Control device and electric wheelchair

Abstract

The application relates to a control device and an electric wheelchair. The control device comprises a direction control assembly, a holding assembly, a circuit board assembly and a button. The direction control assembly comprises a base and a rocker, one end of the rocker is connected with the base, the holding assembly is connected with one end of the rocker away from the base, the holding assembly is provided with a mounting cavity, the circuit board assembly is arranged in the mounting cavity, the circuit board assembly comprises a circuit board, a switch element and a vibration element which are electrically connected with the circuit board respectively, and the button is movably connected with the holding assembly. When the button is moved relative to the holding assembly, the switch element can be triggered. The application can enrich the functionality of the control device and improve the user experience.

Description

Technical Field

[0001] This application relates to the field of assistive mobile device technology, and more particularly to a control device and an electric wheelchair. Background Technology

[0002] In the field of assistive mobile devices, electric wheelchairs, with their convenience and autonomy, have become an important tool for people with mobility impairments to achieve independent movement. The joystick control device of an electric wheelchair is the core component enabling user interaction with the device, directly impacting the user experience and safety. In related technologies, the joystick control devices commonly used in electric wheelchairs only perform the basic function of wheelchair direction control; users change the wheelchair's direction by pushing the joystick, achieving simple displacement operations.

[0003] However, with the deepening development of intelligent and human-centered design concepts in the field of assistive devices, the functions of the joystick control devices for electric wheelchairs in related technologies are relatively simple, making it difficult to meet the diverse needs of users. Utility Model Content

[0004] To address or partially address the problems existing in the related technologies, this application provides a control device and an electric wheelchair, which can enrich the functionality of the control device and improve the user experience.

[0005] The first aspect of this application provides a control device, including: a direction control component, a grip component, a circuit board assembly, and buttons;

[0006] The direction control assembly includes a base and a rocker arm. One end of the rocker arm is connected to the base. The grip assembly is connected to the end of the rocker arm away from the base. The grip assembly has a mounting cavity. The circuit board assembly is disposed in the mounting cavity. The circuit board assembly includes a circuit board and a switching element and a vibration element electrically connected to the circuit board. The button is movably connected to the grip assembly. When the button moves relative to the grip assembly, it can trigger the switching element.

[0007] Furthermore, the button is rotatably connected to the grip assembly, with one end of the button extending into the mounting cavity. When the button rotates relative to the grip assembly, the end of the button located in the mounting cavity can press against the switching element.

[0008] Furthermore, the grip assembly is provided with a pivot, and the button is provided with an opening fitted onto the pivot; the button is rotatably connected to the grip assembly via the pivot; or

[0009] The button is provided with a pivot, and the grip component is provided with an opening fitted onto the pivot. The button is rotatably connected to the grip component through the pivot.

[0010] Furthermore, the button is slidably connected to the grip assembly, with one end of the button extending into the mounting cavity. When the button slides relative to the grip assembly, the end of the button located in the mounting cavity can press against the switching element.

[0011] Furthermore, the grip assembly is provided with a sliding groove, and the button is slidably connected to the sliding groove, allowing the button to slide along the sliding groove; or

[0012] The button is provided with a sliding groove, and the grip component is provided with a guide that is slidably connected to the sliding groove, and the sliding groove can slide along the guide.

[0013] Furthermore, the end of the button that is away from the mounting cavity protrudes outward from the outer side of the grip assembly.

[0014] Furthermore, the grip assembly includes a base and a cap, the base being connected to the rocker arm, the cap covering the base, and the cap and the base enclosing each other to form the mounting cavity.

[0015] Furthermore, the center of the base is provided with a protrusion extending toward the cap body, and the protrusion has a mounting groove, into which the end of the rocker arm extends; and / or

[0016] The base body has a mounting post on the side facing the cap body, and the circuit board assembly is connected to the mounting post.

[0017] Furthermore, the circuit board has a clearance hole in the middle, and the circuit board is fitted onto the protrusion through the clearance hole.

[0018] Furthermore, the control device also includes a protective sleeve fitted over the joystick, the protective sleeve being located between the grip assembly and the base.

[0019] A second aspect of this application provides an electric wheelchair, comprising: armrests and a control device as described in any of the preceding claims, wherein the base is connected to the armrests.

[0020] Furthermore, the electric wheelchair also includes a controller, which is communicatively connected to the circuit board assembly. The controller is used to receive trigger signals from the switching element and to control the vibration element to vibrate.

[0021] Furthermore, the electric wheelchair also includes an obstacle detection device, and the controller is communicatively connected to the obstacle detection device.

[0022] The technical solution provided in this application can include the following beneficial results: By setting a mounting cavity in the grip component to accommodate the circuit board assembly, the circuit board assembly is built into the operating end. By integrating the switching element and the vibration element on the circuit board, both button triggering function and vibration feedback capability are achieved. The movable connection design between the button and the grip component allows the user to trigger the button function while operating the directional control, avoiding additional operation steps. The vibration element can provide haptic feedback to the user when operating the joystick, upgrading the traditional single directional control to intelligent control with tactile interaction, allowing the user to perceive changes in the device status in real time through vibration, enhancing the accuracy of operation. Therefore, the above solution enriches the functionality of the control device and improves the user's driving experience.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0024] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0025] Figure 1 This is a schematic diagram of the control device shown in the embodiments of this application;

[0026] Figure 2 This is a cross-sectional schematic diagram of the control device shown in the embodiments of this application;

[0027] Figure 3 This is an exploded view of the control device shown in the embodiments of this application;

[0028] Figure 4 This is a schematic diagram of the base structure shown in an embodiment of this application;

[0029] Figure 5 This is another structural schematic diagram of the base shown in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of the button structure shown in an embodiment of this application;

[0031] Figure 7 This is a schematic diagram of the circuit board assembly shown in the embodiments of this application;

[0032] Figure 8 This is a schematic diagram of the control device and handrail shown in the embodiments of this application.

[0033] Reference numerals: 1-Direction control assembly, 11-Base, 12-Rockstick, 2-Grip assembly, 21-Mounting cavity, 22-Seat body, 221-Protrusion, 222-Mounting groove, 223-Mounting post, 23-Cap body, 3-Circuit board assembly, 31-Circuit board, 311-Allowing hole, 32-Switch element, 33-Vibration element, 4-Button, 5-Shaft, 6-Opening, 7-Protective cover, 8-Handrail. Detailed Implementation

[0034] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0035] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In related technologies, the joystick control devices commonly used in electric wheelchairs have relatively simple functions, only providing basic directional control. Users change the wheelchair's direction of travel by pushing the joystick, achieving simple displacement operations. With the deepening development of intelligent and human-centered design concepts in the field of assistive devices, the limitations of traditional electric wheelchair joystick control systems are becoming increasingly apparent. The single directional control function can no longer meet the diverse needs of users. For example, when using intelligent assistive functions, users need to operate additional independent control units, which is not only cumbersome but also increases the risk of misoperation. Furthermore, the lack of intuitive feedback mechanisms during operation prevents users from perceiving real-time changes in device status, which greatly limits the expansion of intelligent functions in electric wheelchairs and the improvement of user experience.

[0039] To address the aforementioned issues, this application provides a control device and an electric wheelchair, which can enrich the functionality of the control device and enhance the user experience.

[0040] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0041] like Figures 1 to 7 As shown, this application embodiment provides a control device, including a direction control component 1, a grip component 2, a circuit board component 3, and a button 4.

[0042] The directional control component 1 includes a base 11 and a rocker arm 12. One end of the rocker arm 12 is connected to the base 11. The grip component 2 is connected to the end of the rocker arm 12 that is away from the base 11. The grip component 2 is provided with a mounting cavity 21. The circuit board component 3 is located in the mounting cavity 21. The circuit board component 3 includes a circuit board 31 and a switching element 32 and a vibration element 33 that are electrically connected to the circuit board 31. The button 4 is movably connected to the grip component 2. When the button 4 moves relative to the grip component 2, it can trigger the switching element 32.

[0043] The direction control component 1 can realize the direction adjustment of the electric wheelchair. Specifically, it can be achieved by using a rocker arm 12 made of metal or engineering plastic and connecting it to the base 11 through a ball joint. The direction of travel of the electric wheelchair can be controlled by controlling the swing angle of the rocker arm 12.

[0044] The grip component 2 refers to the housing structure for users to hold and operate. Specifically, it can be a split injection-molded housing with an internal cavity to accommodate the circuit board assembly 3.

[0045] Circuit board assembly 3 refers to PCBA board, on which switching element 32 and vibration element 33 are soldered to achieve triggering and vibration feedback functions. Among them, vibration element 33 can be a miniature vibration motor, such as a linear motor, and switching element 32 can be a tactile switch.

[0046] The movable connection between button 4 and grip component 2 refers to the mechanical connection method that allows button 4 to move. For example, a hinge or slide rail structure can be used to realize the rotation or linear movement of button 4.

[0047] When the user operates the joystick 12 to adjust the direction of travel, the circuit board assembly 3 installed inside the grip assembly 2 receives the trigger signal from the button 4 through the switch element 32, thereby executing the corresponding command. For example, the button 4 can be used to start the intelligent driving system. When the user needs to activate intelligent assisted driving, pressing the button 4 will activate the intelligent driving system without the need for additional operation of other control units, making operation simple and preventing accidental operation. Of course, the function of the button 4 is not limited to activating the intelligent driving system; it can also be customized for other functions, such as turning on the wheelchair lights, adjusting the seat, and switching driving modes. The vibration element 33 can generate tactile feedback through vibration when the electric wheelchair detects an impending collision with an obstacle, thereby alerting the user. The vibration element 33 can also provide vibration alerts when the electric wheelchair is speeding.

[0048] By integrating the button 4 trigger function and vibration feedback function into the joystick 12 used for directional control through the above technical solution, the user can realize the button 4 trigger function and receive vibration feedback while operating the directional control, thereby enriching the functionality of the control device and improving the user's driving experience.

[0049] In some embodiments, such as Figures 2 to 6 As shown, button 4 is rotatably connected to grip assembly 2, with one end of button 4 extending into mounting cavity 21. When button 4 rotates relative to grip assembly 2, the end of button 4 located in mounting cavity 21 can press against switch element 32. The phrase "one end of button 4 extends into mounting cavity 21" means that a portion of button 4's structure extends into the space inside grip assembly 2. This can be achieved by creating a through hole in the side wall of grip assembly 2, allowing the exposed portion of button 4 and the internal extension to form a lever structure.

[0050] Specifically, when an external operating force is applied to button 4, button 4 rotates relative to the gripping assembly 2, causing displacement of the end of button 4 located within the mounting cavity 21. Through the lever principle, the end of button 4 accurately contacts and triggers the switching element 32. Because the rotating connection has a fixed axis of rotation, the movement trajectory of button 4 is constrained to an arc path, ensuring that the displacement position of the end of button 4 remains constant with each trigger. After the operating force is released, button 4 returns to its initial position due to the elastic force of the switching unit, eliminating the need for an additional reset mechanism.

[0051] In this embodiment, the grip component 2 has a rotating shaft 5, and the button 4 has an opening 6 fitted onto the rotating shaft 5. The button 4 is rotatably connected to the grip component 2 via the rotating shaft 5. In other embodiments, the button 4 may have a rotating shaft 5, and the grip component 2 may have an opening 6 fitted onto the rotating shaft 5. The button 4 can also be rotatably connected to the grip component 2 via the rotating shaft 5. The rotating joint formed by the fitting of the rotating shaft 5 and the opening 6 ensures that the button 4 rotates around a single axis, avoiding trigger position deviations caused by multi-degree-of-freedom motion. Furthermore, the structure is simple and easy to assemble.

[0052] In some embodiments, button 4 is slidably connected to grip assembly 2, with one end of button 4 extending into mounting cavity 21. When button 4 slides relative to grip assembly 2, the end of button 4 located in mounting cavity 21 can press against switch element 32. The sliding connection creates a mating structure between button 4 and grip assembly 2 that moves along a linear trajectory, allowing button 4 to move into and out of mounting cavity 21. When the operator pushes button 4, button 4 undergoes linear displacement relative to grip assembly 2, and the end of button 4 extending into mounting cavity 21 changes position with the sliding motion. When the preset travel is reached, the end directly contacts and presses switch element 32. After button 4 is released, button 4 can reset under the elastic force of switch element 32.

[0053] The grip component 2 may have a sliding groove, and the button 4 is slidably connected to the sliding groove. The button 4 can slide along the sliding groove, thereby limiting the sliding path of the button 4 and maintaining a linear motion trajectory.

[0054] In some other embodiments, a groove may be provided on the button 4, and a guide member slidably connected to the groove may be provided on the grip assembly 2, allowing the groove to slide along the guide member. The guide member may be a protruding structure provided on the grip assembly 2, used to embed into the groove and contact the side wall of the groove, and to guide the movement through sliding friction.

[0055] like Figure 2 and Figure 7 As shown in the illustrated embodiment, the switch element 32 is disposed on the lower side of the circuit board 31, facing downwards. When the button 4 rotates, it presses the switch element 32 from bottom to top, thereby triggering the switch element 32. In other embodiments, the switch element 32 may also be positioned upwards, and the button 4 may press the switch element 32 from top to bottom when triggering it. In some other embodiments, the switch element 32 may also be positioned horizontally, so that the button 4 may press the switch element 32 in a lateral direction when triggering it, for example, making the switch element 32 face forward or backward. It is understood that regardless of whether the switch element 32 is positioned vertically or horizontally, the button 4 can be configured to be rotatably or slidably connected to the grip assembly 2, requiring only adaptive changes to the specific structure and size of the button 4.

[0056] In some embodiments, such as Figure 1 and Figure 2 As shown, the end of button 4 facing away from the mounting cavity 21 protrudes outward from the outer surface of the grip component 2. This outward protrusion of button 4 allows the operating end of button 4 to extend beyond the outer surface of the grip component 2, creating a tangible height difference. The protruding end of button 4 can be covered with an elastic material layer, which deforms when pressed by a finger to cushion the operating force. This protruding structure forms a physical tactile marker, allowing button 4 to be located by touch without visual assistance, facilitating operation and reducing the probability of accidental touches.

[0057] In some embodiments, such as Figures 2 to 5 As shown, the grip assembly 2 includes a base 22 and a cap 23. The base 22 is connected to the rocker arm 12, and the cap 23 covers the base 22, forming a mounting cavity 21. The cap 23 can be fixed to the base 22 with clips or screws to form a closed mounting cavity 21. The separate design of the cap 23 and the base 22 facilitates the placement of internal components during assembly and protects the circuit board assembly 3 from external environmental influences.

[0058] Specifically, the base 22 is fixedly connected to the rocker arm 12 by bolts to ensure effective transmission of control force. The cap 23 covers the base 22 and is fixed by edge clips or screws, forming a closed mounting cavity 21 together with the base 22. During assembly, the circuit board assembly 3 can be pre-installed on the base 22, and then the cap 23 is placed on top to complete the closure. This split structure avoids the space limitations of traditional one-piece grip assembly 2 when installed internally, allowing operators to more easily position and fix components, and facilitating the removal of the cap 23 for inspection or replacement of parts during subsequent maintenance.

[0059] In some embodiments, such as Figure 4 and Figure 5 As shown, the base 22 has a protrusion 221 extending toward the cap 23 in the middle, and a mounting groove 222 is provided in the protrusion 221. The end of the rocker arm 12 extends into the mounting groove 222. Specifically, the base 11 is sleeved on the end of the rocker arm 12 through the mounting groove 222. The end of the base 11 and the protrusion 221 can be fixedly connected by bolts. After the end of the rocker arm 12 is embedded in the mounting groove 222, the circumferential wall of the protrusion 221 restricts the lateral displacement of the rocker arm 12 when it is under force, so as to avoid loosening of the connection due to repeated operation.

[0060] In some embodiments, such as Figure 5As shown, the base 22 has a mounting post 223 on the side facing the cap 23, and the circuit board assembly 3 is connected to the mounting post 223. Specifically, the circuit board assembly 3 can be fixedly connected to the mounting post 223 with screws. Multiple mounting posts 223 can be provided and spaced around the protrusion 221, so that the rocker arm 12 and the circuit board assembly 3 are positioned by different structures, thus optimizing the utilization of internal space.

[0061] In some embodiments, such as Figure 7 As shown, the circuit board 31 has a clearance hole 311 in the middle, and the circuit board 31 is fitted onto the protrusion 221 through the clearance hole 311. During assembly, the circuit board 31 is directly fitted into the outer surface of the protrusion 221 of the base 22 through the clearance hole 311, so that the plane of the circuit board 31 is perpendicular to the axis of the rocker arm 12, preventing interference. This reduces the installation space and makes the structure more compact.

[0062] In some embodiments, such as Figures 1 to 3 As shown, the control device also includes a protective sleeve 7 fitted onto the rocker arm 12, located between the grip assembly 2 and the base 11. Specifically, the protective sleeve 7 can be an accordion sleeve made of rubber material, possessing flexible deformation capabilities, used to cover the exposed rod portion of the rocker arm 12, preventing the rocker arm 12 from becoming contaminated and worn. When the rocker arm 12 is deflected by an external force, the protective sleeve 7 deforms synchronously with the rocker arm 12, and its material elasticity allows the rocker arm 12 to move freely between the base 11 and the grip assembly 2. The upper end of the protective sleeve 7 is fixedly connected to the lower end of the seat 22, and the lower end of the protective sleeve 7 can be connected to the armrest on the electric wheelchair.

[0063] This application also provides an electric wheelchair, including armrests 8 and the control device described in the above embodiments. Figure 8 This is a structural diagram of the control device and armrest 8 of the electric wheelchair. Please also refer to 2 and 3. Figure 8 The base 11 is connected to the armrest 8. Specifically, the base 11 can be fixed inside the armrest 8 with bolts. The rocker arm 12 extends upward from the armrest 8, and the lower end of the protective cover 7 is fixedly connected to the armrest 8. When driving the electric wheelchair, the user can hold the grip component 2 to operate the rocker arm 12.

[0064] In some embodiments, the electric wheelchair also includes a controller, which is communicatively connected to the circuit board assembly 3. The controller is used to receive a trigger signal from the switching element 32 and to control the vibration element 33 to vibrate. For example, when a user needs to activate the intelligent driving system, pressing button 4 triggers the controller to activate the intelligent driving system; when an obstacle is detected, the controller controls the vibration element 33 to vibrate, thereby alerting the user through tactile feedback.

[0065] In some embodiments, the electric wheelchair also includes an obstacle detection device, and the controller is communicatively connected to the obstacle detection device. Specifically, the obstacle detection device may be a light sensor used to detect the distance to an obstacle. The controller determines whether to control the vibration element 33 to vibrate based on the detection signal from the obstacle detection device, for example, controlling the vibration element 33 to vibrate when the distance to the obstacle reaches a preset value.

[0066] In summary, the embodiments of this application provide a control device and an electric wheelchair, which have the following advantages:

[0067] 1. Upgraded Intelligent Control Feedback: A linear motor is innovatively integrated into the wheelchair's control system, providing users with haptic feedback and upgrading traditional single-directional control to intelligent control with tactile interaction. When the user operates joystick 12, the wheelchair's operating status can be sensed in real time through vibration, significantly enhancing control precision and optimizing the overall driving experience.

[0068] 2. Convenient Start-up of the Intelligent Driving System: The intelligent driving system start button 4 is integrated into the joystick 12, enabling one-button activation of the entire wheelchair's intelligent driving system and simplifying the operation of intelligent functions. Users do not need to search for additional control buttons; they can quickly activate the intelligent driving assistance function directly on the armrest 8, making the intelligent services of the entire wheelchair readily available.

[0069] 3. Personalized control: Supports customizable functions for button 4 to suit different user habits. Whether it is turning on the wheelchair lights, adjusting the seat, or switching driving modes, it can all be easily achieved through button 4, fully meeting the personalized needs of wheelchair users and improving the adaptability and versatility of the wheelchair.

[0070] 4. Compact and integrated optimized structure: The joystick 12, grip component 2, button 4 and circuit board component 3 are rationally arranged, and the control device is compactly integrated into the armrest 8 of the electric wheelchair. This saves space, reduces the risk of failure, enhances the stability and reliability of the wheelchair control device, and ensures long-term safe use by the user.

[0071] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0072] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A control device, characterized in that, include: Direction control components, grip components, circuit board components, and buttons; The direction control assembly includes a base and a rocker arm. One end of the rocker arm is connected to the base. The grip assembly is connected to the end of the rocker arm away from the base. The grip assembly has a mounting cavity. The circuit board assembly is disposed in the mounting cavity. The circuit board assembly includes a circuit board and a switching element and a vibration element electrically connected to the circuit board. The button is movably connected to the grip assembly. When the button moves relative to the grip assembly, it can trigger the switching element.

2. The control device according to claim 1, characterized in that: The button is rotatably connected to the grip assembly, and one end of the button extends into the mounting cavity. When the button rotates relative to the grip assembly, the end of the button located in the mounting cavity can press against the switching element.

3. The control device according to claim 2, characterized in that: The grip assembly has a pivot, and the button has an opening that fits onto the pivot. The button is rotatably connected to the grip assembly via the pivot; or The button is provided with a pivot, and the grip component is provided with an opening fitted onto the pivot. The button is rotatably connected to the grip component through the pivot.

4. The control device according to claim 1, characterized in that: The button is slidably connected to the grip assembly, and one end of the button extends into the mounting cavity. When the button slides relative to the grip assembly, the end of the button located in the mounting cavity can press against the switching element.

5. The control device according to claim 4, characterized in that: The grip assembly has a sliding groove, and the button is slidably connected to the sliding groove, allowing the button to slide along the sliding groove; or The button is provided with a sliding groove, and the grip component is provided with a guide that is slidably connected to the sliding groove, and the sliding groove can slide along the guide.

6. The control device according to claim 1, characterized in that: The end of the button that is away from the mounting cavity protrudes outward from the outer side of the grip component.

7. The control device according to claim 1, characterized in that: The grip assembly includes a base and a cap. The base is connected to the rocker arm, and the cap covers the base. The cap and the base together form the mounting cavity.

8. The control device according to claim 7, characterized in that: The base has a protrusion extending toward the cap body in the middle, and a mounting groove is provided in the protrusion, into which the end of the rocker arm extends; and / or The base body has a mounting post on the side facing the cap body, and the circuit board assembly is connected to the mounting post.

9. The control device according to claim 8, characterized in that: The circuit board has a clearance hole in the middle, and the circuit board is fitted onto the protrusion through the clearance hole.

10. The control device according to claim 1, characterized in that: The control device also includes a protective sleeve fitted over the joystick, the protective sleeve being located between the grip assembly and the base.

11. An electric wheelchair, characterized in that, include: The armrest and the control device as described in any one of claims 1-10, wherein the base is connected to the armrest.

12. The electric wheelchair according to claim 11, characterized in that: The electric wheelchair also includes a controller, which is communicatively connected to the circuit board assembly. The controller is used to receive trigger signals from the switching element and to control the vibration element to vibrate.

13. The electric wheelchair according to claim 12, characterized in that: The electric wheelchair also includes an obstacle detection device, and the controller is communicatively connected to the obstacle detection device.

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