface of a sliding plate 5p, the upper sliding table is in sliding connection with the top guide rail 5n, a lower sliding table corresponding to the bottom guide rail 5k is fixed on the lower surface of the sliding plate 5p, the lower sliding table is in sliding connection with the bottom guide rail 5k to form a sliding guide structure of the sliding plate along the longitudinal direction, a third lead screw 5m driven by a first motor 5l is also rotatably connected on the base shell 5h, the third lead screw 5m is in threaded connection with the upper sliding table on the top of the sliding plate 5p to form a driving structure of the sliding plate along the longitudinal direction, a second electric push rod 5j which extends and retracts along the transverse direction is arranged on the sliding plate 5p, a balancing weight 5o is fixed on the outer, the first motor 5l and the second electric push rod 5j are connected with the controller to form a balancing weight block position adjusting structure along the transverse direction and the longitudinal direction.

The second electric push rod is the telescopic driving component for driving the counterweight 5o to horizontally move along the transverse direction. The counterweight block can be moved along the transverse direction (X direction) by stretching out and retracting the second electric push rod 5j, meanwhile, the sliding plate 5q can be driven by the first motor 5l to rotate through the screw rod, the electric push rod, the counterweight block 5p and the like form a longitudinal movement (Y direction), and through the position of the movable counterweight block, the problem of tipping risks caused by the deviation of the center of gravity of a user when the user gets into a bed is solved by generating a moment to the wheelchair, and the stability and the safety of the user when the user gets into or out of the bed are improved.

The transverse direction is parallel to the length direction of the slide rail 2a, and the longitudinal direction is vertical to the length direction of the slide rail 2 a.

And a telescopic part 5q is connected between the balancing weight 5o and the sliding plate 5p, and the telescopic part 5q can be a telescopic rail, a telescopic rod and other conventional telescopic parts, so that the stability of the balancing weight in the transverse telescopic process is further improved.

The walking mechanism 1d comprises walking wheels 5a arranged at four corners below the base shell 5h, and wheel shafts 5b of the walking wheels 5a are connected with a seventh motor 5c to form a walking driving structure of the wheelchair.

A bearing seat 5f is fixed at the bottom of the base shell 5h, a walking wheel 5a is fixed on a wheel shaft 5b, one end, far away from the walking wheel, of the wheel shaft 5b is rotatably connected onto the bearing seat through a bearing, a seventh motor 5c is fixed on the base shell 5h, a third gear 5d is fixed on a rotating shaft of the seventh motor 5c, and a fourth gear 5e meshed with the third gear 5d is fixed on the wheel shaft 5b to form a walking wheel power transmission structure. The seventh motor 5c drives the two gears to rotate, so that the wheel shaft 5b is driven to rotate, the travelling wheels are driven to rotate, and power supply is realized when the wheelchair runs.

Elevating system 1c including fixing the elevating system bottom plate 4h at base shell 5h upper surface, elevating system roof 4k is equipped with through the parallel four-bar linkage 4i that stretches out and draws back along the direction of height respectively in elevating system bottom plate 4h both sides, be provided with the third electric putter 4f that is used for propping up parallel four-bar linkage 4i on the elevating system bottom plate 4h, constitute the high position control structure of elevating system roof, third electric putter 4f links to each other with the controller.

The lower end of a third electric push rod 4f is hinged on a push rod support 4g, the two sides of a bottom plate 4h of the lifting mechanism are respectively provided with a lower track groove 4m which is longitudinally arranged, the two ends of the push rod support 4g are connected in the lower track groove 4m in a sliding way through a sliding block, an upper track groove 4n which is consistent with the lower track groove is arranged on the bottom plate 4h of the lifting mechanism right above the lower track groove 4m, an upper sliding rod 4o is arranged between the upper track grooves 4n in a sliding way, the upper and lower ends of parallel four connecting rods 4i at the same side are respectively provided with two connecting points, one of the two connecting points is hinged with the bottom plate 4h of the lifting mechanism, the other connecting point is hinged with the push rod support 4g, one of the two connecting points at the upper end is hinged with a top plate 4k of the lifting mechanism, the other connecting point is hinged with the upper sliding rod 4o, a supporting polished rod 4l is rotatably, the upper end of a third electric push rod 4f is hinged with a supporting polished rod 4l above the opposite side in an inclined mode, the third electric push rod 4f stretches out and retracts to drive a parallel four-connecting-rod 4i to stretch, so that the uppermost slide rod 4o and the push rod support 4g slide between the track grooves, the lifting mechanism top plate 4k rises and falls relative to the lifting mechanism bottom plate 4h, the overall height of the wheelchair is adjusted, a user can adjust the proper height of the wheelchair according to the needs of the user, and the wheelchair is suitable for families and public places.

The rotating mechanism 1b comprises an inclined plate 6d and a rotating plate 6c, a rotating shaft 6f extending downwards is fixed at the center of the rotating plate 6c, the lower end of the rotating shaft 6f is rotatably connected with the inclined plate 6d through a bearing, the lower surface of one side of the inclined plate 6d is hinged with a lifting mechanism top plate 4k through a hinge 6k, a fourth electric push rod 6e is hinged on the lifting mechanism top plate 4k, the telescopic part of the fourth electric push rod 6e is hinged with the lower surface of the inclined plate away from the hinge to form an inclination angle adjusting structure of the inclined plate and the rotating plate, an eighth motor 6i for driving the rotating shaft to rotate is fixed on the bottom surface of the inclined plate, and the eighth motor 6i and the fourth electric push rod 6e are both connected with a controller.

A fifth gear 6b is fixed on the rotating shaft 6f below the rotating plate, a driving shaft 6l extending downwards is rotatably connected to the lower surface of the rotating plate on the side of the rotating shaft 6f, a sixth gear 6a engaged with the fifth gear is fixed on the driving shaft 6l, a first bevel gear 6b is fixed on the driving shaft below the sixth gear 6a, and a second bevel gear 6j engaged with the first bevel gear 6b is fixed on the rotating shaft of the eighth motor 6i, thereby forming a rotating power transmission structure of the rotating plate.

The fourth electric push rod 6e can drive the inclined plate 6d to turn over, so that the sitting posture of the human body on the wheelchair can be adjusted, and the function of helping the user to incline the body can be achieved. The eighth motor 6i drives the second bevel gear to rotate, so as to drive the first bevel gear 6b and the driving shaft to rotate, so as to drive the rotating shaft to rotate through the meshed fifth gear and sixth gear, and finally drive the rotating plate 6c to rotate, so as to adjust the angle of the wheelchair in the plane.

The slide rail 2a and the upper auxiliary balance supporting mechanism are arranged on two sides of the rotating plate, handrails are respectively arranged on the rotating plates at two ends of the slide rail, the handrail far away from the extending side of the supporting mechanism is a fixed handrail 4e, the handrail close to the extending side of the supporting mechanism is a lifting handrail 4a, the lifting handrail comprises a supporting plate 4c fixed on the rotating plate on the same side, a guide sleeve 4b is arranged on the supporting plate 4c, the lifting handrail 4a is arranged in the guide sleeve 4b in a sliding manner, the lifting driving can be realized by adding an electric push rod and other conventional telescopic manners, for example, the electric push rod is fixed on the supporting plate 4c, the movable part of the electric push rod is fixedly connected with the lifting handrail 4a to drive the lifting handrail to lift, other structures with the same function can be adopted for replacing, and the lifting handrail 4a with the lifting and the highest, such as luggage of a trolley case, the lifting handrail is lowered when the support mechanism needs to be extended, as shown in fig. 3.

The controller is respectively connected with the key, the display and the power supply; the button is used for the input instruction, and the display is used for showing the wheelchair state, and the power is used for supplying power for each components and parts. The controller can be arranged on the fixed handrail, is convenient to operate, is in the prior art, is used for receiving data collected by the gyroscope and the infrared distance measuring sensor and correspondingly operates each motor and the electric push rod, and can adopt a single chip microcomputer controller with the model STC89C51 and the like.

The utility model is used when a user sits on the supporting mechanism, the overall height of the wheelchair is adjusted through the lifting mechanism 1c, and the user can adjust the proper height of the wheelchair according to the self requirement; different orientations are adjusted through the rotating mechanism 1 b; the back plate 3d and the pedal plate 3i are driven to rotate by the second motor to match the posture of the human body for corresponding adjustment, and when the human body needs to lie down, as shown in fig. 3, the back plate 3d and the pedal plate 3i can rotate to the position horizontal to the seat plate 3 e. The 3 gyroscopes are respectively used for sensing the gravity centers of the seat plate, the backrest plate and the pedal plate so as to detect the gravity center of the wheelchair along the longitudinal direction, if a human body is in a sitting posture, the gravity center is mainly on the seat plate, and if the human body is in a leaning posture, the gravity center is on the seat plate and the backrest plate, and through the sensing of the gravity center, when the gravity center is deviated, the counterweight block correspondingly extends or retracts along the longitudinal direction towards the opposite direction of the gravity center, so that the longitudinal balance of the wheelchair is adjusted, and the wheelchair is prevented from tipping; when needing to go to bed, the rotating mechanism controls the rotation of the conveying mechanism, so that the extending direction of the conveying mechanism is opposite to the side where the bed surface is located, the second motor adjusts the back plate 3d and the pedal plate 3i to rotate to the position horizontal to the seat plate 3e, the lifting mechanism lifts the seat plate, when the infrared distance measuring sensor detects that the infrared distance measuring sensor is higher than the bed surface, the conveying mechanism drives the seat plate to extend towards the side where the bed surface is located, the lifting mechanism descends to support the supporting seat on the bed surface after the back plate and the pedal plate extend out, meanwhile, the auxiliary group supporting rods of the lower base are pushed towards one side of the bed by the electric push rod to support the two auxiliary supporting rods, one of the auxiliary group supporting rods increases the supporting area, the other two auxiliary group supporting rods play a supporting role, the conveying structure conveys a human body from the wheelchair supporting mechanism to the bed, the supporting arms are recovered under the driving of the fourth motor and the parallel connecting, the transverse balance of the wheelchair is adjusted to prevent the wheelchair from tipping, so that the wheelchair supporting and conveying platform I is conveyed to a bed together with a user; the process of getting off the bed is also opposite to the process of getting on the bed.

It should be added that the above-mentioned description of the present application is only an example and is not intended to limit the scope of the present application, and all technical solutions substantially identical to the technical solutions of the present application, which are made by equivalent or equivalent substitution means, belong to the scope of the present application.

Claims

1. A self-balancing electric wheelchair comprises a base (III), a rotary lifting platform (II) and a supporting and conveying platform (I) from bottom to top, and is characterized in that the base (III) comprises a travelling mechanism (1d) for adjusting the position of the base; the rotary lifting platform (II) comprises a lifting mechanism (1c) for adjusting the height position in the vertical direction and a rotating mechanism (1b) for adjusting the angle in the horizontal plane; the supporting and conveying table (I) comprises a supporting mechanism (1a) for supporting a human body and a conveying mechanism (1g) for pushing out or retracting the supporting mechanism towards one side;

the lifting mechanism (1c) and the rotating mechanism (1b) are sequentially arranged on the walking mechanism (1d) from bottom to top, the supporting mechanism (1a) is arranged on the rotating part of the rotating mechanism (1b), and the supporting mechanism (1a) is provided with a conveying mechanism (1g) for extending and retracting the supporting mechanism towards one side;

base (III) still includes focus guiding mechanism (1f), focus guiding mechanism (1f) includes controller, balancing weight (5o) and drive balancing weight (5o) along horizontal migration's flexible driver part, and the controller links to each other with the driver part and the flexible driver part of conveying mechanism (1g) respectively, constitutes the flexible real-time balance adjustment structure of supporting mechanism orientation one side.

2. The self-balancing electric wheelchair as claimed in claim 1, wherein the center of gravity adjusting mechanism (1f) further comprises a gyroscope for detecting the center of gravity of the supporting mechanism (1a) and a first motor (5l) for driving the counterweight (5o) to move horizontally in the longitudinal direction, the gyroscope is disposed on the supporting mechanism, and the controller is connected to the gyroscope and the first motor respectively.

3. The self-balancing electric wheelchair as claimed in claim 2, wherein the support mechanism (1a) comprises a seat plate (3e), a backrest plate (3d) hinged to the upper edge of the seat plate (3e), and a pedal plate (3i) hinged to the upper edge of the seat plate (3e), two second motors (3a) are respectively fixed to the upper and lower edges of the seat plate (3e), the rotating shafts of the second motors (3a) are connected with a first transmission shaft (3g) coaxially arranged through a coupler, a first gear (3f) is fixed to the first transmission shaft (3g), a second transmission shaft (3j) is respectively fixed to the lower edge of the backrest plate (3d) and the upper edge of the pedal plate (3i), a second gear (3h) meshed with the first gear (3f) is fixed to the second transmission shaft (3j), and the seat plate and the backrest plate are formed, a relative angle adjusting structure of the pedal; the gyroscope has 3, sets up respectively on bedplate, back board and running-board, and gyroscope and second motor all link to each other with the controller.

4. The self-balancing electric wheelchair as claimed in claim 3, wherein the conveying mechanism (1g) comprises four guide wheels (2b) fixed at four corners of the lower surface of the seat plate (3e), wherein a third motor (2c) is fixed on the seat plate at one side of one guide wheel, the rotating shaft of the third motor (2c) is coaxially connected with the axle of the guide wheel to form a rotating driving structure of the guide wheel, two sides of the top surface of the rotating mechanism (1b) are respectively provided with a sliding rail (2a) corresponding to the guide wheel, the guide wheels are arranged in the sliding rails in a rolling manner and roll back and forth along the length direction of the guide wheels to form a guiding structure of the supporting mechanism extending or retracting towards one side, and the third motor (2c) is connected with the controller.

5. The self-balancing electric wheelchair as claimed in claim 4, wherein the support mechanism (1a) is provided with a plurality of sets of transmission mechanisms respectively arranged on the seat plate, the backrest plate and the pedal plate, each set of transmission mechanism comprises parallel connecting rods (3b) embedded in grooves (3l) of the seat plate, the backrest plate and the pedal plate, the parallel connecting rods (3b) are hinged with support arms (3c), and a fourth motor (3k) for driving the parallel connecting rods (3b) to rotate is fixed in the grooves (3 l); the fourth motor is connected with the controller.

6. The self-balancing electric wheelchair according to claim 4, further comprising an auxiliary balance support mechanism, wherein the balance support mechanism comprises an upper auxiliary balance support mechanism and a lower auxiliary balance support mechanism, the upper auxiliary balance support mechanism comprises a support rod (7b), a first track shaft (7f) and a second track shaft (7d) which are parallel to the length direction of the slide rail (2a) are respectively arranged on two sides of the top surface of the rotating mechanism (1b), a slide block (7c) is slidably arranged on the first track shaft (7f) and the second track shaft (7d), a first screw rod (7g) which is rotatably connected to the top surface of the rotating mechanism and is parallel to the top surface of the rotating mechanism is arranged between the first track shaft (7f) and the second track shaft (7d), the slide block (7c) is in threaded connection with the first screw rod (7g), and a fifth motor (7e) for driving the first screw rod to rotate is fixed on one side of the top surface of the rotating mechanism, a guide driving structure that the slide block slides back and forth along the length direction of the track shaft is formed; the supporting rod (7b) is fixed at one end of the sliding block, the axial direction of the supporting rod is parallel to the length direction of the sliding rail, and a supporting seat (7a) is fixed at one end of the supporting rod (7b) far away from the sliding block;

the lower auxiliary balance support mechanism comprises a ground lateral sliding support, the ground lateral sliding support comprises a support rod shell (8a), a third track shaft (8d) and a fourth track shaft (8e) which are parallel to the length direction of the slide rail (2a) are respectively fixed between a base shell (5h) of the walking mechanism (1d) or a bottom plate (4h) of the lifting mechanism (1c), the support rod shell (8a) is arranged on the third track shaft (8d) and the fourth track shaft (8e) in a sliding manner, one sides of the third track shaft (8d) and the fourth track shaft (8e) are provided with a second screw rod (8g) which is rotatably connected to the shell (5h) or the bottom plate (4h) and is parallel to the third track shaft, the support rod shell (8a) is in threaded connection with the second screw rod (8g), one end of the second screw rod (8g) is connected with a sixth motor (8f) for driving the selection of the second screw rod (8g), a guide driving structure is formed, wherein the support rod shell slides back and forth along the length direction of the track shaft; a push rod support (8b) is fixed in the support rod shell (8a), a first electric push rod (8h) is hinged to the push rod support (8b), a support (8i) is further hinged to the support rod shell (8a), a sliding support wheel (8j) is rotatably arranged at the bottom of the support (8i), and a movable part of the first electric push rod (8h) is fixed with the support (8i) to form an angle adjusting structure of the support; the fifth motor and the sixth motor are both connected with the controller, and the first electric push rod is connected with the controller.

7. The self-balancing electric wheelchair as claimed in claim 2 or 6, wherein the bottom surface of the base housing (5h) of the traveling mechanism (1d) is fixed with a top guide rail (5n) and a bottom guide rail (5k) which are longitudinally arranged, the upper surface of the sliding plate (5p) is fixed with an upper sliding table corresponding to the top guide rail (5n) and slidably connected with the top guide rail (5n), the lower surface of the sliding plate (5p) is fixed with a lower sliding table corresponding to the bottom guide rail (5k) and slidably connected with the bottom guide rail (5k) to form a sliding guide structure of the sliding plate along the longitudinal direction, the base housing (5h) is further rotatably connected with a third screw rod (5m) driven by a first motor (5l), and the third screw rod (5m) is in threaded connection with the upper sliding table at the top of the sliding plate (5p), the sliding plate is provided with a second electric push rod (5j) which stretches along the transverse direction, the sliding plate (5p) is provided with a counterweight block (5o) which is fixed at the outer end of a telescopic rod of the second electric push rod (5j), and the first motor (5l) and the second electric push rod (5j) are connected with the controller to form a counterweight block position adjusting structure along the transverse direction and the longitudinal direction.

8. The self-balancing electric wheelchair according to claim 7, wherein the travelling mechanism (1d) comprises travelling wheels (5a) arranged at four corners below the base housing (5h), and wheel shafts (5b) of the travelling wheels (5a) are connected with a seventh motor (5c) to form a travelling driving structure of the wheelchair.

9. The self-balancing electric wheelchair as claimed in claim 1 or 8, wherein the lifting mechanism (1c) comprises a lifting mechanism bottom plate (4h) fixed on the upper surface of the base housing (5h), a lifting mechanism top plate (4k) is respectively arranged on two sides of the lifting mechanism bottom plate (4h) through parallel four-bar linkages (4i) extending and retracting along the height direction, a third electric push rod (4f) for supporting the parallel four-bar linkages (4i) is arranged on the lifting mechanism bottom plate (4h) to form a height position adjusting structure of the lifting mechanism top plate, and the third electric push rod (4f) is connected with the controller.

10. The self-balancing electric wheelchair as claimed in claim 9, wherein the rotating mechanism (1b) comprises an inclined plate (6d) and a rotating plate (6c), a rotating shaft (6f) extending downwards is fixed at the center of the rotating plate (6c), the lower end of the rotating shaft (6f) is rotatably connected with the inclined plate (6d) through a bearing, the lower surface of one side of the inclined plate (6d) is hinged with the lifting mechanism top plate (4k) through a hinge (6k), a fourth electric push rod (6e) is hinged on the lifting mechanism top plate (4k), the telescopic part of the fourth electric push rod (6e) is hinged with the lower surface of the inclined plate far away from the hinge to form an inclination angle adjusting structure of the inclined plate and the rotating plate, an eighth motor (6i) for driving the rotating shaft to rotate is fixed on the bottom surface of the inclined plate, and the eighth motor (6i) and the fourth electric push rod (6e) are both connected with the controller.