Vibration-damping chassis structure, vibration-damping device and wheelchair

Abstract

The present invention provides a vibration-damping chassis structure, a vibration-damping device and a wheelchair. The vibration-damping chassis structure includes a frame, a front wheel assembly, a middle wheel assembly, a rear wheel assembly, a first vibration-damping assembly for absorbing vibrations of the front wheel assembly, a connecting rod structure and a second vibration-damping assembly for absorbing vibrations of the rear wheel assembly; the frame and the front wheel assembly are rotationally connected, and the front wheel assembly, the first vibration-damping assembly, the connecting rod structure and the middle wheel assembly are connected in sequence; the frame and the middle wheel assembly are rotationally connected, and an elastic member for moving the middle wheel assembly up and down is connected between the frame and the middle wheel assembly; the frame and the rear wheel assembly are rotationally connected, and the second vibration-damping assembly is connected between the frame and the rear wheel assembly. The vibration-damping chassis structure, the vibration-damping device and the wheelchair provided by the present invention can, in different usage scenarios, enable the front wheel assembly to absorb vibrations alone or to be linked with the middle wheel assembly to avoid vibrations, so that the vibration-damping device has a stronger vibration-damping ability and can be applied to different bumpy conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of vibration reduction, and more specifically, relates to a vibration reduction chassis structure, a vibration reduction device and a wheelchair. Background Art

[0002] There are many types of electric wheelchairs currently. Based on the number of tires, they are mainly divided into two categories: four-wheel electric wheelchairs and six-wheel electric wheelchairs.

[0003] Four-wheel electric wheelchairs refer to those with four tires rolling on the road during normal driving, with two pairs of front and rear wheels, one pair for driving wheels and one pair for driven wheels, i.e. front-drive wheelchairs or rear-drive electric wheelchairs. Most of these wheelchairs have no vibration-proof structure, and a few products have vibration-proof structures designed on the driving wheels, but no vibration-proof structures on the driven wheels.

[0004] A six-wheel electric wheelchair is one that has six tires rolling on the road during normal driving. It is divided into three pairs of wheels: front, middle and rear. The middle wheel is the driving wheel, and the front and rear wheels are driven wheels. This is a mid-wheel drive electric wheelchair. Most of these wheelchairs have a vibration-proof structure, and because they have three pairs of wheels, their safety is significantly improved compared to four-wheel electric wheelchairs. The vibration-proof structure of a six-wheel electric wheelchair is often mainly located at the front and middle wheels, and the vibration-proof structure here is often divided into two types: linkage and non-linkage. In actual use, if it is fixed as linkage or non-linkage, it is not the best state. When going up and down stairs, there is a risk of lifting the front wheel or the middle driving wheel. Summary of the invention

[0005] The object of the present invention is to provide a vibration-damping chassis structure to solve the technical problem of poor vibration-damping effect in the prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a vibration-damping chassis structure, including a frame, a front wheel assembly, a middle wheel assembly, a rear wheel assembly, a first vibration-damping assembly for damping the vibration of the front wheel assembly, a connecting rod structure for linked vibration-damping of the front wheel assembly and the middle wheel assembly, and a second vibration-damping assembly for damping the vibration of the rear wheel assembly; the frame and the front wheel assembly are rotatably connected, and the front wheel assembly, the first vibration-damping assembly, the connecting rod structure and the middle wheel assembly are connected in sequence, the frame and the middle wheel assembly are rotatably connected, and an elastic member for moving the middle wheel assembly up and down is connected between the frame and the middle wheel assembly, the frame and the rear wheel assembly are rotatably connected, and the second vibration-damping assembly is connected between the frame and the rear wheel assembly.

[0007] In one embodiment, the connecting rod structure includes a first connecting rod, one end of which is rotatably connected to the first shock absorbing assembly, and the other end of the first connecting rod is rotatably connected to the frame, and the first connecting rod is provided with an arc-shaped limiting hole for limiting the rotation angle of the middle wheel assembly, and the frame correspondingly has a limiting portion inserted into the arc-shaped limiting hole, and the two ends of the arc-shaped limiting hole are respectively a first limit position and a second limit position, and the limiting portion is used in the first limit position to prevent the front wheel assembly from rotating relative to the frame when passing over a bump, and the limiting portion is used in the second limit position to press down the front wheel assembly when the middle wheel assembly passes over a bump.

[0008] In one embodiment, the line connecting the first limit position and the second limit position is vertically arranged or inclined relative to the ground, the first limit position is higher than the second limit position, and the rotation axis of the first connecting rod relative to the frame is arranged between the arc-shaped limit hole and the connection point between the first connecting rod and the first shock absorbing assembly.

[0009] In one embodiment, the connecting rod structure further includes a second connecting rod, one end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the middle wheel assembly.

[0010] In one embodiment, the connection point between the first link and the second link is located between a rotation axis of the first link relative to the frame and a connection point of the first link relative to the first shock absorbing assembly.

[0011] In one embodiment, the middle wheel assembly includes a driving member, a middle wheel body driven to rotate by the driving member, and a rotating bracket that rotates with the up and down movement of the middle wheel body, the rotating bracket is rotatably connected to the frame, there is a predetermined distance between the output shaft of the driving member and the rotating axis of the rotating bracket rotating relative to the frame, the rotating bracket is also rotatably connected to the connecting rod structure, and the two ends of the elastic member are respectively connected to the frame and the rotating bracket.

[0012] In one embodiment, the output shaft of the driving member has a bearing on its outer periphery, and the rotating bracket is fixed to the bearing.

[0013] In one embodiment, the first vibration damping assembly and the second vibration damping assembly are gas springs, springs or cylinders.

[0014] The present invention also provides a vibration-damping chassis structure, comprising two vibration-damping chassis structures and a base, wherein the two vibration-damping chassis structures are respectively arranged on the left and right sides of the base, and the two vehicle frames are both fixed to the base.

[0015] The present invention also provides a wheelchair, comprising the above-mentioned vibration reduction device.

[0016] The vibration-damping chassis structure, vibration-damping device and wheelchair provided by the present invention have the following beneficial effects: compared with the prior art, the vibration-damping chassis structure of the present invention includes a frame, a front wheel assembly, a middle wheel assembly and a rear wheel assembly, and the front wheel assembly, the middle wheel assembly and the rear wheel assembly are all connected to the frame for rotation, and after being bumped, they all rotate relative to the frame and avoid vibration through the first vibration-damping assembly and the second vibration-damping assembly. Among them, the second vibration-damping assembly is connected between the rear wheel assembly and the frame, and when the rear wheel assembly is bumped, the rear wheel assembly rotates relative to the frame, stretching or compressing the second vibration-damping assembly to reduce the vibration of the rear wheel assembly; the front wheel assembly, the first vibration-damping assembly, the connecting rod structure and the middle wheel assembly are connected in sequence, and when the front wheel assembly is bumped, the first vibration-damping assembly is deformed by force, and the front wheel assembly is damped separately, and when the middle wheel assembly is bumped, the elastic member is deformed, and the connecting rod structure is rotated relative to the frame, and the vibration is reduced in conjunction with the front wheel assembly. In this way, in different usage scenarios, the front wheel assembly can be used to reduce vibration alone or in conjunction with the middle wheel assembly to avoid vibration, so that the vibration reduction ability of the vibration reduction device is stronger and can be suitable for different bumpy conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A three-dimensional structural diagram of a vibration reduction device provided in an embodiment of the present invention;

[0019] Figure 2 A three-dimensional structural diagram of a vibration-damping chassis structure provided by an embodiment of the present invention;

[0020] Figure 3 An exploded structural diagram of a vibration-damping chassis structure provided by an embodiment of the present invention;

[0021] Figure 4 A side view of a vibration-damping chassis structure provided by an embodiment of the present invention;

[0022] Figure 5 A side view of the vibration-damping chassis structure provided by an embodiment of the present invention on a flat road;

[0023] Figure 6 A side view of the front wheel assembly of the vibration-damping chassis structure provided by an embodiment of the present invention when passing over a bump;

[0024] Figure 7 A side view of a wheel assembly passing over a bump in the vibration-damping chassis structure provided by an embodiment of the present invention;

[0025] Figure 8 A three-dimensional structural diagram of a rotating bracket provided in an embodiment of the present invention;

[0026] Fig. 9 A side view of the rear wheel assembly of the vibration-damping chassis structure provided by an embodiment of the present invention when passing over a bump.

[0027] Among them, the reference numerals in the figure are:

[0028] 1- vibration-damping chassis structure; 101- first rotating shaft; 102- second rotating shaft; 103- third rotating shaft; 104- fourth rotating shaft; 11- front wheel assembly; 111- front universal wheel; 112- front axle arm; 12- middle wheel assembly; 121- middle wheel body; 122- driving member; 123- rotating bracket; 1231- front baffle; 1232- top plate; 1233- rear baffle; 1234- avoid Arc; 1235-avoidance hole; 1236-extension part; 124-bearing; 13-rear wheel assembly; 131-rear universal wheel; 132-rear axle arm; 14-frame; 141-limiting part; 15-first shock absorbing assembly; 16-connecting rod structure; 161-first connecting rod; 1610-arc-shaped limiting hole; 162-second connecting rod; 17-second shock absorbing assembly; 18-elastic member; 2-base. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] See also Figures 1 to 3The vibration-damping chassis structure provided by the embodiment of the present invention is now described. In one embodiment, the vibration-damping chassis structure 1 includes a frame 14, a front wheel assembly 11, a middle wheel assembly 12, a rear wheel assembly 13, a first vibration-damping assembly 15, a connecting rod structure 16, and a second vibration-damping assembly 17. The front wheel assembly 11, the middle wheel assembly 12, and the rear wheel assembly 13 are sequentially arranged along the forward direction of the vibration-damping chassis structure 1. When driving on a flat road, the front wheel assembly 11, the middle wheel assembly 12, and the rear wheel assembly 13 are all in contact with the ground. The front wheel assembly 11, the middle wheel assembly 12, and the rear wheel assembly 13 are all rotatably connected to the frame 14. When each wheel encounters a speed bump, a small height obstacle or step, an uphill starting position, a downhill position, and the like (hereinafter referred to as crossing a bump), the corresponding front wheel assembly 11, the middle wheel assembly 12, or the rear wheel assembly 13 rotates relative to the frame 14, and then the first vibration-damping assembly 15, the second vibration-damping assembly 17, and other vibration-damping structures buffer the impact caused by crossing a bump. Specifically, the front wheel assembly 11, the first shock absorbing assembly 15, the connecting rod structure 16 and the middle wheel assembly 12 are connected in sequence, and an elastic member 18 for moving the middle wheel assembly 12 up and down is connected between the frame 14 and the middle wheel assembly 12. When the front wheel assembly 11 passes over a bump, the front wheel assembly 11 rotates relative to the frame 14, and the first shock absorbing assembly 15 is compressed to reduce the vibration of the front wheel assembly 11. When the middle wheel assembly 12 passes over a bump, the middle wheel assembly 12 rotates relative to the frame 14, and the elastic member 18 is deformed. The middle wheel assembly 12 drives the connecting rod structure 16 to rotate, and the connecting rod structure 16 presses down the first shock absorbing assembly 15, thereby pressing down the front wheel assembly 11 to prevent the front wheel assembly 11 from being suspended in the air and ensure driving stability. If the front wheel is suspended in the air and lands again, the shock absorbing chassis structure 1 will shake or swing and affect comfort. After the middle wheel assembly 12 passes the highest point of the bump, the middle wheel assembly 12, under the action of the first damping assembly 15 and the elastic member 18, is driven by the connecting rod structure 16 to gradually fall down until it returns to a flat road driving state. The connecting rod structure 16 has an angle limit when rotating. When the front wheel assembly 11 passes the bump, it can prevent the connecting rod structure 16 from pushing the middle wheel assembly 12 to rotate, so that the front wheel assembly 11 can independently reduce vibration. When the middle wheel assembly 12 passes the bump, it can not only reduce vibration in conjunction with the front wheel assembly 11, but also prevent the connecting rod structure 16 from excessively pressing down on the front wheel assembly 11, which will increase its forward friction. The second damping assembly 17 is connected between the frame 14 and the rear wheel assembly 13. When the rear wheel assembly 13 passes the bump, the rear wheel assembly 13 rotates upward relative to the frame 14, causing the second damping assembly 17 to deform, and the rear wheel assembly 13 is buffered and reduced by the second damping assembly 17.

[0034] The vibration-damping chassis structure in the above embodiment includes a frame 14, a front wheel assembly 11, a middle wheel assembly 12 and a rear wheel assembly 13. The front wheel assembly 11, the middle wheel assembly 12 and the rear wheel assembly 13 are all rotatably connected to the frame 14. After being bumped, they all rotate relative to the frame 14 and are vibration-proofed by the first vibration-damping assembly 15 and the second vibration-damping assembly 17. Among them, a second vibration reduction assembly 17 is connected between the rear wheel assembly 13 and the frame 14. When the rear wheel assembly 13 is bumped, the rear wheel assembly 13 rotates relative to the frame 14, stretching or compressing the second vibration reduction assembly 17 to reduce the vibration of the rear wheel assembly 13; the front wheel assembly 11, the first vibration reduction assembly 15, the connecting rod structure 16 and the middle wheel assembly 12 are connected in sequence. When the front wheel assembly 11 is bumped, the first vibration reduction assembly 15 is deformed by force, and the front wheel assembly 11 is independently vibration-reduced. When the middle wheel assembly 12 is bumped, the elastic member 18 is deformed and the connecting rod structure 16 is rotated relative to the frame 14, and the front wheel assembly 11 is linked to reduce vibration. In this way, in different usage scenarios, the front wheel assembly 11 can be independently vibration-reduced or linked to the middle wheel assembly 12 to avoid vibration, so that the vibration reduction ability of the vibration reduction device is stronger and can be applied to different bumpy conditions.

[0035] See also Figure 4 and Figure 5 In one embodiment of the connecting rod structure 16, the connecting rod structure 16 includes a first connecting rod 161, one end of the first connecting rod 161 is rotatably connected to the first shock absorbing assembly 15, and the other end of the first connecting rod 161 is rotatably connected to the frame 14, and an arc-shaped limiting hole 1610 is provided on the first connecting rod 161, and a limiting portion 141 inserted into the arc-shaped limiting hole 1610 is correspondingly provided on the frame 14. When the first connecting rod 161 rotates relative to the frame 14, the limiting portion 141 rotates in the arc-shaped limiting hole 1610, and the two ends of the arc-shaped limiting hole 1610 have a limiting effect on the limiting portion 141, thereby limiting the rotation angle of the first connecting rod 161. The two ends of the arc-shaped limiting hole 1610 are respectively the first limit position and the second limit position, as shown in FIG. Figure 5 and Figure 6 As shown, the position where the limiting portion 141 cooperates with the arc-shaped limiting hole 1610 is the first limit position. Figure 7 As shown, the position where the limiting portion 141 cooperates with the arc-shaped limiting hole 1610 is the second limit position.

[0036] Specifically, Figure 5 In the embodiment, the vibration-damping chassis structure 1 is traveling on a flat road, the front wheel assembly 11, the middle wheel assembly 12 and the rear wheel assembly 13 do not move up and down, the first vibration-damping assembly 15, the second vibration-damping assembly 17 and the elastic member 18 are in a normal working state, and vibration-damping is not performed. At this time, the limiting portion 141 is located at the first limit position of the arc-shaped limiting hole 1610.

[0037] like Figure 6In the embodiment, the front wheel assembly 11 is in a state of crossing a bump. At this time, the center of the front universal wheel 111 of the front wheel assembly 11 moves upward, and the front wheel assembly 11 rotates relative to the vehicle frame 14, so that the first damping assembly 15 is compressed. Although the first damping assembly 15 is connected to the first connecting rod 161, when the first damping assembly 15 is compressed and pushes the first connecting rod 161 upward, since the limiting portion 141 is in the first limit position of the arc-shaped limiting hole 1610, the first connecting rod 161 can no longer be pushed upward, and the connecting rod structure 16 and the middle wheel assembly 12 also remain stationary in the horizontal direction. That is, when the front wheel assembly 11 crosses a bump, the first damping assembly 15 is compressed and dampens the vibration of the front wheel assembly 11, and the connecting rod structure 16 remains stationary, so that the front wheel assembly 11 is independently damped, which will not affect the normal movement of the middle wheel assembly 12, and will not cause the middle wheel assembly 12 to move up and down, thereby ensuring the overall driving stability of the damping chassis structure 1.

[0038] like Figure 7 In the middle wheel assembly 12, the middle wheel assembly 12 is in the state of crossing the bump. At this time, the center of the middle wheel body 121 of the middle wheel assembly 12 moves upward, stretching the elastic member 18 and driving the connecting rod structure 16 to rotate. The rotation of the connecting rod structure 16 causes the first connecting rod 161 to rotate, and the limiting portion 141 moves from the first limit position to the second limit position. During the rotation of the first connecting rod 161, the first connecting rod 161 presses down the first shock absorbing assembly 15, causing the first shock absorbing assembly 15 to deform. The rotation of the first connecting rod 161 causes the limiting portion 141 to move to the second limit position and press down the first shock absorbing assembly, forcing the front wheel assembly 11 to be pressed against the ground, preventing the front wheel assembly 11 from jumping up and down, thereby preventing the crossing of the middle wheel assembly 12 from affecting the normal driving of the front wheel assembly 11.

[0039] Among them, the rotating axis of the first connecting rod 161 rotating relative to the frame 14 is the first rotating axis 101, the rotating axis of the front wheel assembly 11 rotating relative to the frame 14 is the second rotating axis 102, the rotating axis of the middle wheel assembly 12 rotating relative to the frame 14 is the third rotating axis 103, and the rotating axis of the rear wheel assembly 13 rotating relative to the frame 14 is the fourth rotating axis 104.

[0040] Optionally, the first rotating shaft 101 is disposed between the arc-shaped limiting hole 1610 and the connection point between the first connecting rod 161 and the first shock absorbing assembly 15. When the front wheel passes over a bump, the first shock absorbing assembly 15 pushes the first connecting rod 161 upward to rotate relative to the vehicle frame 14, and the other end of the first connecting rod 161 (i.e., the end with the arc-shaped limiting hole 1610) should move upward, while the limiting portion 141 is at the first limit position at this time, limiting the upward movement of the end of the first connecting rod 161 with the arc-shaped limiting hole 1610, therefore, the first limit position is disposed above the second limit position, and the connecting line between the first limit position and the second limit position is disposed vertically or inclined relative to the ground, and the first limit position is higher than the second limit position. When the middle wheel assembly 12 passes over the bump, the middle wheel assembly 12 moves upward, thereby pushing the first connecting rod 161 to move downward near the end of the first shock absorbing assembly 15, so that the end of the first connecting rod 161 with the arc-shaped limiting hole 1610 moves downward, thereby causing the limiting portion 141 to move from the first limit position to the second limit position; or, the middle wheel assembly 12 moves upward, thereby pushing the first connecting rod 161 to move upward near the end of the arc-shaped limiting hole 1610, thereby causing the limiting portion 141 to move from the first limit position to the second limit position.

[0041] In another embodiment, the arc-shaped limit hole is disposed between the first rotating shaft and the connection point between the first connecting rod and the first damping assembly. When the front wheel passes over a bump, the first damping assembly pushes the first connecting rod upward to rotate relative to the frame, and the limit portion is at the first limit position at this time, limiting the rotation of the first connecting rod. Therefore, the first limit position is disposed below the second limit position. Of course, the connection point between the first connecting rod and the first damping assembly can be disposed between the arc-shaped limit hole and the first rotating shaft. At this time, the first limit position is also disposed below the second limit position to prevent the first damping assembly from pushing the first connecting rod to rotate.

[0042] See also Figures 5 to 7 In one embodiment of the link structure 16, the link structure 16 includes a first link 161 and a second link 162, one end of the first link 161 is rotatably connected to the first damping assembly 15, the other end of the first link 161 is rotatably connected to the frame 14, one end of the second link 162 is rotatably connected to the first link 161, and the other end of the second link 162 is rotatably connected to the middle wheel assembly 12. When the front wheel assembly 11 passes over a ridge, the first link 161 remains motionless under the restriction of the arc-shaped limiting hole 1610; when the middle wheel assembly 12 passes over a ridge, the middle wheel assembly 12 moves up and rotates relative to the frame 14, the elastic member 18 is stretched, the middle wheel assembly 12 drives the second link 162 to rotate, and the second link 162 pushes the first link 161 to rotate, so that the limiting portion 141 moves from the first limit position to the second limit position, and pushes the first damping assembly 15 and the front wheel assembly 11 downward during the rotation of the first link 161.

[0043] Optionally, the first rotating shaft 101 is arranged between the arc-shaped limiting hole 1610 and the connection point between the first connecting rod 161 and the first shock absorbing assembly 15, and the connection point between the first connecting rod 161 and the second connecting rod 162 is arranged between the first rotating shaft 101 and the connection point between the first connecting rod 161 and the first shock absorbing assembly 15, so that the second connecting rod 162 pulls the first connecting rod 161 downward, the first shock absorbing assembly 15 is correspondingly subjected to downward pressure, and the end of the first connecting rod 161 having the arc-shaped limiting hole 1610 moves upward.

[0044] Optionally, the front wheel assembly 11 includes a front universal wheel 111 and a front axle arm 112, the front universal wheel 111 can rotate relative to the front axle arm 112, one end of the first damping assembly 15 is connected to the front axle arm 112, and the front axle arm 112 is rotatably connected to the frame 14. The first rotating shaft 101, the second rotating shaft 102 and the third rotating shaft 103 are arranged in parallel on the same vertical plane, so that the front axle arm 112, the first damping assembly 15 and the first connecting rod 161 form a four-bar mechanism, and the first damping assembly 15 is retractable, so that the rotation of the first connecting rod 161 can compress the first damping assembly 15. In this way, the first rotating shaft 101, the second rotating shaft 102 and the third rotating shaft 103 are arranged in parallel on the same vertical plane, so that the above structure can be simplified into a four-bar mechanism, which is convenient for designing the rotation angle, controlling the pressure angle, etc.

[0045] See also Figures 3 to 5 In one embodiment of the middle wheel assembly 12, the middle wheel assembly 12 includes a driving member 122, a middle wheel body 121 and a rotating bracket 123. The output shaft of the driving member 122 is connected to the middle wheel body 121, driving the middle wheel body 121 to rotate, so that the middle wheel body 121 is the driving wheel, and the front wheel assembly 11 and the rear wheel assembly 13 are driven wheels. The driving member 122 can be an electric motor, a motor, etc. The driving member 122 can include a speed reduction mechanism, and the driving member 122 only needs to have a rotating output shaft that causes the middle wheel body 121 to rotate. The two ends of the elastic member 18 are respectively connected to the frame 14 and the rotating bracket 123, the rotating bracket 123 is connected to the middle wheel body 121, and the rotating bracket 123 is rotatably connected to the frame 14, and there is a predetermined distance between the rotation axis of the middle wheel body 121 and the rotating axis (third rotating axis 103) of the rotating bracket 123 relative to the frame 14, so that when the middle wheel body 121 passes over a ridge, the center of the middle wheel body 121 moves upward, the elastic member 18 is stretched, and the rotating bracket 123 rotates relative to the frame 14 under the drive of the middle wheel body 121, and drives the connecting rod structure 16 to rotate. After the middle wheel assembly 12 passes over a ridge, the elastic member 18 pulls the rotating bracket 123 back to the initial state under the action of the restoring force.

[0046] More specifically, when the connecting rod structure 16 includes a first connecting rod 161 and a second connecting rod 162 , the rotating bracket 123 is rotatably connected to the second connecting rod 162 , the rotation of the rotating bracket 123 drives the second connecting rod 162 to rotate, and the second connecting rod 162 causes the first connecting rod 161 to rotate, thereby pressing down the first vibration damping assembly 15 .

[0047] Optionally, the rotating bracket 123 extends toward the front wheel assembly 11 to form an extension portion 1236, and the second connecting rod 162 is connected to the extension portion 1236 of the rotating bracket 123, so that both ends of the second connecting rod 162 are arranged close to the front wheel assembly 11, and the connecting line between the two ends of the second connecting rod 162 is arranged vertically or inclined relative to the ground during the rotation process, thereby preventing the second connecting rod 162 from having a pressure dead angle during the rotation process.

[0048] More specifically, the first rotating shaft 101, the second rotating shaft 102 and the third rotating shaft 103 are arranged in parallel on the same vertical plane, and the vertical plane, the front axle arm 112, the first shock absorbing assembly 15 and the first connecting rod 161 form a four-bar mechanism, and the extension portion 1236 is arranged inside the four-bar mechanism to prevent the second connecting rod 162 from having a pressure dead angle during rotation.

[0049] See also Figure 8 In one embodiment of the rotating bracket 123, the outer periphery of the output shaft of the driving member 122 has a bearing 124, and the bearing 124 is used to support the output shaft so that the output shaft can rotate smoothly. The rotating bracket 123 is fixed on the bearing 124, so when the middle wheel body 121 passes the ridge, the middle wheel body 121 and the bearing 124 both move upward, and the rotating bracket 123 also moves upward, so that the rotating bracket 123 rotates relative to the frame 14 (that is, the rotating bracket 123 rotates around the third rotating shaft 103).

[0050] Optionally, see Figure 8The rotating bracket 123 includes a front baffle 1231, a top plate 1232 bent and connected to the front baffle 1231, and a rear baffle 1233 bent and connected to the top plate 1232. The front baffle 1231, the top plate 1232 and the rear baffle 1233 form a U-shaped rotating bracket 123, so that the front baffle 1231 and the rear baffle 1233 are respectively arranged on the front and rear sides of the bearing 124. The front baffle 1231 is arranged close to the outside of the vibration-damping chassis structure 1, and the rear baffle 1233 is arranged close to the inside of the vibration-damping chassis structure 1. In order to avoid the output shaft of the driving member 122, the front baffle 1231 and the rear baffle 1233 can be provided with an avoidance hole 1235 or an avoidance arc 1234. The rotating bracket 123 is arranged in a U-shape, so that the rotating bracket 123 and the bearing 124 have more fixed space, so that the connection between the rotating bracket 123 and the bearing 124 is more stable, and the bearing 124 can be partially wrapped and protected. In one embodiment, one end of the elastic member 18 is fixed to the rear baffle 1233, and one end of the second connecting rod 162 is rotatably connected to the rear baffle 1233; or one end of the elastic member is fixed to the front baffle, and one end of the second connecting rod is rotatably connected to the front baffle. The elastic member 18 and the second connecting rod 162 are connected to the same baffle to prevent Figure 8 Pulling occurs in the normal direction of the image.

[0051] See also Fig. 9 In one embodiment of the rear wheel assembly 13, the rear wheel assembly 13 includes a rear universal wheel 131 and a rear axle arm 132. The rear universal wheel 131 rotates relative to the rear axle arm 132. The rear axle arm 132 is rotatably connected to the frame 14. The rotation axis of the rear axle arm 132 relative to the frame 14 is the fourth rotation axis 104. The two ends of the second damping assembly 17 are respectively connected to the rear axle arm 132 and the frame 14.

[0052] Optionally, the second shock-absorbing assembly 17 is arranged horizontally or nearly horizontally, so that when the rear wheel assembly 13 passes over a bump, the rotation of the rear wheel assembly 13 is converted into the telescopic movement of the second shock-absorbing assembly 17 in a horizontal or nearly horizontal direction as much as possible, without an upward thrust on the frame 14, and the frame 14 will not be bumped up and down, thereby making the operation smoother.

[0053] In one embodiment, the first vibration reduction assembly 15 and the second vibration reduction assembly 17 are gas springs, springs or cylinders, and any structure capable of telescopic movement is applicable to this embodiment. The gas spring includes a cylinder body, a piston that reciprocates in the cylinder body, and a spring disposed on the outer periphery of the cylinder body or inside the cylinder body. When the cylinder body or the piston is subjected to pressure, the piston moves toward the inside of the cylinder body, and the spring is compressed, so that the overall length of the gas spring is shortened to reduce vibration. When the external pressure disappears, the spring pushes the piston to return to its initial state.

[0054] See also Figure 1The embodiment of the present invention further provides a vibration reduction device, which includes the vibration reduction chassis structure 1 and the base 2 in any of the above embodiments. In the vibration reduction device, there are two vibration reduction chassis structures 1, which are respectively arranged on the left and right sides of the base 2, so that the vibration reduction device is a six-wheel structure. The frames 14 in the two vibration reduction chassis structures 1 are both fixed on the base 2 and can be combined with the base 2 to form an assembly component.

[0055] In the vibration-damping device of the above-mentioned embodiment, the front wheel assembly 11, the middle wheel assembly 12 and the rear wheel assembly 13 in the two vibration-damping chassis structures 1 are only connected to the corresponding vehicle frame 14, and the front wheel assembly 11, the middle wheel assembly 12 and the rear wheel assembly 13 on the left and right sides have no connection relationship, so that the wheel bodies on the left and right sides are independently suspended. Therefore, the vibration-damping chassis structures 1 on the left and right sides can independently reduce vibration without being affected by the other side.

[0056] An embodiment of the present invention further provides a wheelchair, which includes the vibration reduction device in any of the above embodiments, and also includes a seat and other structures fixed on the base 2.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Vibration-damping chassis structure, characterized by: The invention comprises a frame, a front wheel assembly, a middle wheel assembly, a rear wheel assembly, a first vibration reduction assembly for reducing vibration of the front wheel assembly, a connecting rod structure for linking and reducing vibration of the front wheel assembly and the middle wheel assembly, and a second vibration reduction assembly for reducing vibration of the rear wheel assembly; the frame and the front wheel assembly are rotatably connected, and the front wheel assembly, the first vibration reduction assembly, the connecting rod structure and the middle wheel assembly are connected in sequence, the frame and the middle wheel assembly are rotatably connected, and an elastic member for moving the middle wheel assembly up and down is connected between the frame and the middle wheel assembly, the frame and the rear wheel assembly are rotatably connected, and the second vibration reduction assembly is connected between the frame and the rear wheel assembly; wherein, when the front wheel assembly is bumped, the first vibration reduction assembly is deformed by force to reduce vibration of the front wheel assembly alone, and when the middle wheel assembly is bumped, the elastic member is deformed and causes the connecting rod structure to rotate relative to the frame to link and reduce vibration with the front wheel assembly; The connecting rod structure includes a first connecting rod, one end of which is rotatably connected to the first shock absorbing assembly, and the other end of the first connecting rod is rotatably connected to the frame, and the first connecting rod is provided with an arc-shaped limiting hole for limiting the rotation angle of the middle wheel assembly, and the frame is correspondingly provided with a limiting portion inserted into the arc-shaped limiting hole, and the two ends of the arc-shaped limiting hole are respectively a first limit position and a second limit position, and the limiting portion is used in the first limit position to prevent the front wheel assembly from rotating relative to the frame when passing over a bump, and the limiting portion is used in the second limit position to press down the front wheel assembly when the middle wheel assembly passes over a bump; wherein, when the shock absorbing chassis structure is traveling on a flat road, the limiting portion is located at the first limit position of the arc-shaped limiting hole.

2. The vibration-damping chassis structure according to claim 1, characterized in that: The line connecting the first limit position and the second limit position is vertically arranged or inclined relative to the ground, the first limit position is higher than the second limit position, and the rotation axis of the first connecting rod relative to the frame is arranged between the arc-shaped limit hole and the connection point between the first connecting rod and the first shock absorbing assembly.

3. The vibration-damping chassis structure according to claim 1, characterized in that: The connecting rod structure also includes a second connecting rod, one end of which is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the middle wheel assembly.

4. The vibration-damping chassis structure according to claim 3, characterized in that: The connection point between the first link and the second link is located between a rotation axis of the first link relative to the vehicle frame and a connection point of the first link relative to the first shock absorbing assembly.

5. The vibration-damping chassis structure according to claim 1, characterized in that: The middle wheel assembly includes a driving member, a middle wheel body driven to rotate by the driving member, and a rotating bracket that rotates as the middle wheel body moves up and down. The rotating bracket is rotatably connected to the frame. There is a predetermined distance between the output shaft of the driving member and the rotating shaft of the rotating bracket rotating relative to the frame. The rotating bracket is also rotatably connected to the connecting rod structure. The two ends of the elastic member are respectively connected to the frame and the rotating bracket.

6. The vibration-damping chassis structure according to claim 5, characterized in that: The output shaft of the driving member has a bearing on its outer periphery, and the rotating bracket is fixed to the bearing.

7. The vibration-damping chassis structure according to claim 1, characterized in that: The first vibration reduction assembly and the second vibration reduction assembly are gas springs, springs or cylinders.

8. A vibration reduction device, characterized in that: It comprises two vibration-damping chassis structures as described in any one of claims 1 to 7 and a base, wherein the two vibration-damping chassis structures are respectively arranged on the left and right sides of the base, and the two vehicle frames are both fixed to the base.

9. A wheelchair, characterized in that: Includes the vibration reduction device as claimed in claim 8.

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