Wheelchair structure and intelligent system
Patent Information
- Application Number
- CN202521869178.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-01
- Publication Date
- 2026-09-11
- Estimated Expiration
- 2035-09-01
AI Technical Summary
[0003]传统轮椅设计长期局限于基础移动需求，仅能通过手动或简单电动控制实现前进、后退等基本动作，在复杂生活场景中存在明显短板；
[0029] The beneficial effects of this utility model are as follows: This utility model wheelchair integrates six degrees of freedom assistive limbs, which can complete complex operations in three-dimensional space, greatly improving the ability of disabled people to independently pick up objects and open doors. With the help of positioning and obstacle avoidance modules, it can achieve high-precision navigation and obstacle avoidance. Natural interaction reduces the difficulty of operation, taking into account both safety and ease of use.
Smart Images
Figure CN224735449U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of wheelchair technology, and in particular to a wheelchair structure and intelligent system. Background Technology
[0002] With the rapid development of science and technology and the continuous progress of society, wheelchairs have become a key assistive device for improving the quality of life of people with disabilities, and people's requirements for their functionality and operational autonomy are increasing day by day.
[0003] Traditional wheelchair designs have long been limited to basic mobility needs, only able to achieve basic movements such as moving forward and backward through manual or simple electric control, which has obvious shortcomings in complex life scenarios;
[0004] For everyday high-frequency needs such as retrieving items from high places, opening and closing building doors, and grabbing items from desktops, users still need to rely on others for assistance due to the lack of dedicated operating mechanisms, which greatly limits their ability to live independently. Some wheelchairs equipped with robotic arms also have insufficient freedom of movement, making it difficult to cover multi-angle operations in three-dimensional space and unable to perform fine movements such as turning door handles and retrieving items from deep cabinets. Utility Model Content
[0005] In view of the problems existing in the current wheelchair structure and intelligent system, this utility model is proposed.
[0006] The above-mentioned technical problems are solved by the following technical solution: This utility model proposes a wheelchair structure, including,
[0007] Portable seat;
[0008] The seat frame, installed on the movable seat, has a vertical lifting function to accommodate users of different heights;
[0009] The assistive limbs feature multi-degree-of-freedom actuation, designed to help users retrieve objects or open and close doors independently without assistance from others.
[0010] The assistive limb portion includes:
[0011] The lifting assembly, mounted on the movable base, performs vertical lifting motion along the Z-axis, providing displacement in the Z-axis direction for the subsequent spatial movements of the rotating arm and the robot.
[0012] The rotating arm has a first rotating arm and a second rotating arm. The length direction of the first rotating arm extends along the X-axis, and its rotating end is mounted on one end of the front side of the lifting assembly. It can make circular motion in the XY plane with the rotating end as the center, so as to realize spatial posture adjustment in the XY plane.
[0013] The second rotating arm extends along the Y-axis in its length direction, and its rotating end is connected to the connecting end of the first rotating arm. It can make circular motion around the rotating end in the YX plane, further expanding the range of spatial motion.
[0014] The robotic arm is installed at the connecting end of the second rotating arm, and its rotating end is connected to the second rotating arm. It can make circular motion in the YX plane with its own rotating end as the center, and move flexibly in three-dimensional space in conjunction with the rotating arm and the lifting component to perform corresponding operation tasks.
[0015] In a preferred embodiment of the wheelchair structure of this utility model: the movable seat includes a bottom frame, and four movable wheels are mounted on the bottom frame. The four movable wheels are all mounted on the frame by triangular brackets.
[0016] The movable wheel is located at one of the vertices of the bottom of the triangular bracket, and its center coincides with that vertex of the triangular bracket, allowing it to move in a circle around that vertex.
[0017] In a preferred embodiment of the wheelchair structure of this utility model: a pivot is provided at the other vertex of the bottom of the triangular support, which serves as a fulcrum for the rotatable connection between the triangular support and the bottom frame, so that the triangular support can rotate about the pivot relative to the bottom frame.
[0018] A shock absorber is installed at the upper apex of the triangular bracket to transmit and buffer force between the upper apex of the triangular bracket and the bottom frame.
[0019] In a preferred embodiment of the wheelchair structure described in this utility model: reflectors are installed at the middle positions of the four sides of the bottom frame to enhance safety at night by using reflection.
[0020] In a preferred embodiment of the wheelchair structure of this utility model: the lifting assembly includes two rectangular frames arranged opposite each other, and a support rod is provided on the inner side of each of the two rectangular frames, and a connecting rod is provided at one end of each support rod.
[0021] In a preferred embodiment of the wheelchair structure of this utility model: the length direction of the connecting rod extends along the X-axis, and a connecting seat is provided at the front end of the connecting rod. The connecting seat is used to install the first rotating arm, and the connecting seat reciprocates along the X-axis on the front side of the connecting rod to increase the operating range of the rotating arm.
[0022] In a preferred embodiment of the wheelchair structure described in this utility model: the robotic arm includes a wrist mechanism and a gripper;
[0023] The wrist mechanism is used to simulate the human wrist driving the gripper to swing at any angle.
[0024] In a preferred embodiment of the wheelchair structure of this utility model: the wrist mechanism includes a first C-shaped frame and a second C-shaped frame. The two ends of the first C-shaped frame and the second C-shaped frame are rotatably connected by pivot pins. A first bevel gear is fixed on the pivot pin located inside the first C-shaped frame. A second bevel gear is rotatably connected to the inner side of the second C-shaped frame. The two first bevel gears are driven by a driving component, and the two first bevel gears mesh with the second bevel gear respectively.
[0025] To address the aforementioned issues, a smart system is proposed for application to the wheelchair structure, including a positioning module that collects the wheelchair's three-dimensional spatial coordinates in real time and outputs real-time location information via satellite / indoor positioning technology.
[0026] The obstacle avoidance module integrates LiDAR and visual camera to analyze 3D environmental information in real time. Combined with path planning algorithm, it generates collision-free trajectories in dynamic pedestrian flow scenarios in real time, realizing active obstacle avoidance and path adjustment to ensure safe passage.
[0027] Control module: The system uses a gesture sensor to recognize hand gestures and a voice module to parse commands. The natural interaction is then converted into control signals using a natural interaction conversion algorithm, allowing users to intuitively control the wheelchair.
[0028] In a preferred embodiment of the intelligent system described in this utility model: a plurality of lidars are provided, and the plurality of lidars are installed on the outside of the mobile base for 360° monitoring.
[0029] The beneficial effects of this utility model are as follows: This utility model wheelchair integrates six degrees of freedom assistive limbs, which can complete complex operations in three-dimensional space, greatly improving the ability of disabled people to independently pick up objects and open doors. With the help of positioning and obstacle avoidance modules, it can achieve high-precision navigation and obstacle avoidance. Natural interaction reduces the difficulty of operation, taking into account both safety and ease of use. Attached Figure Description
[0030] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments of this utility model will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this utility model and are not intended to limit the scope of this utility model. Wherein:
[0031] Figure 1 A three-dimensional structural diagram of the wheelchair is shown;
[0032] Figure 2 A structural diagram of the movable seat in the wheelchair structure is shown;
[0033] Figure 3 A structural diagram of the seat frame in the wheelchair structure is shown;
[0034] Figure 4A structural diagram of the assistive limb component in a wheelchair is shown.
[0035] Figure 5 A structural diagram of the lifting assembly in the wheelchair structure is shown;
[0036] Figure 6 It shows Figure 4 Enlarged structural diagram at point A in the middle. Detailed Implementation
[0037] To enable those skilled in the art to better understand this utility model, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.
[0038] The terminology used in this invention refers to those general terms currently widely used in the art in consideration of the functionality of this invention; however, these terms may vary according to the intent, precedent, or new technology of those skilled in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of this invention. Therefore, the terminology used in this specification should not be construed as simple names, but rather based on the meaning of the terms and the overall description of this invention.
[0039] Reference Figure 1-6 This embodiment provides a wheelchair structure, including a movable seat 1, a seat frame 2, and an assistive limb part 3;
[0040] The movable base 1 includes a bottom frame 11, on which four movable wheels 13 are mounted. All four movable wheels 13 are mounted on the bottom frame 11 via triangular brackets 14.
[0041] Furthermore, the movable wheels 13 are made of merle wheels, and each movable wheel 13 is equipped with an independent drive motor. This design allows the wheelchair to move in multiple directions, such as forward, backward, sideways, and rotating in place, without changing direction. It has extremely high flexibility and avoids being restricted in movement in narrow spaces.
[0042] Furthermore, the movable wheel 13 is located at one of the vertices of the bottom of the triangular bracket 14, and its center coincides with that vertex of the triangular bracket 14, allowing it to move in a circle around that vertex. A pivot 15 is provided at the other vertex of the bottom of the triangular bracket 14, serving as a fulcrum for the rotatable connection between the triangular bracket 14 and the bottom frame 11, allowing the triangular bracket 14 to rotate around the pivot 15 relative to the bottom frame 11. A shock absorber 16 is provided at the upper vertex of the triangular bracket 14 for force transmission and buffering between the upper vertex of the triangular bracket 14 and the bottom frame 11. When subjected to vibration, the triangular bracket 14 swings around the pivot 15 as the center of rotation, and the movable wheel 13 moves in an arc trajectory around its own center (i.e., the vertex that coincides with the triangular bracket 14) as the center of the swing.
[0043] The shock absorber 16 adopts a double spring damper. During the swing of the triangular support 14, as the relative position of the apex of the triangular support 14 and the bottom frame 11 changes, it undergoes linear deformation motion of stretching or compression. It absorbs vibration energy through its own elastic deformation, provides buffer for the swing of the triangular support, realizes the shock absorption function, improves the overall user experience, and can avoid the problem of the overall structure of the wheelchair becoming loose due to long-term vibration, effectively extending its service life.
[0044] Furthermore, reflectors 17 are installed at the middle of the four sides of the bottom frame 11 to enhance safety at night by reflecting light. At the same time, the outer ring of the reflectors 17 is equipped with light strips that emit light on their own in the absence of light. This serves both as illumination and as a warning to passing vehicles, ensuring the personal safety of users.
[0045] Seat frame 2 is mounted on movable seat 1, and seat plate for operator use is installed in seat frame 2;
[0046] Specifically, an upright frame 21 is provided on the rear side of the seat frame 2. The seat frame 2 slides vertically on the upright frame 21. First sprockets 22 are rotatably connected to both sides of the upright frame 21 at the upper and lower ends. The two first sprockets 22 on the same side are driven by a first chain belt 23. A first connecting block 24 is fixed on the first chain belt 23. The other end of the first connecting block 24 is connected to the seat frame 2. A motor is installed inside the upright frame 21 to drive the rotation of the bottom first sprocket 22. After the motor rotates, it drives the first sprocket 22 to rotate. The first sprocket 22 drives the first chain belt 23 to rotate cyclically. The height of the seat frame 2 can be adjusted by controlling the position of the first connecting block 24. This design is to enable the seat frame 2 to have a vertical lifting function to meet the needs of users of different heights.
[0047] The assistive limb part 3 adopts multi-degree-of-freedom drive to assist users in retrieving objects or opening and closing doors without the help of others;
[0048] It should be noted that most wheelchair users are people with leg disabilities who have difficulty getting down on the ground. Traditional wheelchairs can provide mobility, but for things like opening building doors or retrieving items, users still need to control the wheelchair so that their hands can reach the object to open or close the door or retrieve the item. This is quite limiting. The assistive limb part 3 can solve this problem, greatly improving the convenience of operation and enhancing the user experience.
[0049] Assistive limb part 3 includes:
[0050] The lifting assembly 31 is mounted on the movable seat 1 and performs vertical lifting motion along the Z-axis direction, providing displacement in the Z-axis direction for the subsequent spatial movements of the rotating arm 32 and the robot arm 33.
[0051] The rotating arm 32 has a first rotating arm 321 and a second rotating arm 322. The length direction of the first rotating arm 321 extends along the X-axis, and its rotating end is mounted on one end of the front side of the lifting assembly 31. It can make circular motion in the XY plane with the rotating end as the center, so as to realize spatial posture adjustment in the XY plane.
[0052] The second rotating arm 322 extends along the Y-axis in the length direction, and its rotating end is connected to the connecting end of the first rotating arm 321. It can make circular motion around the rotating end in the YX plane, further expanding the range of spatial motion.
[0053] The robotic arm 33 is installed at the connecting end of the second rotating arm 322. Its rotating end is connected to the second rotating arm 322. It can make circular motion in the YX plane with its own rotating end as the center. It can move flexibly in three-dimensional space in conjunction with the rotating arm 32 and the lifting component 31 to perform corresponding operation tasks.
[0054] When performing the task of opening a door or retrieving an item, the lifting assembly 31 first moves vertically up and down along the Z-axis to adjust the rotating arm 32 and the robotic arm 33 to a suitable operating height, ensuring that the robotic arm 33 can reach the vertical position of the door handle or the target item.
[0055] Next, the first rotating arm 321 rotates in the XY plane with the front end of the lifting assembly 31 as the rotation center, "swinging" the robot arm 33 to a horizontal position close to the target object, providing the correct angle for precise operation;
[0056] Subsequently, the second rotating arm 322 connects with the first rotating arm 321 and performs fine-tuning rotation in the YX plane to further precisely align with the target object, allowing the robotic arm 33 to get closer to the door handle or object, expanding the operating coverage and ensuring the accuracy of the operation.
[0057] The first rotating arm 321 (X-axis extension) and the second rotating arm 322 (Y-axis extension) can be axially overlapped and folded by rotation (e.g., the first rotating arm 321 swings back around the rotating end of the lifting assembly 31, and the second rotating arm 322 rotates around the connecting end, so that the two arms are retracted along the Z-axis direction of the lifting assembly 31). Compared with the "unfolded" layout of traditional robotic arms, the overall projected area after storage is adapted to the mobile seat 1, avoiding the arm from extending outward and occupying extra space after operation. This not only has aesthetic appeal but also improves the safety of travel.
[0058] The lifting assembly 31 includes two opposing rectangular frames 311. Support rods 312 are provided on the inner sides of each rectangular frame 311. A connecting rod 313 is provided at one end of each support rod 312, and the support rods 312 are vertically slidably connected to the rectangular frames 311. Second sprockets 315 are rotatably connected to the top and bottom of the inner sides of each rectangular frame 311. The two second sprockets 315 are driven by a second chain belt 316. A second chain belt 316 is fixed to the support rods 312. The two second sprockets 315 at the bottom are driven to rotate by a drive motor 318. The rotation of the second sprockets 315 drives the second chain belt 316 to rotate cyclically. During this cyclic rotation, the second chain belt 316 drives the support rods 312 to rise or fall, providing Z-axis movement for the rotating arm 32 and achieving height adjustment.
[0059] The robotic arm 33 includes a wrist mechanism 331 and a gripper 332, which is used to simulate the human wrist to drive the gripper 332 to swing at any angle, thereby completing complex object picking and operation tasks.
[0060] The core function of the wrist mechanism 331 is to provide flexibility and precision to the robotic hand 33. It includes a first inverted frame 3311 and a second inverted frame 3312. The two inverted frames are rotatably connected by a pivot pin, allowing relative rotation between the first inverted frame 3311 and the second inverted frame 3312, thereby simulating the flexion, extension and rotation of the wrist.
[0061] A first bevel gear 3313 is fixed on the pivot pin inside the first C-shaped frame 3311. A second bevel gear 3314 is rotatably connected to the inner side of the second C-shaped frame 3312. The two first bevel gears 3313 are driven by a driving component and mesh with the second bevel gear 3314 respectively. When the two driving components rotate synchronously, they drive the two first bevel gears 3313 to rotate synchronously. Since the two first bevel gears 3313 mesh with the two sides of the second bevel gear 3314, the second bevel gear 3314 is subjected to forces in two directions at the same time when rotating synchronously, so it will not rotate. Therefore, the second C-shaped frame 3312 can only be forced to rotate along the pivot pin to simulate the flexion, extension and rotation of the wrist. Only when one of the driving components is running will the second bevel gear 3314 rotate, thereby realizing the rotation of the gripper 33. The gripper 33 can be any one of five-claw knuckles or a suction cup.
[0062] As an optional embodiment:
[0063] Reference Figure 5 In one embodiment provided in this application, the connecting rod 313 extends along the X-axis in the length direction, and a connecting seat 314 is provided at the front end of the connecting rod 313. The connecting seat 314 is used to install the first rotating arm 321, and the connecting seat 314 reciprocates along the X-axis on the front side of the connecting rod 313 to increase the operating range of the rotating arm 32.
[0064] By reciprocating along the X-axis, the adjustment freedom of the auxiliary limb part 3 is further enhanced, maximizing the effectiveness of picking up objects or opening and closing doors. The degrees of freedom are described below:
[0065] Hypothetical scenario for retrieving an item:
[0066] Z-axis positioning (degree of freedom 1): Lifting component 31 rises to 1.5 meters and aligns with the height of the third shelf;
[0067] X-axis propulsion (degree of freedom 2): Connector 314 moves forward 1.8 meters along the X-axis, sending the rotating arm 32 to the edge of the shelf (avoiding collision with the shelf uprights);
[0068] Y-axis alignment (degree of freedom 3): The first rotating arm 321 rotates 15° in the XY plane and swings to the right of the Y-axis to align with the horizontal orientation of the box;
[0069] Depth adjustment (degree of freedom 4): The second rotating arm 322 rotates 20°, allowing the robotic arm 33 to extend 0.5 meters into the shelf and get close to the box;
[0070] Grasping posture adjustment (degree of freedom 5): The robotic arm rotates 45° to make the five claw joints parallel to the long side of the box (improving grasping stability);
[0071] Grasping (degree of freedom 6): The five claws open their knuckles (rotating their own joints), close and clamp the box, and then the components move in opposite directions (X-axis retraction, rotating arm 32 reset, Z-axis descent) to move the box to the target position.
[0072] By using six degrees of freedom in collaboration, the fan-shaped working range of Example 1 is expanded to the working range of a cuboid, allowing the overall structure to cover a large area of three-dimensional space while also enabling precise operation. This is the optimal design that balances "working radius" and "operational accuracy".
[0073] As an optional embodiment:
[0074] In one embodiment provided in this application, a smart system is applied to a wheelchair structure, comprising:
[0075] The positioning module collects the wheelchair's three-dimensional spatial coordinates in real time and outputs real-time location information through satellite / indoor positioning technology;
[0076] The obstacle avoidance module integrates LiDAR and visual camera to analyze 3D environmental information in real time. Combined with path planning algorithm, it generates collision-free trajectories in dynamic pedestrian flow scenarios in real time, realizing active obstacle avoidance and path adjustment to ensure safe passage.
[0077] Control module: The system uses a gesture sensor to recognize hand gestures and a voice module to parse commands. The natural interaction is then converted into control signals using a natural interaction conversion algorithm, allowing users to intuitively control the wheelchair.
[0078] Several lidar units are installed on the outside of the mobile base 1 to achieve 360° monitoring.
[0079] Workflow:
[0080] Environmental perception stage
[0081] The positioning module acquires the wheelchair's three-dimensional spatial coordinates (X,Y,Z) in real time through satellite / indoor positioning technology, providing a global position reference for the system;
[0082] Multiple lidars distributed on the outside of the mobile base 1 form a 360° monitoring range, collect point cloud data of the surrounding environment in real time, and construct a three-dimensional spatial model.
[0083] The visual camera simultaneously acquires environmental images and uses deep learning algorithms to identify obstacle types (such as pedestrians, furniture, and walls), dynamic targets (such as walking crowds), and their movement trajectories.
[0084] Decision-making and planning stage
[0085] The obstacle avoidance module integrates geometric data from LiDAR and semantic information from visual cameras, and generates a high-precision environmental map through multi-sensor fusion algorithms such as Kalman filtering.
[0086] By combining real-time location information with the target location (from user voice commands or preset paths), path planning algorithms (such as A*, RRT*) generate collision-free motion trajectories in dynamic environments.
[0087] When a sudden obstacle is detected (such as a pedestrian suddenly entering), the system immediately triggers trajectory replanning to ensure safe obstacle avoidance;
[0088] Human-computer interaction and control execution phase
[0089] The control module continuously monitors the user's hand gestures (such as waving or clenching a fist) and voice commands (such as forward, turn left, turn right, or go back).
[0090] The natural interaction conversion algorithm maps user input into control signals (such as speed and steering angle), and combines them with safety constraints (such as maximum speed limit and minimum turning radius) to generate final control commands, driving the wheelchair to move according to the planned trajectory and control commands. At the same time, it adjusts in real time through a feedback mechanism to ensure accurate tracking of the target path.
[0091] Collaborative work phase (in conjunction with assistive limbs part 3)
[0092] When a task needs to be performed (such as opening a door or retrieving an object), the system calculates the optimal motion parameters of the three joints of the auxiliary limb based on the target position and posture.
[0093] First, the Z-axis height is adjusted by the lifting component 31. Then, the robot arm 33 is precisely positioned at the operation point by the translation of the connecting rod 313 (X-axis) and the rotation of the rotating arm 32 (XY / YX plane). The robot arm 33 adjusts its posture and performs the task. After completion, all components are reset in coordination.
[0094] The wheelchair integrates six degrees of freedom assistive limbs, enabling complex operations in three-dimensional space. This significantly improves the ability of people with disabilities to independently retrieve objects and open doors. Combined with positioning and obstacle avoidance modules, it achieves high-precision navigation and obstacle avoidance. Natural interaction reduces the difficulty of operation, balancing safety and ease of use.
[0095] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of this utility model.
Claims
1. A wheelchair structure, characterized by: include, Mobile seat (1); The seat frame (2) is installed on the movable seat (1) and has a vertical lifting function to meet the needs of users of different heights; The assistive limb part (3) adopts multi-degree-of-freedom drive to assist users in picking up objects or opening and closing doors without the help of others; The auxiliary limb part (3) includes: The lifting assembly (31) is mounted on the movable seat (1) and performs vertical lifting motion along the Z-axis direction, providing displacement in the Z-axis direction for the subsequent spatial movement of the rotating arm (32) and the robot (33); The rotating arm (32) has a first rotating arm (321) and a second rotating arm (322). The length direction of the first rotating arm (321) extends along the X-axis, and its rotating end is mounted on one end of the front side of the lifting assembly (31). It can make circular motion in the XY plane with the rotating end as the center, so as to realize the spatial posture adjustment in the XY plane. The second rotating arm (322) extends along the Y-axis in the length direction, and its rotating end is connected to the connecting end of the first rotating arm (321). It can make circular motion around the rotating end in the YX plane, further expanding the range of spatial motion. The robotic arm (33) is installed at the connecting end of the second rotating arm (322). Its rotating end is connected to the second rotating arm (322). It can make circular motion in the YX plane with its own rotating end as the center. It can move flexibly in three-dimensional space in conjunction with the rotating arm (32) and the lifting component (31) to perform corresponding operation tasks.
2. The wheelchair structure according to claim 1, characterized in that: The movable seat (1) includes a bottom frame (11), on which four movable wheels (13) are mounted. All four movable wheels (13) are mounted on the frame (11) via triangular brackets (14). The movable wheel (13) is located at one of the vertices of the bottom of the triangular bracket (14), and its center coincides with that vertex of the triangular bracket (14), and it can make circular motion around that vertex.
3. The wheelchair structure according to claim 2, characterized in that: A pivot (15) is provided at the other vertex of the bottom of the triangular bracket (14), which serves as the fulcrum for the rotatable connection between the triangular bracket (14) and the bottom frame (11), so that the triangular bracket (14) can rotate about the pivot (15) relative to the bottom frame (11). A shock absorber (16) is provided at the upper vertex of the triangular bracket (14) for force transmission and buffering between the upper vertex of the triangular bracket (14) and the bottom frame (11).
4. The wheelchair structure according to claim 3, characterized in that: Reflectors (17) are installed at the middle of the four sides of the bottom frame (11) to enhance safety at night by reflecting light.
5. The wheelchair structure of claim 4, wherein: The lifting assembly (31) includes two rectangular frames (311) arranged opposite each other. Support rods (312) are provided on the inner side of each of the two rectangular frames (311), and a connecting rod (313) is provided at one end of each support rod (312).
6. The wheelchair structure according to claim 5, characterized in that: The length direction of the connecting rod (313) extends along the X-axis, and the front end of the connecting rod (313) is provided with a connecting seat (314). The connecting seat (314) is used to install the first rotating arm (321), and the connecting seat (314) moves back and forth along the X-axis on the front side of the connecting rod (313) to increase the operating range of the rotating arm (32).
7. The wheelchair structure of claim 6, wherein: The robotic arm (33) includes a wrist mechanism (331) and a gripper (332). The wrist mechanism (331) is used to simulate the human wrist driving the gripper (332) to swing at any angle.
8. The wheelchair structure of claim 7, wherein: The wrist mechanism (331) includes a first zigzag frame (3311) and a second zigzag frame (3312). The two ends of the first zigzag frame (3311) and the second zigzag frame (3312) are rotatably connected by pivot pins. A first bevel gear (3313) is fixed on the pivot pin located inside the first zigzag frame (3311). A second bevel gear (3314) is rotatably connected to the inside of the second zigzag frame (3312). The two first bevel gears (3313) are driven by a driving member, and the two first bevel gears (3313) mesh with the second bevel gears (3314) respectively.
9. A smart system applied to the wheelchair structure of any one of claims 1-8, characterized in that: include: The positioning module collects the wheelchair's three-dimensional spatial coordinates in real time and outputs real-time location information through satellite / indoor positioning technology; The obstacle avoidance module integrates LiDAR and visual camera to analyze 3D environmental information in real time. Combined with path planning algorithm, it generates collision-free trajectories in dynamic pedestrian flow scenarios in real time, realizing active obstacle avoidance and path adjustment to ensure safe passage. Control module: The system uses a gesture sensor to recognize hand gestures and a voice module to parse commands. The natural interaction is then converted into control signals using a natural interaction conversion algorithm, allowing users to intuitively control the wheelchair.
10. The intelligent system according to claim 9, characterized in that: The laser radar is provided in several units, and the laser radar is installed on the outside of the mobile base (1) to achieve 360° monitoring.