CN214549881U

CN214549881U - Electric folding wheelchair

Info

Publication number: CN214549881U
Application number: CN202023181768.3U
Authority: CN
Inventors: 李林; 梁栋; 赵恒�; 吴晋; 汪思鲁
Original assignee: Tianjin Polytechnic University
Current assignee: Tianjin Polytechnic University
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-11-02
Anticipated expiration: 2030-12-25

Abstract

The utility model discloses an electronic wheelchair that turns over a book, wheelchair include chair body part, wheelchair support frame, four-bar linkage, lead screw nut mechanism, controller, direction control pole, slide, wheel, lift driving motor, power driving motor etc.. The chair body part realizes the mutual rotation of the connected panels through the rotary connection of the lug boss and the rotating shaft; the slide ways are arranged on the axles of the front wheel and the rear wheel of the wheelchair, and the lifting driving motor is positioned in the motor protection slide block and can slide back and forth in the slide ways; the lifting driving motor spindle is coaxially and fixedly connected with a bottom lead screw in the lead screw nut, the motor drives the lead screw to rotate to drive the nut and the upper lead screw to lift, and the lifting of the nut and the upper lead screw drives the four-bar mechanism to move so as to realize the turnover of the wheelchair; the two power driving motors are respectively arranged on two sides of the rear end of the slideway and are coaxially and fixedly connected with the two rear wheel axles. The utility model has the advantages of simple and ingenious structure, each part ring is buckled mutually, the folding is convenient, easy operation.

Description

Electric folding wheelchair

Technical Field

The utility model relates to a wheelchair especially relates to an electronic wheelchair that turns over a book.

Background

The wheelchairs on the market at present are generally large in size, incapable of being folded or complex in folding and complex in structure.

The electric wheelchair of patent No. 201921679389 comprises a wheelchair main body, and the wheelchair main body comprises a vehicle body main frame, a seat, a chair back and a leg rest. The leg rest is provided with a shank backup plate and a foot supporting plate, wherein a telescopic rod is arranged between the shank backup plate and the foot supporting plate and is connected with the shank backup plate through a foot supporting rod, and a self-locking air spring is arranged between the shank backup plate and the main body frame of the vehicle body and is connected with the main body frame of the vehicle body through an air spring joint; the two sides of the back of the main frame of the vehicle body are both provided with driving wheels, wherein the driving wheels adopt hub motors integrated with the motors, and the two sides of the front of the main frame of the vehicle body are provided with driven wheels which are connected with the main frame of the vehicle body through small wheel brackets; a cushion is placed on the chair seat, wind shields with a certain height are arranged on two sides of the chair seat, an armrest frame is arranged above the wind shields, a hand cushion is placed on the armrest frame, and a direction and speed change operating rod is arranged on the right side of the armrest frame; the chair back is connected with the main frame of the vehicle body through a hand push rod, and the tail end of the hand push rod is provided with a hand push handle, but the wheelchair does not have the turnover function.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide an electric turnover wheelchair with small volume, simple and convenient turnover, simple structure and convenient operation.

In order to achieve the above purpose, the utility model discloses a technical scheme is:

electric turnover wheelchair, including the seat panel that sets up along the horizontal direction, set up at the back panel of seat panel rear side and set up the leg panel that leans on in the seat panel front side, the bottom that leans on the leg panel rotate with the pedal panel rear portion that sets up along the horizontal direction through pedal pivot and be connected the centre of back panel bottom be provided with the back boss the seat panel rear wall the left and right sides be provided with a seat respectively and connect the boss the antetheca intermediate junction of seat panel have one to lean on the leg boss lean on the top wall of leg panel about both ends be fixed with one respectively and lean on leg connection boss, its characterized in that:

a lifting driving motor arranged in a motor protection slide block is arranged below the seat panel, the motor protection slide block is connected with a slide way in a front-back sliding manner, a bracket rotating shaft is respectively fixed on the front sides of the left and right side walls of the slide way along the horizontal direction, a wheelchair support frame is respectively arranged on the outer sides of the left and right side walls of the slide way, each bracket rotating shaft is respectively fixedly connected with the lower part of the wheelchair support frame on the same side, a universal wheel is respectively connected with the lower part of the front side of each wheelchair support frame, a power driving motor is respectively fixed on the rear sides of the left and right side walls of the slide way, the output shaft of each power driving motor is arranged along the horizontal direction and is fixedly connected with one end of a wheel shaft of a rear wheel, the rear wheel is arranged between the slide way and the wheelchair support frame, and the other end of the wheel shaft of the rear wheel is rotatably connected with the wheelchair support frame on the same side, two support rods are arranged at the front and the rear of each wheelchair support frame at intervals, and each support rod is fixedly connected with the bottom wall of the seat panel;

the left side and the right side of the seat panel are respectively provided with a four-bar mechanism, each four-bar mechanism comprises an upper connecting rod which is arranged along the horizontal direction and the rear end of which is fixed on the front wall of the seat panel positioned at the outer side of the left side and the right side of the leg boss, the outer sides of the lower sides of the left side and the right side of the seat panel are respectively provided with a lower connecting rod along the horizontal direction, the front end and the rear end of each lower connecting rod are respectively connected with the lower ends of a front middle connecting rod and a rear middle connecting rod through lower rotating shafts in a rotating way, the upper end outer wall of the rear middle connecting rod is fixedly connected with the backrest panel at a preset included angle position, a boss on the front middle connecting rod is fixedly connected with the leg panel at a preset included angle position, the left side and the right side of a backrest rotating shaft arranged along the horizontal direction respectively penetrate through the backrest boss, the seat connecting boss and the upper end of the rear middle connecting rod, the backrest rotating shaft is rotatably connected with the backrest boss and the upper end of the rear middle connecting rod, the backrest rotating shaft is fixedly connected with the seat connecting boss;

the left side and the right side of a leg-leaning rotating shaft arranged along the horizontal direction respectively penetrate through a leg-leaning boss, a leg-leaning connecting boss, the rear end of an upper connecting rod, the lower end of a side connecting rod and the upper end of a front-side middle connecting rod, the leg-leaning rotating shaft is fixedly connected with the leg-leaning boss, the leg-leaning rotating shaft is rotatably connected with the leg-leaning connecting boss, the rear end of the upper connecting rod, the lower end of the side connecting rod and the upper end of the front-side middle connecting rod, the upper end of each side connecting rod is rotatably connected with the front end of a handrail frame arranged along the horizontal direction, the rear end of the handrail frame is rotatably connected with the left wall or the right wall of a backrest panel through a side shaft, the front end of the upper connecting rod of each four-bar mechanism is rotatably connected with the upper end of a leg guard plate through an upper shaft pin, the lower end of the leg guard plate is rotatably connected with the front end of the left wall or the right wall of a pedal panel through a lower shaft pin, and the rotating shaft of a lifting driving motor is fixedly connected with the lower end of a lead screw arranged along the vertical direction, the upper end of the screw rod is positioned below the seat panel, the screw rod is in threaded connection with a nut, one end of each of the left lever and the right lever which are arranged along the horizontal direction is fixedly connected with the nut, and the other end of each of the left lever and the right lever is fixedly connected with the middle of a lower connecting rod of a four-bar mechanism;

a controller is fixed on one armrest frame, the controller is connected with a lifting driving motor through a control line, a single chip microcomputer is arranged at the rear end of the slide way, a power supply port of the single chip microcomputer is connected with a battery through an electric wire, the single chip microcomputer is connected with a power driving motor through a data line, and the single chip microcomputer is connected with the controller through the control line so as to read an operation command.

Compared with the prior art, the utility model discloses following beneficial effect has: small volume, simple and convenient turnover, simple structure and convenient operation. The turning function of the wheelchair can be realized only by driving one lifting driving motor through a lead screw nut and a plurality of four-bar mechanisms.

Drawings

FIG. 1 is a perspective view of an electric folding wheelchair of the present invention;

figure 2 is a perspective view of the rear structure of the wheelchair shown in figure 1;

FIG. 3 is a perspective view of a side elevational structure of the wheelchair shown in FIG. 1;

FIG. 4 is a schematic structural view of a slide portion of the wheelchair shown in FIG. 3;

FIG. 5 is a raised perspective view of the footboard panel of the wheelchair shown in FIG. 3;

FIG. 6 is a schematic structural view of a panel connection portion of the wheelchair shown in FIG. 3;

FIG. 7 is a schematic structural view of a seat panel of the wheelchair shown in FIG. 6;

figure 8 is a schematic view of the front intermediate link and leg rest panel connection of the wheelchair of figure 3.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The utility model discloses an electronic wheelchair that turns over of book, as shown in the attached drawing, including the seat panel 2 that sets up along the horizontal direction, set up at the back panel 1 of seat panel 2 rear side and set up at the leg panel 3 that leans on of seat panel 2 front side, the bottom of leaning on leg panel 3 rotate with the 4 rear portions of pedal panel that set up along the horizontal direction through pedal pivot and be connected. The middle of the bottom of the backrest panel 1 is provided with a backrest boss, the left side and the right side of the rear wall of the seat panel 2 are respectively provided with a seat connecting boss, the middle of the front wall of the seat panel 2 is connected with a leg-leaning boss, and the left end and the right end of the top wall of the leg-leaning panel 3 are respectively fixed with a leg-leaning connecting boss.

A lifting driving motor 16 installed in a motor protection slide block 17 is arranged below the seat panel 2, the motor protection slide block 17 is connected with a slide way 18 in a front-back sliding manner, a support rotating shaft is fixed on the front side of the left side wall and the front side of the right side wall of the slide way 18 along the horizontal direction, a wheelchair support frame 14 is arranged on the outer side of the left side wall and the outer side of the right side wall of the slide way 18 respectively, each support rotating shaft is fixedly connected with the lower part of the wheelchair support frame 14 on the same side, a universal wheel 15 is connected with the lower part of the front side of each wheelchair support frame respectively, a power driving motor 19 is fixed on the rear side of the left side wall and the rear side of the slide way 18 respectively, an output shaft of each power driving motor 19 is arranged along the horizontal direction and fixedly connected with one end of a wheel shaft of a rear wheel 23, the rear wheel 23 is arranged between the slide way 18 and the wheelchair support frame 14, and the other end of the wheel shaft of the rear wheel 23 is rotatably connected with the wheelchair support frame 14 on the same side. Two support rods are arranged at intervals in the front and back of each wheelchair support frame 14, and each support rod is fixedly connected with the bottom wall of the seat panel 2.

The left side and the right side of the seat panel 2 are respectively provided with a four-bar linkage mechanism, each four-bar linkage mechanism comprises an upper connecting rod 5 which is arranged along the horizontal direction and the rear end of which is fixed on the front wall of the seat panel 2 positioned at the outer side of the left side and the right side of the leg boss, the outer side of the lower part of the left side and the right side of the seat panel 2 is respectively provided with a lower connecting rod 10 along the horizontal direction, the front end and the rear end of the lower connecting rod are respectively connected with the lower end of a front middle connecting rod 25 and a rear middle connecting rod 26 through a lower rotating shaft in a rotating way, the outer wall of the upper end of the rear middle connecting rod 26 is fixedly connected with the backrest panel 1 at a preset included angle position, the boss on the front middle connecting rod 25 is fixedly connected with the leg panel 3 at a preset included angle position, the left side and the right side of a backrest rotating shaft arranged along the horizontal direction respectively pass through the upper ends of the backrest boss, the seat connecting boss and the rear middle connecting rod 26, the backrest rotating shaft is rotatably connected with the backrest boss and the upper end of the rear middle connecting rod 26, and the backrest rotating shaft is fixedly connected with the seat connecting boss.

One set up along the horizontal direction lean on the leg pivot about both sides pass respectively by the leg boss, lean on leg connection boss, go up the rear end of connecting rod 5, the lower extreme of side connecting rod 24 and the upper end of connecting rod 25 in the middle of the front side, lean on the leg pivot with lean on leg boss fixed connection, lean on the leg pivot with lean on the leg to connect the boss, go up the rear end of connecting rod 5, the lower extreme of side connecting rod 24 and the upper end of connecting rod 25 in the middle of the front side to rotate and link to each other.

The upper end of each side connecting rod 24 is respectively connected with the front end of a handrail frame 6 arranged along the horizontal direction in a rotating way, and the rear end of the handrail frame 6 is connected with the left wall or the right wall of the backrest panel 1 in a rotating way through a side shaft. The front end of an upper connecting rod 5 of each four-bar linkage mechanism is respectively and rotatably connected with the upper end of a leg guard plate 7 through an upper shaft pin, and the lower end of the leg guard plate 7 is rotatably connected with the front end of the left wall or the right wall of the pedal panel 4 through a lower shaft pin.

The rotation shaft of the lifting driving motor 16 is coaxially and fixedly connected with the lower end of a lead screw 11 arranged along the vertical direction, the upper end of the lead screw 11 is positioned below the seat panel 2 and is a free end, a nut 12 is in threaded connection with the lead screw 11, one end of a left lever 13 and one end of a right lever 13 arranged along the horizontal direction are fixedly connected with the nut 12, and the other ends of the left lever and the right lever are respectively fixedly connected with the middle of a lower connecting rod 10 of a four-bar mechanism. The motor 16 rotates to drive the screw rod 11 to rotate, the screw rod 11 and the nut 12 are in threaded fit to enable the nut 12 to ascend and descend, the nut 12 does not rotate, and the nut 12 and the lever 13 are fixedly connected together, so that the lever 13 also ascends and descends.

A controller 9 is fixed on one armrest frame and is connected with a lifting driving motor 16 through a control line. The controller 9 controls and adjusts the lifting driving motor 16, and when an electric pulse is input to the lifting driving motor 16, the rotating shaft of the lifting driving motor rotates for an angle, and the backrest panel 1 rotates for an angular displacement. The output rotation angle of the lifting driving motor 16 is proportional to the input pulse number, and the rotation speed is proportional to the pulse frequency.

The rotation of a lifting driving motor 16 is controlled by a controller 9 on a control armrest frame 6, the lifting driving motor 16 drives a screw rod 11 to rotate to control the lifting of a nut 12 with a lever 13, the lifting of the lever 13 drives a lower connecting rod 10 of a four-bar mechanism to move back and forth, the movement of the lower connecting rod drives a front middle connecting rod 25 and a rear middle connecting rod 26 to swing back and forth, the swinging of the front middle connecting rod 25 and the rear middle connecting rod 26 respectively drives a leg rest panel 3 and a backrest panel 1 to rotate, the rotation of the backrest panel 1 drives the armrest frame 6 to move up and down, and the rotation of the leg rest panel 3 drives a pedal panel 4 to move up and down. The upper connecting rod 5 of the four-bar linkage mechanism is horizontally and fixedly connected with the seat panel 2, so that the pedal panel 4 is always kept horizontal in the swinging process of the four-bar linkage mechanism.

The included angle between the rear middle connecting rod 26 and the backrest panel 1 and between the front middle connecting rod 25 and the leg rest panel 3 in the vertical plane is fixed (the included angle between the rear middle connecting rod and the leg rest panel is not changed in the turning process of the wheelchair) to be a set angle, preferably 70 degrees, and the armrest frame 6 can be adjusted up and down along with the turning of the wheelchair.

The rear end of the slide is provided with a single chip microcomputer 21, a power supply port of the single chip microcomputer 21 is connected with a battery 20 through an electric wire, and the single chip microcomputer 21 is connected with a power driving motor 19 through a data wire. The single chip microcomputer is connected with the controller through a control line to read the operation command.

A direction control lever 8 is fixed on the other armrest frame, and the direction control lever 8 is connected with a power driving motor 19 through a control line. The direction control rod 8 controls the rotating speed and the steering of two rear wheels 23 by controlling a power driving motor 19, so as to realize the advancing, the retreating and the steering of the wheelchair.

The power driving motor 19 is coaxially and fixedly connected with the rear wheel axle 22, the rear wheel axle 22 is coaxially and fixedly connected with the rear wheel 23, the power driving motor 19 drives the rear wheel axle 22 to rotate so as to drive the rear wheel 23 to rotate, STM32 series chips embedded in the power driving motor 19 control the rotating speed and direction of the two rear wheels 23, the front wheels are two universal wheels 15, and the steering action of the wheelchair is realized in a differential steering mode. The single chip microcomputer 21 outputs a PWM wave, namely a pulse waveform with a variable duty ratio, the speed is adjusted by changing the ratio of high level time to one period of the whole pulse waveform, meanwhile, the current speed is fed back to a microprocessor of the power driving motor 19 through closed-loop control and a PID algorithm, the current speed is compared with the set speed by the processor, the output speed is adjusted in time, and the speed stability is guaranteed.

Preferably, a plurality of infrared sensors and ultrasonic sensors are arranged on the rear side of the slide way 18, the ambient environment is comprehensively detected, acquired data are transmitted to the single chip microcomputer 21, the single chip microcomputer 21 sends an execution command to the power driving motor 19, and the vehicle can be automatically stopped and automatically avoid when meeting an obstacle.

Preferably, a communication module (which may be SIM800C GPRS) and a GPS positioning module are installed on the rear side of the slide 18, and the mobile phone reads the location information of the wheelchair output by the GPS positioning module through the communication module.

Claims

1. Electronic wheelchair that turns over a book, including seat panel (2) that set up along the horizontal direction, set up back panel (1) at seat panel rear side and set up leg panel (3) by the setting in seat panel front side, the bottom by the leg panel rotate with pedal panel (4) rear portion that set up along the horizontal direction through pedal pivot and be connected the centre of back panel (1) bottom be provided with the back boss the seat panel rear wall the left and right sides be provided with a seat respectively and connect the boss the antetheca intermediate junction of seat panel have one to lean on the leg boss lean on the leg panel's the roof both ends of controlling respectively be fixed with one and lean on leg connection boss, its characterized in that:

a lifting driving motor (16) arranged in a motor protection sliding block (17) is arranged below the seat panel (2), the motor protection sliding block (17) is connected with a slideway (18) in a front-back sliding manner, a bracket rotating shaft is respectively fixed on the front sides of the left side wall and the right side wall of the slideway along the horizontal direction, a wheelchair supporting frame (14) is respectively arranged on the outer sides of the left side wall and the right side wall of the slideway, each bracket rotating shaft is respectively fixedly connected with the lower part of the wheelchair supporting frame (14) on the same side, a universal wheel (15) is respectively connected with the lower part of the front side of each wheelchair supporting frame, a power driving motor (19) is respectively fixed on the rear sides of the left side wall and the right side wall of the slideway, an output shaft of each power driving motor (19) is arranged along the horizontal direction and is fixedly connected with one end of a wheel shaft of a rear wheel (23), the rear wheels are arranged between the slide way and the wheelchair supporting frame (14), the other ends of the wheel shafts of the rear wheels are rotatably connected with the wheelchair supporting frame (14) on the same side, two supporting rods are arranged at intervals in the front and at the back of each wheelchair supporting frame (14), and each supporting rod is fixedly connected with the bottom wall of the seat panel (2);

the left and right sides of seat panel (2) be provided with a four-bar linkage respectively, each four-bar linkage all include along the horizontal direction set up and the rear end is fixed in last connecting rod (5) on the seat panel antetheca that is located by leg boss left and right sides outside the below outside of seat panel left and right sides be provided with down connecting rod (10) along the horizontal direction respectively, the lower extreme of both ends respectively through pivot and front side intermediate linkage (25), rear side intermediate linkage (26) around of lower connecting rod rotate and link to each other, the upper end outer wall of rear side intermediate linkage (26) and back panel (1) in predetermineeing contained angle position fixed and linking to each other, boss on front side intermediate linkage (25) with by leg panel (3) in predetermineeing contained angle position fixed and linking to each other, the left and right sides of a back pivot that sets up along the horizontal direction passes back boss respectively, The backrest rotating shaft is rotatably connected with the backrest boss and the upper end of the rear middle connecting rod (26), and the backrest rotating shaft is fixedly connected with the seat connecting boss;

the left side and the right side of a leg-leaning rotating shaft arranged in the horizontal direction respectively penetrate through a leg-leaning boss, a leg-leaning connecting boss, the rear end of an upper connecting rod (5), the lower end of a side connecting rod (24) and the upper end of a front middle connecting rod, the leg-leaning rotating shaft is fixedly connected with the leg-leaning boss, the leg-leaning connecting boss, the rear end of the upper connecting rod (5), the lower end of the side connecting rod (24) and the upper end of the front middle connecting rod are rotatably connected, the upper end of each side connecting rod (24) is rotatably connected with the front end of a handrail frame (6) arranged in the horizontal direction respectively, the rear end of the handrail frame (6) is rotatably connected with the left wall or the right wall of a backrest panel (1) through a side shaft, the front end of the upper connecting rod (5) of each four-bar mechanism is rotatably connected with the upper end of a leg protection plate (7) through an upper shaft pin respectively, and the lower end of the leg protection plate (7) is rotatably connected with the left rotating wall or the front end of the right wall of the pedal panel (4) through a lower shaft pin The rotating shaft of the lifting driving motor (16) is fixedly connected with the lower end of a lead screw (11) arranged along the vertical direction, the upper end of the lead screw is positioned below the seat panel (2), a nut (12) is in threaded connection with the lead screw, one end of a left lever (13) and one end of a right lever (13) arranged along the horizontal direction are fixedly connected with the nut, and the other ends of the left lever and the right lever are respectively fixedly connected with the middle of a lower connecting rod (10) of a four-bar mechanism;

be fixed with controller (9) on handrail frame, the controller pass through the control line and link to each other with lift driving motor (16) the rear end of slide be provided with singlechip (21), the power port of singlechip pass through the electric wire and link to each other with battery (20), the singlechip pass through the data line and be connected with power driving motor (19), singlechip and controller pass through the control line and link to each other in order to read the operation order.

2. The power-fold wheelchair of claim 1, wherein: the included angle between the rear middle connecting rod (26) and the backrest panel (1) and between the front middle connecting rod (25) and the leg rest panel (3) is fixed to be 70 degrees in a vertical plane.

3. The power-fold wheelchair as claimed in claim 1 or 2, wherein: the rear side of slide (18) be equipped with a plurality of infrared sensor and ultrasonic sensor, a plurality of infrared sensor and ultrasonic sensor data transfer that will gather for singlechip (21), singlechip (21) send the execution order to power driving motor (19).

4. The power-fold wheelchair of claim 3, wherein: the rear side of the slide way (18) is provided with a communication module and a GPS positioning module, and the mobile phone reads the position information of the wheelchair output by the GPS positioning module through the communication module.